Closed NebuDa closed 3 years ago
Thijsons
commented
3 years ago I had the same problem a few days ago. Managed to fix it by removing "publish_planning_scene_topic": "/move_group/publish_planning_scene" (line 287) from the planning_scene_monitor_parameters in the ur_moveit.launch.py file. Not quite sure why it works and if it breaks anything so I would love to know more as well.
NebuDa
commented
3 years ago Thanks for your advise @Thijsons but I have tried it and it changes nothing. Boxes dissappear on plan after attaching and get also ignored by simple plan without attaching. Could you verify it, please? Perhaps you changed something else, too?
NebuDa
commented
3 years ago Just forgot it: I have installed the Foxy Branch on Foxy with Ubuntu 20.04 and the URCap 1.0.5
destogl
commented
3 years ago @NebuDa did you also try to ask on MoveIt2 repository? This seems like MoveIt2 related issue. Maybe we misconfigured something, but there you should get better answer regarding that.
NebuDa
commented
3 years ago @destogl I haven't done that yet because the MoveIt! Tutorial with the Panda Robot works great. I have already tried to compare the tutorial (see below) with the configuration above, but have not found any difference yet.
ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
AndyZe
commented
3 years ago I'm starting to look into this. Thanks for a fairly detailed bug report.
The Scene Geometry "Publish" button publishes to the planning_scene topic like it should. The problem is, there is nothing subscribed to that topic.
The missing subscriber is move_group_private_XX
AndyZe
commented
3 years ago NebuDa
commented
3 years ago This works great with the publish Button in RViz. But it's getting still ignored, if I add the Box with the following Code with MoveitCpp:
// Create collision object, planning shouldn't be too easy
moveit_msgs::msg::CollisionObject collision_object;
collision_object.header.frame_id = "base";
collision_object.id = "box";
shape_msgs::msg::SolidPrimitive box;
box.type = box.BOX;
box.dimensions = { 1.0, 0.1, 0.4 };
geometry_msgs::msg::Pose box_pose;
box_pose.position.x = 0.0;
box_pose.position.y = -0.9;
box_pose.position.z = 0.2;
collision_object.primitives.push_back(box);
collision_object.primitive_poses.push_back(box_pose);
collision_object.operation = collision_object.ADD;
// Add object to planning scene
{ // Lock PlanningScene
planning_scene_monitor::LockedPlanningSceneRW scene(moveit_cpp->getPlanningSceneMonitor());
scene->processCollisionObjectMsg(collision_object);
} // Unlock PlanningSceneIs there another Bug or just a mistake by my own?
P.S. Can I and should I review the Changes in https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/205 ?
P.P.S. If I move the box out of code, and publish it, then it works.
After starting the Driver and Moveit I can plan paths with MoveIt and the URSimulator, but when I try to add a scene object as obstacle, MoveIt ignores the Object. When I attach the Object to the base_link it's getting deleted. I use the example with following commands:
Then starting the URCap
I will show you some screenshots to show the problem:
Attaching Problem: Klicking ok and then "Plan" in the Planning Tab let the Box_0 dissappear.
And here is the Log Output from ur_moveit.launch.py: