Cannot get Moveit to launch tutorial simulation

[Mechazo11]

Dear RoboStack developers,

Firstly, congratulations on integrating ROS with the Anaconda environment.

I followed the installation tutorial as depicted here https://github.com/RoboStack/ros-noetic and can get both Rviz and Gazebo to launch.

Note that, when creating the conda environment, I intentionally used Python 3.7 in hopes of tackling compatibility issues with Pytorch library which I plan to use later on.

After successfully building the conda environment as discussed, I created a ``catkin_ws'' workspace and initialized it with catkin_make which ran just fine.

The article https://medium.com/robostack/cross-platform-conda-packages-for-ros-fa1974fd1de3 talks both MoveIT and Franka robot being available in neotic-desktop-full installation. However, when I invoked "roslaunch panda_moveit_config demo.launch rviz_tutorial:=true", the system is reporting the following

"RLException: [demo.launch] is neither a launch file in package [panda_moveit_config] nor is [panda_moveit_config] a launch file name.

What is the correct procedure to get both moveit and franka emika panda package to be installed correctly into the anaconda environment?

With best, Azmyin Md. Kamal, Doctoral Students, Dept. of ME, LSU

[Tobias-Fischer]

Hi @Mechazo11,

Many thanks for getting in touch and for the bug report!

You need to install the franka / panda packages separately, they are not included in ros-noetic-desktop-full.

For panda, please mamba install ros-noetic-moveit-resources-panda-description ros-noetic-moveit-resources-panda-moveit-config ros-noetic-panda-moveit-config

For franka, please see a list of available packages on https://robostack.github.io/noetic.html

Let us know if this helps :).

[Mechazo11]

Sure, I will try it out and let you know as soon as I am able. I was wondering, would I be able to install ROS neotic on a ubuntu 18.04 using RoboStack?

[Tobias-Fischer]

Yes - any recent-ish Linux will do :)

[Tobias-Fischer]

Oh, also .. we only build for Python 3.8, so please use these builds (the other builds would be very very old). Pytorch (and TensorFlow) is now available on conda-forge (CPU+GPU) for various Python versions (including 3.8), so you should not have any issues with that :).

[Mechazo11]

Hello,

I was able to launch RViz and start the tutorial simulation for MoveIT from Anaconda in a 18.04 Ubuntu machine using your suggested packages.

However, after multiple attempts in updating the packages and manually installing missing packages from https://robostack.github.io/noetic.html I am getting this error when I invoke Moveit's MotionPlanning tool to start the turotial.

The error message is given as follows

[ERROR] [1637128813.802814424]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Error: Failed to load library /home/az/anaconda3/envs/ros_neotic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_semantic_world.so.1.1.0: cannot open shared object file: No such file or directory)

Is the moveit_rviz_plugin package fully supported in RobotStack?

P.S I haven't created a catkin workspace yet just directly ran roslaunch panda_moveit_config demo.launch rviz_tutorial:=true which seems to work

[Tobias-Fischer]

COuld you please provide the output of conda list?

[Mechazo11]

