How to use MoveIt on real Panda Arm

asked 2022-04-01 10:11:09 -0500

dev4all12358 gravatar image

updated 2022-04-04 13:02:47 -0500

Hello,

I have install libFranka , Franka ROS and MoveIt and I want to make MoveIt work on my real Arm.

here is the command I use:

roslaunch panda_moveit_config demo.launch

In demo.launch there is a moveit_controller_manager with is set to fake. Should I change it to simple or ros_control?

What other launch file should I use to be able to use real data in Rviz?

Edit:

So I modify the demo.lauch to use ros_controller instead of fake controller. Then I run franka_ros controller like this:

roslaunch franka_control franka_control.launch robot_ip:=172.16.0.2

And I run the demo:

roslaunch panda_moveit_config demo.launch

The robot position is well displayed but when I try to execute a planning I get that error:

planner is constructed.
[ INFO] [1649067874.486336582]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.486361684]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.486387848]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.486408569]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.498960360]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649067874.499623236]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649067874.499705337]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649067874.500537392]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649067874.500626576]: ParallelPlan::solve(): Solution found by one or more threads in 0.014569 seconds
[ INFO] [1649067874.500766794]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.500791919]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.500808952]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.500832192]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.502668556]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649067874.502938859]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649067874.503017225]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649067874.503046093]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649067874.503090395]: ParallelPlan::solve(): Solution found by one or more threads in 0.002403 seconds
[ INFO] [1649067874.503163274]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.503182961]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649067874.504906682]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649067874.505062104]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649067874.505136269]: ParallelPlan::solve(): Solution found by one or more threads in 0.002000 seconds
[ INFO] [1649067874.512278787]: SimpleSetup: Path simplification took 0.007065 seconds and changed from 3 to 2 states
[ERROR] [1649067874.514458067]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1649067874.514557474]: Known controllers and their joints:

[ERROR] [1649067874.514625791]: Apparently trajectory initialization failed
[ INFO] [1649067874.533892635]: ABORTED: Solution found but controller failed during execution
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