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davetcoleman / moveit_whole_body_ik

Non-chain inverse kinematics solver for MoveIt!
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Unable to find joint model group corresponding to tip #4

Open gstavrinos opened 5 years ago

gstavrinos commented 5 years ago

Hey Dave,

Thanks for the non-chain IK solver!

I am trying to set it up for my robot (that's why I made the Melodic PR), but I am facing the following errors:

[ERROR] [1564571891.899601529]: Unable to find joint model group corresponding to tip r_wrist
[ERROR] [1564571891.899728963]: The main joint model group does not have the same number of active joints as our sub groups in total.
[ERROR] [1564571891.899828339]: Main JM joints: 10 Expected: 0
[ERROR] [1564571891.899936501]: Failed to convert URDF to KDL Chains and setup jacobians
[ERROR] [1564571891.900045355]: Kinematics solver of type 'whole_body_kinematics_plugin/WholeBodyKinematicsPlugin' could not be initialized for group 'both_arms'
[ERROR] [1564571891.900557095]: Kinematics solver could not be instantiated for joint group both_arms.

My srdf has the following structure (showing only the relevant part):

<group name="right_arm">
        <chain base_link="torso" tip_link="r_wrist" />
    </group>
    <group name="left_arm">
        <chain base_link="torso" tip_link="l_wrist" />
    </group>
    <group name="both_arms">
        <group name="left_arm" />
        <group name="right_arm" />
    </group>

My TF tree has the following structure (again, ommiting irrelevant links):

l_wrist<---LForeArm<---LElbow<---LBicep<---LShoulder<---torso--->RShoulder--->RBicep--->RElbow--->RForeArm--->r_wrist

Any tips on what I am doing wrong?

Also, since it would probably help, is there a repository containing the robot of the demo video presented in this repo?

Thank you in advance,

George

davetcoleman commented 5 years ago

hey, really sorry but i don't have time to support this repo anymore.

however, professional support is available at picknik.ai... ;-)

ekampourakis commented 3 years ago

@gstavrinos Did you ever find a solution to that?

gstavrinos commented 3 years ago

@ekampourakis Unfortunately not...

ekampourakis commented 3 years ago

@davetcoleman @gstavrinos It's a pity a working example isn't included in the repo. It's a very useful plugin with potential uses to many applications.