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doosan-robotics / doosan-robot2

ROS 2 for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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*humble-devel* Moveit plan gets successful for execute but does not moving the cobot. #65

Open gauthammsam57 opened 5 months ago

gauthammsam57 commented 5 months ago

I have successful in installing the pkg and start the rviz.

I made modifications to work for my use case by changing the hard coded m1013 to a0509 in moveit launch file MoveItConfigsBuilder.

To start the move_group. I also added run_move_group_node to the LaunchDescription.

Here are the changes I did image

Currently in RViz2 I am able to plan the action to move the doosan arm. But when I click execute it shows successful but the robot arm does not move.

ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=real host:=192.168.1.124 model:=a0509 color:=blue

[INFO] [launch]: All log files can be found below /home/cobot/.ros/log/2024-06-21-19-52-42-609266-cobot-357766
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [connection-1]: process started with pid [357769]
[INFO] [ros2_control_node-2]: process started with pid [357771]
[INFO] [move_group-3]: process started with pid [357773]
[INFO] [robot_state_publisher-4]: process started with pid [357775]
[INFO] [spawner-5]: process started with pid [357777]
[INFO] [spawner-6]: process started with pid [357787]
[ros2_control_node-2] [WARN] [1718979763.906330572] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-2] [INFO] [1718979763.906998191] [resource_manager]: Loading hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979763.916534592] [resource_manager]: Initialize hardware 'a0509' 
[robot_state_publisher-4] [INFO] [1718979764.028389807] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1718979764.028570093] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1718979764.028590027] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1718979764.028601714] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1718979764.028612270] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1718979764.028622652] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1718979764.028633087] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1718979764.028643612] [robot_state_publisher]: got segment world
[move_group-3] Error:   Semantic description is not specified for the same robot as the URDF
[move_group-3]          at line 664 in ./src/model.cpp
[move_group-3] [INFO] [1718979764.058113995] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0897243 seconds
[move_group-3] [INFO] [1718979764.058537725] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[connection-1] [INFO] [1718979764.072726084] [connection_node]: mobile: none
[move_group-3] [WARN] [1718979764.224755298] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[move_group-3] [INFO] [1718979764.646548781] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1718979764.646748346] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1718979764.647628146] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1718979764.648133153] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1718979764.648153787] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1718979764.648502147] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1718979764.648519404] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1718979764.648921543] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1718979764.649321938] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1718979764.649665142] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1718979764.649684961] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1718979764.875422178] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-3] [INFO] [1718979764.892367809] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1718979764.895373213] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1718979764.895390114] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1718979764.895397137] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1718979764.895423468] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1718979764.895442430] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1718979764.895450907] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.895466541] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.895473765] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1718979764.895480646] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1718979764.895494755] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1718979764.895501111] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1718979764.895506087] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1718979764.895510989] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1718979764.895515640] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1718979764.895552481] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1718979764.898609561] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-3] [ERROR] [1718979764.900612958] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-3] [ERROR] [1718979764.902369998] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeParameterization with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-3] [INFO] [1718979764.902549577] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1718979764.902573652] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1718979764.902582231] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.902598070] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.902613817] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1718979764.902620946] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1718979764.902645485] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1718979764.902660235] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1718979764.902665857] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1718979764.902671376] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [ERROR] [1718979764.903365751] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-3] [INFO] [1718979764.904296357] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-3] [INFO] [1718979764.907595646] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [INFO] [1718979764.911280756] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-3] [INFO] [1718979764.911310486] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1718979764.912841307] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1718979764.912865254] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-3] [INFO] [1718979764.913867047] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1718979764.913916092] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1718979764.914894445] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1718979764.914911323] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[ros2_control_node-2] [INFO] [1718979764.917191320] [dsr_hw_interface2]: joint_name = joint_1
