MoveIt! - Rviz-Plugin unstable [closed]

asked 2013-03-14 14:39:06 -0600

viovio gravatar image

updated 2013-03-30 09:59:50 -0600

Hello everybody,

when I start "Plan and Execute" in Rviz with MoveIt!-plugin, the move_group often crashes with no recognizable reason.

Output:

[ WARN] [1363308687.211346697]: This instance of MoveGroup is now allowed to execute trajectories but the goal request has plan_only set to false. Only a motion plan will be computed anyway.
[ INFO] [1363308687.214825335]: No planner specified. Using default.
[ INFO] [1363308687.218602958]: Starting with 1 states
[ INFO] [1363308687.292390912]: Created 6 states (2 start + 4 goal)
[ INFO] [1363308687.295818449]: Solution found in 0.077673 seconds
[ INFO] [1363308687.355423134]: Path simplification took 0.055261 seconds
[move_group-4] process has died [pid 21470, exit code -11, cmd /opt/ros/groovy/lib/moveit_ros_move_group/move_group_action_server __name:=move_group __log:=/home/user/.ros/log/58ca3ef0-8d0a-11e2-810f-000c29a429b4/move_group-4.log].
log file: /home/user/.ros/log/58ca3ef0-8d0a-11e2-810f-000c29a429b4/move_group-4*.log

Though at this location is no "move_group-4*.log.

Here are the other ros-logs.

Edit: I noticed the Pr2-Moveit-Demo works stable. So I only have to find the difference between it and my robot-description. I have two conjectures:

  1. I compared the launch files, but can't detect differences except that the setup assistant generated a blank "moveit_controller_manager"-launch file for my robot. Is that a problem?

  2. Also less states are generated while planning with my robot ([ INFO] [1363308687.292390912]: Created 6 states (2 start + 4 goal)) compared to the pr2 (~ 40 states) Both are using the "OMPL" on "Default"-setting. Can this cause stability-problems? (maybe the planer cant find a solution and crashes?) Which .launch-file or setting does have influence on the generated states?

What can I do to fix the problem? Or what information do you need to help me?

Edit: I set up a new ros enviroment on a native ubuntu-installation and everything works fine now. So either the problem was the virtual ubuntu (this was also responsible for black screens in rviz) or the new version of moveit solved the problem.

Many Thanks in advance viovio

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Closed for the following reason the question is answered, right answer was accepted by viovio
close date 2013-03-30 10:00:10

Comments

I'm using a from source install and it has been pretty stable for me so far. What version do you use?

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2013-03-26 21:06:57 -0600 )edit