How to save and load a PRM map

s265452 commented 2 years ago

Description

Hi everyone, I'm using a Kinova Jaco2 mod. j2s7s300 ROS Melodic 18.04

I wish to save and load a PRMstar map, so I wrote something like this into ompl_planning.yaml:

PersistentPRMstar: # use this with a representative environment to create a roadmap type: geometric::PRMstar multi_query_planning_enabled: true store_planner_data: true load_planner_data: false planner_data_path: /tmp/roadmap.graph enforce_joint_model_state_space: true SemiPersistentPRMstar: # reuses roadmap during lifetime of node but doesn't save/load roadmap to/from disk type: geometric::PRMstar multi_query_planning_enabled: true store_planner_data: false load_planner_data: true planner_data_path: /tmp/roadmap.graph enforce_joint_model_state_space: true

But when I use SemiPersistentPRMstar planner, it generate a new roadmap everytime.

How can I fix this problem?

felixmaisonneuve commented 2 years ago

Hi @s265452,

Just to get it out of the way : Is the file correctly indented?

When using PersistentPRMStar, is the planner data correctly created in /tmp/roadmap.graph? When using SemiPersistentPRMstar, does /tmp/roadmap.graph exist? When launching the driver, or when using the planners, do you see any error message?

From what I see, it looks good, however I cannot test it on my side at the moment.

Regards, Felix

s265452 commented 2 years ago

No. If I go in the tmp folder

/Computer/tmp/

I don't find the file roadmap.graph

When I use SemiPersistentPRMStar I read:


[ INFO] [1642442204.349905255]: Planner configuration 'arm[SemiPersistentPRMstar]' will use planner 'geometric::PRMstar'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642442204.349978478]: arm[SemiPersistentPRMstar]: problem definition is not set, deferring setup completion...
[ INFO] [1642442204.791611341]: arm[SemiPersistentPRMstar]: Starting planning with 2 states already in datastructure
[ INFO] [1642442219.471138480]: arm[SemiPersistentPRMstar]: Created 258 states
[ INFO] [1642442219.471348465]: Solution found in 15.121318 seconds
[ INFO] [1642442219.471444057]: SimpleSetup: Path simplification took 0.000007 seconds and changed from 2 to 2 states
[ INFO] [1642442219.473740616]: Planned to path constraints. Resuming original planning request.
[ INFO] [1642442219.487210332]: Planner configuration 'arm[SemiPersistentPRMstar]' will use planner 'geometric::PRMstar'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642442219.487299335]: arm[SemiPersistentPRMstar]: problem definition is not set, deferring setup completion...
[ INFO] [1642442219.954660160]: arm[SemiPersistentPRMstar]: Starting planning with 2 states already in datastructure
[ INFO] [1642442219.954815302]: arm[SemiPersistentPRMstar]: Allocating specialized state sampler for state space
[ INFO] [1642442219.954898038]: arm[SemiPersistentPRMstar]: Allocating specialized state sampler for state space
[ INFO] [1642442234.521004564]: arm[SemiPersistentPRMstar]: Created 407 states
[ INFO] [1642442234.521067100]: Solution found in 15.033728 seconds
[ INFO] [1642442234.678464672]: SimpleSetup: Path simplification took 0.157322 seconds and changed from 4 to 6 states
[ INFO] [1642442234.678939334]: Planning adapters have added states at index positions: [ 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ]

Regards

felixmaisonneuve commented 2 years ago

Does the /tmp/ folder exist?

