hychiang-git
commented
5 years ago As I restarted my computer, the error [ERROR] [1550906931.876450425]: manipulator: Attempted to set projection evaluator with respect to va lue of joint 'shoulder_1_joint', but that joint is not known to the group 'manipulator'. vanished.
Also, I fixed some warnings:
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[ WARN] [1550906936.906830901]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch Solution: Reference link: https://github.com/ros-planning/moveit/issues/201
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[ WARN] [1550906925.205263961]: Skipping virtual joint 'fixed_base' because its child frame 'base_lin k' does not match the URDF frame 'world' Solution: https://github.com/ros-industrial/universal_robot/issues/347
However, the robot is still stuck at the position and does not move as it planned.
Here is my code
#include <moveit/move_group_interface/move_group.h> [255/419]
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "move_group_interface_tutorial");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
/* This sleep is ONLY to allow Rviz to come up */
sleep(20.0);
// BEGIN_TUTORIAL
//
// Setup
// ^^^^^
//
// The :move_group_interface:`MoveGroup` class can be easily
// setup using just the name
// of the group you would like to control and plan for.
moveit::planning_interface::MoveGroup group("manipulator");
// We will use the :planning_scene_interface:`PlanningSceneInterface`
// class to deal directly with the world.
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
// (Optional) Create a publisher for visualizing plans in Rviz.
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_gro
up/display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
// Getting Basic Information
// ^^^^^^^^^^^^^^^^^^^^^^^^^
//
// We can print the name of the reference frame for this robot.
ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
// We can also print the name of the end-effector link for this group.
ROS_INFO("Reference frame: %s", group.getEndEffectorLink().c_str());
// Planning to a Pose goal
// ^^^^^^^^^^^^^^^^^^^^^^^
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation = tf::createQuaternionMsgFromRollPitchYaw(0.0, 0.0, 0.0);
target_pose1.position.x = 0.10;
target_pose1.position.y = 0.25;
target_pose1.position.z = 0.50;
group.setPoseTarget(target_pose1);
// Now, we call the planner to compute the plan
// and visualize it.
// Note that we are just planning, not asking move_group
// to actually move the robot.
moveit::planning_interface::MoveGroup::Plan my_plan;
moveit::planning_interface::MoveItErrorCode success = group.plan(my_plan);
ROS_INFO("Visualizing plan 1 (pose goal) %s",success?"":"FAILED");
/* Sleep to give Rviz time to visualize the plan. */
sleep(5.0);
// Visualizing plans
// ^^^^^^^^^^^^^^^^^
// Now that we have a plan we can visualize it in Rviz. This is not
// necessary because the group.plan() call we made above did this
// automatically. But explicitly publishing plans is useful in cases that we
// want to visualize a previously created plan.
if (1)
{
ROS_INFO("Visualizing plan 1 (again)");
display_trajectory.trajectory_start = my_plan.start_state_;
display_trajectory.trajectory.push_back(my_plan.trajectory_);
display_publisher.publish(display_trajectory);
/* Sleep to give Rviz time to visualize the plan. */
sleep(5.0);
}
// Moving to a pose goal
// ^^^^^^^^^^^^^^^^^^^^^
//
// Moving to a pose goal is similar to the step above
// except we now use the move() function. Note that
// the pose goal we had set earlier is still active
// and so the robot will try to move to that goal. We will
// not use that function in this tutorial since it is
// a blocking function and requires a controller to be active
// and report success on execution of a trajectory.
/* Uncomment below line when working with a real robot*/
//group.move();
group.execute(my_plan);
ros::shutdown();
return 0;
}
Does anyone ever encounter this issue?
Thanks
jmiseikis
Hi All,
I modify
inf3480_move_robot.cppand ranroslaunch ur5_inf3480 ur5_launch_inf3480.launch, but I got some warnings and errors as follow:Also, my robot stucked at the position:
Does anyone have the experimence of fixing these warnings and errors? Thanks