Description

Hello everyone I'm currently trying to plan a path for a pose using the hello moveit tutorial. Unfortunately, it always happens that no kinematic plugins are defined and the path planning stops. I saw an issue about this and tried to fix it that way. However, it doesn't help if I call the node and call the kinematics.yaml in the parameters This is the example how I tried to fixed it. https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/move_group_interface/launch/move_group_interface_tutorial.launch.py

Your environment

ROS Distro: [Humble
OS Version: Ubuntu 22.04
Binary build
If binary, which release version?

Steps to reproduce

I went through the setup assistant step by step and configured my URDF. Afterwards I adapted my demo launch which is as follows: from launch import LaunchDescription from launch_ros.actions import Node from moveit_configs_utils import MoveItConfigsBuilder from moveit_configs_utils.launches import generate_demo_launch from launch.substitutions import PathJoinSubstitution from launch_ros.substitutions import FindPackageShare

def generate_launch_description():

... (Dein bisheriger Code bleibt unverändert)

moveit_config = (MoveItConfigsBuilder("threedof_manipulator", package_name="moveit_endeffektor")
    .robot_description(file_path="config/threedof_manipulator.urdf.xacro")
    .robot_description_semantic(file_path="config/threedof_manipulator.srdf")
   # .robot_description_kinematics(file_path="config/kinematics.yaml")
    .planning_pipelines(
            pipelines=["ompl", "pilz_industrial_motion_planner", "chomp"],
            default_planning_pipeline="ompl",
        )
    .to_moveit_configs()
)

# Node für move_group_interface_tutorial
move_group_demo = Node(
    name="hello_moveit",
    package="path_planner",
    executable="DummyNode",
    output="screen",
    parameters=[
        moveit_config.robot_description_kinematics,
    ],
)

# Füge die Nodes zur Launch-Beschreibung hinzu
return LaunchDescription([generate_demo_launch(moveit_config), move_group_demo])

Expected behaviour

I want to send a Pose to my Moveit which will then plan a path for the joints

Backtrace or Console output

For the Node: [DummyNode-8] [WARN] [1699986750.922330646] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [DummyNode-8] [INFO] [1699986779.258699667] [move_group_interface]: Ready to take commands for planning group Arm. [DummyNode-8] [INFO] [1699986779.258779256] [move_group_interface]: MoveGroup action client/server ready [move_group-3] [INFO] [1699986779.259937407] [moveit_move_group_default_capabilities.move_action_capability]: Received request [DummyNode-8] [INFO] [1699986779.260274815] [move_group_interface]: Planning request accepted

[move_group-3] [INFO] [1699986779.266656808] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-3] [INFO] [1699986779.267405156] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'Arm[RRTstarkConfigDefault]' will use planner 'geometric::RRTstar'. Additional configuration parameters will be set when the planner is constructed. [rviz2-4] [INFO] [1699986779.310657015] [move_group_interface]: Ready to take commands for planning group Arm. [move_group-3] [WARN] [1699986784.267838919] [ompl]: ./src/ompl/tools/multiplan/src/ParallelPlan.cpp:138 - ParallelPlan::solve(): Unable to find solution by any of the threads in 5.000193 seconds [move_group-3] [INFO] [1699986784.358803715] [moveit.ompl_planning.model_based_planning_context]: Unable to solve the planning problem [move_group-3] [INFO] [1699986784.358861872] [moveit_move_group_default_capabilities.move_action_capability]: Catastrophic failure [DummyNode-8] [INFO] [1699986784.360475603] [move_group_interface]: Planning request aborted [rviz2-4] [INFO] [1699986784.361429888] [moveit_ros_visualization.motion_planning_frame]: group Arm [DummyNode-8] [ERROR] [1699986784.362546859] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached [DummyNode-8] [ERROR] [1699986784.363325268] [hello_moveit]: Planning failed! [INFO] [DummyNode-8]: process has finished cleanly [pid 74971]

moveit / moveit2_tutorials

No kinematics plugins defined #815