Also, since it is in the root directory, moveit might not have the permission to write files in there. I would suggest to create a folder in your user directory (e.g. /home/<user>/tmp/) and use this folder instead.

planner_data_path: /home/<user>/tmp/roadmap.graph

After that, check if a file is correctly created when you use PersistentPRMstar

s265452 commented 2 years ago

Thank you for your support but It's the same. No file created in the folder

planner_data_path: /home/francesco/tmp/roadmap.graph

Schermata da 2022-01-17 19-21-12

felixmaisonneuve commented 2 years ago

Can you share your full ompl_planning.yaml?

s265452 commented 2 years ago

planner_configs:
  SBLkConfigDefault:
    type: geometric::SBL
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    enforce_joint_model_state_space: true
  ESTkConfigDefault:
    type: geometric::EST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
    enforce_joint_model_state_space: true
  LBKPIECEkConfigDefault:
    type: geometric::LBKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
    enforce_joint_model_state_space: true
  BKPIECEkConfigDefault:
    type: geometric::BKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
    enforce_joint_model_state_space: true
  KPIECEkConfigDefault:
    type: geometric::KPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
    enforce_joint_model_state_space: true
  RRTkConfigDefault:
    type: geometric::RRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    enforce_joint_model_state_space: true
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    enforce_joint_model_state_space: true
  RRTstarkConfigDefault:
    type: geometric::RRTstar
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
    enforce_joint_model_state_space: true
  TRRTkConfigDefault:
    type: geometric::TRRT
    optimization_objective: MechanicalWorkOptimization  #MaximizeMinClearanceObjective
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    max_states_failed: 10  # when to start increasing temp. default: 10
    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
    init_temperature: 10e-6  # initial temperature. default: 10e-6
    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
    enforce_joint_model_state_space: true
  PRMkConfigDefault:
    type: geometric::PRM
    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
    enforce_joint_model_state_space: true
  PRMstarkConfigDefault:
    type: geometric::PRMstar
    enforce_joint_model_state_space: true
  PersistentPRMstar: # use this with a representative environment to create a roadmap
    type: geometric::PRMstar
    multi_query_planning_enabled: true
    store_planner_data: true
    load_planner_data: false
    planner_data_path: /home/francesco/tmp/roadmap.graph
    enforce_joint_model_state_space: true
  SemiPersistentPRMstar: # reuses roadmap during lifetime of node but doesn't save/load roadmap to/from disk
    type: geometric::PRMstar
    multi_query_planning_enabled: true
    store_planner_data: false
    load_planner_data: true
    planner_data_path: /home/francesco/tmp/roadmap.graph
    enforce_joint_model_state_space: true

arm:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
    - PersistentPRMstar
    - SemiPersistentPRMstar

gripper:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault

felixmaisonneuve commented 2 years ago

This file seems pretty sensitive to the format, I would try to put PersistentPRMstar at the top (before SBLkConfigDefault) and try again to see if it creates a graph file.

I would also try different combinaisons in the parameters order (e.g. type->enforce_joint_model_state_space->multi_query_planning_enabled->planner_data_path->store_planner_data->load_planner_data).

I cannot test right now and I find it very frustrating. If the issue is not resolved by then, I will try to test on an arm later this week,

s265452 commented 2 years ago

I did your modification but the problem still persists.

Is it possible that when I launchj2s7s300_virtual_robot_demo.launch I have to specify db:=true?

Even if I launch:

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 db:=true

I have this error


 * /warehouse_exec: mongod
 * /warehouse_host: localhost
 * /warehouse_plugin: warehouse_ros_mon...
 * /warehouse_port: 33829

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mongo_wrapper_ros_francesco_N552VX_27568_7264577604552829809 (warehouse_ros/mongo_wrapper_ros.py)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_francesco_N552VX_27568_8437795419075632837 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [27620]
process[robot_state_publisher-2]: started with pid [27621]
process[move_group-3]: started with pid [27622]
process[rviz_francesco_N552VX_27568_8437795419075632837-4]: started with pid [27623]
ERROR: cannot launch node of type [warehouse_ros/mongo_wrapper_ros.py]: Cannot locate node of type [mongo_wrapper_ros.py] in package [warehouse_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
[ERROR] [1642504676.816938825]: Could not find the 'robot' element in the xml file
[ERROR] [1642504676.862846346]: Could not find the 'robot' element in the xml file
[ERROR] [1642504676.863845999]: Unable to parse URDF from parameter '/robot_description'
[ERROR] [1642504676.915381956]: Robot model not loaded
[ERROR] [1642504676.927382450]: Planning scene not configured
[ INFO] [1642504676.968919278]: rviz version 1.13.23
[ INFO] [1642504676.968975459]: compiled against Qt version 5.9.5
[ INFO] [1642504676.968988087]: compiled against OGRE version 1.9.0 (Ghadamon)

