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husky / husky_manipulation

Repository to store all necessary packages for common manipulator integrations
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Error in ROS Melodic #9

Closed zgerrard closed 4 years ago

zgerrard commented 4 years ago

Hi,

I tried to compile the source from the kinetic-devel branch on ROS Melodic. However, when I try to launch the demo from husky_ur_moveit_config I get the following error (roslaunch husky_ur_moveit_config demo.launch) : Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF.

Here are the errors that I am getting:

[ERROR] [1599795561.244283232]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1599795561.244312112]: Group 'manipulator' is empty.
[ERROR] [1599795561.244339882]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244347801]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244381223]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244388869]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244396254]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1599795561.244402705]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1599795561.244470350]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244503166]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244508631]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244514787]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244523745]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244534023]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244540536]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244545789]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244556035]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244563223]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244569158]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244577779]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244585300]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244591491]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244599370]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244605990]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244612871]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244620440]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244628568]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244635768]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244643237]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244650470]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244658213]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244664189]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244671054]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244678979]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244685687]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244692762]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244699913]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244705864]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244712613]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244718693]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244725901]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244732732]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244739874]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244745651]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244752785]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244759826]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244766819]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244773605]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1599795561.244781193]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ INFO] [1599795561.244856595]: Loading robot model 'husky'...
[ INFO] [1599795561.244875315]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1599795561.244985395]: Link front_bumper_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245044321]: Link rear_bumper_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245062096]: Link top_chassis_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245430264]: Link user_rail_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1599795561.245549111]: Group 'manipulator' must have at least one valid joint

Do you know how I can fix it by any chance?

Update: looking through demo.launch I haven't found ur_arm being imported anywhere. Please, could you add instructions to README on how to properly launch husky with UR5 in simulation? Thank you so much.

dniewinski commented 4 years ago

It looks like the URDF isn't setup properly. Make sure to source one of these scripts before launching to setup the environment variables properly:

https://github.com/husky/husky_manipulation/tree/kinetic-devel/husky_ur_description/scripts

If you are using a custom URDF, there are instructions in the README for how to setup your URDF properly.

zgerrard commented 4 years ago

Thank you so much for your suggestion - it solved the errors! Do you know by any chance how I can launch this setup in gazebo?

When I launch roslaunch husky_gen3_moveit_config gazebo.launch I get the following error: 

Error [parser_urdf.cc:3166] Unable to call parseURDF on robot model
Error [parser.cc:406] parse as old deprecated model file failed.
dniewinski commented 4 years ago

At least in Kinetic, there were serious issues with simulating in Gazebo, so we didn't support it. I haven't revisited it for Melodic. Have a look at husky_gazebo when you have the environment variables set and see if that gets you going in the right direction

Abduoit commented 3 years ago

Hi

I have the same error (using ROS Kinetic) even when I source the script.

Can anyone please tell me how to source the file setup_husky_ur5_envar?? I am not sure if I am missing anything.

1- Works fine roslaunch husky_ur_bringup husky_ur_bringup.launch

2- Gives error roslaunch husky_ur_moveit_config husky_ur_moveit_planning_execution.launch

[ERROR] [1601914072.853879119]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1601914072.853946625]: Group 'manipulator' is empty.
[ERROR] [1601914072.853994937]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854015463]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854057370]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854076289]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854095097]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601914072.854113948]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1601914072.854164362]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854182313]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854200510]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854217925]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854235795]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854266961]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854283769]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854309184]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854335848]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854353013]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854370585]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854394473]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854412175]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854430239]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854453557]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854471574]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854490133]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854507941]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854529494]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854546854]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601914072.854565233]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
dniewinski commented 3 years ago

Before step 1, in the same terminal, run

roscd husky_ur_description/scripts/ source setup_husky_ur5_envar

Abduoit commented 3 years ago

Hi @dniewinski I did the source, but I still have same error above. Both husky_manipulation and ur_modern_driver in kinetic-devel.

Do I need to add the following line ?

<xacro:include filename="$(find husky_ur_description)/urdf/husky_ur5_description.urdf.xacro" />

I am using single UR5. Am I missing something else ???