[ros2_control_node-2] [INFO] [1718979764.917235200] [dsr_hw_interface2]: joint_name = joint_2
[ros2_control_node-2] [INFO] [1718979764.917243356] [dsr_hw_interface2]: joint_name = joint_3
[ros2_control_node-2] [INFO] [1718979764.917250178] [dsr_hw_interface2]: joint_name = joint_4
[ros2_control_node-2] [INFO] [1718979764.917256746] [dsr_hw_interface2]: joint_name = joint_5
[ros2_control_node-2] [INFO] [1718979764.917263321] [dsr_hw_interface2]: joint_name = joint_6
[ros2_control_node-2] [INFO] [1718979764.917413221] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979764.917424947] [dsr_hw_interface2]:     INITAILIZE
[ros2_control_node-2] [INFO] [1718979764.917431924] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979764.946418837] [dsr_hw_interface2]: Failed to open YAML file: /home/cobot/ros2_ws/install/dsr_hardware2/share/dsr_hardware2/config/parameters.yaml
[ros2_control_node-2] [INFO] [1718979764.946975468] [dsr_hw_interface2]: name: 
[ros2_control_node-2] [INFO] [1718979764.947043965] [dsr_hw_interface2]: rate: 100
[ros2_control_node-2] [INFO] [1718979764.947094563] [dsr_hw_interface2]: standby: 5000
[ros2_control_node-2] [INFO] [1718979764.947124152] [dsr_hw_interface2]: command: true
[ros2_control_node-2] [INFO] [1718979764.947144280] [dsr_hw_interface2]: host: 192.168.1.124
[ros2_control_node-2] [INFO] [1718979764.947166846] [dsr_hw_interface2]: port: 12345
[ros2_control_node-2] [INFO] [1718979764.947187328] [dsr_hw_interface2]: mode: real
[ros2_control_node-2] [INFO] [1718979764.947228991] [dsr_hw_interface2]: model: a0509
[ros2_control_node-2] [INFO] [1718979764.947321171] [dsr_hw_interface2]: gripper: none
[ros2_control_node-2] [INFO] [1718979764.947370306] [dsr_hw_interface2]: mobile: none
[ros2_control_node-2] [INFO] [1718979764.947387594] [dsr_hw_interface2]:     name = 
[ros2_control_node-2] [INFO] [1718979764.947400526] [dsr_hw_interface2]:     host = 192.168.1.124
[ros2_control_node-2] [INFO] [1718979764.947476907] [dsr_hw_interface2]:     port = 12345
[ros2_control_node-2] [INFO] [1718979764.947492785] [dsr_hw_interface2]:     command = 1
[ros2_control_node-2] [INFO] [1718979764.947505993] [dsr_hw_interface2]:     mode = real
[move_group-3] [INFO] [1718979764.964054148] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for dsr_moveit_controller
[move_group-3] [INFO] [1718979764.964249264] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718979764.964277362] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718979764.965138580] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1718979764.965161608] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-3] [INFO] [1718979764.986901042] [move_group.move_group]: 
[move_group-3] 
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using: 
[move_group-3] *     - ApplyPlanningSceneService
[move_group-3] *     - ClearOctomapService
[move_group-3] *     - CartesianPathService
[move_group-3] *     - ExecuteTrajectoryAction
[move_group-3] *     - GetPlanningSceneService
[move_group-3] *     - KinematicsService
[move_group-3] *     - MoveAction
[move_group-3] *     - MotionPlanService
[move_group-3] *     - QueryPlannersService
[move_group-3] *     - StateValidationService
[move_group-3] ********************************************************
[move_group-3] 
[move_group-3] [INFO] [1718979764.986957448] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1718979764.986972409] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3] 
[move_group-3] You can start planning now!
[move_group-3] 
[ros2_control_node-2] [callback OnMonitoringAccessControlCB] eAccCtrl: 3
[ros2_control_node-2] [callback OnTpInitializingCompletedCB] tp initializing completed
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[ros2_control_node-2] [INFO] [1718979765.052453848] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979765.052515608] [dsr_hw_interface2]:     OPEN CONNECTION
[ros2_control_node-2] [INFO] [1718979765.052532067] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringAccessControlCB] eAccCtrl: 2
[ros2_control_node-2] [INFO] [1718979765.053606852] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979765.053651155] [dsr_hw_interface2]:     Access control granted 
[ros2_control_node-2] [INFO] [1718979765.053666324] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[ros2_control_node-2] [INFO] [1718979765.467550587] [dsr_hw_interface2]:     Real Robot Mode
[ros2_control_node-2] [INFO] [1718979765.467621227] [dsr_hw_interface2]:     DRCF version = GF02110200
[ros2_control_node-2] [INFO] [1718979765.467655417] [dsr_hw_interface2]:     DRFL version = GL010118
[ros2_control_node-2] [INFO] [1718979765.467678778] [dsr_hw_interface2]:     m_nVersionDRCF = 2110200
[ros2_control_node-2] [INFO] [1718979765.467700171] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[spawner-5] [INFO] [1718979766.036062936] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1718979766.065439175] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1718979768.050955956] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1718979768.080255141] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1718979770.065595735] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (1) STANDBY
