A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188
stars
58
forks
source link
Error when running `roslaunch panda_sim_moveit sim_move_group.launch` #60
After running roslaunch panda_gazebo panda_world.launch, running roslaunch panda_sim_moveit sim_move_group.launch throws following errors and warnings:
[ WARN] [1637765133.010023688]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ERROR] [1637765133.314652012, 522.438000000]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization 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
[ WARN] [1637765138.586467174, 527.456000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1637765144.884922500, 533.457000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1637765151.501856397, 539.457000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1637765157.075516047, 544.524000000]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1637765163.391715395, 550.524000000]: Waiting for franka_gripper/gripper_action to come up [ERROR] [1637765169.698730447, 556.524000000]: Action client not connected: franka_gripper/gripper_action
Check #59 for my errors when running roslaunch panda_gazebo panda_world.launch.
I also have an issue with the roslaunch panda_simulator_examples demo_moveit.launch example, but I think it is related to the errors mentioned in here and #59. The issue I am having is that I can't use the plan feature although I used the same command and params as in this YouTube-video.
After running
roslaunch panda_gazebo panda_world.launch, runningroslaunch panda_sim_moveit sim_move_group.launchthrows following errors and warnings:[ WARN] [1637765133.010023688]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'[ERROR] [1637765133.314652012, 522.438000000]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization 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[ WARN] [1637765138.586467174, 527.456000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1637765144.884922500, 533.457000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1637765151.501856397, 539.457000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1637765157.075516047, 544.524000000]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1637765163.391715395, 550.524000000]: Waiting for franka_gripper/gripper_action to come up [ERROR] [1637765169.698730447, 556.524000000]: Action client not connected: franka_gripper/gripper_actionCheck #59 for my errors when running
roslaunch panda_gazebo panda_world.launch. I also have an issue with theroslaunch panda_simulator_examples demo_moveit.launchexample, but I think it is related to the errors mentioned in here and #59. The issue I am having is that I can't use the plan feature although I used the same command and params as in this YouTube-video.