Abduoit commented 3 years ago

Here I provide the output of the two terminals: I sourced the script in both terminals but same issue still there? Any help is appreciated ?

Terminal 1

administrator@administrator:~$ roscd husky_ur_description/scripts/
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$  source setup_husky_ur5_envar
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$  roslaunch husky_ur_bringup husky_ur_bringup.launch
... logging to /home/administrator/.ros/log/54d0d1c4-0741-11eb-8286-003018cfc22a/roslaunch-administrator-16380.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://administrator:46705/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.16
 * /tf2_buffer_server/buffer_size: 120.0
 * /ur_driver/prefix: ur_arm_
 * /ur_driver/robot_ip_address: 192.168.131.40
 * /ur_driver/servoj_time: 0.008

NODES
  /
    tf2_buffer_server (tf2_ros/buffer_server)
    ur_driver (ur_modern_driver/ur_driver)

ROS_MASTER_URI=http://localhost:11311

process[ur_driver-1]: started with pid [16410]
process[tf2_buffer_server-2]: started with pid [16411]
[ INFO] [1601927012.072592328]: Setting up connection: 192.168.131.40:30003
[ INFO] [1601927012.072935251]: Connection established for 192.168.131.40:30003
[ INFO] [1601927012.072961497]: Setting up connection: 192.168.131.40:30001
[ INFO] [1601927012.073111061]: Connection established for 192.168.131.40:30001
[ INFO] [1601927012.547041794]: Got VersionMessage:
[ INFO] [1601927012.547060812]: project name: URControl
[ INFO] [1601927012.547069915]: version: 3.9.0
[ INFO] [1601927012.547077917]: build date: 21-02-2019, 15:09:20
[ INFO] [1601927012.547086536]: Disconnecting from 192.168.131.40:30001
[ INFO] [1601927012.565180719]: ActionServer enabled
[ INFO] [1601927012.565219665]: Use standard trajectory follower
[ INFO] [1601927012.569242208]: Setting up connection: :50001
[ INFO] [1601927012.569990474]: Connection established for :50001
[ INFO] [1601927012.570067023]: Initializing ur_driver/URScript subscriber
[ INFO] [1601927012.580743636]: The ur_driver/URScript initialized
[ INFO] [1601927012.580771929]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1601927012.586227259]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1601927012.586256807]: Starting main loop
[ INFO] [1601927012.586314439]: Starting pipeline RTPacket
[ INFO] [1601927012.586361645]: Starting pipeline StatePacket
[ INFO] [1601927012.586475661]: Setting up connection: 192.168.131.40:30002
[ INFO] [1601927012.586532493]: Setting up connection: 192.168.131.40:30003
[ INFO] [1601927012.586635857]: Connection established for 192.168.131.40:30002
[ INFO] [1601927012.586691515]: Connection established for 192.168.131.40:30003
[ INFO] [1601927012.589379909]: Starting ActionServer
[ INFO] [1601927012.589471654]: Trajectory thread started

Terminal 2

administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$  source setup_husky_ur5_envar
administrator@administrator:~/catkin_ws/src/husky_manipulation/husky_ur_description/scripts$  roslaunch husky_ur_moveit_config husky_ur_moveit_planning_executio
n.launch
... logging to /home/administrator/.ros/log/54d0d1c4-0741-11eb-8286-003018cfc22a/roslaunch-administrator-16697.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://administrator:33169/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.05
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(ur_arm_sho...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/ur_arm_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur_arm_wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.16