[spawner-6] [INFO] [1718979770.091241723] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[ros2_control_node-2] [INFO] [1718979770.106273967] [dsr_hw_interface2]:     [init]::read 0-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106366765] [dsr_hw_interface2]:     [init]::read 1-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106398018] [dsr_hw_interface2]:     [init]::read 2-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106422398] [dsr_hw_interface2]:     [init]::read 3-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106445716] [dsr_hw_interface2]:     [init]::read 4-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106469169] [dsr_hw_interface2]:     [init]::read 5-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106520315] [resource_manager]: Successful initialization of hardware 'a0509'
[ros2_control_node-2] [INFO] [1718979770.106997992] [resource_manager]: 'configure' hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979770.107028092] [resource_manager]: Successful 'configure' of hardware 'a0509'
[ros2_control_node-2] [INFO] [1718979770.107040468] [resource_manager]: 'activate' hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979770.107048882] [resource_manager]: Successful 'activate' of hardware 'a0509'
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [INFO] [1718979770.118208391] [controller_manager]: update rate is 10 Hz
[ros2_control_node-2] [INFO] [1718979770.118573431] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-2] [INFO] [1718979770.188895455] [dsr_hw_interface2]: [callback OnLogAlarm]
[ros2_control_node-2] [INFO] [1718979770.188953473] [dsr_hw_interface2]:  level : 1
[ros2_control_node-2] [INFO] [1718979770.188966132] [dsr_hw_interface2]:  group : 1
[ros2_control_node-2] [INFO] [1718979770.188976296] [dsr_hw_interface2]:  index : 1037
[ros2_control_node-2] [INFO] [1718979770.188986884] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [INFO] [1718979770.188997051] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [INFO] [1718979770.189007111] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [WARN] [1718979770.219297781] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[ros2_control_node-2] [INFO] [1718979770.289008803] [controller_manager]: Loading controller 'dsr_controller2'
[ros2_control_node-2] [INFO] [1718979770.304809099] [dsr_hw_interface2]: [dsr_hw_interface2] 0x79dc5be201e0
[ros2_control_node-2] [INFO] [1718979770.318404291] [dsr_controller2]: name: 
[spawner-5] [INFO] [1718979770.320291650] [spawner_dsr_controller2]: Loaded dsr_controller2
[ros2_control_node-2] [INFO] [1718979770.322840042] [controller_manager]: Configuring controller 'dsr_controller2'
[ros2_control_node-2] [INFO] [1718979770.419432434] [controller_manager]: Loading controller 'dsr_moveit_controller'
[ros2_control_node-2] [WARN] [1718979770.450951566] [dsr_moveit_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1718979770.520604486] [spawner_dsr_moveit_controller]: Loaded dsr_moveit_controller
[ros2_control_node-2] [INFO] [1718979770.819279123] [controller_manager]: Configuring controller 'dsr_moveit_controller'
[spawner-5] [INFO] [1718979770.820503988] [spawner_dsr_controller2]: Configured and activated dsr_controller2
[ros2_control_node-2] [INFO] [1718979770.820541140] [dsr_moveit_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-2] [INFO] [1718979770.820576999] [dsr_moveit_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-2] [INFO] [1718979770.820597301] [dsr_moveit_controller]: Using 'splines' interpolation method.
[ros2_control_node-2] [INFO] [1718979770.822937773] [dsr_moveit_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-2] [INFO] [1718979770.831922057] [dsr_moveit_controller]: Action status changes will be monitored at 20.00 Hz.
[INFO] [spawner-5]: process has finished cleanly [pid 357777]
[INFO] [rviz2-7]: process started with pid [357861]
[spawner-6] [INFO] [1718979771.120578602] [spawner_dsr_moveit_controller]: Configured and activated dsr_moveit_controller
[INFO] [spawner-6]: process has finished cleanly [pid 357787]
[rviz2-7] [INFO] [1718979771.876296470] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1718979771.876490555] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1718979772.060960034] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-7]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-7] [ERROR] [1718979775.230452676] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-7] [INFO] [1718979775.252486593] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-7] Error:   Semantic description is not specified for the same robot as the URDF
[rviz2-7]          at line 664 in ./src/model.cpp
[rviz2-7] [INFO] [1718979775.291932754] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0331741 seconds
[rviz2-7] [INFO] [1718979775.292003118] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[rviz2-7] Error:   Semantic description is not specified for the same robot as the URDF
[rviz2-7]          at line 664 in ./src/model.cpp
[rviz2-7] [INFO] [1718979775.996182857] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00250415 seconds
[rviz2-7] [INFO] [1718979775.996224514] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[rviz2-7] [WARN] [1718979776.200030359] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-7] [INFO] [1718979777.646464705] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-7] [INFO] [1718979777.648178753] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-7] [INFO] [1718979777.650671426] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-7] [INFO] [1718979777.652898337] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-7] [INFO] [1718979777.664432475] [interactive_marker_display_101165641043712]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-7] [WARN] [1718979777.668665806] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-7] [INFO] [1718979778.709680902] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-7] [INFO] [1718979778.709723090] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-7] [INFO] [1718979778.730058461] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-7] [INFO] [1718979780.233513455] [interactive_marker_display_101165641043712]: Sending request for interactive markers
[rviz2-7] [INFO] [1718979781.527032203] [interactive_marker_display_101165641043712]: Service response received for initialization

