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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
BSD 3-Clause "New" or "Revised" License
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[Question]: Don't have perception packages & planning pipelines fails to load #88

Closed Xpeng1999 closed 1 year ago

Xpeng1999 commented 1 year ago

Question

1. Correlation packet deletion:

When I execute ros2 pkg list | grep interbotix, it shows:

interbotix_common_modules
interbotix_common_sim
interbotix_common_toolbox
interbotix_moveit_interface
interbotix_moveit_interface_msgs
interbotix_ros_xsarms
interbotix_ros_xsarms_examples
interbotix_ros_xseries
interbotix_rpi_modules
interbotix_rpi_msgs
interbotix_rpi_toolbox
interbotix_tf_tools
interbotix_xs_driver
interbotix_xs_modules
interbotix_xs_msgs
interbotix_xs_ros_control
interbotix_xs_rviz
interbotix_xs_sdk
interbotix_xs_toolbox
interbotix_xsarm_control
interbotix_xsarm_descriptions
interbotix_xsarm_joy
interbotix_xsarm_moveit
interbotix_xsarm_moveit_interface
interbotix_xsarm_ros_control
interbotix_xsarm_sim**

I don't have any package related to perception.

2. Some errors reported:

When I execute ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx250s hardware_type:=actual, it has some errors:

