Demo.launch.py for Moveit 2 fails to load robot model after using Setup assistant

asked 2023-06-27 02:24:44 -0600

Icon45 gravatar image

updated 2023-06-27 07:07:22 -0600

Hi everyone,

i've used the MoveIt setup assisitnat to create a config package for an ur10 and a custom made end effector. Unfortunatly when i folllow the steps in the Moveit 2 do by picknik robotics i can't launch the demo.launch.py at the end. i get the following error:

old output removed for better reading experience and now irrelevance!

UPDATE:

After some Bug fixing i get to see the Robot in moveit (thx for the help @gvdhoorn). Unfortunatly there still seem to be some bugs in the config, bc i cannot paln and execute trajctoreis or state changes. heres my console output:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ LC_NUMERIC=en_US.UTF-8 ros2 launch ur10_ass_moveit_config demo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-27-14-00-44-537168-ubuntu-6056
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [6058]
[INFO] [robot_state_publisher-2]: process started with pid [6060]
[INFO] [move_group-3]: process started with pid [6062]
[INFO] [rviz2-4]: process started with pid [6064]
[INFO] [ros2_control_node-5]: process started with pid [6066]
[INFO] [spawner-6]: process started with pid [6068]
[INFO] [spawner-7]: process started with pid [6079]
[INFO] [spawner-8]: process started with pid [6102]
[static_transform_publisher-1] [INFO] [1687867245.589006964] [static_transform_publisher0]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'world' to 'base_link_inertia'
[robot_state_publisher-2] [INFO] [1687867245.603213959] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1687867245.603403483] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1687867245.603423876] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1687867245.603436412] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1687867245.603446911] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-2] [INFO] [1687867245.603456665] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-2] [INFO] [1687867245.603466977] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-2] [INFO] [1687867245.603476408] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-2] [INFO] [1687867245.603485800] [robot_state_publisher]: got segment finger2_link
[robot_state_publisher-2] [INFO] [1687867245.603494857] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1687867245.603504319] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1687867245.603513706] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1687867245.603523541] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1687867245.603533047] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1687867245.603542543] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1687867245.603552047] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1687867245.603561591] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1687867245.603571119] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1687867245.603581085] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-5] [INFO] [1687867245.674081038] [resource_manager]: Loading hardware 'ur10_ass' 
[ros2_control_node-5] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-5]   what():  According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are  fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system ur_robot_driver/URPositionHardwareInterface
[ros2_control_node-5] Stack trace (most recent call last):
[ros2_control_node-5] #16   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-5] #15   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55aa10caad84, in 
[move_group-3] [INFO] [1687867245.783294368] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0142104 seconds
[move_group-3] [INFO] [1687867245.783385636] [moveit_robot_model.robot_model]: Loading robot model 'ur10_ass'...
[ros2_control_node-5] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f6daf38ae3f]
[ros2_control_node-5] #13   Source "../sysdeps/nptl ...
(more)
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Comments

quick comment: this is a problem:

parameter 'robot_description_planning.joint_limits.driver_finger1_joint.max_velocity' has invalid type: expected [double] got [integer]

I don't know where the limits are specified, but if (just example numbers) a limit says 1 instead of 1.0, the parameter loading code will see an integer, but it requires/expects a floating point number.

gvdhoorn gravatar image gvdhoorn  ( 2023-06-27 02:54:33 -0600 )edit

hi @gvdhoorn , i fixed this but this didn't change the error. But it got rid of the line you've mentioned.

Icon45 gravatar image Icon45  ( 2023-06-27 04:16:55 -0600 )edit

Please see update above now!

Icon45 gravatar image Icon45  ( 2023-06-27 07:02:25 -0600 )edit