Plan_motion and Plan_cartesian_motion error when a tool is attached to robot

[begums]

Describe the bug Using the compas_fab grasshopper components, plan_motion and plan_cartesian_motion give the error below, if a tool is attached to the robot. When no tool is attached, the planning works and a trajectory is produced, even with attached collision meshes to the scene or the robot.

To Reproduce Steps to reproduce the behavior:

1. Context: Using compas_fab version 0.27.0 on Rhino 7, Grasshopper. Compas_fab components used: ROS Connect, Attached Tool, Plan Cartesian Motion, Plan Motion
2. See error:

Runtime error (PythonException): Message type moveit_msgs/GetCartesianPathRequest does not have a field start_state.attached_collision_objects.object.pose

Traceback:
  line 137, in await_callback, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas\utilities\azync.py"
  line 99, in plan_cartesian_motion, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas_fab\backends\ros\backend_features\move_it_plan_cartesian_motion.py"
  line 133, in __call__, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas_fab\backends\interfaces\backend_features.py"
  line 45, in plan_cartesian_motion, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas_fab\backends\ros\planner.py"
  line 35, in plan_cartesian_motion, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas_fab\backends\interfaces\client.py"
  line 1557, in plan_cartesian_motion, "C:\Users\saral\AppData\Roaming\McNeel\Rhinoceros\7.0\scripts\compas_fab\robots\robot.py"
  line 24, in RunScript, "<string>"

Expected behavior Expect it to produce a trajectory with a tool attached as well.

Screenshots

Desktop

• OS: [Windows 10]
• Python version [3.10.8]
• Python package manager [conda]

[gonzalocasas]

Thanks for the report! Quick question: which Ros version are you using?

[begums]

@gonzalocasas Hey! I've tried it both with the noetic and melodic version. I used this docker image https://hub.docker.com/r/gramaziokohler/ros-noetic-moveit for the noetic.

[gonzalocasas]

That's odd. Would you mind sharing / attaching the GH file and also the docker compose file you are using? Thanks!

[begums]

Oh, actually I was wrong. It works with noetic, however I get the above error with kinetic or melodic docker files. Also, when I run all the launch files on our Linux machine with melodic ROS, I get the same error.

All the files including the docker compose files and the gh file is here: all_files_plan_error.zip

Thank you!

[gonzalocasas]

Found and fixed on #383. A new release will come out soon including this fix.

[begums]

Yes, it works now with older versions as well! Thanks a lot!