bhavyadoshi26's profile - activity

Hi,

I have used the setup assistant of MoveIt to create the config package and it worked fine. But when I launched the demo.launch file, I got the following error :

...
auto-starting new master
process[master]: started with pid [43949]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to eb76e8ea-711b-11e6-8339-480fcf447f3c
process[rosout-1]: started with pid [43963]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [43980]
process[robot_state_publisher-3]: started with pid [43981] 
ERROR: cannot launch node of type [moveit_ros_move_group/move_group]: can't locate node [move_group] in package
[moveit_ros_move_group]
process[rviz_ipt_d_0342_43937_3307353756922455826-5]: started with pid [43982]
[ WARN] [1472827541.765044325]: The root link base_link has an inertia specified in the URDF, but KDL does not     
support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.

The URDF works perfectly fine with RViZ and Joint State Publisher GUI sliders (without MoveIt) and after a while I get the interactive markers in RViZ (with MoveIt) and I am able to move the arm around but it says 'No Planning Library Loaded'. Also system dependencies seem to be satisfied. I'm unable to find out what the exact issue is.

EDIT :

I did binary installation of the MoveIt for Jade. I used this link to install MoveIt. Then I launched the setup assistant and created the config package following this video.

Here are the screenshots of RViz and Terminal after launching demo.launch :

I was following the tutorial on using the MoveIt Setup Assistant to create a MoveIt package for an industrial Robot.

In the Add Planning groups section, it is mentioned that adding a Kinematic Chain is generally preferred over add joints or add links.

But in this MoveIt tutorial, they use the Add Joints for the planning group right_arm and Add Links for the right_gripper group.

I want to know what is the difference between these two approaches. Which one is better and in what situation?

Thanks for all inputs!

Here is my node to add an object and attach it to the robot :

#include <moveit/move_group_interface/move_group.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <geometric_shapes/shape_operations.h>

using namespace Eigen; 

int main(int argc, char **argv)
{

ros::init(argc, argv, "add_workpiece_wall");
ros::NodeHandle nh;

ros::AsyncSpinner spin(1);
spin.start();


moveit::planning_interface::PlanningSceneInterface current_scene;
sleep(2.0);


Vector3d b(0.001, 0.001, 0.001);

moveit_msgs::CollisionObject co;            

co.id = "workpiece_wall";


shapes::Mesh* m = shapes::createMeshFromResource("package://mitsubishi_rv6sd_support/meshes/workpiece_wall.stl",b); 
ROS_INFO("Workpiece Wall mesh loaded");

shape_msgs::Mesh mesh;

shapes::ShapeMsg mesh_msg;  
shapes::constructMsgFromShape(m, mesh_msg);
mesh = boost::get<shape_msgs::Mesh>(mesh_msg);

co.meshes.resize(1);
co.mesh_poses.resize(1);

co.meshes[0] = mesh;
co.header.frame_id = "base_link";   

co.mesh_poses[0].position.x = 0.560651;
co.mesh_poses[0].position.y = 0.579113;
co.mesh_poses[0].position.z = 0.0;
co.mesh_poses[0].orientation.w= 0.0; 
co.mesh_poses[0].orientation.x= 0.0; 
co.mesh_poses[0].orientation.y= 0.0;
co.mesh_poses[0].orientation.z= 0.0;   

co.meshes.push_back(mesh);
co.mesh_poses.push_back(co.mesh_poses[0]);
co.operation = co.ADD;


std::vector<moveit_msgs::CollisionObject> abc;
abc.push_back(co);


ROS_INFO("Workpiece Wall added into the world");
current_scene.addCollisionObjects(abc);
sleep(5.0);

moveit::planning_interface::MoveGroup g("arm");     
ROS_INFO("Attach Workpiece Wall to the robot");
g.attachObject(co.id);
// Sleep to give Rviz time to show the object attached (different color).
sleep(4.0);


ros::shutdown();

return 0;
}

And the error I'm getting is this:

terminate called after throwing an instance of 'std::runtime_error'
  what():  No Trajectory execution capability available.
[add_workpiece_wall-7] process has died [pid 47204, exit code -6, cmd /home/sbr/mitsubishi/devel/lib/mitsubishi_rv6sd_support/add_workpiece_wall __name:=add_workpiece_wall __log:=/home/sbr/.ros/log/d1c6e840-9ac0-11e6-ba06-480fcf447f3c/add_workpiece_wall-7.log].
log file: /home/sbr/.ros/log/d1c6e840-9ac0-11e6-ba06-480fcf447f3c/add_workpiece_wall-7*.log

From my previous question it is somewhat clear that the error is only because of these lines :

moveit::planning_interface::MoveGroup g("arm");     
ROS_INFO("Attach Workpiece Wall to the robot");
g.attachObject(co.id);
// Sleep to give Rviz time to show the object attached (different color).
sleep(4.0);

Hi,

I have writen a node for attaching a collision object to the planning scene. I am using the Apply Planning Scene service for that. Here is my node:

        Vector3d b(0.001, 0.001, 0.001);
        moveit_msgs::AttachedCollisionObject attached_object;   // to attach the object to the robot
        moveit_msgs::CollisionObject remove_object; // to remove the object from the world
        geometry_msgs::Pose pose;  
        moveit_msgs::PlanningScene planning_scene;

        attached_object.link_name = "tool0";    //the link to which the object will be attached
        attached_object.object.header.frame_id = "tool0";     // w.r.t. the link to which it is attached
        attached_object.object.operation = attached_object.object.ADD;
        std::string touch_links = "motor";
      attached_object.touch_links.push_back(touch_links);  

