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SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation
BSD 3-Clause "New" or "Revised" License
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service [/check_kinematics] unavailable #63

Closed ninafiona closed 3 years ago

ninafiona commented 3 years ago

Ubuntu 18.04 - ros melodic - tub_feasibility_check on branch master - ec_grasp_planner on branch migration_1804 (from IROS2020)

When calling the service run_grasp_planner I get the following error:

rosservice call /run_grasp_planner "{object_type: 'apple', grasp_type: 'Any', handarm_type: 'RBOHandP24_pulpyWAM', object_heuristic_function: 'Deterministic', angle_of_attack: 0.0, wrist_angle: 0.0}"
ERROR: service [/run_grasp_planner] responded with an error: service cannot process request: service [/check_kinematics] unavailable

In planner.py line 222, multi_object_params.py line 365.

zweistein commented 3 years ago

This functionality requires the tub_feasibility_checker. To turn off this feature, you need to set on the ROS param server the heuristic_type. You can do that in the parameter.launch from 'panner_gui' pkg by <arg name="heuristic_type" default="basic-separated"/>

ninafiona commented 3 years ago

Thank you, it worked with <param name="planner_gui/heuristic_type" value="basic-separated"/>