MoveIt! PR2 Gazebo missing arg error

[sebasgm85]

Hi,

When a I execute:

roslaunch pr2_moveit_generated moveit_planning_execution.launch" 

after generate the config and launch files as indicates the "Groovy/PR2/Gazebo/Quick Start" tutorial, the execution is aborted displaying the msg:

unused args [publish_monitored_planning_scene] for include of [/home/sebasgm/moveit/tests/pr2_moveit_new_config/launch/move_group.launch]

And, actually, when I open the "move_group.launch" from my "configuration package" for PR2. The argument is not there.

Do I have to manually add it, or there is something wrong with the configuration package generation?

[isucan]

It seems you have two configurations: pr2_moveit_generated and pr2_moveit_new_config; not sure what is going on.

Can you paste the content of /home/sebasgm/moveit/tests/pr2_moveit_new_config/launch/move_group.launch and of moveit_planning_execution.launch? Are you running SetupAssistant from deb?

[sebasgm85]

Sorry, I made a mistake when I copy&paste the roslaunch line. My package is called "pr2_moveit_new_config" and what I execute when get the error is:

roslaunch pr2_moveit_new_config moveit_planning_execution.launch

The launch files content is the following:

• move_group.launch:

<launch>

  <include file="$(find pr2_moveit_new_config)/launch/planning_context.launch" />

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg unless="$(arg debug)" name="command_args" value="" />
  <arg     if="$(arg debug)" name="command_args" value="--debug" />

  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="max_safe_path_cost" default="1"/>

  <include ns="move_group" file="$(find pr2_moveit_new_config)/launch/planning_pipeline.launch">
    <arg name="pipeline" value="ompl" />
  </include>

  <include ns="move_group" file="$(find pr2_moveit_new_config)/launch/trajectory_execution.launch">
    <arg name="moveit_controller_manager" value="pr2" /> 
    <arg name="moveit_manage_controllers" value="true" />
  </include>

  <include ns="move_group" file="$(find pr2_moveit_new_config)/launch/sensor_manager.launch">
    <arg name="moveit_sensor_manager" value="pr2" /> 
  </include>

  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_planning" type="move_group_action_server" respawn="false" output="screen" args="$(arg command_args)">
    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
  </node>

</launch>

- moveit_planning_execution.launch:

# The planning and execution components of MoveIt! configured to # publish the current configuration of the robot (simulated or real) # and the current state of the world as seen by the planner # The visualization component of MoveIt!

Yes I'm running "Setup Assistant" from deb, but I selected a different name from the tutorial name. 

[isucan]

Well, the move_group.launch file you pasted here is not the same as the one you added to the moveit_robots repo:

https://github.com/sebasgm85/moveit_robots/blob/9c8c6ac6304a3e72cd24c5d5b328396bbeb75808/r2_moveit_generated/launch/move_group.launch

The one added to the repo is correct, but the one pasted here seems to be generated with an older version of the assistant. Can you try this with the version you checked in?

[sebasgm85]

There are to different things.

What I pushed in the repository is the new Robonaut configuration package that I created in order to add it to the wiki robot tutorials. On the other hand, this ticket is about the last part of the PR2 tutorial, the Gazebo's tutorial: http://moveit.ros.org/wiki/index.php/Groovy/PR2/Gazebo/Quick_Start which is already written, and I'm trying to follow it in order to check this is correct, and try the same thing later with Robonaut.

However it could possible that the tutorial was outdated and doesn't work when you try to run it with a configuration package generated from a recent version of the Setup Assistant.

[isucan]

As far as I can tell, the tutorial would not work with an older version of the move_group.launch; Are you able to re-generate the incorrect file? (as pasted in this ticket) If so, can you let me know how?