Example Moveit-setup fails...

[ludo2811]

Hey everyone, lately i was trying to use the example moveit-setup to test the driver, but unfortunately it does not work. I followed the given instructions in "Getting started" without any problems. Then connected the robot with my laptop successfully. Then I started the driver with the following command: $ ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.1.102 launch_rviz:=false

Then in another terminal: fams-projekt-mosim2@FAMS-PROJEKT-MOSIM2:~/workspace_0/ros_ur_driver_0$ ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true [INFO] [launch]: All log files can be found below /home/fams-projekt-mosim2/.ros/log/2022-04-26-10-18-43-806004-FAMS-PROJEKT-MOSIM2-11488 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'warehouse_ros_mongo' not found, searching: ['/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_calibration', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_robot_driver', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_controllers', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_msgs', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_moveit_config', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_bringup', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_description', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_dashboard_msgs', '/opt/ros/galactic']")> Traceback (most recent call last): File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource raise LookupError( LookupError: Could not find the resource 'warehouse_ros_mongo' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.process_event(next_event) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event visit_all_entities_and_collect_futures(entity, self.context)) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) [Previous line repeated 2 more times] File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/actions/node.py", line 484, in execute ret = super().execute(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 837, in execute self.expand_substitutions(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in expand_substitutions cmd = [perform_substitutions(context, x) for x in self.cmd] File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/execute_process.py", line 681, in cmd = [perform_substitutions(context, x) for x in self.__cmd] File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 197, in perform_substitution return substitution.perform(self) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform package_prefix = super().perform(context) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform result = self.find(package) File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find return get_package_prefix(package_name) File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix raise PackageNotFoundError( ament_index_python.packages.PackageNotFoundError: "package 'warehouse_ros_mongo' not found, searching: ['/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_calibration', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_robot_driver', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_controllers', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_msgs', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_moveit_config', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_bringup', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_description', '/home/fams-projekt-mosim2/workspace_0/ros_ur_driver_0/install/ur_dashboard_msgs', '/opt/ros/galactic']"

I tried apt updating and building the workspace new. When i am right, there is a problem with the warehouse_mongo package?

Any help on solving my problem is appreciated!

[destogl]

have you execute rosdep install inside your workspace? It is very obvious that the package warehouse_ros_mongo is missing.

[ludo2811]

Yes, I did. As stated in the getting started part. $rosdep install --ignore-src --from-paths src -y -r

Any suggestions what else could be the reason why the warehouse_ros_mongo package is missing?

[fmauch]

A quick grep in my workspace shows that indeed warehouse_ros_mongo is needed, but not defined as a dependency

grep -r warehouse_ros_mongo
Universal_Robots_ROS2_Driver/ur_moveit_config/launch/ur_moveit.launch.py:        package="warehouse_ros_mongo",
Universal_Robots_ROS2_Driver/ur_moveit_config/launch/ur_moveit.launch.py:            {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"},