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justagist / panda_simulator

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
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Cannot do path planning with Move It Demo #65

Open jjpatino-byte opened 1 year ago

jjpatino-byte commented 1 year ago

Hi, I am trying to do the path planning with the demo launch file. I get this output: [ INFO] [1663191613.654849329, 106.622000000]: Loading robot model 'panda'... [ WARN] [1663191613.657428198, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657568404, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657605370, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657681129, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657838645, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657897496, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657952608, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.657980712, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658007871, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658031014, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658053110, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658077937, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658136617, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658172727, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658197654, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658227046, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658256814, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658285944, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658311058, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658332689, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658354568, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658377774, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658400616, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658434332, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658457255, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658478167, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658499219, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658520922, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658543771, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658565630, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658587961, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658610137, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658634756, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658662992, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658685258, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658734888, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658760896, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658784857, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658808040, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658832152, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658854205, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658876397, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658898263, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658928569, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658951471, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658973652, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.658995471, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659027643, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659050637, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659091766, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659121684, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659144700, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659178365, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659441123, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659477547, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659510815, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659540030, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659575395, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659616305, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659644573, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659676027, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659704674, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659732381, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.659765419, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661300142, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661562281, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661600256, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661629569, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661671942, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661710186, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661762889, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661810012, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661843530, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661871290, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661899654, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661930510, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.661990293, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662071876, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662096047, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662117240, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662139106, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662161093, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662191880, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662213317, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662234721, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662323694, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.662399049, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.673953226, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674018348, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674059948, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674096514, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674127420, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674211076, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674240819, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674268466, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674292298, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674318262, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674346427, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674372159, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674407169, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674612145, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674643346, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674671864, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674699829, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674727240, 106.622000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674760210, 106.622000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674795835, 106.622000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674826014, 106.622000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674867085, 106.622000000]: Link 'panda_link4_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674906925, 106.622000000]: Link 'panda_link5_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.674945698, 106.622000000]: Link 'panda_link6_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.675147296, 106.622000000]: Link 'panda_link7_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.675188977, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.675222286, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.675249590, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1663191613.675275708, 106.622000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ INFO] [1663191613.675369149, 106.622000000]: Loading robot model 'panda'... [ WARN] [1663191613.689809390, 106.647000000]: Group 'panda_manipulator' must have at least one valid joint [ WARN] [1663191613.689896274, 106.647000000]: Failed to add group 'panda_manipulator' [ WARN] [1663191613.690641552, 106.647000000]: Group 'panda_manipulator' must have at least one valid joint [ WARN] [1663191613.690703072, 106.647000000]: Failed to add group 'panda_manipulator' [ERROR] [1663191613.690796340, 106.647000000]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist [ERROR] [1663191613.690949597, 106.647000000]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist [ERROR] [1663191613.691160116, 106.647000000]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist [ERROR] [1663191613.691412669, 106.647000000]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist [ INFO] [1663191614.170533405, 106.988000000]: Starting planning scene monitor [ INFO] [1663191614.181469826, 106.995000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1663191614.984875296, 107.687000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1663191614.996429744, 107.701000000]: Starting planning scene monitor [ INFO] [1663191615.002178911, 107.705000000]: Listening to '/planning_scene' [ INFO] [1663191615.083996156, 107.772000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... ============ Press Enter to begin the tutorial by setting up the scene_interface (press ctrl-d to exit) ...[ INFO] [1663191619.999350230, 111.610000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [ INFO] [1663191620.095191767, 111.691000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [ INFO] [1663191620.095406646, 111.691000000]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [ERROR] [1663191650.125936324, 135.569000000]: Unable to connect to move_group action server 'move_group' within allotted time (30s)

Can someone give me a hand?

jiyooonp commented 1 year ago

did you solve this problem by any chance?

jjpatino-byte commented 1 year ago

nope

De: jiyooonp @.> Enviado: jueves, 13 de abril de 2023 18:26 Para: justagist/panda_simulator @.> Cc: Jose Johil Patino Minan @.>; Author @.> Asunto: Re: [justagist/panda_simulator] Cannot do path planning with Move It Demo (Issue #65)

did you solve this problem by any chance?

— Reply to this email directly, view it on GitHubhttps://github.com/justagist/panda_simulator/issues/65#issuecomment-1507802864, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AQRXWX7X7SSGWAA674MPDFLXBCRTJANCNFSM6AAAAAAQM2CL74. You are receiving this because you authored the thread.Message ID: @.***>

andrei-calin-dragomir commented 1 year ago

If you are using the noetic-devel branch, try reinstalling the simulator as follows:

  1. clone the repo of the simulator:

    git clone -b noetic-devel https://github.com/justagist/panda_simulator

  2. open the following file:
    /src/panda_simulator/dependencies.rosinstall
  3. on the "panda-moveit-config" version, replace melodic with kinetic
  4. build the panda-simulator as explained in the README of the repo

After that try running the demo as explained in the README.

NOTE Make sure you run the server in a separate terminal

songhat commented 1 year ago

If you are using the noetic-devel branch, try reinstalling the simulator as follows:

  1. clone the repo of the simulator:

git clone -b noetic-devel https://github.com/justagist/panda_simulator

  1. open the following file:
/src/panda_simulator/dependencies.rosinstall
  1. on the "panda-moveit-config" version, replace melodic with kinetic
  2. build the panda-simulator as explained in the README of the repo

After that try running the demo as explained in the README.

NOTE Make sure you run the server in a separate terminal

awesome!