Closed atomoclast closed 4 weeks ago
The No 3D sensor plugin(s) defined for octomap updates
is an error that is also raised in my project (or the default ur_moveit_config
for that matter) when starting up a working MoveIt config, but doesn't seem to effect the working of the project.
The line Failed to load any planning pipelines.
suggest that the error is somewhere in the launch or config. You might want to look more into that. A quick search points me to a similar problem this person #2409 was having.
@TheSpeedM, Thanks for the reply! I still can't get it to work though. I have the C++ interface working fine (so I may just proceed with that for now), but I did look at #2409, and attempted to pattern match it.
I was trying to run the script within IPython, so it didn't have any config file loaded into it directly.
What I've done now is:
MoveItConfigBuilder
, and passes the yaml path to the moveit_cpp()
method. I then pass that to a Node()
as a parameter. (with use_sim_time
set to True
.Gazebo, the
joint_state_broad_caster, the
controller_manager,
rviz`, etc..move_group
node. use_sim_time
=True
as well...and it fails.It appears it's not reading from the published /join_states
from Gazebo, since it reads there's a collision (which exists in the default URDF positions since the robot is in an encloser. However in Gazebo, the robot is in a valid initial state.)
I'm not exactly sure why it's not able to read from Gazebo properly? Nor does it seem to be sending the request to the move_group
node that I have running.
As I said earlier. I have both the Gazebo Launch and the Move_Group Launch files working with the C++ node I previously wrote, and I see it working with them.
Not sure where the issue is, and I've been trying to debug it. Any other potential suggestions?
Thanks!
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
This issue was closed because it has been stalled for 45 days with no activity.
Description
Attempting to use the Python API interface for MoveIt, and unable to instantiate due to
No 3D sensor plugin(s) defined for octomap updates
, however my system doesn't have any sensors (or any 3D sensors defined in theconfig/
).I did confirm in the
MoveItConfigsBuilder()
thatsensors_3d={}
, which confirms there's no sensors configured.Your environment
main
, commitf06f38be08451c6bdeaa56c9606765f78f94f65d
FastDDS
Steps to reproduce
ros-humble-ur*
generic ros libraries
import rclpy from rclpy.logging import get_logger
moveit python library
from moveit.core.robot_state import RobotState from moveit.planning import ( MoveItPy, MultiPipelinePlanRequestParameters, ) rclpy.init() logger = get_logger("moveit_py.pose_goal")
instantiate MoveItPy instance and get planning component
test = MoveItPy(node_name="test")
[WARN] [1710857505.846298791] [moveit_4286721667.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ERROR] [1710857505.846321517] [moveit_4286721667.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [ERROR] [1710857505.848801350] [moveit_4286721667.moveit.ros.moveit_cpp]: Failed to load any planning pipelines. [FATAL] [1710857505.848823616] [moveit_4286721667.moveit.ros.moveit_cpp]: Failed to load planning pipelines from parameter server [INFO] [1710857505.848932383] [moveit_4286721667.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. [INFO] [1710857505.848944699] [moveit_4286721667.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor [INFO] [1710857505.848950698] [moveit_4286721667.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor