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Steigner / ROS_UR3_control

Control UR3 cobot by RL and DRL
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Failed to fetch current robot state #1

Open Diankuang-Wu opened 4 years ago

Diankuang-Wu commented 4 years ago

Hi, I copy the codes, and input the command: 1] roslaunch ur_gazebo ur3.launch limited:=true 2] roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true 3] rosrun testos s_traj.py also, 1] roslaunch testos rl.launch 2] roslaunch ur3_moveit_planning.launch 3] rosrun testos s_traj.py face a same issue:

=========>>> PRESS 'ENTER' CONFIGURATION [ INFO] [1596791045.980253708]: Loading robot model 'ur3'... [ WARN] [1596791045.980837610]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1596791045.980859451]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1596791046.052541693, 1309.635000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration. [ INFO] [1596791047.245663905, 1310.828000000]: Ready to take commands for planning group manipulator. [ INFO] [1596791050.757244805, 1314.332000000]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines! [ERROR] [1596791050.757294649, 1314.332000000]: Failed to fetch current robot state Traceback (most recent call last): File "/home/wu/catkin_ws/src/ROS_UR3_control/testos/src/s_traj.py", line 254, in main() File "/home/wu/catkin_ws/src/ROS_UR3_control/testos/src/s_traj.py", line 205, in main tar_sim.init_motion() File "/home/wu/catkin_ws/src/ROS_UR3_control/testos/src/s_traj.py", line 56, in init_motion joint_goal[0] = -pi/2 IndexError: list assignment index out of range

after several tries and google, the issue wasn't solved, could you give some advice? Thank you

Steigner commented 4 years ago

Hi, I suppose problem is in get_current_joint_values(). Please check out this issue https://github.com/ros-planning/moveit/issues/1187, i think there you'll be able to find out solve in answer Hubert51. During testing this script, I never had this issue in method init_motion(), so maybe try to check out, if you have install all moveit depedencies. So hopefully it will help you!

Diankuang-Wu commented 4 years ago

Thank you, I have figured out the issue, the reason of it should be a compiling error about ur_modern_driver when catkin_make it. It should be avoided,but I am careless. But now, when I input the commands: 1] roslaunch testos rl.launch 2] roslaunch ur3_moveit_planning.launch 3] rosrun testos run_Q.py (or: rosrun testos run_DQN.py) I face a new issue: 1] Gym environment done 2] Start episode:0 3] Simulation reset 4] ERROR: Can't reset the simulation! 5] ERROR: Can't reset the simulation! 6] ERROR: Can't reset the simulation! ...

how should I do for it? Thank you