[robot_state_publisher-2] process has died [pid 27621, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/francesco/.ros/log/8f6d59ae-784e-11ec-82cd-a402b9824c4a/robot_state_publisher-2.log].
log file: /home/francesco/.ros/log/8f6d59ae-784e-11ec-82cd-a402b9824c4a/robot_state_publisher-2*.log

felixmaisonneuve commented 2 years ago

This is very possible.

Do you have the correct packages installed? sudo apt-get install ros-noetic-warehouse-ros-mongo

After, according MoveIt documentation on Warehouse, you will need to add this line in kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/warehouse_settings.launch.xml

  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection"

This line already exists in the j2s6s300 config, but not on the other robot configs https://github.com/Kinovarobotics/kinova-ros/blob/93f66822ec073827eac5de59ebc2a3c5f06bf17f/kinova_moveit/robot_configs/j2s6s300_moveit_config/launch/warehouse_settings.launch.xml#L14

If it works, I will update the repo to add this line in all of our configs.

Start with this and let me know how it goes

Best, Felix

s265452 commented 2 years ago

I did these modifications and I've correctly installed the package sudo apt-get install ros-melodic-warehouse-ros-mongo

The problem still persists.

This is my kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/warehouse_settings.launch.xml


<launch>
  <!-- Set the parameters for the warehouse and run the mongodb server. -->

  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->  
  <arg name="moveit_warehouse_port" default="33829" /> 

  <!-- The default DB host for moveit -->
  <arg name="moveit_warehouse_host" default="localhost" /> 

  <!-- Set parameters for the warehouse -->
  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
  <param name="warehouse_exec" value="mongod" />
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kinova_description)/urdf/j2s7s300.xacro'" />
  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />

</launch>

felixmaisonneuve commented 2 years ago

Hi @s265452,

I did not forget you. I am doing some testing and found a couple of things :

In warehouse.launch, you need to change warehouse_ros to warehouse_ros_mongo

<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">

You need to add a dependency in your moveit config package.xml file. You will need to recompile with catkin_make after that.
```
<run_depend>warehouse_ros_mongo</run_depend> 
```
I have found this interesting PR (and the related issue) about these changes in moveit : https://github.com/ros-planning/moveit/pull/81/files
You need to install mongodb sudo apt install mongodb-server-core. Otherwise you will get errors that "mongod can't be found"

After all this, I can connect to the database (in the "Context" tab of the "Motion Planning" view in MoveIt) and save/load Scenes and States.

I created the branch bugfix/moveit-with-mongodb (based on noetic-devel) if you want to see the changes and experiment with it.

Try this and let me know how it goes.

Best, Felix

s265452 commented 2 years ago

Hi @felixmaisonneuve , Thanks for your advice.

I followed your tips but the problem still exists.

It seems that there are ''problems with the 'robot' element in the xml file''

When I launch

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 db:=true

[robot_state_publisher-3] restarting process
process[robot_state_publisher-3]: started with pid [10656]
[ERROR] [1642757014.714470276]: Could not find the 'robot' element in the xml file
[ERROR] [1642757292.504807095]: Unable to parse URDF from parameter '/robot_description'
[ERROR] [1642757292.534726323]: Robot model not loaded
[ERROR] [1642757292.550395164]: Planning scene not configured
[robot_state_publisher-3] process has died [pid 10656, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/francesco/.ros/log/c230dec0-7a9b-11ec-b44e-a402b9824c4a/robot_state_publisher-3.log].
log file: /home/francesco/.ros/log/c230dec0-7a9b-11ec-b44e-a402b9824c4a/robot_state_publisher-3*.log