robot@WP:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx250s hardware_type:=actual
[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2023-06-15-21-10-48-705324-WP-15187
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [15207]
[INFO] [rviz2-2]: process started with pid [15209]
[INFO] [ros2_control_node-3]: process started with pid [15211]
[INFO] [spawner-4]: process started with pid [15213]
[INFO] [spawner-5]: process started with pid [15215]
[INFO] [xs_sdk-6]: process started with pid [15217]
[INFO] [robot_state_publisher-7]: process started with pid [15219]
[xs_sdk-6] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-6] [INFO] Using logging level 'INFO'.
[xs_sdk-6] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/modes.yaml'.
[xs_sdk-6] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx250s.yaml'.
[move_group-1] [WARN] [1686834649.903149935] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1686834649.903192785] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1686834649.905659539] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00233334 seconds
[move_group-1] [INFO] [1686834649.905696496] [moveit_robot_model.robot_model]: Loading robot model 'wx250s'...
[move_group-1] [INFO] [1686834649.905711789] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] Link wx250s/base_link had 1 children
[move_group-1] Link wx250s/shoulder_link had 1 children
[move_group-1] Link wx250s/upper_arm_link had 1 children
[move_group-1] Link wx250s/upper_forearm_link had 1 children
[move_group-1] Link wx250s/lower_forearm_link had 1 children
[move_group-1] Link wx250s/wrist_link had 1 children
[move_group-1] Link wx250s/gripper_link had 1 children
[move_group-1] Link wx250s/ee_arm_link had 2 children
[move_group-1] Link wx250s/gripper_prop_link had 0 children
[move_group-1] Link wx250s/gripper_bar_link had 1 children
[move_group-1] Link wx250s/fingers_link had 3 children
[move_group-1] Link wx250s/ee_gripper_link had 0 children
[move_group-1] Link wx250s/left_finger_link had 0 children
[move_group-1] Link wx250s/right_finger_link had 0 children
[move_group-1] [INFO] [1686834649.967807732] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1686834649.968270445] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/wx250s/joint_states' for joint states
[move_group-1] [INFO] [1686834649.968862987] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/wx250s/joint_states'
[move_group-1] [INFO] [1686834649.969470260] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1686834649.969492425] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1686834649.970294583] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1686834649.970312372] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1686834649.970595800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1686834649.970897288] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1686834649.971179384] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1686834649.971198980] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1686834649.971211248] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1686834649.974943432] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [ERROR] [1686834649.975927780] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are Available plugins:
[move_group-1] [INFO] [1686834649.977948935] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1686834649.977966299] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1686834649.977970076] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1686834649.977982530] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1686834649.977994945] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1686834649.977999277] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1686834649.978015193] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1686834649.978019261] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1686834649.978029351] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1686834649.978060862] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1686834649.978065965] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1686834649.978068859] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1686834649.978071468] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1686834649.978074017] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1686834649.979076713] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'move_group'.
[move_group-1] [ERROR] [1686834649.979477495] [moveit.ros_planning_interface.moveit_cpp]: Failed to load any planning pipelines.
[move_group-1] [FATAL] [1686834649.979496089] [moveit.ros_planning_interface.moveit_cpp]: Failed to load planning pipelines from parameter server
[move_group-1] terminate called after throwing an instance of 'std::runtime_error'
[move_group-1]   what():  Failed to load planning pipelines from parameter server
