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ROS MoveIt PR2 Demo Launch Fails

asked 2013-08-30 09:08:57 -0500

cdrwolfe gravatar image

updated 2014-11-22 17:05:29 -0500

ngrennan gravatar image

Hi

An interesting one this as I'm not sure whether anyone else will be effected by this but here goes.

From a fresh install of ROS hydro and MoveIt hydro and installation of the 'ros-hydro-moveit-full-pr2' package I have been trying to run the simple moveit demo.launch file

i.e 'roslaunch pr2_moveit_config demo.launch'

However it unfortunately fails to load / work giving the error.

[ INFO] [1377888324.708150830]: Starting scene monitor
[ INFO] [1377888324.710933161]: Listening to '/planning_scene'
[ INFO] [1377888324.711348039]: Starting world geometry monitor
[ INFO] [1377888324.712989217]: Listening to '/collision_object' using message notifier with target frame '/odom_combined '
[ INFO] [1377888324.720032859]: Listening to '/planning_scene_world' for planning scene world geometry
[move_group-5] process has died [pid 11657, exit code -4, cmd /opt/ros/hydro/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/michael/.ros/log/4ed43f30-11a4-11e3-b291-08863b2589c1/move_group-5.log].
log file: /home/michael/.ros/log/4ed43f30-11a4-11e3-b291-08863b2589c1/move_group-5*.log
[ERROR] [1377888327.017819527]: Object recognition action: Unable to connect to action server within allotted time
[rviz_Rinnegan_11584_115703587-6] process has died [pid 11685, exit code -4, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/pr2_moveit_config/launch/moveit.rviz __name:=rviz_Rinnegan_11584_115703587 __log:=/home/michael/.ros/log/4ed43f30-11a4-11e3-b291-08863b2589c1/rviz_Rinnegan_11584_115703587-6.log].
log file: /home/michael/.ros/log/4ed43f30-11a4-11e3-b291-08863b2589c1/rviz_Rinnegan_11584_115703587-6*.log

Now I have never had this error before and it has also cropped up when trying to load up another moveit package for fanuc.

Certainly this is new to me, though I do seem to have an poor run in with action servers

 [ERROR] [1377888327.017819527]: Object recognition action: Unable to connect to action server within allotted time

It is possible to go the long way around through loading up rviz separately, along with a robot_description and then adding motion planning / robot_state within Rviz, however without running move_group I get no planning library loaded and running move_group.launch separately also fails.

What I find odd is that two weeks ago everything ran fine, on two separate computers, I go on holiday, take my slow netbook and install similar two the others the same ROS hydro / moveit etc and it runs fine. In fact I can load the damn thing up and run demo.launch with no problems right now, but coming back the other two computers seem to no longer like me, even after a purge and reinstall of ROS.

Has anything changed in the last two weeks with regards to MoveIt or move_group?

I'm kind of worried on whether I should touch my slow netbook at all in case it gets the same disease :)

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Comments

Good question! In case you don't get any answers here, you should probably post to the [moveit google group](https://groups.google.com/forum/#!forum/moveit-users), perhaps also with a link to this question. Most of the moveit support seems to be happening over there.

Martin Günther gravatar imageMartin Günther ( 2013-09-01 00:28:29 -0500 )edit

I've managed to somehwat get around this problem but probably not in the correct way. I git cloned moveit_core and moveit_ros and catkin_maked them in my src, for some reason this partially failed and didn't complete moveit_ros_move_group, so I copied over the move_group node from opt/ros/... into the devel/lib/moveit_ros_move_group and it all seemed to work fine :S

cdrwolfe gravatar imagecdrwolfe ( 2013-09-02 11:24:40 -0500 )edit

3 Answers

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answered 2013-09-16 13:32:04 -0500

bit-pirate gravatar image

There was a recent change in Rviz (https://github.com/ros-visualization/rviz/issues/680), which forced some plugins to be updated - including MoveIt's MotionPlanning plugin.

The fix is there, but currently only available via sources (hydro-devel) version. I expect there will be another release soonish.

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Comments

Well this is somewhat frustrating :). I decided in some infinite glory to start over again as the Hydro deb has finally been released and reinstall everything. Of course this drove me straight back to the problem above again, however this time my somewhat work around no longer works :). Anyway, first off some clarification, I have been under the assumption that all you really need to do is catkin_make everything once you have essentially git cloned it into source, however I swear half the time the libraries are not being created. I assume moveit_ros should compile the move_group node into the moveit_ros_move_group folder within catkin_ws/devel/lib as it did before, but now nothing. Which brings me to my next question on how exactly do I go about applying the fix above?

cdrwolfe gravatar imagecdrwolfe ( 2013-09-24 01:11:26 -0500 )edit

Did you check for missing system dependencies using rosdep? You also can use for installing catkinized and released ROS packages. In your workspace do ```rosdep install --from-paths src -i -y```

bit-pirate gravatar imagebit-pirate ( 2013-09-24 13:28:34 -0500 )edit
2

answered 2013-09-24 02:24:37 -0500

isucan gravatar image

I do not really understand what is happening here. I am pretty sure things should run fine. What OS are you using? What version of boost is installed? Can you try to remove your devel/ and build/ folders, uninstall any moveit debs and recompile ? If the problem persists, can you e-mail me your urdf and config package? The format of the config packages has changed a bit, so maybe regenerating the package would help too.

