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epfl-lasa / iiwa_ros

ROS Meta-package for controlling KUKA IIWA
GNU General Public License v3.0
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err in communication between gazebo and moveit #33

Closed dbdxnuliba closed 1 year ago

dbdxnuliba commented 4 years ago

roslaunch iiwa_gazebo iiwa_gazebo.launch roslaunch iiwa_moveit demo.launch when I press plan and execute in moveit,

[ERROR] [1593402180.815820616, 72.486000000]: Action client not connected: PositionTrajectoryController/follow_joint_trajectory

[ERROR] [1593404460.733921626, 2339.063000000]: Unable to identify any set of controllers that can actuate the specified joints: [ iiwa_joint_1 iiwa_joint_2 iiwa_joint_3 iiwa_joint_4 iiwa_joint_5 iiwa_joint_6 iiwa_joint_7 ]

costashatz commented 4 years ago

roslaunch iiwa_gazebo iiwa_gazebo.launch

Can you give us the (cmd) output of this command? It seems to me that this did not start correctly..

dbdxnuliba commented 4 years ago

roslaunch iiwa_moveit demo.launch

Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

SUMMARY

PARAMETERS

NODES /iiwa/ move_group (moveit_ros_move_group/move_group) rviz_dell_NUC8i7BEH_16681_5324018907897783988 (rviz/rviz)