[move_group-1] Stack trace (most recent call last):
[move_group-1] #10   Object "", at 0xffffffffffffffff, in
[move_group-1] #9    Object "/opt/ros/galactic/lib/moveit_ros_move_group/move_group", at 0x55d205bfb0cd, in
[xs_sdk-6] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[move_group-1] #8    Source "../csu/libc-start.c", line 308, in __libc_start_main [0x7fa8725a4082]
[move_group-1] #7    Object "/opt/ros/galactic/lib/moveit_ros_move_group/move_group", at 0x55d205bfa607, in
[move_group-1] #6    Object "/opt/ros/galactic/lib/libmoveit_cpp.so.2.3.4", at 0x7fa872eeb41a, in
[move_group-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fa8728396a8, in __cxa_throw
[move_group-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fa8728393f6, in std::terminate()
[move_group-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fa87283938b, in
[move_group-1] #2    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fa87282d910, in
[move_group-1] #1    Source "/build/glibc-SzIz7B/glibc-2.31/stdlib/abort.c", line 79, in abort [0x7fa8725a2858]
[move_group-1] #0    Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7fa8725c300b]
[move_group-1] Aborted (Signal sent by tkill() 15207 1000)
[spawner-4] [INFO] [1686834650.065809595] [wx250s.arm_controller_spawner]: Waiting for '/wx250s/controller_manager' services to be available
[spawner-5] [INFO] [1686834650.071555175] [wx250s.gripper_controller_spawner]: Waiting for '/wx250s/controller_manager' services to be available
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-6] [INFO]       Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-6] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[ERROR] [move_group-1]: process has died [pid 15207, exit code -6, cmd '/opt/ros/galactic/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_bkus3r_u --params-file /tmp/launch_params_8n97kphv --params-file /tmp/launch_params_5_qy3qsw --params-file /home/robot/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params__koo9jf8 --params-file /tmp/launch_params_m14h01ik --params-file /tmp/launch_params_k__174ob --params-file /tmp/launch_params_ndomcqn5 --params-file /tmp/launch_params_rrk3luyg --params-file /tmp/launch_params_wl3_mzxo -r wx250s/get_planning_scene:=/wx250s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/wx250s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/wx250s/gripper_controller/follow_joint_trajectory'].
[xs_sdk-6] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-6] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-6] [INFO] Interbotix X-Series Driver is up!
[ros2_control_node-3] [INFO] [1686834651.641689833] [wx250s.xs_hardware_interface]: Joint states received.
[ros2_control_node-3] [INFO] [1686834651.644445125] [wx250s.controller_manager]: update rate is 10 Hz
[ros2_control_node-3] [INFO] [1686834651.644844522] [wx250s.controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-3] [INFO] [1686834651.696089911] [wx250s.controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-3] [ERROR] [1686834651.696225298] [wx250s.controller_manager]: Loader for controller 'arm_controller' not found.
[ros2_control_node-3] [INFO] [1686834651.696261973] [wx250s.controller_manager]: Available classes:
[ros2_control_node-3] [INFO] [1686834651.696291762] [wx250s.controller_manager]:   controller_manager/test_controller
[ros2_control_node-3] [INFO] [1686834651.696317316] [wx250s.controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-3] [INFO] [1686834651.696341949] [wx250s.controller_manager]:   controller_manager/test_controller_with_interfaces
[ros2_control_node-3] [INFO] [1686834651.698135045] [wx250s.controller_manager]: Loading controller 'gripper_controller'
[ros2_control_node-3] [ERROR] [1686834651.698226738] [wx250s.controller_manager]: Loader for controller 'gripper_controller' not found.
[ros2_control_node-3] [INFO] [1686834651.698249081] [wx250s.controller_manager]: Available classes:
[ros2_control_node-3] [INFO] [1686834651.698268086] [wx250s.controller_manager]:   controller_manager/test_controller
[ros2_control_node-3] [INFO] [1686834651.698283206] [wx250s.controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-3] [INFO] [1686834651.698297403] [wx250s.controller_manager]:   controller_manager/test_controller_with_interfaces
[xs_sdk-6] [INFO] [1686834651.737579777] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[ERROR] [spawner-4]: process has died [pid 15213, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c /wx250s/controller_manager arm_controller --ros-args -r __node:=arm_controller_spawner -r __ns:=/wx250s'].
[ERROR] [spawner-5]: process has died [pid 15215, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c /wx250s/controller_manager gripper_controller --ros-args -r __node:=gripper_controller_spawner -r __ns:=/wx250s'].

