arm_kinematics_constraint_aware waiting for environment [closed]
Hi all,
We are trying to implement a arm_kinematics_constraint_aware node, following this tutorial.
We get no errors messages, but no services are being published and the following gets printed periodically:
[INFO] Waiting for environment server planning scene registration service /register_planning_scene
[INFO] waitForService: Service [/register_planning_scene] has not been advertised, waiting...
Similar problems have been posted before (eg. here and here), and making sure JointState is being published for _all_ joints seem to solve the problem for most people. Unfortunately, not in our case...
Here's an overview of our setup:
ROS Fuerte with Ubuntu 12.04.
Parameters set on rosparam server in robot_description_planning namespace:
multi_dof_joints:
- name: world_joint
type: Fixed
parent_frame_id: world
child_frame_id: world
groups:
- name: rbase
joints:
- base_joint
links:
- world
- base_link
- name: arm
joints:
- A1
- A2
- A3
- A4
- A5
- A6
- A6-TOOL
links:
- A1
- A2
- A3
- A4
- A5
- A6
- TOOL
default_collision_operations:
- object1: TOOL
object2: A1
operation: enable
Parameters set in example_arm_kinematics namespace (example_kinematics.yaml):
arm:
tip_name: TOOL
root_name: base_link
kinematics_solver: arm_kinematics_constraint_aware/KDLArmKinematicsPlugin
use_collision_map: false
collision_map_safety_timeout: 10000.0
joint_states_safety_timeout: 1.0
tf_safety_timeout: 10.0
default_robot_padding: 0.02
link_padding:
- link: arm
padding: .02
/robot_description is loaded using an urdf model.
The launch file we are using looks like this:
<launch>
<node pkg="arm_kinematics_constraint_aware" type="arm_kinematics_constraint_aware" name="example_arm_kinematics" output="screen">
<rosparam command="load" file="$(find collision_test)/example_kinematics.yaml" />
</node>
</launch>
Following joints are being published in a JointState message (0 values for fixed joints):
["world_joint", "base_joint", "A1", "A2", "A3", "A4", "A5", "A6", "A6-TOOL"]
Any ideas would be greatly appreciated!
Thanks in advance,
Eli