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JenniferBuehler / grasp-execution-pkgs

Package(s) to execute a grasp incl. execution in Gazebo
BSD 3-Clause "New" or "Revised" License
34 stars 17 forks source link

Cannot execute grasp action #7

Closed shenlirobot closed 6 years ago

shenlirobot commented 6 years ago

Hi Jennifer: I am executing the jaco grasp using the example grasps by following the tutorial here at https://github.com/JenniferBuehler/grasp-execution-pkgs/wiki/Automated-grasping-tutorial#step-2-execute-the-grasp.

I have done roslaunch grasp_execution_jaco_tutorial jaco_on_table_gazebo_complete.launch load_grasp_fix:=true and roslaunch grasp_execution_jaco_tutorial simple_automated_grasp_execution.launch run_type:=2 grasp_filename:=rospack find jaco_graspit_sample/example_grasps/Grasp_1.msg in 2 terminals. The arm moves towards the table. However, after the arm is on the table and about to grasp, the program crashes.

Error msg in jaco_on_table_gazebo_complete:

[ INFO] [1507779977.419191018, 7.594000000]: TrajectoryActionServer: Execution of trajectory finished. Success=1
[ INFO] [1507779977.419523036, 7.594000000]: /jaco/grasp_execution/grasp: received new goal.
[ INFO] [1507779977.419636442, 7.594000000]: /jaco/grasp_execution/grasp: Goal accepted.
[ INFO] [1507779977.419662189, 7.594000000]: Sending grasp control goal.
[ INFO] [1507779977.419833261, 7.595000000]: /jaco/grasp_execution/grasp_control: received new goal.
[ INFO] [1507779977.419859274, 7.595000000]: SimpleGraspControlServer: Waiting to obtain the current state of the gripper...
[ INFO] [1507779977.419879867, 7.595000000]: ArmJointStateSubscriber: Waiting...
[ INFO] [1507779977.521061019, 7.696000000]: ArmJointStateSubscriber: Waiting...
[ INFO] [1507779977.623371622, 7.797000000]: SimpleGraspControlServer: Obtained most recent joint state.
[ERROR] [1507779977.623408376, 7.797000000]: Could not obtain indices of the arm joints in joint state
[ERROR] [1507779977.623424460, 7.797000000]: SimpleGraspControlServer: Not all gripper joints specified in target state.
[ERROR] [1507779977.623442224, 7.797000000]: /jaco/grasp_execution/grasp_control: Goal cannot be accepted
[ERROR] [1507779977.623745983, 7.798000000]: Action failed.
[ INFO] [1507779977.623778668, 7.798000000]: /jaco/grasp_execution/grasp: Action finished. Result = success: 0
execution_time: 0.000000000

Error msg in simple_automated_grasp_execution:

[ INFO] [1507779973.980043542, 4.157000000]: ###### Reaching #######
[ INFO] [1507779974.233671475, 4.411000000]: Planning trajectory...
[ INFO] [1507779974.273721201, 4.451000000]: Now sending joint trajectory goal
[ INFO] [1507779977.419398715, 7.594000000]: Joint trajectory action finished: SUCCEEDED
[ INFO] [1507779977.419418741, 7.594000000]: ###### Grasping #######
[ERROR] [1507779977.623891774, 7.798000000]: Could not execute grasp action: ABORTED
[ERROR] [1507779977.623911990, 7.798000000]: Could not grasp cube1
[ERROR] [1507779977.623929766, 7.798000000]: Failed to run automated grasp execution

It seems something is wrong with the grasping?

Thank you so much!

JenniferBuehler commented 6 years ago

Hi Shen,

the problem is that it cannot get the complete joint state of the whole arm. You are using the example files for the Jaco from my repositories, as in the tutorial, and didn't modify anything?

I'll re-test the tutorial as soon as I get the time, I hope I'll get around to it this weekend.

Cheers Jenny

JenniferBuehler commented 6 years ago

Hi, I've just updated the packages here (and depending packages, e.g. joint-control-pkgs and graspit-pkgs), so if you do an update of all packages, you may not have this issue again. The Jaco joints had been renamed in jaco-arm-pkgs so this may have caused the issue. I'm closing this for now, please re-open if you keep experiencing this issue