can not use moveit to control robot with dart engine

zhongxiangzju commented 3 years ago

The configuration is : ros melodic gazebo9 install from source following http://gazebosim.org/tutorials?tut=install_from_source&cat=install dart6 moveit

when i set physics engine to ode, the robot can be moved using moveit. But not the same if using dart.

chapulina commented 3 years ago

What happens when you use DART? Can you also tell what's the exact Gazebo 9 version you're using? Also, please try running in verbose mode to see what errors show up.

zhongxiangzju commented 3 years ago

I use Ubuntu 18.04 with ROS Melodic and Gazebo9.14.
When using ODE physics engine, robot can be controlled using moveit.
When change physics engine from ODE to DART, errors appears when launching moveit: [ERROR] [1626272243.837366455]: Tried to advertise a service that is already advertised in this node [ERROR] [1626272260.324671117, 14.718000000]: Ignoring transform for child_frame_id "forearm_link" from authority "unknown_publisher" because of a nan value in the transform (nan nan nan) (nan nan nan nan)

Then moveit shutdown and robot in gazebo is

Screen shot of errors:

xiaoaxing commented 2 years ago

Have you solved this problem, i meet the same problem.

gazebosim / gazebo-classic

can not use moveit to control robot with dart engine #2916