RViz2 screenshot of my plan: image

Logs for planning

[rviz2-7] [INFO] [1718980007.562679794] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1718980007.563125482] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1718980007.563284122] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-7] [INFO] [1718980007.563424545] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1718980007.644244223] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1718980007.644293523] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1718980007.644781024] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [INFO] [1718980007.767398277] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-7] [INFO] [1718980007.768089536] [move_group_interface]: Planning request complete!
[rviz2-7] [INFO] [1718980007.768242061] [move_group_interface]: time taken to generate plan: 0.0259953 seconds

But when I click Execute. It logs successful. But the robot is not moving.

[move_group-3] [INFO] [1718980080.464306192] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1718980080.464447151] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1718980080.464482949] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.464501374] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.464652337] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-7] [INFO] [1718980080.464475620] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1718980080.543702741] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-3] [INFO] [1718980080.543791448] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.543818530] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.544013393] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to dsr_moveit_controller
[ros2_control_node-2] [INFO] [1718980080.544714006] [dsr_moveit_controller]: Received new action goal
[ros2_control_node-2] [INFO] [1718980080.544806996] [dsr_moveit_controller]: Accepted new action goal
[move_group-3] [INFO] [1718980080.545002068] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: dsr_moveit_controller started execution
[move_group-3] [INFO] [1718980080.545029746] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-2] [INFO] [1718980096.618922852] [dsr_moveit_controller]: Goal reached, success!
[move_group-3] [INFO] [1718980096.645771783] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'dsr_moveit_controller' successfully finished
[move_group-3] [INFO] [1718980096.944730441] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-3] [INFO] [1718980096.944853324] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[rviz2-7] [INFO] [1718980096.945617629] [move_group_interface]: Execute request success!

