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Moveit issue - Robonaut does not show interactive markers for planning on Rviz #2

Closed sebasgm85 closed 11 years ago

sebasgm85 commented 11 years ago

I generated a demo launch in order to test the robonaut moveit configuration, and it seems to be all right except that the console shows the following msg as part of the console output:

[ INFO] [1357933728.441954958]: No root joint specified. Assuming fixed joint

And the rviz interface doesn't let me specify a planning trajectory with interactive markers.

I generated the configuration file defining as Virtual Joint Link "baseplate", and Parent Link "world". Is this correct?

Should I change the "odom_broadcaster" from tf package, used in the PR2 demo?

isucan commented 11 years ago

The virtual joint should connect a link of the robot (the root link in the URDF) to a frame that you name as you please. Is baseplate the URDF root? If not, that would explain the info message you see.

Do you mean that interactive markers do now show up for the arm(s)? If so, did you define kinematics solvers for the arms?

The broadcaster should publish a transform between the morel's root link (as defined in URDF) and the name of the frame (parent link) which in your case is world. So you should probably change the name of the link to the root one.

sebasgm85 commented 11 years ago

I changed the virtual Joint, now I have "Child Link = World" and "Parent frame = reference_frame". The root error is solved. But the interactive markers are still failing. I defined the kinematics solver, the generic one, there's another one specifically for PR2. Any idea?

isucan commented 11 years ago

Is "World" the name of a link in your model? That sounds a bit weird to me. Is tf publishing a transform between frame and reference_frame? Make sure you set the rviz fixed frame to reference_frame. If that does not work, please send me an archive of your generated moveit config folder and the urdf file you used.

sebasgm85 commented 11 years ago

The followings are the first seven lines that I see after run the check_urdf tool:

 robot name is: r2
---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  dummy
        child(1):  baseplate
            child(1):  base
                child(1):  robot_base

I tried using reference_frame on rviz but it doesn't work. What console shows while rviz is executing, is:

[ INFO] [1358184225.517276434]: MoveGroup running using planning plugin ompl_interface_ros/OMPLPlanner
[ INFO] [1358184225.560436116]: KDL solver initialized
[ INFO] [1358184225.698140844]: Initializing kdl solver
[ INFO] [1358184226.282918738]: KDL solver initialized
[ INFO] [1358184226.423360962]: Initializing kdl solver
[ INFO] [1358184226.997404541]: KDL solver initialized
[ INFO] [1358184227.419655307]: Starting scene monitor
[ INFO] [1358184227.426656962]: Listening to 'planning_scene'
[ WARN] [1358184227.504625769]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.504691573]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.508523573]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.508558270]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510068946]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510096250]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510757592]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510786618]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.522638179]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184227.522757447]: Link [right_wrist_pitch] does not exist
[ INFO] [1358184227.582639757]: Waiting for MoveGroup action server (move_group)...
[ INFO] [1358184227.890689245]: Waiting for MoveGroup action server (pickup)...
[ INFO] [1358184228.152762172]: Ready to take MoveGroup commands for group left_arm.
[ INFO] [1358184228.161563837]: Waiting for MoveGroup action server (move_group)...
[ INFO] [1358184228.181916868]: Waiting for MoveGroup action server (pickup)...
[ INFO] [1358184228.202195457]: Ready to take MoveGroup commands for group right_arm.
[ WARN] [1358184277.002295357]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184277.002396664]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184295.514397169]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184295.514473148]: Link [left_wrist_pitch] does not exist

Seems like something is not well defined about the "Joints" and "Chains" but I don't what.

What do you think?

sebasgm85 commented 11 years ago

Fixing a configuration problem in the Moveit Setup Assistant, the issue was solved.