Regards. Francesco

felixmaisonneuve commented 2 years ago

This is weird, did you do any other moifications in the launch files except the ones I suggested? Can you copy your full output for

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 db:=true

Param /robot_description should be populated by the planing_context.launch, which is called directly in j2s7s300_virtual_robot_demo.launch https://github.com/Kinovarobotics/kinova-ros/blob/93f66822ec073827eac5de59ebc2a3c5f06bf17f/kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/j2s7s300_virtual_robot_demo.launch#L16-L18

This seems to me to be unrelated to the argument db:=true. Can you make sure roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 is running properly?

s265452 commented 2 years ago

No, I didn't other modifications.

When I launch

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 db:=true

I have these messages

 roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300  db:=true
... logging to /home/francesco/.ros/log/fd12d15a-7ac9-11ec-9545-a402b9824c4a/roslaunch-francesco-N552VX-4005.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/francesco/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

xacro.py is deprecated; please use xacro instead
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://francesco-N552VX:37619/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /joint_state_publisher/zeros/j2s7s300_joint_2: 3.1415
 * /joint_state_publisher/zeros/j2s7s300_joint_4: 3.1415
 * /joint_state_publisher/zeros/j2s7s300_joint_6: 3.1415
 * /mongo_wrapper_ros_francesco_N552VX_4005_826400591204175550/database_path: /home/francesco/c...
 * /mongo_wrapper_ros_francesco_N552VX_4005_826400591204175550/overwrite: False
 * /mongo_wrapper_ros_francesco_N552VX_4005_826400591204175550/robot_description: <?xml version="1....
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm/planner_configs: ['PersistentPRMst...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'joints': ['j2s...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'Home',...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/PersistentPRM/load_planner_data: True
 * /move_group/planner_configs/PersistentPRM/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentPRM/planner_data_path: /home/francesco/t...
 * /move_group/planner_configs/PersistentPRM/store_planner_data: False
 * /move_group/planner_configs/PersistentPRM/type: geometric::PRM
 * /move_group/planner_configs/PersistentPRMstar/load_planner_data: False
 * /move_group/planner_configs/PersistentPRMstar/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentPRMstar/planner_data_path: /home/francesco/t...
 * /move_group/planner_configs/PersistentPRMstar/store_planner_data: True
 * /move_group/planner_configs/PersistentPRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTConnectkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /pick_place_demo/arm/kinematics_solver_timeout: 0.05
 * /pick_place_demo/arm/solve_type: Manipulation2
 * /robot_connected: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm/solve_type: Manipulation2
 * /robot_description_planning/cartesian_limits/max_rot_vel: 0.35
 * /robot_description_planning/cartesian_limits/max_trans_acc: 0.5
 * /robot_description_planning/cartesian_limits/max_trans_dec: -0.5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 0.2
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_velocity: 5
 * /robot_description_semantic: <?xml version="1....
 * /robot_type: j2s7s300
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /rviz_francesco_N552VX_4005_6213456942061317353/arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_francesco_N552VX_4005_6213456942061317353/arm/kinematics_solver_attempts: 3
 * /rviz_francesco_N552VX_4005_6213456942061317353/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_francesco_N552VX_4005_6213456942061317353/arm/kinematics_solver_timeout: 0.005
 * /rviz_francesco_N552VX_4005_6213456942061317353/arm/solve_type: Manipulation2
 * /source_list: ['/move_group/fak...
 * /warehouse_exec: mongod
 * /warehouse_host: localhost
 * /warehouse_plugin: warehouse_ros_mon...
 * /warehouse_port: 33829

