FlorianSp's profile - activity

I have built ROS2 Galactic, Moveit2 and Main Branch of UR Driver https://github.com/UniversalRobots/Un... on Ubuntu. By starting like the tutorial from driver with MoveIt I got the following error on different parameters:

[rviz2-3] [INFO] [1639652465.916282193] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00852234 seconds
[rviz2-3] [INFO] [1639652465.917162913] [moveit_robot_model.robot_model]: Loading robot model 'ur'... 
[rviz2-3] [ERROR] [1639652465.936346953] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.shoulder_pan_joint.max_position} is of type {double}, setting it to {string} is not allowed.

It comes from a yaml File like this:

joint_limits:   shoulder_pan_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 330.0
    max_position: !degrees  360.0
    max_velocity: !degrees  120.0
    min_position: !degrees -360.0
       shoulder_lift_joint:
    # acceleration limits are not publicly available
    has_acceleration_limits: false
    has_effort_limits: true
    has_position_limits: true
    has_velocity_limits: true
    max_effort: 330.0
    max_position: !degrees  360.0
    max_velocity: !degrees  120.0
    min_position: !degrees -360.0   elbow_joint: [....]

And loaded in a Launch File:

[....] 
description_package = LaunchConfiguration("description_package") 
[....] 
joint_limit_params = PathJoinSubstitution(   [FindPackageShare(description_package), "config", ur_type, "joint_limits.yaml"]) 
[....] 
robot_description_content = Command(
       [ [....] " ",
           "joint_limit_params:=",
           joint_limit_params,
           " ",[....]   ]) 
robot_description = {"robot_description": robot_description_content} 
[....] 
rviz_config_file = PathJoinSubstitution(    [FindPackageShare(moveit_config_package), "rviz", "view_robot2.rviz"] ) 
rviz_node = Node(    
    package="rviz2",
    condition=IfCondition(launch_rviz),
    executable="rviz2",
    name="rviz2_moveit",
    output="log",
    arguments=["-d", rviz_config_file],
    parameters=[
       robot_description,
       robot_description_semantic,
       ompl_planning_pipeline_config,
       robot_description_kinematics,
       robot_description_planning,
       octomap_config,
       octomap_updater_config,]
    ,)
[....]

Is there anything wrong with the Launch File, Ubuntu, MoveIt!2 or ROS2 configuration, that it tries to load it as string?

Perhaps it could have something to do with it: I am not allowed now to publish a double with to_string to the RCLCPP Logger. It was absolutely working under Foxy on the same Machine.

RCLCPP_INFO(LOGGER, std::to_string(q.x()));

First my Setup:

• Ubuntu 20.04
• ROS2 Foxy from Debian Packages
• MoveIt!2 ROS2 UR Driver from https://github.com/UniversalRobots/Un...
• own Node for Launching RViz with moveIt and the Robot Driver connected to the URSimulator for Linux: all working
• own Node for Receiving a Pointcloud over Network from an RGB-D Camera publishing it as Pointcloud2 in a topic: I can see the Pointcloud in RViz

I would like to use the Pointcloud as "Collision Object" in MoveIt so I tried to use the Perception Pipeline Tutorial from here: https://ros-planning.github.io/moveit... But I can't transfer it from Moveit1 to Moveit2. I tried to find the sensor_manager.launch file or to create it, but got stuck here. Is there another way to give the PointCloud2 the OccupancyMapMonitor?

Thank you for your efforts.

Florian

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