GouMinghao
commented
3 years ago Very sorry for the delay! You can first try the solution in https://github.com/OCRTOC/OCRTOC_software_package/pull/7. If it doesn't work, could you please send me a captured video to help me find what happened.
Hi, when I try to run the baseline(https://github.com/OCRTOC/OCRTOC_software_package#baseline-solution), some problems arise.
The fisrt terminal is ok.
In the second terminal, there are some errors and warnings as below.
[ WARN] [1626242511.192135540]: Link 'table' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192865051]: Link 'table' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192879991]: Link 'camera_base' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192889403]: Link 'realsense_link' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192900045]: Link 'usb_plug_link' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192908660]: Link 'usb_plug_link' is not known to URDF. Cannot disable collisons. [ WARN] [1626242511.192916372]: Link 'realsense_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1626242511.559911817]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds
[ WARN] [1626242511.639782788]: Unable to update multi-DOF joint 'virtual_joint': Failure to lookup transform between 'world' and 'panda_link0' with TF exception: "world" passed to lookupTransform argument target_frame does not exist.
[solution_entrance-2] process has died [pid 3292, exit code 1, cmd /root/ocrtoc_ws/src/ocrtoc_planning/scripts/solution_entrance.py __name:=solution_entrance __log:=/root/.ros/log/f35d923c-e468-11eb-b05d-a85e45ce2ec5/solution_entrance-2.log]. log file: /root/.ros/log/f35d923c-e468-11eb-b05d-a85e45ce2ec5/solution_entrance-2*.log
[WARN] [1626242541.393595]: Controller Spawner couldn't find the expected controller_manager ROS interface.
In the third terminal, the process stuck in " process[trigger-1]: started with pid [3585] [INFO] [1626242943.262942]: Task file: /root/ocrtoc_ws/src/ocrtoc_materials/targets/0-0.yaml "
I can see the moveit window and the bullet window. But after the three cmd mentioned above, the robot doesn't act at all. On the other hand, if I move the TCP in the moveit window using my cursor and click "plan & execute", the robot in the bullet window can act in the meantime.