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mongo_wrapper_ros_francesco_N552VX_4005_826400591204175550 (warehouse_ros_mongo/mongo_wrapper_ros.py)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_francesco_N552VX_4005_6213456942061317353 (rviz/rviz)

auto-starting new master
process[master]: started with pid [4052]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd12d15a-7ac9-11ec-9545-a402b9824c4a
process[rosout-1]: started with pid [4070]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [4077]
process[robot_state_publisher-3]: started with pid [4078]
process[move_group-4]: started with pid [4079]
process[rviz_francesco_N552VX_4005_6213456942061317353-5]: started with pid [4080]
[ERROR] [1642776851.881475135]: Could not find the 'robot' element in the xml file
process[mongo_wrapper_ros_francesco_N552VX_4005_826400591204175550-6]: started with pid [4085]
[ERROR] [1642776851.926215586]: Could not find the 'robot' element in the xml file
[ERROR] [1642776851.927082057]: Unable to parse URDF from parameter '/robot_description'
[ERROR] [1642776851.955664968]: Robot model not loaded
[ERROR] [1642776851.968997632]: Planning scene not configured
[ INFO] [1642776852.099802392]: rviz version 1.13.23
[ INFO] [1642776852.099858479]: compiled against Qt version 5.9.5
[ INFO] [1642776852.099876157]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1642776852.112176284]: Forcing OpenGl version 0.
[robot_state_publisher-3] process has died [pid 4078, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/francesco/.ros/log/fd12d15a-7ac9-11ec-9545-a402b9824c4a/robot_state_publisher-3.log].
log file: /home/francesco/.ros/log/fd12d15a-7ac9-11ec-9545-a402b9824c4a/robot_state_publisher-3*.log
[robot_state_publisher-3] restarting process
process[robot_state_publisher-3]: started with pid [4123]
[ERROR] [1642776852.154645065]: Could not find the 'robot' element in the xml file
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/joint_state_publisher/joint_state_publisher", line 44, in <module>
    jsp = joint_state_publisher.JointStatePublisher()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 163, in __init__
    self.init_urdf(robot)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/joint_state_publisher/__init__.py", line 77, in init_urdf
    robot = robot.getElementsByTagName('robot')[0]

This is my j2s7s300_virtual_robot_demo.launch file:


<launch>
  <param name="robot_type" value="j2s7s300" /> <!-- "robot_type"-->
  <param name="robot_connected" value="false" />
  <param name="/pick_place_demo/arm/solve_type" value="Manipulation2" />
  <param name="/pick_place_demo/arm/kinematics_solver_timeout" value="0.05" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find j2s7s300_moveit_config)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
  <include file="$(find j2s7s300_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="true"/>
  </include>

  <!-- If needed, broadcast static tf for robot root -->

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
        <param name="zeros/j2s7s300_joint_2" value="3.1415"/>       
      <param name="zeros/j2s7s300_joint_4" value="3.1415"/> 
    <param name="zeros/j2s7s300_joint_6" value="3.1415"/> 
  </node>

  <!-- Given the published joint states, publish tf for the robot links -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(find j2s7s300_moveit_config)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="true"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(find j2s7s300_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find j2s7s300_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

