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:robot: The MoveIt motion planning framework
http://moveit.ros.org
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Moveit package error when relaunched #3653

Closed JohnL-Fxa closed 1 month ago

JohnL-Fxa commented 1 month ago

Description

I am controlling a ur3e with two grippers by launching the bringup file, moveit package and my GUI python scripts to do pick and placement tasks, and it works fine with no issues. For a new project I needed to use only one gripper, so I did another urdf where the ur3e has only one gripper and created a new moveit package with the new urdf for a new project, the problem is that the moveit package behaves fine the first time its launched only. and then everytime I relaunch I have to regenerate the moveit package from the moveit setup assistant without really changing anything just regenerating and It works but I need to do the same thing everytime I relaunch.

Environment

Steps to reproduce

When launching the new moveit package with one gripper

Expected behaviour

It should be launched properly and I see the full urdf on rviz

Actual behaviour

The package behaves properly only the first time I launch it, and when I close and relaunch everything, the second time I get this error in the moveit terminal NODES / move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [5660] [ERROR] [1728458468.160071488]: Semantic description is not specified for the same robot as the URDF [ERROR] [1728458468.161426752]: Virtual joint does not attach to a link on the robot (link 'world' is not known) [ERROR] [1728458468.161588224]: Joint 'coupling_tool0_joint' declared as part of group 'gripper' is not known to the URDF [ERROR] [1728458468.161621792]: Joint 'robotiq_hande_base_joint' declared as part of group 'gripper' is not known to the URDF [ERROR] [1728458468.161658176]: Joint 'hande_left_finger_joint' declared as part of group 'gripper' is not known to the URDF [ERROR] [1728458468.161686720]: Joint 'hande_right_finger_joint' declared as part of group 'gripper' is not known to the URDF [ERROR] [1728458468.161709664]: Joint 'epick_tip_joint' declared as part of group 'gripper' is not known to the URDF [ERROR] [1728458468.161736384]: Link 'coupling' declared as part of a chain in group 'gripper' is not known to the URDF [ WARN] [1728458468.161777216]: Group 'gripper' is empty. [ WARN] [1728458468.162009472]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162047936]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162074176]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162095808]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162115392]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162135456]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162154432]: Link 'coupling' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162173568]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162192960]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162211680]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162230208]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162250496]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162267488]: Link 'ee_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162287648]: Link 'hand_e_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162304256]: Link 'hand_e_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162320992]: Link 'hand_e_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162352992]: Link 'hand_e_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162375072]: Link 'hand_e_link' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162396480]: Link 'hande_left_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162419424]: Link 'hande_left_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162440352]: Link 'hande_left_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162462400]: Link 'hande_left_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162483040]: Link 'hande_right_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162505696]: Link 'hande_right_finger' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1728458468.162521632]: Link 'hande_right_finger' is not known to URDF. Cannot disable/enable collisons. [ERROR] [1728458468.162566016]: Joint 'hande_left_finger_joint' marked as passive is not known to the URDF. Ignoring. [ INFO] [1728458468.162729664]: Loading robot model 'ur3e_robot'... [ INFO] [1728458468.162829824]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1728458468.277921024]: Group 'gripper' must have at least one valid joint [ WARN] [1728458468.277996864]: Failed to add group 'gripper'

and then if I open rviz and add motion planning the gripper is not there, and to to fix it I open the moveit package in the moveit setup assistant and regenerate it again without changing anything then it works fine but if I relaunch I get the same error again.

rhaschke commented 1 month ago

Looks like you screwed your URDF and/or SRDF definitions: there are many errors regarding the URDF/SRDF descriptions. Verify that you are using the correct files. Theoretically, there is no difference between first and subsequent launches. Ensure that you are always starting from a clean ROS environment: Don't have a roscore (and its ROS parameters) loitering around from a previous call.

JohnL-Fxa commented 1 month ago

Thank you for your reply, I have been checking the launch files in my moveit package and checking that the path to my URDF and SRDF file are correct and they are, and I have tried to delete the /robot_description parameter and kill all the ros nodes before relaunching but still the same out come it only works the first time after regenerating the moveit package.

rhaschke commented 1 month ago

Please provide a zip file of your workspace sources, so that we can reproduce the issue locally. Also provide the detailed commands you use to launch your application. As I said, I cannot imagine any reason that the launching works only for the first time. There is no state remembered.

JohnL-Fxa commented 1 month ago

I found the solution the problem is for some reason in the move_group.launch the "load_robot_description" is set to false and when changing that and including the proper path to the planning_context.launch everything behaves as expected. The previous packages package that I have created it used to be true by default.

rhaschke commented 1 month ago

The load_robot_description argument is only true for the top-level .launch file by intention: https://github.com/moveit/moveit/blob/a1b1bfb88326a8520b895b794e05f06e9fa545fc/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch#L15

This is because, for a real robot, the bringup.launch of the robot will actually load the robot_description.