peter1234's profile - activity

I dont undestand why should I use catkin worksapce. When I export a package from Moveit Setup Assistant I move it on opt/ros/indigo/share and I launch it with roslaunch di/rec/tory/demo.launch. But the name of the exported package must be the same as the urdf package.

If I move the exported file from Moveit Setup Assistant to home/name/catkin_ws/src and run cakin_make and launch it with roslaunch home/name/catkin_ws/src/<package_name>/launch/demo.launch it gives many errors.

The question: Am I doing the right way or should I use catkin workspace?

Upadate 1: The error was because I was not running this command source devel/setup.bash before catkin_make . Now it works. But if I import urdf file to Moveit Setup Assistant it will load only if it is on opt/ros/indigo/share if i load the urdf file from local work-space the urdf package with meshes is not found.

The question 2: What should I install to local work-space catkin_ws/src (if this is the right path)?

Update 2: catkin_make fails when I install rviz_visual_tools and moveit_tutorials on catkin_ws/src
Info:

student@:~/catkin_ws$ source devel/setup.bash
student@:~/catkin_ws$ catkin_make
Base path: /home/student/catkin_ws
Source space: /home/student/catkin_ws/src
Build space: /home/student/catkin_ws/build
Devel space: /home/student/catkin_ws/devel
Install space: /home/student/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/student/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/student/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/student/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/student/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/student/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - assem_moveit_config
-- ~~  - rviz_visual_tools
-- ~~  - moveit_visual_tools
-- ~~  - moveit_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'assem_moveit_config'
-- ==> add_subdirectory(assem_moveit_config)
-- +++ processing catkin package: 'rviz_visual_tools'
-- ==> add_subdirectory(rviz_visual_tools)
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "graph_msgs" with
  any of the following names:

    graph_msgsConfig.cmake
    graph_msgs-config.cmake

  Add the installation prefix of "graph_msgs" to CMAKE_PREFIX_PATH or set
  "graph_msgs_DIR" to a directory containing one of the above files.  If
  "graph_msgs" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  rviz_visual_tools/CMakeLists.txt:13 (find_package)


-- Could not find the required component 'graph_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "graph_msgs" with
  any of the following names:

    graph_msgsConfig.cmake
    graph_msgs-config.cmake

  Add the installation prefix of "graph_msgs" to CMAKE_PREFIX_PATH or set
  "graph_msgs_DIR" to a directory containing ...

After I import the package to Moveit I cant see Interactive markers to my robot so I can't execute a motion plan. I have checked urdf with check_urdf, I can move all links on Moveit Setup Assistant and all looks ok. I start Rviz with roslaunch '/home/student/Desktop/robot_moveit_config/launch/demo.launch' I export files from Moveit Setup Assistant to Desktop then I move folder to /opt/ros/indigo/share , I do roslaunch /opt/ros/indigo/share/assem5_moveit_config/launch/demo.launch Markers appeared one time but not again after re-export, am I doing right way?

[Screenshoots, Robot, Moveit setup assistant.] ( https://postimg.org/gallery/pcyvpyvk/ )

SRDF:

  <robot name="Assem5.SLDASM">
    <group name="arms"><link name="link_1"/>
       <link name="link_2"/>
      <link name="link_3"/>
      <link name="link_4"/>
      <link name="link_5_tool"/>
    </group>
    <group_state name="pose_0" group="arms">
      <joint name="joint_1" value="0"/>
      <joint name="joint_2" value="0"/>
      <joint name="joint_3" value="0"/>
      <joint name="joint_4" value="0"/>
      <joint name="joint_5_tool" value="0"/>
    </group_state>
    <end_effector name="end_effector_link 5" parent_link="link_4" group="arms"/>
    <virtual_joint name="base_joint_virtual_link" type="fixed" parent_frame="world_frame" child_link="base_link"/>

Information when i upload it to Moveit:

[ INFO] [1480689682.201512724]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1480689682.201602195]: MoveGroup context initialization complete
All is well! Everyone is happy! You can start planning now!
Registered event listener change listener:  true 
[ INFO] [1480689683.789499562]: Loading robot model 'Assem5.SLDASM'...
[ WARN] [1480689683.935955978]: Could not identify parent group for end-effector 'end_effector_link 5' 
[ INFO] [1480689684.093612791]: Loading robot model 'Assem5.SLDASM'...
[ WARN] [1480689684.233352057]: Could not identify parent group for end-effector 'end_effector_link 5'
[ WARN] [1480689684.233805597]: 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.
[ INFO] [1480689684.818941731]: Starting scene monitor
[ INFO] [1480689684.826124575]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1480689685.533798626]: 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] [1480689685.534217491]: No active joints or end effectors found for group 'arms'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ WARN] [1480689685.534651803]: 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.
[ INFO] [1480689685.541682110]: No active joints or end effectors found for group 'arms'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1480689685.544602709]: Constructing new MoveGroup connection for group 'arms' in namespace ''
[ INFO] [1480689686.447761196]: Ready to take MoveGroup commands for group arms.
[ INFO] [1480689686.447874546]: Looking around: no
[ INFO] [1480689686.447957077]: Replanning: no

Update 1:

[Robot structure] ( https://s24.postimg.org/a3zd9atid/rob ... (more)