when I launch

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300

It's all Okay. Everything works fine

... logging to /home/francesco/.ros/log/44157d14-7aca-11ec-9545-a402b9824c4a/roslaunch-francesco-N552VX-4398.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/francesco/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://francesco-N552VX:33741/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /joint_state_publisher/zeros/j2s7s300_joint_2: 3.1415
 * /joint_state_publisher/zeros/j2s7s300_joint_4: 3.1415
 * /joint_state_publisher/zeros/j2s7s300_joint_6: 3.1415
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm/planner_configs: ['PersistentPRMst...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'joints': ['j2s...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'Home',...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/PersistentPRM/load_planner_data: True
 * /move_group/planner_configs/PersistentPRM/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentPRM/planner_data_path: /home/francesco/t...
 * /move_group/planner_configs/PersistentPRM/store_planner_data: False
 * /move_group/planner_configs/PersistentPRM/type: geometric::PRM
 * /move_group/planner_configs/PersistentPRMstar/load_planner_data: False
 * /move_group/planner_configs/PersistentPRMstar/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentPRMstar/planner_data_path: /home/francesco/t...
 * /move_group/planner_configs/PersistentPRMstar/store_planner_data: True
 * /move_group/planner_configs/PersistentPRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTConnectkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/enforce_joint_model_state_space: True
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/optimization_objective: MechanicalWorkOpt...
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /pick_place_demo/arm/kinematics_solver_timeout: 0.05
 * /pick_place_demo/arm/solve_type: Manipulation2
 * /robot_connected: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm/solve_type: Manipulation2
 * /robot_description_planning/cartesian_limits/max_rot_vel: 0.35
 * /robot_description_planning/cartesian_limits/max_trans_acc: 0.5
 * /robot_description_planning/cartesian_limits/max_trans_dec: -0.5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 0.2
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_acceleration: 10
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_velocity: 5
 * /robot_description_semantic: <?xml version="1....
 * /robot_type: j2s7s300
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /rviz_francesco_N552VX_4398_8102224281572392217/arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_francesco_N552VX_4398_8102224281572392217/arm/kinematics_solver_attempts: 3
 * /rviz_francesco_N552VX_4398_8102224281572392217/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_francesco_N552VX_4398_8102224281572392217/arm/kinematics_solver_timeout: 0.005
 * /rviz_francesco_N552VX_4398_8102224281572392217/arm/solve_type: Manipulation2
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_francesco_N552VX_4398_8102224281572392217 (rviz/rviz)

