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Resolve trac_ik "deprecated API", pilz "Multi-DOF-Joint" and TF exception "map" warnings on start-up #3

Closed alexander-sung closed 1 year ago

alexander-sung commented 1 year ago

On start-up roslaunch tables_demo_bringup demo_sim.launch, these warnings appear:

IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [/mobipick/move_group]

The same warning is shown for [/mobipick/moveit_macros] and [/mobipick/move_group_commander_wrappers_<ID>] later, most likely due to same root cause.

Later these warnings appear:

Multi-DOF-Joint 'mobipick/virtual_joint' not supported. [/mobipick/move_group]
Unable to update multi-DOF joint 'mobipick/virtual_joint': Failure to lookup transform between 'map' and 'mobipick/base_footprint' with TF exception: "map" passed to lookupTransform argument target_frame does not exist.  [/mobipick/move_group]
mintar commented 1 year ago

IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).

This is a bug in trac_ik_kinematics_plugin. The issue is tracked here. Looks like an easy fix; somebody should send a pull request.

Multi-DOF-Joint 'mobipick/virtual_joint' not supported.

This is a warning from the pilz_industrial_motion_planner (this line). Related to https://github.com/ros-planning/moveit/issues/2930. The warning gets printed because there is a floating virtual joint in our model, but the planner doesn't even have to plan for it because we use the base_link as the planning frame, so planning still works despite the warning.

Unable to update multi-DOF joint 'mobipick/virtual_joint': Failure to lookup transform between 'map' and 'mobipick/base_footprint' with TF exception: "map" passed to lookupTransform argument target_frame does not exist. [/mobipick/move_group]

I think this is a transient error that goes away as soon as the map frame gets published.

alexander-sung commented 1 year ago

That's a nice tongue twister title now. 😃

mintar commented 1 year ago

Yes, but at least it's specific enough so I don't have to click all 6 similarly-looking titles until I find the one I'm looking for. :)

mintar commented 1 year ago

Also should probably have been 3 separate issues, that would make the titles shorter. :-P

alexander-sung commented 1 year ago

I considered the same but since I didn't know about their root causes I didn't want to create even more issues. We still can, what seems better than cross-linking multiple issues in case they're related.

alexander-sung commented 1 year ago

Closing this as not planned from our side. @mintar wrote above which updates would be needed for the dependencies.