ravijo
commented
11 months ago Update
It works on ROS Humble upto some extent. Below are the logs:
$ ros2 launch moveit2_tutorials motion_planning_api_tutorial.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-10-03-06-10-04-802015-dell-2523
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_planning_api_tutorial-1]: process started with pid [2530]
[motion_planning_api_tutorial-1] [INFO] [1696313405.093249169] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00431912 seconds
[motion_planning_api_tutorial-1] [INFO] [1696313405.093315649] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[motion_planning_api_tutorial-1] [INFO] [1696313405.143881242] [motion_planning_api_tutorial]: Using planning interface 'OMPL'
[motion_planning_api_tutorial-1] [INFO] [1696313405.146246596] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00213542 seconds
[motion_planning_api_tutorial-1] [INFO] [1696313405.146264625] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[motion_planning_api_tutorial-1] [INFO] [1696313405.174273099] [move_group_interface]: Ready to take commands for planning group panda_arm.
[motion_planning_api_tutorial-1] [INFO] [1696313405.175977917] [motion_planning_api_tutorial.remote_control]: RemoteControl Ready.
[motion_planning_api_tutorial-1] [INFO] [1696313405.176075675] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo
[motion_planning_api_tutorial-1] [INFO] [1696313408.399002217] [motion_planning_api_tutorial.remote_control]: ... continuing
[motion_planning_api_tutorial-1] [ERROR] [1696313408.399314911] [moveit_robot_state.conversions]: Found empty JointState message
[motion_planning_api_tutorial-1] [INFO] [1696313408.399331515] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[motion_planning_api_tutorial-1] [WARN] [1696313408.399346802] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[motion_planning_api_tutorial-1] [INFO] [1696313408.399620870] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[motion_planning_api_tutorial-1] [INFO] [1696313408.462488180] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to continue the demo
[motion_planning_api_tutorial-1] [INFO] [1696313411.842841182] [motion_planning_api_tutorial.remote_control]: ... continuing
[motion_planning_api_tutorial-1] [ERROR] [1696313411.842930671] [moveit_robot_state.conversions]: Found empty JointState message
[motion_planning_api_tutorial-1] [INFO] [1696313411.842944733] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[motion_planning_api_tutorial-1] [WARN] [1696313411.842955330] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[motion_planning_api_tutorial-1] [INFO] [1696313411.843088253] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[motion_planning_api_tutorial-1] [INFO] [1696313411.883744284] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to continue the demo
[motion_planning_api_tutorial-1] [INFO] [1696313415.204878067] [motion_planning_api_tutorial.remote_control]: ... continuing
[motion_planning_api_tutorial-1] [ERROR] [1696313415.205031333] [moveit_robot_state.conversions]: Found empty JointState message
[motion_planning_api_tutorial-1] [INFO] [1696313415.205064965] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[motion_planning_api_tutorial-1] [WARN] [1696313415.205077733] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[motion_planning_api_tutorial-1] [INFO] [1696313415.205233270] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[motion_planning_api_tutorial-1] [INFO] [1696313415.269014417] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to continue the demo
[motion_planning_api_tutorial-1] [INFO] [1696313420.501440511] [motion_planning_api_tutorial.remote_control]: ... continuing
[motion_planning_api_tutorial-1] [ERROR] [1696313420.501666876] [moveit_robot_state.conversions]: Found empty JointState message
[motion_planning_api_tutorial-1] [INFO] [1696313420.501679984] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[motion_planning_api_tutorial-1] [INFO] [1696313420.501856293] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[motion_planning_api_tutorial-1] [INFO] [1696313420.501998701] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313420.824221586] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313451.645103354] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313518.124123902] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313528.216164403] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313528.216216037] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313530.097684352] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313603.897592122] [moveit.ompl_planning.model_based_planning_context]: panda_arm: Allocating specialized state sampler for state space
[motion_planning_api_tutorial-1] [INFO] [1696313604.020316735] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to exit the demo
[motion_planning_api_tutorial-1] [INFO] [1696313719.011950316] [motion_planning_api_tutorial.remote_control]: ... continuing
[INFO] [motion_planning_api_tutorial-1]: process has finished cleanly [pid 2530]
tylerjw
Description
I am following the MoveIt tutorials and have stumbled upon a problem. The command
ros2 launch moveit2_tutorials motion_planning_pipeline_tutorial.launch.pyreportsFound empty JointState messageYour environment
Steps to reproduce
Console output
move_group.launch.py
``` $ ros2 launch moveit2_tutorials move_group.launch.py [INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-09-20-16-59-01-264998-dell-86229 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [86232] [INFO] [static_transform_publisher-2]: process started with pid [86234] [INFO] [robot_state_publisher-3]: process started with pid [86236] [INFO] [move_group-4]: process started with pid [86238] [INFO] [ros2_control_node-5]: process started with pid [86246] [INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process started with pid [86268] [INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process started with pid [86271] [INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process started with pid [86274] [rviz2-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [static_transform_publisher-2] [INFO] [1695196742.346904891] [static_transform_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'world' to 