auto-starting new master
process[master]: started with pid [4425]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 44157d14-7aca-11ec-9545-a402b9824c4a
process[rosout-1]: started with pid [4443]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [4450]
process[robot_state_publisher-3]: started with pid [4451]
process[move_group-4]: started with pid [4452]
process[rviz_francesco_N552VX_4398_8102224281572392217-5]: started with pid [4453]
[ INFO] [1642776970.405497466]: Loading robot model 'j2s7s300'...
[ WARN] [1642776970.406608350]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1642776970.406646495]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1642776970.515263981]: rviz version 1.13.23
[ INFO] [1642776970.515317297]: compiled against Qt version 5.9.5
[ INFO] [1642776970.515330699]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1642776970.528028326]: Forcing OpenGl version 0.
[ WARN] [1642776970.723888288]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1642776970.732329976]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1642776970.736044938]: IK Using joint j2s7s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1642776970.736080812]: IK Using joint j2s7s300_link_2 0.820305 5.46288
[ INFO] [1642776970.736100349]: IK Using joint j2s7s300_link_3 -3.40282e+38 3.40282e+38
[ INFO] [1642776970.736117362]: IK Using joint j2s7s300_link_4 0.523599 5.75959
[ INFO] [1642776970.736133913]: IK Using joint j2s7s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1642776970.736149221]: IK Using joint j2s7s300_link_6 1.13446 5.14872
[ INFO] [1642776970.736163525]: IK Using joint j2s7s300_link_7 -3.40282e+38 3.40282e+38
[ INFO] [1642776970.736186583]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1642776970.737247830]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1642776970.738677216]: Using solve type Manipulation2
[ INFO] [1642776970.983065055]: Stereo is NOT SUPPORTED
[ INFO] [1642776970.983121714]: OpenGL device: Mesa DRI Intel(R) HD Graphics 530 (SKL GT2)
[ INFO] [1642776970.983150154]: OpenGl version: 3,0 (GLSL 1,3).
[ INFO] [1642776971.165537183]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1642776971.167873033]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1642776971.167919400]: Starting planning scene monitor
[ INFO] [1642776971.170260904]: Listening to '/planning_scene'
[ INFO] [1642776971.170308054]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1642776971.172088837]: Listening to '/collision_object'
[ INFO] [1642776971.173720333]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1642776971.174364610]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1642776971.508978599]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1642776971.531524212]: Initializing OMPL interface using ROS parameters
[ INFO] [1642776971.553538694]: Using planning interface 'OMPL'
[ INFO] [1642776971.556910506]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1642776971.557405150]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1642776971.557802731]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1642776971.558181889]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1642776971.558530596]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1642776971.558898794]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1642776971.558937610]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1642776971.558950023]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1642776971.558960004]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1642776971.558970940]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1642776971.558996711]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1642776971.567645379]: Loading robot model 'j2s7s300'...
[ WARN] [1642776971.567674039]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1642776971.567685333]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1642776971.760051909]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1642776971.762911619]: IK Using joint j2s7s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1642776971.762953395]: IK Using joint j2s7s300_link_2 0.820305 5.46288
[ INFO] [1642776971.762988481]: IK Using joint j2s7s300_link_3 -3.40282e+38 3.40282e+38
[ INFO] [1642776971.763031923]: IK Using joint j2s7s300_link_4 0.523599 5.75959
[ INFO] [1642776971.763043080]: IK Using joint j2s7s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1642776971.763096270]: IK Using joint j2s7s300_link_6 1.13446 5.14872
[ INFO] [1642776971.763127685]: IK Using joint j2s7s300_link_7 -3.40282e+38 3.40282e+38
[ INFO] [1642776971.763171973]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1642776971.764641314]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1642776971.766010975]: Using solve type Manipulation2
[ INFO] [1642776971.766176499]: Set joints of group 'arm' to pose 'Home'.
[ INFO] [1642776971.766471813]: Fake controller 'fake_arm_controller' with joints [ j2s7s300_joint_1 j2s7s300_joint_2 j2s7s300_joint_3 j2s7s300_joint_4 j2s7s300_joint_5 j2s7s300_joint_6 j2s7s300_joint_7 ]
[ INFO] [1642776971.766870800]: Fake controller 'fake_gripper_controller' with joints [ j2s7s300_joint_finger_1 j2s7s300_joint_finger_2 j2s7s300_joint_finger_3 ]
[ INFO] [1642776971.767266134]: Returned 2 controllers in list
[ INFO] [1642776971.776150237]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1642776971.833216025]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1642776971.833265481]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1642776971.833299215]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1642776974.511473002]: Loading robot model 'j2s7s300'...
[ WARN] [1642776974.511538407]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1642776974.511570741]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1642776974.774053544]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_francesco_N552VX_4398_8102224281572392217/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1642776974.783459064]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1642776974.788435608]: IK Using joint j2s7s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1642776974.788474424]: IK Using joint j2s7s300_link_2 0.820305 5.46288
[ INFO] [1642776974.788488415]: IK Using joint j2s7s300_link_3 -3.40282e+38 3.40282e+38
[ INFO] [1642776974.788510346]: IK Using joint j2s7s300_link_4 0.523599 5.75959
[ INFO] [1642776974.788524544]: IK Using joint j2s7s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1642776974.788541992]: IK Using joint j2s7s300_link_6 1.13446 5.14872
[ INFO] [1642776974.788566175]: IK Using joint j2s7s300_link_7 -3.40282e+38 3.40282e+38
[ INFO] [1642776974.788595361]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1642776974.790096571]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1642776974.792102611]: Using solve type Manipulation2
[ INFO] [1642776975.257843721]: Starting planning scene monitor
[ INFO] [1642776975.260510090]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1642776975.283378846]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1642776976.354168098]: Ready to take commands for planning group arm.
[ INFO] [1642776976.354239693]: Looking around: no
[ INFO] [1642776976.354272025]: Replanning: no

felixmaisonneuve commented 2 years ago

Hi @s265452,

I went and tried it on Ubuntu 18 with ROS Melodic. I did not get any errors. I was able to launch moveit with mogodb and connect my planner to it.

Can you make sure you are using the latest melodic-devel branch and you did not change any files except the one from your specific moveit config folder? You cannot use the bugfix/moveit-with-mongodb branch I created since it is based on the noetic-devel branch (and it won't work on ros melodic) Also, I would do a catkin_make to make sure everything is correctly compiled (even if this step is not required if you only change launch files).