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I'm not the one who meet this problem.But I'm curious about how to email to you? I can't find on your profile. Where can find someone's email? Thank you~

sam gravatar imagesam ( 2013-09-26 21:45:07 -0500 )edit
0

answered 2013-09-24 06:21:40 -0500

cdrwolfe gravatar image

updated 2013-09-25 10:53:46 -0500

Well at a third time of trying, with a purge, remove and delete of ROS and a reinstall I managed to somehow get it working. I couldn't install moveit using the apt-get method for some reason due to dependencies:

The following packages have unmet dependencies:  ros-hydro-moveit-full : Depends: ros-hydro-moveit-plugins

Though I did manage to get it installed through the source method. It might have been that I didn't remove ROS as well as I should have, but I'm not sure. At any rate catkin_make of the moveit source worked with libraries and all, so thank you one and all.

EDIT-----------------------------------------------

Well each new fresh install brings with it new problems, I'm beginning to feel MoveIt was designed as a sad masochistic tool for the mind :).

started core service [/rosout]
process[joint_state_publisher-2]: started with pid [14374]
process[robot_state_publisher-3]: started with pid [14377]
/opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher
process[move_group-4]: started with pid [14393]
[ INFO] [1380140962.845805191]: Loading robot model 'fanuc_m10ia'...
process[rviz_Rinnegan_14335_744459016-5]: started with pid [14412]
process[mongo_wrapper_ros_Rinnegan_14335_853156272-6]: started with pid [14448]
[ INFO] [1380140963.133135335]: rviz version 1.10.7
[ INFO] [1380140963.133230089]: compiled against OGRE version 1.7.4 (Cthugha)
[move_group-4] process has died [pid 14393, exit code -11, cmd /home/michael/catkin_ws/devel/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/michael/.ros/log/28b37118-2621-11e3-ad4e-08863b2589c1/move_group-4.log].
log file: /home/michael/.ros/log/28b37118-2621-11e3-ad4e-08863b2589c1/move_group-4*.log
[ERROR] [WallTime: 1380140963.531539] Execution failed: [Errno 2] No such file or directory
[ INFO] [1380140964.182397179]: OpenGl version: 3.3 (GLSL 3.3).
[mongo_wrapper_ros_Rinnegan_14335_853156272-6] process has finished cleanly
log file: /home/michael/.ros/log/28b37118-2621-11e3-ad4e-08863b2589c1/mongo_wrapper_ros_Rinnegan_14335_853156272-6*.log
[ INFO] [1380140969.016555305]: Loading robot model 'fanuc_m10ia'...
[rviz_Rinnegan_14335_744459016-5] process has died [pid 14412, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /home/michael/catkin_ws/src/fanuc_experimental/fanuc_m10ia_moveit_config/launch/moveit.rviz __name:=rviz_Rinnegan_14335_744459016 __log:=/home/michael/.ros/log/28b37118-2621-11e3-ad4e-08863b2589c1/rviz_Rinnegan_14335_744459016-5.log].
log file: /home/michael/.ros/log/28b37118-2621-11e3-ad4e-08863b2589c1/rviz_Rinnegan_14335_744459016-5*.log

This was a standard install hydro-desktop-full, and the packages moveit-core, moveit-ros, moveit-msgs, moveit-plugins, fanuc, fanuc-experimental, industrial-core

Because the error codes are more obtuse then I can handle :), I can only uess that because it occurs before Loading robot model that it is a differant error to the one above, but who knows :S

Also it segmentation faults on adding robot model in rviz. The various moveit packages are from the hydro-devel source and I checked the src code and it does have the changes in motion_planning_display.cpp and planning_scene_display.cpp linked to this error, or so I / above thought.

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Could you check what's the root cause for apt-get not installing moveit-full? You can use synaptic to follow up on the packages, which apt-get cannot install, e.g. moveit-full -> moveit_plugins -> ...

bit-pirate gravatar imagebit-pirate ( 2013-09-24 13:28:08 -0500 )edit

The problem is a messed up build for a package that was added recently in hydro: the moveit_ros_fake_controllers; That is now built correctly, but not yet synced. moveit_plugins depends on this new package. Things will bet fixed at the next sync. In the meantime, you can use the shadow-fixed repos.

isucan gravatar imageisucan ( 2013-09-26 10:31:55 -0500 )edit

Ahh I see, thanks thought I was going insane, can I ask did you assert this from the error code or more likely because you work on it :). If the former how did you discern that it was related to this package? Also, how exactly do you go about getting these shadow fixed repos? do I need to start editing my '/etc/apt/sources.list.d/ros-latest.list' ?

cdrwolfe gravatar imagecdrwolfe ( 2013-09-26 11:15:38 -0500 )edit

I had recently added the deb, and it was broken at the time of the last release. But since it had not been released before, I guess it did not show in regressions. From the package manager (e.g., synaptic) you can figure out the missing package.

isucan gravatar imageisucan ( 2013-09-30 10:01:01 -0500 )edit

shadow-fixed can be added to your /etc/apt/sources.list by appending this line: deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main (use your distro name)

isucan gravatar imageisucan ( 2013-09-30 10:01:53 -0500 )edit

Thanks :), just need to download / learn synaptic

cdrwolfe gravatar imagecdrwolfe ( 2013-09-30 12:04:20 -0500 )edit
stfn gravatar imagestfn ( 2013-10-09 01:03:10 -0500 )edit

I think you maybe right stfn :(, I've just installed everything onto a 64bit MacBook, with 13.04 Raring Ubuntu and so far it seems to load up fine. It seems that this may be linked to the 32bit 13.04 version of Ubuntu as listed in your link

cdrwolfe gravatar imagecdrwolfe ( 2013-11-12 02:48:03 -0500 )edit

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Asked: 2013-08-30 09:08:57 -0500

Seen: 3,436 times

Last updated: Sep 25 '13