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PickNikRobotics / abb_ros2

Apache License 2.0
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Fixed the wrong type for time parameterization in ompl (#55) #65

Closed Yadunund closed 4 months ago

Yadunund commented 5 months ago

Backport Fix to #54

Yadunund commented 5 months ago

@WhittemoreChou do you mind testing this branch to see if it resolves #64?

WhittemoreChou commented 5 months ago

@WhittemoreChou do you mind testing this branch to see if it resolves #64?

Sorry for my late reply. It now moves! Thanks for your quick solve. But some new warnings occur as WARNING:root:Cannot infer URDF from/home/rosegm/ros_dev/egm/install/abb_irb1200_5_90_moveit_config/share/abb_irb1200_5_90_moveit_config. -- using config/abb_bringup.urdf WARNING:root:Cannot infer SRDF from/home/rosegm/ros_dev/egm/install/abb_irb1200_5_90_moveit_config/share/abb_irb1200_5_90_moveit_config. -- using config/abb_bringup.srdf

[move_group-1] [ERROR] [1713054841.006524743] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

[move_group-1] [ERROR] [1713054841.010502628] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.

Yadunund commented 4 months ago

The warnings can be ignored.

The chomp error should be resolved if you run rosdep from the workspace. That should install moveit_planners_chomp.

WhittemoreChou commented 4 months ago

The warnings can be ignored.

The chomp error should be resolved if you run rosdep from the workspace. That should install moveit_planners_chomp.

Thanks, I've successfully tested it on my real robot as well.

Yadunund commented 4 months ago

Great thanks for testing. I will merge this in.