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I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7.

My issue is exactly the same as this one from 5 years ago, but that question is never answered.

I added 3D perception to MoveIt following Perception Pipeline Tutorial.

Content of niryo_one_moveit_config/config/sensors_3d.yaml :

sensors:
  - filtered_cloud_topic: filtered_cloud
    max_range: 5.0
    max_update_rate: 1.0
    padding_offset: 0.1
    padding_scale: 1.0
    point_cloud_topic: /camera/depth/points
    point_subsample: 1
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

Content of niryo_one_moveit_config/launch/sensor_manager.launch.xml:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->

  <!-- Params for 3D sensors config -->
  <rosparam command="load" file="$(find niryo_one_moveit_config)/config/sensors_3d.yaml" />

  <!-- Params for the octomap monitor -->
  <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="niryo_one" />
  <include file="$(find niryo_one_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

It works for me, as shown in the following figure (I used RealSense plugin to simulate the camera).

And in /move_group/monitored_planning_scene, I had actual content in octomap:

name: "(noname)+"
robot_state: 
  joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 428
        nsecs: 194000000
      frame_id: "/world"
    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, gripper_joint, left_clamp_joint,
  left_rod_joint, right_gear_joint, right_clamp_joint, right_rod_joint]
    position: [0.0002741740361669187, -0.005544641035825748, -0.0047824728172924935, -0.004096483894079128, -0.009302052764738278, -0.0036276511038133563, 2.7370436193052683e-06, -4.863704734958674e-06, 3.8067452639012345e-06, 3.5276141945317363e-06, -4.115511588409504e-06, -4.813747795928691e-06]
    velocity: []
    effort: []
  multi_dof_joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: False
robot_model_name: "niryo_one"
fixed_frame_transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    child_frame_id: "/world"
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
allowed_collision_matrix: 
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding: []
link_scale: []
object_colors: []
world: 
  collision_objects: []
  octomap: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    origin: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap: 
      header: 
        seq: 0
        stamp: 
          secs: 0
          nsecs:         0
        frame_id: ''
      binary: False
      id: "OcTree"
      resolution: 0.025
      data: [-70, -76, 96, 64, -86, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, -32, 117, 0, 0, -64, -128, 117, 0, 0, -64, 64, 117, 0, 0, -64, 64, 117, 0, 0, -64, -64, 117, 0, 0, -64, -128, 117, 0, 0, -64, -32, ...]
      is_diff: True

However, when tested on hardware, the octomap is not shown. The only difference is the point cloud topic. On hardware, the topic name is ... (more)

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7.

I have a Niry One robot arm (with Raspberry Pi 3 inside), and wanted to control it using MoveIt from my laptop. Move_group, however, cannot find the controller that has already been loaded. Please tell me whether what I am trying to do is possible, and if yes, what went wrong here?

A small problem: Why am I getting this Couldn't find an AF_INET address for [matebook-x].

Pi and my matebook-x are in the same wifi network. I have export ROS_MASTER_URI=http://192.168.2.31:11311 on both computers, export ROS_IP=192.168.2.31 on matebook-x and export ROS_IP=192.168.2.36 on Pi over ssh as suggested in this question.

The following log from Pi over ssh shows that niryo_one_follow_joint_trajectory_controller has been sucessfully loaded.

