MoveIt setup assistant crashes when creating a new robot pose [closed]
Environment:
- OS version: Ubuntu 22.04
- ROS version: ROS2 Humble
Description:
I am having an issue creating an SDRF file for my robot using MoveIt2 setup assistant. I am following the steps described in this tutorial: link text. A definition ROS2 package of the robot is created with the needed URDF file and the meshes. The first 4 steps of the tutorial were successful (starting the setup assistant + Generate Self-Collision Matrix + Add Virtual Joints + Add Planning Groups). However, when trying to create new robot poses and moving the individual joints with the sliders the setup assistant crashes with this error:
[moveit_setup_assistant-1] [WARN] [1669105830.346763201] [moveit_robot_state.robot_state]: Returning dirty collision body transforms
[moveit_setup_assistant-1] moveit_setup_assistant: /home/taha/ws_moveit2/src/moveit2/moveit_core/robot_state/include/moveit/robot_state/robot_state.h:1397: const Isometry3d& moveit::core::RobotState::getCollisionBodyTransform(const moveit::core::LinkModel*, std::size_t) const: Assertion `checkCollisionTransforms()' failed.
[ERROR] [moveit_setup_assistant-1]: process has died [pid 35479, exit code -6, cmd '/home/taha/ws_moveit2/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args'].
Even when using the panda robot (link text) from the tutorial I am getting the same error. So It's not a specific problem with my robot description package. What can be the reason behind this error ?
Hello. I'm intrigued about why this question was closed. I'm having the same problem when following the tutorial. Taha_87, did you find a solution? Is it a problem with the URDF?
Hi, I have just switched to the newly released binary version of moveit2-humble and the problem was solved by itself. It turned out to be a bug.