cannot marshal None unless allow_none is enabled

asked 2022-03-30 03:29:14 -0500

umar_anjum gravatar image

Hi all hope you all are fine.

I am using this repository :

https://github.com/murtazabasu/Coordi...

while using this I fixed few of its errors. installing Moveit, intalling ros_controller etc. after awhile I am now at a point I had a error: p gain not specified, I fixed this error and added my own .yaml file:

enable_none: true /gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 100.0 i: 0.01 d: 10.0 shoulder_lift_joint: p: 100.0 i: 0.01 d: 10.0 elbow_joint: p: 100.0 i: 0.01 d: 10.0 wrist_1_joint: p: 100.0 i: 0.01 d: 10.0 wrist_2_joint: p: 100.0 i: 0.01 d: 10.0 wrist_3_joint: p: 100.0 i: 0.01 d: 10.0

now the p gain error is no more but I have this error: load_parameters: unable to set parameters (last param was [/slave/move_group/planner_configs/RRTstar/type=geometric::RRTstar]): cannot marshal None unless allow_none is enabled

I don't know how to set allow_none to true or how to remove this error, following are the parameters when I launch my initialize.launch file:

SUMMARY

PARAMETERS * /d: 10.0 * /elbow_joint: None * /enable_none: True * /gazebo/enable_ros_network: True * /gazebo_ros_control: None * /i: 0.01 * /master/arm_controller/action_monitor_rate: 10 * /master/arm_controller/constraints/elbow_joint/goal: 0.1 * /master/arm_controller/constraints/elbow_joint/trajectory: 0.1 * /master/arm_controller/constraints/goal_time: 0.6 * /master/arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /master/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /master/arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /master/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /master/arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /master/arm_controller/constraints/wrist_1_joint/goal: 0.1 * /master/arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /master/arm_controller/constraints/wrist_2_joint/goal: 0.1 * /master/arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /master/arm_controller/constraints/wrist_3_joint/goal: 0.1 * /master/arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /master/arm_controller/joints: ['shoulder_pan_jo... * /master/arm_controller/state_publish_rate: 25 * /master/arm_controller/stop_trajectory_duration: 0.5 * /master/arm_controller/type: position_controll... * /master/gripper_controller/action_monitor_rate: 10 * /master/gripper_controller/goal_tolerance: 0.002 * /master/gripper_controller/joint: robotiq_85_left_k... * /master/gripper_controller/max_effort: 100 * /master/gripper_controller/stall_timeout: 1.0 * /master/gripper_controller/stall_velocity_threshold: 0.001 * /master/gripper_controller/type: position_controll... * /master/joint_group_position_controller/joints: ['shoulder_pan_jo... * /master/joint_group_position_controller/type: position_controll... * /master/joint_state_controller/publish_rate: 50 * /master/joint_state_controller/type: joint_state_contr... * /master/move_group/allow_trajectory_execution: True * /master/move_group/capabilities: move_group/MoveGr... * /master/move_group/controller_list: [{'action_ns': 'f... * /master/move_group/endeffector/default_planner_config: * /master/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L... * /master/move_group/jiggle_fraction: 0.05 * /master/move_group/manipulator/default_planner_config: * /master/move_group/manipulator/longest_valid_segment_fraction: 0.005 * /master/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L... * /master/move_group/max_range: 5.0 * /master/move_group/max_safe_path_cost: 1 * /master/move_group/moveit_controller_manager: moveit_simple_con... * /master/move_group/moveit_manage_controllers: True * /master/move_group/octomap_resolution: 0.025 * /master/move_group/planner_configs/BFMT/balanced: 0 * /master/move_group/planner_configs/BFMT/cache_cc: 1 * /master/move_group/planner_configs/BFMT/extended_fmt: 1 * /master/move_group/planner_configs/BFMT/heuristics: 1 * /master/move_group/planner_configs/BFMT/nearest_k: 1 * /master/move_group/planner_configs/BFMT/num_samples: 1000 * /master/move_group/planner_configs/BFMT/optimality: 1 * /master/move_group/planner_configs/BFMT/radius_multiplier: 1.0 * /master/move_group/planner_configs/BFMT/type: geometric::BFMT * /master/move_group/planner_configs/BKPIECE/border_fraction: 0.9 * /master/move_group/planner_configs/BKPIECE ... (more)

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