ROS_MASTER_URI=http://192.168.30.152:11311

process[iiwa/move_group-1]: started with pid [16714] [ INFO] [1593418734.542809837]: Loading robot model 'iiwa14'... [ INFO] [1593418734.542863339]: No root/virtual joint specified in SRDF. Assuming fixed joint process[iiwa/rviz_dell_NUC8i7BEH_16681_5324018907897783988-2]: started with pid [16759] [ INFO] [1593418734.691888807]: rviz version 1.12.16 [ INFO] [1593418734.691926434]: compiled against Qt version 5.5.1 [ INFO] [1593418734.691935179]: compiled against OGRE version 1.9.0 (Ghadamon) taimi: robot_description is:/iiwa/robot_description [ INFO] [1593418734.912246719, 38.052000000]: Attempting to create managed (unique) instance for class kdl_kinematics_plugin/KDLKinematicsPlugin. log : loadLibraryForClass , lookup_name is:kdl_kinematics_plugin/KDLKinematicsPlugin log : library_path is:/home/dell/git_code/devel/lib//libmoveit_kdl_kinematics_plugin.so [ INFO] [1593418734.916782858, 38.057000000]: Loading robot model 'iiwa14'... [ INFO] [1593418734.916804323, 38.057000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1593418735.102665125, 38.233000000]: Stereo is NOT SUPPORTED [ INFO] [1593418735.102744481, 38.233000000]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1593418735.192738247, 38.324000000]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1593418735.192783448, 38.324000000]: Starting scene monitor [ INFO] [1593418735.195764442, 38.326000000]: Listening to '/iiwa/planning_scene' [ INFO] [1593418735.195804871, 38.326000000]: Starting world geometry monitor [ INFO] [1593418735.198850802, 38.330000000]: Listening to '/iiwa/collision_object' using message notifier with target frame '/world ' [ INFO] [1593418735.205156772, 38.336000000]: Listening to '/iiwa/planning_scene_world' for planning scene world geometry [ INFO] [1593418735.290228966, 38.421000000]: Listening to '/iiwa/attached_collision_object' for attached collision objects Context monitors started. log : loadLibraryForClass , lookup_name is:ompl_interface/OMPLPlanner log : library_path is:/home/dell/git_code/devel/lib/libmoveit_ompl_planner_plugin.so [ INFO] [1593418735.336730894, 38.467000000]: Initializing OMPL interface using ROS parameters [ INFO] [1593418735.358550348, 38.489000000]: Using planning interface 'OMPL' log : loadLibraryForClass , lookup_name is:default_planner_request_adapters/AddTimeParameterization log : library_path is:/home/dell/git_code/devel/lib/libmoveit_default_planning_request_adapter_plugins.so [ INFO] [1593418735.363827062, 38.494000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1593418735.364463810, 38.494000000]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1593418735.365075125, 38.495000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1593418735.365617202, 38.496000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1593418735.366015430, 38.496000000]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1593418735.366472356, 38.497000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1593418735.366528923, 38.497000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1593418735.366550362, 38.497000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1593418735.366568422, 38.497000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1593418735.366583690, 38.497000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1593418735.366600956, 38.497000000]: Using planning request adapter 'Fix Start State Path Constraints' log : loadLibraryForClass , lookup_name is:moveit_simple_controller_manager/MoveItSimpleControllerManager log : library_path is:/home/dell/git_code/devel/lib/libmoveit_simple_controller_manager.so [ INFO] [1593418738.727594083, 41.841000000]: Loading robot model 'iiwa14'... [ INFO] [1593418738.727653844, 41.841000000]: No root/virtual joint specified in SRDF. Assuming fixed joint taimi: robot_description is:/iiwa/robot_description [ INFO] [1593418738.838841163, 41.943000000]: Attempting to create managed (unique) instance for class kdl_kinematics_plugin/KDLKinematicsPlugin. log : loadLibraryForClass , lookup_name is:kdl_kinematics_plugin/KDLKinematicsPlugin log : library_path is:/home/dell/git_code/devel/lib//libmoveit_kdl_kinematics_plugin.so [ INFO] [1593418738.844747849, 41.952000000]: Loading robot model 'iiwa14'... [ INFO] [1593418738.844770954, 41.952000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1593418739.110951990, 42.213000000]: Starting scene monitor [ INFO] [1593418739.113755232, 42.215000000]: Listening to '/iiwa/move_group/monitored_planning_scene' [ INFO] [1593418739.114567933, 42.216000000]: waitForService: Service [/iiwa/get_planning_scene] has not been advertised, waiting... [ WARN] [1593418740.422092496, 43.520000000]: Waiting for PositionTrajectoryController/follow_joint_trajectory to come up [ INFO] [1593418744.141401266, 47.232000000]: Failed to call service get_planning_scene, have you launched move_group? at /home/dell/git_code/src/robotic_arm/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:491 [ INFO] [1593418744.461589096, 47.551000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ WARN] [1593418746.442960729, 49.520000000]: Waiting for PositionTrajectoryController/follow_joint_trajectory to come up [ERROR] [1593418752.469235509, 55.520000000]: Action client not connected: PositionTrajectoryController/follow_joint_trajectory [ INFO] [1593418752.492146690, 55.543000000]: Returned 0 controllers in list [ INFO] [1593418752.508134992, 55.559000000]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... log : loadLibraryForClass , lookup_name is:move_group/ApplyPlanningSceneService log : library_path is:/home/dell/git_code/devel/lib/libmoveit_move_group_default_capabilities.so Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... log : loadLibraryForClass , lookup_name is:move_group/MoveGroupPickPlaceAction log : library_path is:/home/dell/git_code/devel/lib/libmoveit_move_group_pick_place_capability.so Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1593418752.641491985, 55.692000000]:

[ INFO] [1593418752.641546586, 55.692000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1593418752.641566458, 55.692000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1593418753.817993433, 56.862000000]: Ready to take commands for planning group manipulator. [ INFO] [1593418753.818057678, 56.862000000]: Looking around: no [ INFO] [1593418753.818083001, 56.862000000]: Replanning: no [ WARN] [1593418753.828468004, 56.873000000]: Interactive marker 'EE:goal_iiwa_link_ee' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

dbdxnuliba commented 4 years ago

image

dbdxnuliba commented 4 years ago

roslaunch iiwa_gazebo iiwa_gazebo.launch ... logging to /home/dell/.ros/log/1371c8a8-b9e1-11ea-a97e-d0c63738e37f/roslaunch-dell-NUC8i7BEH-15379.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dell-NUC8i7BEH:38235/