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [16725]
[ERROR] [1601927032.772560803]: Link 'ur_arm_base_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ WARN] [1601927032.772637481]: Group 'manipulator' is empty.
[ERROR] [1601927032.772690990]: Joint 'ur_arm_elbow_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772711758]: Joint 'ur_arm_shoulder_lift_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772733044]: Joint 'ur_arm_shoulder_pan_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772754240]: Joint 'ur_arm_wrist_1_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772774111]: Joint 'ur_arm_wrist_2_joint' declared as part of group state 'stow' is not known to the URDF
[ERROR] [1601927032.772792190]: Joint 'ur_arm_wrist_3_joint' declared as part of group state 'stow' is not known to the URDF
[ WARN] [1601927032.772843754]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772862401]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772883251]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772901659]: Link 'ur_arm_wrist_3_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772920334]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772954261]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772971540]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.772991622]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773019260]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773036264]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773055868]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773081384]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773098342]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773116781]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773140549]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773157327]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773176026]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773194373]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773216542]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773233838]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773252453]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773270553]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773291087]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773308685]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773327000]: Link 'ur_arm_upper_arm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773345210]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773370462]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773386831]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773403127]: Link 'ur_plate_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773419440]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773435738]: Link 'ur_arm_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773451915]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773468198]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773484431]: Link 'ur_arm_ee_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773500710]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773518872]: Link 'ur_arm_forearm_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773543679]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773558464]: Link 'ur_arm_shoulder_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773575150]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773591668]: Link 'ur_arm_wrist_1_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1601927032.773609098]: Link 'ur_arm_wrist_2_link' is not known to URDF. Cannot disable collisons.
[ INFO] [1601927032.773699415]: Loading robot model 'husky'...
[ INFO] [1601927032.773726211]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1601927032.844216837]: Group 'manipulator' must have at least one valid joint
[ WARN] [1601927032.844261462]: Failed to add group 'manipulator'
[ERROR] [1601927032.844289163]: Group state 'stow' specified for group 'manipulator', but that group does not exist
[ INFO] [1601927033.041928150]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1601927033.049406134]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1601927033.049450078]: Starting scene monitor
[ INFO] [1601927033.059178664]: Listening to '/planning_scene'
[ INFO] [1601927033.059213598]: Starting world geometry monitor
[ INFO] [1601927033.067830561]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1601927033.079759099]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1601927033.187153583]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1601927033.219704731]: Initializing OMPL interface using ROS parameters
[ INFO] [1601927033.250849381]: Using planning interface 'OMPL'
[ INFO] [1601927033.254482916]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1601927033.255933745]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1601927033.257514389]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1601927033.258987060]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1601927033.260357659]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1601927033.261652583]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1601927033.261715064]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1601927033.261737898]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1601927033.261756337]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1601927033.261773882]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1601927033.261793058]: Using planning request adapter 'Fix Start State Path Constraints'
[ERROR] [1601927033.296624493]: Joint 'ur_arm_shoulder_pan_joint' not found in model 'husky'
[ERROR] [1601927033.296657388]: Joint 'ur_arm_shoulder_lift_joint' not found in model 'husky'
[ERROR] [1601927033.296675975]: Joint 'ur_arm_elbow_joint' not found in model 'husky'
[ERROR] [1601927033.296693120]: Joint 'ur_arm_wrist_1_joint' not found in model 'husky'
[ERROR] [1601927033.296712168]: Joint 'ur_arm_wrist_2_joint' not found in model 'husky'
[ERROR] [1601927033.296726534]: Joint 'ur_arm_wrist_3_joint' not found in model 'husky'
[ERROR] [1601927033.304814021]: Joint 'ur_arm_shoulder_pan_joint' not found in model 'husky'
[ERROR] [1601927033.304854036]: Joint 'ur_arm_shoulder_lift_joint' not found in model 'husky'
[ERROR] [1601927033.304875207]: Joint 'ur_arm_elbow_joint' not found in model 'husky'
[ERROR] [1601927033.304902084]: Joint 'ur_arm_wrist_1_joint' not found in model 'husky'
[ERROR] [1601927033.304916888]: Joint 'ur_arm_wrist_2_joint' not found in model 'husky'
[ERROR] [1601927033.304930744]: Joint 'ur_arm_wrist_3_joint' not found in model 'husky'
dniewinski commented 3 years ago

Is this all running on a Husky already?

Abduoit commented 3 years ago

Yes, all running on Husky!!

dniewinski commented 3 years ago

ah. If it is running on the Husky, you need to source the script in the husky's /etc/ros/setup.bash and restart the robot. in that file, add the line: source /husky_ur_description/scripts/setup_husky_ur5_envar

dniewinski commented 3 years ago

@Abduoit If you are still having issues after trying the above, please open a new Issue here on github

Abduoit commented 3 years ago

Thanks it works by adding the full path source Full/Path/To/husky_ur_description/scripts/setup_husky_ur5_envar