started roslaunch server http://192.168.2.36:39967/

SUMMARY
========

PARAMETERS
 * /niryo_one/hardware_version: 2
 * /niryo_one/info/image_version: 2.2.0
 * /niryo_one/info/niryo_one_one_robot_type: NIRYO_ONE
 * /niryo_one/info/ros_version: 2.2.0
 * /niryo_one/motors/can_required_motors: [1, 2, 3]
 * /niryo_one/motors/dxl_authorized_motors: [2, 3, 6, 11, 12,...
 * /niryo_one/motors/dxl_required_motors: [2, 3, 6]
 * /niryo_one/motors/stepper_1_direction: -1.0
 * /niryo_one/motors/stepper_1_gear_ratio: 6.0625
 * /niryo_one/motors/stepper_1_home_position: 0.0
 * /niryo_one/motors/stepper_1_max_effort: 90
 * /niryo_one/motors/stepper_1_offset_position: 3.05433
 * /niryo_one/motors/stepper_2_direction: -1.0
 * /niryo_one/motors/stepper_2_gear_ratio: 8.3125
 * /niryo_one/motors/stepper_2_home_position: 0.640187
 * /niryo_one/motors/stepper_2_max_effort: 130
 * /niryo_one/motors/stepper_2_offset_position: 0.640187
 * /niryo_one/motors/stepper_3_direction: 1.0
 * /niryo_one/motors/stepper_3_gear_ratio: 7.875
 * /niryo_one/motors/stepper_3_home_position: -1.397485
 * /niryo_one/motors/stepper_3_max_effort: 120
 * /niryo_one/motors/stepper_3_offset_position: -1.397485
 * /niryo_one/motors/stepper_4_direction: -1.0
 * /niryo_one/motors/stepper_4_gear_ratio: 5.0
 * /niryo_one/motors/stepper_4_home_position: 0.0
 * /niryo_one/motors/stepper_4_max_effort: 90
 * /niryo_one/motors/stepper_4_offset_position: 2.791
 * /niryo_one/python_api/action_connection_timeout: 2
 * /niryo_one/python_api/action_execute_timeout: 15
 * /niryo_one/python_api/action_preempt_timeout: 3
 * /niryo_one/python_api/service_timeout: 2
 * /niryo_one/reboot_when_auto_change_version: True
 * /niryo_one/robot_command_validation/joint_limits/j1/max: 3.05433
 * /niryo_one/robot_command_validation/joint_limits/j1/min: -3.05433
 * /niryo_one/robot_command_validation/joint_limits/j2/max: 0.640187
 * /niryo_one/robot_command_validation/joint_limits/j2/min: -1.91986
 * /niryo_one/robot_command_validation/joint_limits/j3/max: 1.570796
 * /niryo_one/robot_command_validation/joint_limits/j3/min: -1.397485
 * /niryo_one/robot_command_validation/joint_limits/j4/max: 3.05433
 * /niryo_one/robot_command_validation/joint_limits/j4/min: -3.05433
 * /niryo_one/robot_command_validation/joint_limits/j5/max: 1.91986
 * /niryo_one/robot_command_validation/joint_limits/j5/min: -1.74533
 * /niryo_one/robot_command_validation/joint_limits/j6/max: 2.57436
 * /niryo_one/robot_command_validation/joint_limits/j6/min: -2.57436
 * /niryo_one/robot_command_validation/position_limits/x/max: 0.5
 * /niryo_one/robot_command_validation/position_limits/x/min: -0.5
 * /niryo_one/robot_command_validation/position_limits/y/max: 0.5
 * /niryo_one/robot_command_validation/position_limits/y/min: -0.5
 * /niryo_one/robot_command_validation/position_limits/z/max: 0.65
 * /niryo_one/robot_command_validation/position_limits/z/min: -0.15
 * /niryo_one/robot_command_validation/rpy_limits/pitch/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/pitch/min: -3.14159
 * /niryo_one/robot_command_validation/rpy_limits/roll/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/roll/min: -3.14159
 * /niryo_one/robot_command_validation/rpy_limits/yaw/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/yaw/min: -3.14159
 * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/max: 1023
 * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/min: 0
 * /niryo_one ...

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7. My repository is at https://github.com/yiyinglai/FetchIt.

I was doing something similar to this tutorial and launched gazebo, rviz and controllers using

roslaunch niryo_one_d415_moveit_config niryo_one_d415_coca_cola.launch

and a niryo_one_pick_place node (I removed the place part from the tutorial) using

roslaunch niryo_one_pick_place pick_place.launch

When the object is not obstructing the robot (or when gazebo is not even launched, I believe), the pick operation carries out as expected. As shown in the video below, the robot arm approaches, picks up and retreats with the object attached at the tool_link.

The main logging:

[ INFO] [1586817787.310136812, 17.032000000]: Planning attempt 1 of at most 1
[ INFO] [1586817787.350711758, 17.038000000]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1586817787.420852165, 17.051000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1586817787.422522438, 17.051000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1586817787.469576948, 17.061000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1586817787.476083876, 17.066000000]: Solution found in 0.054375 seconds
[ INFO] [1586817787.550710569, 17.078000000]: SimpleSetup: Path simplification took 0.074395 seconds and changed from 4 to 2 states
[ INFO] [1586817787.561913385, 17.081000000]: Found successful manipulation plan!
[ INFO] [1586817787.562412652, 17.081000000]: Pickup planning completed after 0.252041 seconds
[ INFO] [1586817798.348857044, 21.571000000]: Completed trajectory execution with status SUCCEEDED ...

When the object is actually in place in gazebo, the pick operation failed as shown in the video below.

Here is the main logging:

[ INFO] [1586814556.588570711, 20.136000000]: Planning attempt 1 of at most 1
[ INFO] [1586814556.622188757, 20.140000000]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1586814556.723219387, 20.167000000]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 0
[ WARN] [1586814556.724581191, 20.168000000]: All supplied grasps failed. Retrying last grasp in verbose mode.
[ INFO] [1586814556.724829331, 20.168000000]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1586814556.743553190, 20.168000000]: IK failed
[ INFO] [1586814556.811681475, 20.182000000]: IK failed
[ INFO] [1586814556.816149899, 20.183000000]: Orientation constraint satisfied for link 'tool_link'. Quaternion desired: 0.500000 0.500000 0.500000 0.500000, quaternion actual: 0.497276 0.500788 0.503431 0.498483, error: x=0.003857, y=0.008457, z=0.001453, tolerance: x=0.010000, y=0.010000, z=0.010000
[ INFO] [1586814556.816250318, 20.183000000]: Position constraint satisfied on link 'tool_link'. Desired: 0.365000, 0.000000, 0.350000, current: 0.364621, 0.000658, 0.349397
[ INFO] [1586814556.816288274, 20.183000000]: Differences 0.000379473 -0.00065784 0.000603184
[ INFO] [1586814556.868221647, 20.192000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1586814556.878696365, 20.194000000]: RRTConnect: Starting planning with 1 states ...