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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
142 stars 79 forks source link

moveit_calibration_gui not shown in Add New Panel #113

Closed pwyq closed 2 years ago

pwyq commented 2 years ago

OS: Ubuntu 20.04

I followed the tutorial with a custom robot, and the catkin build succeeded. I did source the new setup.bash. The roslaunch procedure also didn't show any warnings / errors. However, the moveit_calibration_gui is not showing up in the Add New Panel (as shown below).

Screenshot from 2022-03-30 20-53-17

Full roslaunch info

$ roslaunch irb2600_config_moveit demo.launch
... logging to /home/pwyq/.ros/log/1432ebb4-b0a7-11ec-9a5f-6f8b0f645769/roslaunch-pwyq-X1C-14647.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://pwyq-X1C:39551/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['move_group/fake...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'fake_i...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities: 
 * /move_group/initial: [{'group': 'irb26...
 * /move_group/max_range: 5.0
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/irb2600_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/sense_for_plan/max_safe_path_cost: 1
 * /move_group/sensors: []
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/irb2600_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/irb2600_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/irb2600_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 3.054
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 3.054
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 3.054
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 6.283
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 6.283
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 8.727
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_pwyq_X1C_14647_7875407762840449652 (rviz/rviz)
    virtual_joint_broadcaster_0 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [14657]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1432ebb4-b0a7-11ec-9a5f-6f8b0f645769
process[rosout-1]: started with pid [14667]
started core service [/rosout]
process[virtual_joint_broadcaster_0-2]: started with pid [14674]
process[joint_state_publisher-3]: started with pid [14675]
process[robot_state_publisher-4]: started with pid [14676]
process[move_group-5]: started with pid [14682]
process[rviz_pwyq_X1C_14647_7875407762840449652-6]: started with pid [14683]
[ INFO] [1648699219.478184433]: Loading robot model 'abb_irb2600_12_165'...
[ INFO] [1648699219.551674548]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1648699219.553029528]: Listening to 'joint_states' for joint states
[ INFO] [1648699219.555173885]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1648699219.555213101]: Starting planning scene monitor
[ INFO] [1648699219.556282017]: Listening to '/planning_scene'
[ INFO] [1648699219.556308956]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1648699219.557325295]: Listening to '/collision_object'
[ INFO] [1648699219.558329662]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1648699219.561422297]: Loading planning pipeline 'chomp'
[ INFO] [1648699219.573354526]: Using planning interface 'CHOMP'
[ INFO] [1648699219.576142959]: rviz version 1.14.14
[ INFO] [1648699219.576172182]: compiled against Qt version 5.12.8
[ INFO] [1648699219.576178346]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1648699219.576653713]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1648699219.576921579]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1648699219.577167590]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1648699219.577410763]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1648699219.577651912]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1648699219.577898489]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1648699219.577936794]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1648699219.577951423]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1648699219.577964568]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1648699219.577975534]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1648699219.577985591]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1648699219.577995841]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1648699219.578650795]: Loading planning pipeline 'ompl'
[ INFO] [1648699219.582414267]: Forcing OpenGl version 0.
[ INFO] [1648699219.622221024]: Using planning interface 'OMPL'
[ INFO] [1648699219.623274229]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1648699219.623491548]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1648699219.623681771]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1648699219.623880340]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1648699219.624075612]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1648699219.624261384]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1648699219.624288813]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1648699219.624300056]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1648699219.624309829]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1648699219.624321560]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1648699219.624330229]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1648699219.624341735]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1648699219.624371861]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ INFO] [1648699219.626318591]: Reading limits from namespace /robot_description_planning
[ INFO] [1648699219.636333935]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP 
[ INFO] [1648699219.636361187]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
[ INFO] [1648699219.637520664]: Registered Algorithm [CIRC]
[ INFO] [1648699219.637534947]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
[ INFO] [1648699219.638470628]: Registered Algorithm [LIN]
[ INFO] [1648699219.638483927]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1648699219.639381506]: Registered Algorithm [PTP]
[ INFO] [1648699219.639396473]: Using planning interface 'Pilz Industrial Motion Planner'
[ INFO] [1648699219.643443628]: Loading robot model 'abb_irb2600_12_165'...
[ INFO] [1648699219.661685558]: Set joints of group 'irb2600_arm' to pose 'home'.
[ INFO] [1648699219.661924127]: Fake controller 'fake_irb2600_arm_controller' with joints [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ INFO] [1648699219.662164614]: Returned 1 controllers in list
[ INFO] [1648699219.667671214]: Trajectory execution is managing controllers
[ INFO] [1648699219.667690397]: MoveGroup debug mode is ON
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1648699219.700772354]: initialize move group sequence action
[ INFO] [1648699219.704342239]: Reading limits from namespace /robot_description_planning
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1648699219.716664343]: Reading limits from namespace /robot_description_planning
[ INFO] [1648699219.729090867]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - SequenceAction
*     - SequenceService
********************************************************

[ INFO] [1648699219.729131885]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1648699219.729145421]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1648699219.745355190]: Stereo is NOT SUPPORTED
[ INFO] [1648699219.745407238]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2)
[ INFO] [1648699219.745426198]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1648699222.975065681]: Loading robot model 'abb_irb2600_12_165'...
[ INFO] [1648699223.068285884]: Starting planning scene monitor
[ INFO] [1648699223.073507353]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1648699223.452499412]: Constructing new MoveGroup connection for group 'irb2600_arm' in namespace ''
[ INFO] [1648699224.637302743]: Ready to take commands for planning group irb2600_arm
pwyq commented 2 years ago

I solved the issue by clicking Add Button on the left panel. Screenshot from 2022-03-30 21-24-50