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Moveit! interactive marker is not appearing

I am running ROS kinetic using rviz version 1.12.15 on Ubuntu 16.04.3 LTS (and kernal name 4.13.0-32-generic).

I am following the moveit! Rviz plugin tutorial with PR2 here. I used the setup assistant tutorial here to generate the package.

When I launch the generated package using roslaunch pr2_moveit_config demo.launch, The interact tool will not appear, nor will the interactive markers on the robot. Even when the interactive tool is pressed, the cursor stays as the camera.

I have read previous posts on this topic, such as making sure the end effector is correctly defined and adding a kinematic chain, but these do not seem to resolve my issue. In fact, very few tutorials I've seen have consistent steps for the moveit! setup assistant.

I also followed a tutorial on youtube (https://www.youtube.com/watch?v=l4dtSRvlAjg) by stephen zuccaro, who uses a vastly simpler robot URDF to generate a package. It still runs into the same issue when I try running demo.launch with this.

Does anyone know why this is an issue? Why doesn't the interactive marker appear? Are there any correct tutorials I can follow to get a working demo?

Moveit! interactive marker is not appearing

I am running ROS kinetic using rviz version 1.12.15 on Ubuntu 16.04.3 LTS (and kernal name 4.13.0-32-generic).

I am following the moveit! Rviz plugin tutorial with PR2 here. I used the setup assistant tutorial here to generate the package.

When I launch the generated package using roslaunch pr2_moveit_config demo.launch, The interact tool will not appear, nor will the interactive markers on the robot. Even when the interactive tool is pressed, the cursor stays as the camera.

I have read previous posts on this topic, such as making sure the end effector is correctly defined and adding a kinematic chain, but these do not seem to resolve my issue. In fact, very few tutorials I've seen have consistent steps for the moveit! setup assistant.

I also followed a tutorial on youtube (https://www.youtube.com/watch?v=l4dtSRvlAjg) by stephen zuccaro, who uses a vastly simpler robot URDF to generate a package. It still runs into the same issue when I try running demo.launch with this.

Does anyone know why this is an issue? Why doesn't the interactive marker appear? Are there any correct tutorials I can follow to get a working demo?

For simplicity, I have attached the console output when I open the package generated using the simple URDF in stephen zuccaro's tutorial:

robert:src$ roslaunch moveit_abb_mobile demo.launch 
... logging to /home/robert/.ros/log/268f8cc8-31c0-11e8-9b2a-c48e8ffa900d/roslaunch-robert-XPS-13-9343-13293.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robert-XPS-13-9343:38931/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.005
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/controller_list: [{'joints': ['joi...
 * /move_group/gripping_tool/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 3.142
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 3.142
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 3.142
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 5.585
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 6.632
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 8.029
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.12
 * /rviz_robert_XPS_13_9343_13293_5834833930131185307/arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_robert_XPS_13_9343_13293_5834833930131185307/arm/kinematics_solver_attempts: 3
 * /rviz_robert_XPS_13_9343_13293_5834833930131185307/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_robert_XPS_13_9343_13293_5834833930131185307/arm/kinematics_solver_timeout: 0.005
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_robert_XPS_13_9343_13293_5834833930131185307 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [13310]
process[robot_state_publisher-2]: started with pid [13311]
process[move_group-3]: started with pid [13312]
process[rviz_robert_XPS_13_9343_13293_5834833930131185307-4]: started with pid [13325]
[ INFO] [1522169329.589910337]: Loading robot model 'abb_irb1600id'...
[ INFO] [1522169329.590085979]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1522169329.657724240]: Loading robot model 'abb_irb1600id'...
[ INFO] [1522169329.657820985]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1522169329.669661254]: rviz version 1.12.14
[ INFO] [1522169329.669748358]: compiled against Qt version 5.5.1
[ INFO] [1522169329.670221735]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1522169329.742573207]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1522169329.747674234]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1522169329.747729660]: Starting scene monitor
[ INFO] [1522169329.754319122]: Listening to '/planning_scene'
[ INFO] [1522169329.754415176]: Starting world geometry monitor
[ INFO] [1522169329.760543745]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1522169329.767279245]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1522169329.786137572]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1522169329.831253585]: Initializing OMPL interface using ROS parameters
[ INFO] [1522169329.870635034]: Stereo is NOT SUPPORTED
[ INFO] [1522169329.870855554]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1522169329.933530977]: Using planning interface 'OMPL'
[ INFO] [1522169329.938165647]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1522169329.939474643]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1522169329.940327105]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1522169329.941152414]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1522169329.942180917]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1522169329.943340348]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1522169329.943799647]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1522169329.943990757]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1522169329.944138119]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1522169329.944304796]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1522169329.944413473]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1522169329.947876179]: 
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1522169329.949097549]: 
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ INFO] [1522169329.955848071]: Fake controller 'fake_arm_controller' with joints [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ INFO] [1522169329.956599415]: Fake controller 'fake_gripping_tool_controller' with joints [ ]
[ INFO] [1522169329.957342986]: Returned 2 controllers in list
[ INFO] [1522169329.983463686]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1522169330.085573554]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1522169330.085639750]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1522169330.085668030]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1522169333.357732062]: Loading robot model 'abb_irb1600id'...
[ INFO] [1522169333.357899818]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1522169333.424549965]: Loading robot model 'abb_irb1600id'...
[ INFO] [1522169333.424687587]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1522169333.506653185]: Starting scene monitor
[ INFO] [1522169333.511939471]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1522169333.997094513]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1522169334.001045252]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1522169334.812940247]: 
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1522169334.819724550]: Ready to take commands for planning group arm.
[ INFO] [1522169334.820053582]: Looking around: no
[ INFO] [1522169334.820131348]: Replanning: no
^C[rviz_robert_XPS_13_9343_13293_5834833930131185307-4] killing on exit
[move_group-3] killing on exit
[robot_state_publisher-2] killing on exit
[joint_state_publisher-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done