Robot Model

wx250s

Operating System

Ubuntu 20.04

ROS Version

ROS 2 Galactic

Additional Info

No response

lukeschmitt-tr commented 1 year ago
  1. The perception packages are not built by default on Raspberry Pis. Please delete the IGNORE files in the perception directory, run rosdep, and rebuild your workspace.
  2. Check that you have ros-galactic-ompl and ros-galactic-moveit-planners-ompl installed.
Xpeng1999 commented 1 year ago

Following your suggestion, I made modifications. After that, the Motion Planning column in the visualization interface still displays an error, which is what is displayed on the command line:

robot@WP:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx250s hardware_type:=actual
[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2023-06-16-18-35-47-093073-WP-27442
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [27462]
[INFO] [rviz2-2]: process started with pid [27464]
[INFO] [ros2_control_node-3]: process started with pid [27466]
[INFO] [spawner-4]: process started with pid [27468]
[INFO] [spawner-5]: process started with pid [27470]
[INFO] [xs_sdk-6]: process started with pid [27472]
[INFO] [robot_state_publisher-7]: process started with pid [27474]
[xs_sdk-6] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-6] [INFO] Using logging level 'INFO'.
[xs_sdk-6] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/modes.yaml'.
[xs_sdk-6] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx250s.yaml'.
[move_group-1] [WARN] [1686911748.315388874] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1686911748.315434254] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1686911748.318005797] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00242501 seconds
[move_group-1] [INFO] [1686911748.318039275] [moveit_robot_model.robot_model]: Loading robot model 'wx250s'...
[move_group-1] [INFO] [1686911748.318048670] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] Link wx250s/base_link had 1 children
[move_group-1] Link wx250s/shoulder_link had 1 children
[move_group-1] Link wx250s/upper_arm_link had 1 children
[move_group-1] Link wx250s/upper_forearm_link had 1 children
[move_group-1] Link wx250s/lower_forearm_link had 1 children
[move_group-1] Link wx250s/wrist_link had 1 children
[move_group-1] Link wx250s/gripper_link had 1 children
[move_group-1] Link wx250s/ee_arm_link had 2 children
[move_group-1] Link wx250s/gripper_prop_link had 0 children
[move_group-1] Link wx250s/gripper_bar_link had 1 children
[move_group-1] Link wx250s/fingers_link had 3 children
[move_group-1] Link wx250s/ee_gripper_link had 0 children
[move_group-1] Link wx250s/left_finger_link had 0 children
[move_group-1] Link wx250s/right_finger_link had 0 children
[move_group-1] [INFO] [1686911748.376956152] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1686911748.377153177] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/wx250s/joint_states' for joint states
[move_group-1] [INFO] [1686911748.377452738] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/wx250s/joint_states'
[move_group-1] [INFO] [1686911748.377797395] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1686911748.377809901] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1686911748.378456663] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1686911748.378468646] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1686911748.378721495] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1686911748.379023290] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1686911748.379316673] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1686911748.379334139] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1686911748.379345381] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1686911748.382991493] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1686911748.403002882] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1686911748.405561442] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1686911748.405581872] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1686911748.405586404] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1686911748.405600969] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1686911748.405613643] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1686911748.405617667] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1686911748.405627297] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1686911748.405631288] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1686911748.405640921] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1686911748.405649926] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1686911748.405654209] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1686911748.405681535] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1686911748.405684679] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1686911748.405687293] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[xs_sdk-6] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[move_group-1] [INFO] [1686911748.421445723] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /wx250s/arm_controller
[move_group-1] [INFO] [1686911748.422571639] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /wx250s/gripper_controller
[move_group-1] [INFO] [1686911748.422682729] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1686911748.422938552] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1686911748.422954147] [move_group.move_group]: MoveGroup debug mode is ON
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[move_group-1] [INFO] [1686911748.479465847] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1686911748.479516618] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1686911748.479541342] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[spawner-5] [INFO] [1686911748.481279106] [wx250s.gripper_controller_spawner]: Waiting for '/wx250s/controller_manager' services to be available
[spawner-4] [INFO] [1686911748.485821490] [wx250s.arm_controller_spawner]: Waiting for '/wx250s/controller_manager' services to be available
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-6] [INFO]   Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-6] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-6] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-6] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-6] [INFO] Interbotix X-Series Driver is up!
[ros2_control_node-3] [INFO] [1686911750.065802045] [wx250s.xs_hardware_interface]: Joint states received.
[ros2_control_node-3] [INFO] [1686911750.068410683] [wx250s.controller_manager]: update rate is 10 Hz
[ros2_control_node-3] [INFO] [1686911750.068523901] [wx250s.controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-3] [INFO] [1686911750.098437019] [wx250s.controller_manager]: Loading controller 'gripper_controller'
[xs_sdk-6] [INFO] [1686911750.158825026] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[spawner-5] [INFO] [1686911750.169630123] [wx250s.gripper_controller_spawner]: Loaded gripper_controller
[ros2_control_node-3] [INFO] [1686911750.170389421] [wx250s.controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-3] [INFO] [1686911750.269727443] [wx250s.controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-3] [INFO] [1686911750.270254318] [wx250s.gripper_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-3] [INFO] [1686911750.270960823] [wx250s.gripper_controller]: Controller state will be published at 50.00 Hz.
[spawner-4] [INFO] [1686911750.271065809] [wx250s.arm_controller_spawner]: Loaded arm_controller
[ros2_control_node-3] [INFO] [1686911750.272834685] [wx250s.gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-3] [INFO] [1686911750.275403481] [wx250s.controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-3] [INFO] [1686911750.275472223] [wx250s.arm_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-3] [INFO] [1686911750.275771027] [wx250s.arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-3] [INFO] [1686911750.276153051] [wx250s.arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1686911750.469585141] [wx250s.arm_controller_spawner]: Configured and started arm_controller
[INFO] [spawner-4]: process has finished cleanly [pid 27468]
[spawner-5] [INFO] [1686911750.669623867] [wx250s.gripper_controller_spawner]: Configured and started gripper_controller
[INFO] [spawner-5]: process has finished cleanly [pid 27470]
lukeschmitt-tr commented 1 year ago

the Motion Planning column in the visualization interface still displays an error

Please provide a screenshot of this error.

Xpeng1999 commented 1 year ago

Problem solved, thank you