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moveit / moveit_resources

URDFs, meshes, and config packages for MoveIt testing
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Add joint limits to Panda demo launch files + make consistent with tutorials #165

Closed sea-bass closed 1 year ago

sea-bass commented 1 year ago

We need the joint limits in the Panda config or TOTG will throw errors as joint limits are now required.

I also made the launch files for the Panda more consistent with what was done in the tutorials: https://github.com/ros-planning/moveit2_tutorials/pull/635

AndyZe commented 1 year ago

Testing per this moveit2_tutorials issue:

https://github.com/ros-planning/moveit2_tutorials/issues/185

ros2 launch moveit_resources_panda_moveit_config demo.launch.py

I actually don't see that error?! I have the latest main or ros2 branches of moveit2, moveit2_tutorials, and moveit_resources checked out.

[rviz2-1] [ERROR] [1679761789.691008064] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml

AndyZe commented 1 year ago

With that being said, I don't see any problem with this PR.

sea-bass commented 1 year ago

I ran into this while testing someone's issue on our Humble Docker image. So maybe something related to that being a little behind.

swiz23 commented 1 year ago

@AndyZe, I believe the Rviz MotionPlanning plugin needs access to the joint limits when planning and executing cartesian moves. Try checking the 'Use Cartesian Path' checkbox in the MotionPlanning plugin using the latest main/ros2 branches (though I guess now you'd need to deliberately remove the joint_limits param now that this MR has been merged), and see if you can reproduce the error.