SUMMARY

PARAMETERS

NODES /iiwa/ iiwa_controller (controller_manager/spawner) iiwa_service (iiwa_tools/iiwa_service) / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) robot_state_publisher (robot_state_publisher/robot_state_publisher) urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [15403] ROS_MASTER_URI=http://192.168.30.152:11311

setting /run_id to 1371c8a8-b9e1-11ea-a97e-d0c63738e37f process[rosout-1]: started with pid [15427] started core service [/rosout] process[iiwa/iiwa_service-2]: started with pid [15451] process[gazebo-3]: started with pid [15452] [ INFO] [1593418695.063700714]: Starting Iiwa IK server.. process[gazebo_gui-4]: started with pid [15466] [ INFO] [1593418695.066220711]: IiwaService is waiting for model URDF in parameter [/robot_description] on the ROS param server. process[urdf_spawner-5]: started with pid [15487] process[iiwa/iiwa_controller-6]: started with pid [15488] process[robot_state_publisher-7]: started with pid [15489] [ INFO] [1593418695.166784022]: Received urdf from param server, parsing... [ INFO] [1593418695.170086639]: Number of joints found: 7 [ INFO] [1593418695.170792843]: Started Iiwa FK server.. [ INFO] [1593418695.171325003]: Started Iiwa IK server.. [ INFO] [1593418695.171818512]: Started Iiwa Jacobian server.. [ INFO] [1593418695.172250901]: Started Iiwa Jacobian Derivative server.. [ INFO] [1593418695.172635798]: Started Iiwa Jacobians server.. [ INFO] [1593418695.173033520]: Started Iiwa Gravity Compensation server.. SpawnModel script started [INFO] [1593418695.956527, 0.000000]: Loading model XML from ros parameter [INFO] [1593418695.958903, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1593418696.045711263]: Finished loading Gazebo ROS API Plugin. [ INFO] [1593418696.046071587]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1593418696.061980771]: Finished loading Gazebo ROS API Plugin. [ INFO] [1593418696.062572978]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1593418696.494887973, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1593418696.516673021, 0.043000000]: Physics dynamic reconfigure ready. [INFO] [1593418696.562453, 0.086000]: Calling service /gazebo/spawn_urdf_model [INFO] [1593418696.694198, 0.161000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1593418696.795965173, 0.161000000]: Loading gazebo_ros_control plugin [ INFO] [1593418696.796214900, 0.161000000]: Starting gazebo_ros_control plugin in namespace: /iiwa [ INFO] [1593418696.797270287, 0.161000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ INFO] [1593418696.916739168, 0.161000000]: Loaded gazebo_ros_control. [urdf_spawner-5] process has finished cleanly log file: /home/dell/.ros/log/1371c8a8-b9e1-11ea-a97e-d0c63738e37f/urdf_spawner-5*.log [ INFO] [1593418696.939131019, 0.183000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1593418696.962187662, 0.207000000]: Physics dynamic reconfigure ready. [INFO] [1593418697.214166, 0.458000]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1593418697.215255, 0.459000]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1593418697.216271, 0.460000]: Loading controller: /iiwa/joint_state_controller [INFO] [1593418697.225879, 0.470000]: Loading controller: /iiwa/joint_1_position_controller [INFO] [1593418697.259363, 0.504000]: Loading controller: /iiwa/joint_2_position_controller [INFO] [1593418697.285964, 0.531000]: Loading controller: /iiwa/joint_3_position_controller [INFO] [1593418697.314803, 0.560000]: Loading controller: /iiwa/joint_4_position_controller [INFO] [1593418697.343731, 0.589000]: Loading controller: /iiwa/joint_5_position_controller [INFO] [1593418697.393954, 0.635000]: Loading controller: /iiwa/joint_6_position_controller [INFO] [1593418697.428681, 0.670000]: Loading controller: /iiwa/joint_7_position_controller [INFO] [1593418697.458431, 0.700000]: Controller Spawner: Loaded controllers: /iiwa/joint_state_controller, /iiwa/joint_1_position_controller, /iiwa/joint_2_position_controller, /iiwa/joint_3_position_controller, /iiwa/joint_4_position_controller, /iiwa/joint_5_position_controller, /iiwa/joint_6_position_controller, /iiwa/joint_7_position_controller [INFO] [1593418697.460358, 0.702000]: Started controllers: /iiwa/joint_state_controller, /iiwa/joint_1_position_controller, /iiwa/joint_2_position_controller, /iiwa/joint_3_position_controller, /iiwa/joint_4_position_controller, /iiwa/joint_5_position_controller, /iiwa/joint_6_position_controller, /iiwa/joint_7_position_controller

costashatz commented 4 years ago

I think you need to change this line to <arg name="controller" default="PositionController"/> because I think that MoveIt requires a controller that accepts position commands.

