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ur arm unable to construct robot model

asked 2022-09-11 16:29:33 -0600

bodka gravatar image

hi all. im using ros2 foxy on ubuntu 20.04.

im tring to use the ur10e arm with moveit as explind in : https://github.com/UniversalRobots/Un....

first i launch the controllers and the ur_moveit.

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false

ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur10e robot_ip:="xxx.xxx" use_fake_hardware:=true launch_rviz:=true

inside the rviz i can use MotionPlaninng intrface and its working parfectly. if i want to use the MoveGroupInterface and control the arm frue code i get the erorr:

 [FATAL] [1662929960.551830751] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to construct robot model. Please make sure all needed information is on the parameter server.

i run my node from ros2 run and not launch file.

my code:

#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/msg/collision_object.hpp>

    int main(int argc, char** argv) {
    rclcpp::init(argc, argv);
    rclcpp::NodeOptions node_options;
    node_options.automatically_declare_parameters_from_overrides(true);
    auto move_group_node = rclcpp::Node::make_shared("tr_plnner", node_options);
    rclcpp::executors::SingleThreadedExecutor executor;
    executor.add_node(move_group_node);
    std::thread([&executor]() { executor.spin(); }).detach();
    static const std::string PLANNING_GROUP = "ur_manipulator";
    moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);
    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
    std::cout<<"0"<<std::endl;
    rclcpp::shutdown();
    return 0; }

my CMakeLists:

cmake_minimum_required(VERSION 3.5)
project(ur10e_trajectory_planner)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ur_client_library REQUIRED)

add_executable(tr_plnner src/test.cpp)


target_include_directories(tr_plnner PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>

  )


ament_target_dependencies(
  tr_plnner
  moveit_ros_planning_interface
  rclcpp
)

target_link_libraries(tr_plnner  ur_rtde::rtde)
install(TARGETS tr_plnner
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

tanks for the help.

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1 Answer

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answered 2022-09-19 04:01:11 -0600

fexner gravatar image

This looks like you hit https://github.com/ros-planning/movei....

You have to load the robot description into your node's namespace. See the example launchfile for details.

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Comments

tanks for helping

bodka gravatar image bodka  ( 2022-09-25 03:24:34 -0600 )edit

Did that resolve your issue? Then please mark this answer as correct.

fexner gravatar image fexner  ( 2022-09-26 02:00:52 -0600 )edit

i didn't try his solution . i go different direction using UR_SIM and ur_rtde library instead of rviz and moveit.

bodka gravatar image bodka  ( 2022-09-26 16:13:52 -0600 )edit

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Asked: 2022-09-11 16:29:33 -0600

Seen: 48 times

Last updated: Sep 25