     ROS_INFO("Attaching kinematic_e1 to motor and removing it from the world.");
          attached_object.object.id = "kinematic_e1";
          shapes::Mesh* m = shapes::createMeshFromResource("package://mitsubishi_rv6sd_support/meshes/objects/kinematic_e1.stl",b);
          shape_msgs::Mesh mesh;
          shapes::ShapeMsg mesh_msg;  
          shapes::constructMsgFromShape(m, mesh_msg);
          mesh = boost::get<shape_msgs::Mesh>(mesh_msg);  
          pose.orientation.w = 1.0;
          attached_object.object.meshes.push_back(mesh);
          attached_object.object.mesh_poses.push_back(pose);
          remove_object.id = "kinematic_e1";
          remove_object.header.frame_id = "base_link";
          remove_object.operation = remove_object.REMOVE;

  planning_scene.world.collision_objects.clear();
  planning_scene.world.collision_objects.push_back(remove_object);  //This step removes the object from the world 
  planning_scene.robot_state.attached_collision_objects.push_back(attached_object); //This step attaches the object to the robot
  planning_scene.is_diff = true;    //Update the planning scene as a diff
  planning_scene.robot_state.is_diff = true;    //Update the robot state as a diff

  //Using services to make changes to the planning scene
  ros::ServiceClient planning_scene_diff_client = node_handle.serviceClient<moveit_msgs::ApplyPlanningScene>("apply_planning_scene");
  planning_scene_diff_client.waitForExistence();

  moveit_msgs::ApplyPlanningScene srv;
  srv.request.scene = planning_scene;
  planning_scene_diff_client.call(srv);

Then I try to check the AllowedCollisionMatrix for the attached object (kinematic_e1 in this case). I use the GetPlanningScene service to get a copy of the allowed collision matrix. But when I query the entry names in the matrix, I cannot find the name of the attached object in the list.

    moveit_msgs::PlanningScene currentScene;
   moveit_msgs::GetPlanningScene scene_srv;
    scene_srv.request.components.components = scene_srv.request.components.ALLOWED_COLLISION_MATRIX;
    if(!client_get_scene_.call(scene_srv))
    {
        ROS_WARN("Failed to call service /get_planning_scene");
    }
    else
    {
        ROS_INFO_STREAM("Initial scene!");
        currentScene = scene_srv.response.scene;
        moveit_msgs::AllowedCollisionMatrix currentACM = currentScene.allowed_collision_matrix;

        ROS_ERROR_STREAM("size of acm_entry_names before " << currentACM.entry_names.size());
    for (int i = 0; i < currentACM.entry_names.size(); i++)
      ROS_ERROR_STREAM(" Name =  " << currentACM.entry_names[i]);
        ROS_ERROR_STREAM("size of acm_entry_values before " << currentACM.entry_values.size());
        ROS_ERROR_STREAM("size of acm_entry_values[0].entries before " << currentACM.entry_values[0].enabled.size());

How can I find the attached object in the allowed collision matrix?

I dont know if this is related but when I give a pose goal where a definite collision between the robot and the robot attached link wil occur, the planning fails. This kind of tells me that MoveIt! plans taking into consideration the attached object. It appears correctly in RViz as well. Then why does the name of the attached object not show up in the allowed collision matrix?

As mentioned in this answer and the links given in it, KDL will work well for DOF more than 5. Since you have a 4 DOF arm, you can try to create an IKFast plugin following this tutorial. It seems that IKFast will suit your application better.

The links don't have any origin element. Have you checked the geometric origins for the links? Refer to the answer and comments in this question to see if it helps. Also if possible please share the RViz screenshot.

Can you provide the links for both the urdf files?

@F4bich, I have the same problem. sudo apt-get install ros-indigo-moveit is not being located.

@v4hn I was having the same issue and as a workaround I tried attaching the object to a link with collision geometry. But I still see collision in between the attached object and the environment. Any hints on what the issue might be?

Is this issue fixed and has it been released?

Hello,

I have a workspace created and most of my ROS packages are in the workspace. But when I clone a new package and try to run catkin_make I get the following error.

CMake Error at /opt/ros/jade/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by "urdfdom_py" with any of the following names:

urdfdom_pyConfig.cmake
urdfdom_py-config.cmake

Add the installation prefix of "urdfdom_py" to CMAKE_PREFIX_PATH or set "urdfdom_py_DIR" to a directory containing one of the above files.  If "urdfdom_py" provides a separate development package or SDK, be sure it has been installed. 

Call Stack (most recent call first): 
srdfdom/CMakeLists.txt:10 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/.../first_workspace/build/CMakeFiles/CMakeOutput.log".   
See also "/home/.../first_workspace/build/CMakeFiles/CMakeError.log". 
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
$

What could be the issue and how can I solve it?

I tried planning with RRTconnect and it works. @gvdhoorn What could be the reason LBKPIECE didn't work?

Yes I get them on my terminal. I will edit the question to include them.

Have you solved it?

Hi,

I want to know if it is possible to attach an object to an already attached object to the robot.

I tried to attach a second object to the first object (already attached to the robot) but got the error Link 'first_object' not found in model 'robot'

I attached the second object as a planning scene diff with these details :

attached_object.link_name = "first_object"; planning_scene.robot_state.attached_collision_objects.push_back(attached_object) planning_scene.robot_state.is_diff = true;

Yes, I had manually shifted the origin of the second_object so that they would be oriented properly when attached to the link. But after reading your comment, I got another idea of how to do it. So I set the origins at the right places and set up some parameters and now it works fine. Thank you!