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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
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Move_group.launch doesn't work after installing Hand-Eye Calibration #129

Open cnaes93 opened 1 year ago

cnaes93 commented 1 year ago

I installed the Hand-Eye Calibration from the source. After installation, when I run the Move_group.launch, it shows an error.(configuration: ROS-Noetic, Ubuntu 20.04)

Loading planning pipeline 'ompl' [ERROR] [1674741739.335052200, 23.459000000]: Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /home/sina/ws_moveit/devel/lib/libmoveit_ompl_planner_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libompl.so.16: cannot open shared object file: No such file or directory) Available plugins: chomp_interface/CHOMPPlanner, lerp_interface/LERPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner::CommandPlanner [ INFO] [1674741739.346371273, 23.463000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1674741739.353320637, 23.466000000]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1674741739.355718357, 23.467000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1674741739.359923447, 23.467000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1674741739.372006997, 23.473000000]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1674741739.375671141, 23.474000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1674741739.376117142, 23.475000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1674741739.376243731, 23.475000000]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1674741739.376286141, 23.475000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1674741739.376323255, 23.475000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1674741739.376359475, 23.475000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1674741739.376394865, 23.475000000]: Using planning request adapter 'Fix Start State Path Constraints' [ERROR] [1674741739.376538116, 23.475000000]: Failed to initialize planning pipeline 'ompl'. [ INFO] [1674741739.376899649, 23.475000000]: Loading planning pipeline 'pilz_industrial_motion_planner' [ INFO] [1674741739.410737718, 23.486000000]: Reading limits from namespace /robot_description_planning [ INFO] [1674741739.648266998, 23.574000000]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP [ INFO] [1674741739.648474990, 23.574000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC [ INFO] [1674741739.664665116, 23.578000000]: Registered Algorithm [CIRC] [ INFO] [1674741739.664764998, 23.578000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN [ INFO] [1674741739.683031930, 23.585000000]: Registered Algorithm [LIN] [ INFO] [1674741739.683226708, 23.585000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP [ INFO] [1674741739.690698976, 23.590000000]: Registered Algorithm [PTP] [ INFO] [1674741739.690822356, 23.590000000]: Using planning interface 'Pilz Industrial Motion Planner' [ INFO] [1674741740.039469215, 23.717000000]: Added FollowJointTrajectory controller for position_joint_trajectory_controller [ INFO] [1674741740.356490949, 23.835000000]: Added GripperCommand controller for franka_gripper [ INFO] [1674741740.357237196, 23.835000000]: Returned 2 controllers in list [ INFO] [1674741740.470084730, 23.875000000]: Trajectory execution is managing controllers [ INFO] [1674741740.470294620, 23.875000000]: MoveGroup debug mode is OFF [ERROR] [1674741740.477614199, 23.878000000]: Failed to find default PlanningPipeline 'ompl' - please check MoveGroup's planning pipeline configuration. 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] [1674741741.076259585, 24.078000000]: initialize move group sequence action [ INFO] [1674741741.131263514, 24.097000000]: Reading limits from namespace /robot_description_planning Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... [ INFO] [1674741741.345688367, 24.174000000]: Reading limits from namespace /robot_description_planning [ INFO] [1674741741.569371483, 24.252000000]:

[move_group-1] process has died [pid 13401, exit code -11, cmd /home/sina/ws_moveit/devel/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/sina/.ros/log/e5ed119e-9d81-11ed-b7c4-ab4ad70e3ac1/move_group-1.log].

log file: /home/sina/.ros/log/e5ed119e-9d81-11ed-b7c4-ab4ad70e3ac1/move_group-1*.log

(all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done)

I didn't calibrate the Robot but I think default setting of move_group is changed. How can I solve this problem? Thanks in advanced.