'panda_link0' [robot_state_publisher-3] [WARN] [1695196742.348367274] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-3] [INFO] [1695196742.348480487] [robot_state_publisher]: got segment panda_hand [robot_state_publisher-3] [INFO] [1695196742.348525490] [robot_state_publisher]: got segment panda_leftfinger [robot_state_publisher-3] [INFO] [1695196742.348544040] [robot_state_publisher]: got segment panda_link0 [robot_state_publisher-3] [INFO] [1695196742.348561232] [robot_state_publisher]: got segment panda_link1 [robot_state_publisher-3] [INFO] [1695196742.348577366] [robot_state_publisher]: got segment panda_link2 [robot_state_publisher-3] [INFO] [1695196742.348593199] [robot_state_publisher]: got segment panda_link3 [robot_state_publisher-3] [INFO] [1695196742.348609461] [robot_state_publisher]: got segment panda_link4 [robot_state_publisher-3] [INFO] [1695196742.348625792] [robot_state_publisher]: got segment panda_link5 [robot_state_publisher-3] [INFO] [1695196742.348641367] [robot_state_publisher]: got segment panda_link6 [robot_state_publisher-3] [INFO] [1695196742.348657261] [robot_state_publisher]: got segment panda_link7 [robot_state_publisher-3] [INFO] [1695196742.348673093] [robot_state_publisher]: got segment panda_link8 [robot_state_publisher-3] [INFO] [1695196742.348689131] [robot_state_publisher]: got segment panda_rightfinger [move_group-4] [INFO] [1695196742.477195930] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0264601 seconds [move_group-4] [INFO] [1695196742.477255395] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [ros2_control_node-5] [WARN] [1695196742.481171246] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-5] [INFO] [1695196742.481637517] [resource_manager]: Loading hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1695196742.482587596] [resource_manager]: Initialize hardware 'PandaFakeSystem' [ros2_control_node-5] [WARN] [1695196742.482763580] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: [ros2_control_node-5]motion_planning_pipeline_tutorial.launch.py
``` $ ros2 launch moveit2_tutorials motion_planning_pipeline_tutorial.launch.py [INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-09-20-17-01-20-838296-dell-86457 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [motion_planning_pipeline_tutorial-1]: process started with pid [86460] [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.364855303] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0059292 seconds [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.365444747] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [motion_planning_pipeline_tutorial-1] [WARN] [1695196881.414835539] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.451673391] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.462196989] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.462219037] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.463037813] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.463865354] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [motion_planning_pipeline_tutorial-1] [WARN] [1695196881.465511798] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [motion_planning_pipeline_tutorial-1] [ERROR] [1695196881.465540976] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.468455453] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.469326664] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.495668490] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.506735287] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.506765029] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.506771934] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.506777407] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.506782879] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.510245024] [motion_planning_pipeline_tutorial.remote_control]: RemoteControl Ready. [motion_planning_pipeline_tutorial-1] [INFO] [1695196881.511048154] [motion_planning_pipeline_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo [motion_planning_pipeline_tutorial-1] [INFO] [1695196885.780400868] [motion_planning_pipeline_tutorial.remote_control]: ... continuing [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.780521022] [moveit_robot_state.conversions]: Found empty JointState message [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.780555684] [moveit_robot_state.conversions]: Found empty JointState message [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.780782788] [moveit_robot_state.conversions]: Found empty JointState message [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.781106052] [moveit_robot_state.conversions]: Found empty JointState message [motion_planning_pipeline_tutorial-1] [INFO] [1695196885.781123813] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead. [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.781221619] [moveit.ompl_planning.model_based_planning_context]: Unable to construct goal representation [motion_planning_pipeline_tutorial-1] [WARN] [1695196885.781265384] [moveit.ros_planning.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. [motion_planning_pipeline_tutorial-1] [ERROR] [1695196885.781273024] [motion_planning_pipeline]: Could not compute plan successfully [motion_planning_pipeline_tutorial-1] [INFO] [1695196885.781439841] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor [motion_planning_pipeline_tutorial-1] [INFO] [1695196885.781451555] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [motion_planning_pipeline_tutorial-1] Stack trace (most recent call last) in thread 86474: [INFO] [motion_planning_pipeline_tutorial-1]: process has finished cleanly [pid 86460] ```The
/joint_statestopic is available and contains values as shown below:ros2 topic info /joint_states
``` $ ros2 topic info /joint_states Type: sensor_msgs/msg/JointState Publisher count: 1 Subscription count: 2 ```ros2 topic echo /joint_states
``` $ ros2 topic echo /joint_states header: stamp: sec: 1695196914 nanosec: 311943473 frame_id: '' name: - panda_finger_joint1 - panda_joint1 - panda_joint2 - panda_finger_joint2 - panda_joint3 - panda_joint4 - panda_joint5 - panda_joint6 - panda_joint7 position: - 0.0 - 0.0 - -0.785 - 0.0 - 0.0 - -2.356 - 0.0 - 1.571 - 0.785 velocity: - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 effort: - .nan - .nan - .nan - .nan - .nan - .nan - .nan - .nan - .nan --- ```