Point is, I don't know why it is not working for you. I tried the exact steps I suggested on the same setup and everything is working fine.

To me, the errors you get make no sense with the modifications I suggested, so there must be something else.

Best, Felix

s265452 commented 2 years ago

HI @felixmaisonneuve, It seems that the problem was about in the warehouse_settings.launch.xml in the line code:

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kinova_description)/urdf/j2s7s300.xacro'" />

Now, I'm able to launch:

roslaunch j2s7s300_moveit_config j2s7s300_virtual_robot_demo.launch robotType:=j2s7s300 db:=true

I can connect to the database (in the "Context" tab of the "Motion Planning" view in MoveIt) and save/load Scenes and States.

But I tried to save the roadmap moving the folder into the catkin_ws:

planner_configs:
  PersistentPRMstar: # use this with a representative environment to create a roadmap
    type: geometric::PRMstar
    multi_query_planning_enabled: true
    store_planner_data: true
    load_planner_data: false
    planner_data_path: /home/francesco/catkin_ws/tmp/roadmap.graph
  PersistentPRM: # use this to load a previously created roadmap
    type: geometric::PRM
    multi_query_planning_enabled: true
    store_planner_data: false
    load_planner_data: true
    planner_data_path: /home/francesco/catkin_ws/tmp/roadmap.graph

It doesn't save the roadmap.

You are able to save a file roadmap.graph ?

felixmaisonneuve commented 2 years ago

Yes.

If I choose the PersistentPRMstar and move the arm in moveit, once I close the ros driver (CTRL+c in the terminal where you lauched roslaunch j2s7s300_moveit_config...), the file roadmap.graph will be created. You do not need to be connected to the database for this to work.

s265452 commented 2 years ago

I followed your instructions but I don't know why, it doesn't work.

felixmaisonneuve commented 2 years ago

What version of OMPL planner are you using? According to OMPL planner documentation, you need at least version 1.5 for this to work.

Note that saving and loading roadmaps is only available in OMPL 1.5.0 and newer.

You can find your version using apt-cache policy ros-melodic-ompl

I am using ros noetic with ompl version 1.5.2 (the most recent one)

s265452 commented 2 years ago

Well, you found the problem.

My version is 1.4.2-5bionic.20191212.045602

How can I install the new version?

I did

chmod u+x install-ompl-ubuntu.sh

./install-ompl-ubuntu.sh

apt-cache policy ros-melodic-ompl
ros-melodic-ompl:
  Installato: 1.4.2-5bionic.20191212.045602
  Candidato:  1.4.2-5bionic.20191212.045602
  Tabella versione:
 *** 1.4.2-5bionic.20191212.045602 500
        500 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
        100 /var/lib/dpkg/status

felixmaisonneuve commented 2 years ago

I don't know if the version 1.5 of the package is available on ros melodic.

maybe sudo apt-get update && sudo apt-get upgrade or sudo apt-get --reinstall install ros-melodic-ompl? If 1.4.2 is the most recent version for ros melodic on ubuntu 18, I don't know what you could do. I don't see anywhere on the moveit doc that it is, but I don't see anywhere that it isn't either.

felixmaisonneuve commented 2 years ago

Hi @s265452,

I will close this issue since I don't think I can provide any more help. If you have another question, feel free to comment/re-open this issue or open a new one

Best, Felix

radhen commented 5 months ago

hello @felixmaisonneuve

I have ompl version 1.5.2. For some reason I am not able to save a roadmap.graph file. I chose the PRMstarLoadStore and the PersistentLazyPRMstar planner in RViz in Motion Planning window, and also tried changing the path to where the roadmap.graph gets saved, from /tmp to /home/<USER>/tmp. Could you lease help me with this?

Kinovarobotics / kinova-ros

How to save and load a PRM map #378

Description