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IFRA-Cranfield / ros2_SimRealRobotControl

This repository provides ready-to-use ROS2 (Humble) packages to execute simple programs and sequences and control different Industrial and Collaborative Robots using ROS 2.
Apache License 2.0
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Warning message appeared after started Moveit + Gazebo for ur10e #3

Closed maoyangchien closed 1 year ago

maoyangchien commented 1 year ago

I was able to launch MoveIt and Gazebo for the UR10e using this command:

ros2 launch ros2srrc_ur10e_moveit2 ur10e_interface.launch.py

However, I encountered the following warning messages:

[move_group-9] [WARN] [1692597319.044961714] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597320.073657477] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597321.095780231] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597322.097822385] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597323.121625694] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing BASE_TF_joint, TCP_joint

Do these warning messages affect the functionality?

MikelBueno commented 1 year ago

Hi @maoyangchien,

Thanks for your comment.

No, those are warning messages and do not affect the performance. I will fix those and remove all the unnecessary warnings in the future.

Regards, Mikel, IFRA-Cranfield