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ai4ce / ur_ros2

This package is some additions to the official UR ROS2 driver that enables teleoperation and some more visualization. Developed at AI4CE Lab at NYU.
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Unable to use this demo in rviz #1

Open minku1219 opened 2 days ago

minku1219 commented 2 days ago

Hello, I am trying to use this package to use servo in rviz itself. On running this teleop_sys launch file, I am facing an error of invalid group name. By default, the group name is ur_manipulator itself, but it is saying it as invalid. ANy help regarding the same is appreciated.

I have attached the log output for the same.

[component_container-1] [INFO] [1726652017.612291906] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_server/publish_planning_scene'
[component_container-1] [ERROR] [1726652017.616609097] [moveit_robot_model.robot_model]: Group 'ur_manipulator' not found in model 'ur10e'
[component_container-1] [ERROR] [1726652017.616634152] [moveit_servo.servo_calcs]: Invalid move group name: `ur_manipulator`
[component_container-1] [INFO] [1726652017.622219233] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[component_container-1] [INFO] [1726652017.622263731] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[component_container-1] [ERROR] [1726652017.769581984] [moveit_servo_ur10e_container]: Component constructor threw an exception: Invalid move group name
IrvingF7 commented 1 day ago

Hi Minku!

When I try to use this in RViz, I would first run

ros2 launch ur_robotiq_description ur_bringup.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=true tool_choice:=none

To bring up the robot. This bring-up file is a modification to the official UR bringup that adds the EEF tool to it. Note that here I set tool_choice to none because the teleoperation code is not fully integrated with our gripper. Having it on would cause a bug (which I intend to fix shortly)

Then I would run ros2 launch ur_moveit_servo teleop_sys_launch.py.

I am suspecting the reason you encountered your bug is that you are still bringing on your UR10E with UR's official SRDF and URDF. In order to integrate the gripper, I had to generate a new, customized SRDF, which has a different name for the move group.

BTW, I updated the teleop's launch to fix some kinks. I doubt it would have anything to do with your problem, but it wouldn't hurt to pull it.

Feel free to let me know if you have any more questions!