nspr 4.32 h9c3ff4c_1 conda-forge nss 3.72 hb5efdd6_0 conda-forge numpy 1.21.4 py38he2449b9_0 conda-forge octomap 1.9.7 h4bd325d_0 conda-forge ogre 1.10.12 hf655ca9_7 conda-forge olefile 0.46 pyh9f0ad1d_1 conda-forge openal-soft 1.20.1 hc9558a2_0 conda-forge openexr 2.5.5 hf817b99_0 conda-forge openh264 2.1.1 h780b84a_0 conda-forge openjpeg 2.4.0 hb52868f_1 conda-forge openssl 1.1.1l h7f98852_0 conda-forge orocos-kdl 1.4.0 h9c3ff4c_0 conda-forge osrf_pycommon 0.2.1 pyhd8ed1ab_0 conda-forge packaging 21.2 pyhd8ed1ab_1 conda-forge pandas 1.3.4 py38h43a58ef_1 conda-forge pango 1.48.10 hb8ff022_1 conda-forge paramiko 2.8.0 pyhd8ed1ab_0 conda-forge partd 1.2.0 pyhd8ed1ab_0 conda-forge pcl 1.11.1 h39b1736_3 conda-forge pcre 8.45 h9c3ff4c_0 conda-forge pillow 8.4.0 py38h8e6f84c_0 conda-forge pip 21.3.1 pyhd8ed1ab_0 conda-forge pixman 0.40.0 h36c2ea0_0 conda-forge pkg-config 0.29.2 h36c2ea0_1008 conda-forge poco 1.10.1 h9c89518_1 conda-forge pooch 1.5.2 pyhd8ed1ab_0 conda-forge poppler 21.03.0 h93df280_0 conda-forge poppler-data 0.4.11 hd8ed1ab_0 conda-forge postgresql 13.3 h2510834_3 conda-forge proj 8.0.1 h277dcde_0 conda-forge protobuf 3.15.8 py38h709712a_0 conda-forge psutil 5.8.0 py38h497a2fe_2 conda-forge pthread-stubs 0.4 h36c2ea0_1001 conda-forge pugixml 1.11.4 h9c3ff4c_0 conda-forge py-opencv 4.5.2 py38hd0cf306_0 conda-forge pycairo 1.20.1 py38hf61ee4a_1 conda-forge pycparser 2.21 pyhd8ed1ab_0 conda-forge pycryptodome 3.11.0 py38h80e8405_1 conda-forge pycryptodomex 3.11.0 py38h497a2fe_1 conda-forge pydot 1.4.2 py38h578d9bd_1 conda-forge pynacl 1.4.0 py38h497a2fe_3 conda-forge pyopengl 3.1.5 py_0 conda-forge pyopenssl 21.0.0 pyhd8ed1ab_0 conda-forge pyparsing 2.4.7 pyhd8ed1ab_1 conda-forge pyqt 5.12.3 py38h578d9bd_8 conda-forge pyqt-impl 5.12.3 py38h0ffb2e6_8 conda-forge pyqt5-sip 4.19.18 py38h709712a_8 conda-forge pyqtchart 5.12 py38h7400c14_8 conda-forge pyqtwebengine 5.12.1 py38h7400c14_8 conda-forge pysocks 1.7.1 py38h578d9bd_4 conda-forge python 3.8.12 hb7a2778_2_cpython conda-forge python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge python-gnupg 0.4.7 pyhd8ed1ab_0 conda-forge python-orocos-kdl 1.4.0 py38h709712a_0 conda-forge python_abi 3.8 2_cp38 conda-forge pytz 2021.3 pyhd8ed1ab_0 conda-forge pywavelets 1.2.0 py38h6c62de6_0 conda-forge pyyaml 6.0 py38h497a2fe_3 conda-forge qhull 2020.2 h4bd325d_2 conda-forge qt 5.12.9 hda022c4_4 conda-forge qwt 6.1.6 h7ec6b3e_0 conda-forge readline 8.1 h46c0cb4_0 conda-forge requests 2.26.0 pyhd8ed1ab_0 conda-forge rhash 1.4.1 h7f98852_0 conda-forge ros-distro-mutex 0.1.1 noetic robostack ros-noetic-actionlib 1.13.2 py38h14b2acc_6 robostack ros-noetic-actionlib-msgs 1.13.1 py38he9ab703_6 robostack ros-noetic-actionlib-tutorials 0.2.0 py38he9ab703_6 robostack ros-noetic-angles 1.9.13 py38he9ab703_6 robostack ros-noetic-audio-common-msgs 0.3.11 py38he9ab703_9 robostack ros-noetic-bond 1.8.6 py38he9ab703_6 robostack ros-noetic-bond-core 1.8.6 py38he9ab703_6 robostack ros-noetic-bondcpp 1.8.6 py38hbce7a70_6 robostack ros-noetic-bondpy 1.8.6 py38he9ab703_6 robostack ros-noetic-camera-calibration 1.15.3 py38he9ab703_11 robostack ros-noetic-camera-calibration-parsers 1.12.0 py38h266acf0_6 robostack ros-noetic-camera-info-manager 1.12.0 py38h266acf0_6 robostack ros-noetic-catkin 0.8.10 py38he9ab703_9 robostack ros-noetic-chomp-motion-planner 1.1.0 py38he9ab703_6 robostack ros-noetic-class-loader 0.5.0 py38h6655857_6 robostack ros-noetic-cmake-modules 0.5.0 py38he9ab703_6 robostack ros-noetic-combined-robot-hw 0.19.4 py38he9ab703_6 robostack ros-noetic-common-msgs 1.13.1 py38he9ab703_6 robostack ros-noetic-common-tutorials 0.2.0 py38he9ab703_6 robostack ros-noetic-compressed-depth-image-transport 1.14.0 py38he9ab703_11 robostack ros-noetic-compressed-image-transport 1.14.0 py38he9ab703_11 robostack ros-noetic-control-msgs 1.5.2 py38he9ab703_6 robostack ros-noetic-control-toolbox 1.18.2 py38he9ab703_6 robostack ros-noetic-controller-interface 0.19.4 py38he9ab703_6 robostack 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[Tobias-Fischer]

Could you try mamba install ros-noetic-moveit-ros-perception=1.1.0?

[Tobias-Fischer]

All these things should hopefully go away once we finish #170 ..

[Tobias-Fischer]

Any update @Mechazo11?

[Mechazo11]

Hi @Tobias-Fischer apologies for the delay in getting back to you. Was very busy last week. I will test my ROS setup with mamba install ros-noetic-moveit-ros-perception=1.1.0 and get back to you today

[Mechazo11]

Hi @Tobias-Fischer,

I got MoveIT's tutorial to work with ROS Neotic running on a conda environment after installing the ros-noetic-moveit-ros-perception=1.1.0 package. Attached is a screenshot demonstrating MoveIT running directly off a conda environment. Additionally, my machine is a Ubuntu 18.04 but it is running ROS neotic just fine thanks to your project. I am closing this issue now. Thank you very for your prompt responses in solving this problem.