Kindly let me know what I am missing to move the robot.

PS> I am able to move the robot using the ros2 services directly, which means there is no issue in hardware connection or tcp, its just not executing the moveit plan.

codeundercoverdev commented 4 months ago

Were you able to figure this out? I'm having the same issue.

SakethTecholution commented 4 months ago

@gauthammsam57 Could be able to figure this issue out.? Is your controller version updated and can you please let us know which controller version ur using and if its figured out please let us know...

gauthammsam57 commented 4 months ago

@SakethTecholution Its still not resolved for me. Even with the latest pull. I have updated all the pkgs to the latest. So even the controller version should be latest. Could you guide me how to check the Controller version please?

SakethTecholution commented 4 months ago

@song-ms Can you please look into this issue as we have heavy dependency using Moveit. Please let us know if the problem persists or needs time for resolving , so that we could use DRL for motion planning

SakethTecholution commented 4 months ago

@gauthammsam57 You can go to settings in teachpendant and go to update . there it will show the controller version image In the website doosan mentioned that recent release is only 2..11 but how come in document they mentioned that minimum is required image @song-ms @doosan-robotics Can you please guide us through this issue as lot of ppl are facing the issue with the current moveit package with A0509. In my case too, i couldnt be able to move the cobot even after the latest pull

SakethTecholution commented 4 months ago

@gauthammsam57 Please let me if update of controller works.. !

gauthammsam57 commented 4 months ago

@SakethTecholution Current Integration Package Version is GV02110200

But I don't the teach pendent version matters. For me to control and use, I generally don't even 'switch on' the teach pendent to control using ROS 2.

I think it could be come other controller. Maybe something from ros-controls, not sure?

SakethTecholution commented 4 months ago

@gauthammsam57 Can you please let me know which ros service call you used to move the robot and what launch file u used. Is it gazebo or movit

gauthammsam57 commented 4 months ago

For me it works on all. basic rviz launch, gazebo and moveit. You can check the service by doing ros2 service list There is move_joint and move_jointx I use both of them to control the bot.

Example: Move all joints to [0,0,0,0,0,0] degree.

ros2 service call /dsr01/motion/move_joint dsr_msgs2/srv/MoveJoint '{vel: 255.0, acc: 255.0}'
PS: Make sure the cobot indication light is white. Color Mode
White Auto Control
Blue Manual Control
Yellow Recovery mode
Red Error/Loading
xwn-github commented 4 months ago

I encountered the same problem, moveit plan succeed, moveit execution also showed success, but the real robot (h2017) did not move When I started the test, the version of the manipulator controller was version 2.10.3. Later, it was updated to version 2.11.2 and tested again, with the same result. The doosan ros2 package I pulled is the latest humble branch.

gauthammsam57 commented 4 months ago

@xwn-github: When you said Manipulator Controller Version: Are you talking about the console? Or some pkg version?

If its some pkg version could you please guide on how to check it?

xwn-github commented 4 months ago

The Manipulator controller system version, or DART Platform software version

SakethTecholution commented 3 months ago

@gauthammsam57 do u have any update , of any of the recent pushes are helping and please let us know if u could be able to find or solve the issue which would be helpful

gauthammsam57 commented 3 months ago

@SakethTecholution So far it does not work. There are no commits that fixes this issue. At least as far as I know.

mbonu-luxmp commented 1 month ago

I have the same issue does any body solved it?