matthias-mayr commented 4 years ago

It worked for me when I changed the controller in this line to PositionTrajectoryController.

What do you think about a pull request to introduce something like 

<include unless="$(arg driver)" file="$(find iiwa_gazebo)/launch/iiwa_gazebo.launch">
     <arg name="controller" value="PositionTrajectoryController"/>
</include>

to demo.launch? There is one other thing that could be resolved then. There seem to be some inconsistencies with the model parameter. E.g. demo.launch excepts model to be iiwa14 whereas gazebo.launch expects 14 only.

dbdxnuliba commented 4 years ago

aflter I change gazebo.launch file : image

roslaunch iiwa_gazebo iiwa_gazebo.launch

while processing /home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_driver/launch/iiwa_setup.launch: while processing /home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_description/launch/iiwaiiwa14_upload.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_description/launch/iiwaiiwa14_upload.launch' The traceback for the exception was written to the log file

costashatz commented 4 years ago

There is one other thing that could be resolved then. There seem to be some inconsistencies with the model parameter. E.g. demo.launch excepts model to be iiwa14 whereas gazebo.launch expects 14 only.

Let me check this and I'll get back to you. Two different people wrote the core library and the moveit integration, so there could be a mismatch.

dbdxnuliba commented 4 years ago

after add

[INFO] [1594188426.713041, 0.588000]: Loading controller: /iiwa/joint_1_position_controller [ERROR] [1594188426.760747930, 0.637000000]: Exception thrown while initializing controller /iiwa/joint_1_position_controller. Could not find resource 'iiwa_joint_1' in 'hardware_interface::EffortJointInterface'. [ERROR] [1594188426.760811159, 0.637000000]: Initializing controller '/iiwa/joint_1_position_controller' failed [ERROR] [1594188427.768668, 1.638000]: Failed to load /iiwa/joint_1_position_controller [INFO] [1594188427.769645, 1.639000]: Loading controller: /iiwa/joint_2_position_controller [ERROR] [1594188427.812379885, 1.681000000]: Exception thrown while initializing controller /iiwa/joint_2_position_controller. Could not find resource 'iiwa_joint_2' in 'hardware_interface::EffortJointInterface'. [ERROR] [1594188427.812443292, 1.681000000]: Initializing controller '/iiwa/joint_2_position_controller' failed [ERROR] [1594188428.817892, 2.673000]: Failed to load /iiwa/joint_2_position_controller [INFO] [1594188428.818715, 2.674000]: Loading controller: /iiwa/joint_3_position_controller [ERROR] [1594188428.880740116, 2.737000000]: Exception thrown while initializing controller /iiwa/joint_3_position_controller. Could not find resource 'iiwa_joint_3' in 'hardware_interface::EffortJointInterface'.

matthias-mayr commented 4 years ago

roslaunch iiwa_gazebo iiwa_gazebo.launch

while processing /home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_driver/launch/iiwa_setup.launch: while processing /home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_description/launch/iiwaiiwa14_upload.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/dell/ws_iiwa_ros/src/iiwa_ros/iiwa_description/launch/iiwaiiwa14_upload.launch'

In order to make the setup work for you, the only thing you need to change is this line to contain

<arg name="controller" default="PositionTrajectoryController"/>

as an alternative you can also run

roslaunch iiwa_gazebo iiwa_gazebo.launch controller:=PositionTrajectoryController

There are not changes needed regarding the model parameter.

costashatz commented 2 years ago

@dbdxnuliba did the fix by @matthias-mayr worked for you?