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Problem MoveIt running with baxter robot - move_group action server #585

Open viniciuszparizotto opened 9 years ago

viniciuszparizotto commented 9 years ago

Hello, I am using a research baxter robot, and i tried to install MoveIt interface to control and validate some works that i am doing, i followed all the instruction provided by the Sdk tutorial and always enable and run the joint trajectory server before launch the Rviz but i can't send or receive any information from the robot. My terminal shows me the following message error:

$ roslaunch baxter_moveit_config demo_baxter.launch ... logging to /home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/roslaunch-robot-machine-4163.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robot-machine.local:56513/

SUMMARY

PARAMETERS

NODES / mongo_wrapper_ros_robot_machine_4163_1742465395671208038 (warehouse_ros/mongo_wrapper_ros.py) move_group (moveit_ros_move_group/move_group) rviz_robot_machine_4163_4265146324484657284 (rviz/rviz)

ROS_MASTER_URI=http://011503P0005.local:11311

core service [/rosout] found process[move_group-1]: started with pid [4172] process[rviz_robot_machine_4163_4265146324484657284-2]: started with pid [4178] [ INFO] [1433358274.003722081]: Loading robot model 'baxter'... [ INFO] [1433358274.003846753]: No root joint specified. Assuming fixed joint process[mongo_wrapper_ros_robot_machine_4163_1742465395671208038-3]: started with pid [4181] [ INFO] [1433358274.085376425]: rviz version 1.11.7 [ INFO] [1433358274.085470653]: compiled against OGRE version 1.8.1 (Byatis) [ INFO] [1433358274.276320421]: Stereo is NOT SUPPORTED [ INFO] [1433358274.276578526]: OpenGl version: 3 (GLSL 1.3). [move_group-1] process has died [pid 4172, exit code -11, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group joint_states:=/robot/joint_states __name:=move_group __log:=/home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/move_group-1.log]. log file: /home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/move_group-1*.log [ INFO] [1433358280.627983103]: Loading robot model 'baxter'... [ INFO] [1433358280.628058672]: No root joint specified. Assuming fixed joint [ INFO] [1433358280.966805252]: Loading robot model 'baxter'... [ INFO] [1433358280.966868403]: No root joint specified. Assuming fixed joint [ INFO] [1433358281.040967536]: Loading robot model 'baxter'... [ INFO] [1433358281.041018305]: No root joint specified. Assuming fixed joint [ INFO] [1433358281.180184335]: Starting scene monitor [ INFO] [1433358281.187234902]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1433358281.189903927]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ WARN] [1433358286.196228065]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20150518-1441/planning_scene_monitor/src/planning_scene_monitor.cpp:461 [ INFO] [1433358286.338112129]: Constructing new MoveGroup connection for group 'both_arms' in namespace '' [ERROR] [1433358316.383081414]: Unable to connect to move_group action server within allotted time (2) [ERROR] [1433358670.691599403]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358675.694535882]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358695.778399991]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358700.782768453]: couldn't resolve publisher host [011503P0005.local]

I hope you guys can help me solve this problem, All regards VInicius Parizotto Wayne State University

rojas70 commented 9 years ago

Your move_group node appears to be crashing. This node loads the urdf/sdrf/config files. Is your robot model available?

Have you:

  1. started your script: ./baxter.sh or ./baxter.sh sim
  2. started baxter gazebo: roslaunch baxter_gazebo baxter_world.launch

You could try running the node by itself and invesitage its behavior: $ rosrun moveit_ros_move_group move_group

Dr. Juan Rojas SYSU Assistant Professor School of Software, Sun Yat-Sen University http://ss.sysu.edu.cn/~Rojas http://ss.sysu.edu.cn/~Rojas

On Thu, Jun 4, 2015 at 3:25 AM, vinipari notifications@github.com wrote:

Hello, I am using a research baxter robot, and i tried to install MoveIt interface to control and validate some works that i am doing, i followed all the instruction provided by the Sdk tutorial and always enable and run the joint trajectory server before launch the Rviz but i can't send or receive any information from the robot. My terminal shows me the following message error:

$ roslaunch baxter_moveit_config demo_baxter.launch ... logging to /home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/roslaunch-robot-machine-4163.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robot-machine.local:56513/ SUMMARY

PARAMETERS

  • /mongo_wrapper_ros_robot_machine_4163_1742465395671208038/database_path: /home/robot/ros_w...
  • /mongo_wrapper_ros_robot_machine_4163_1742465395671208038/overwrite: False
  • /move_group/allow_trajectory_execution: True
  • /move_group/both_arms/longest_valid_segment_fraction: 0.05
  • /move_group/both_arms/planner_configs: ['SBLkConfigDefau...
  • /move_group/both_arms/projection_evaluator: joints(right_s0,r...
  • /move_group/capabilities: move_group/MoveGr...
  • /move_group/controller_list: [{'default': True...
  • /move_group/controller_manager_name: simple_controller...
  • /move_group/jiggle_fraction: 0.05
  • /move_group/left_arm/kinematics_solver: kdl_kinematics_pl...
  • /move_group/left_arm/kinematics_solver_attempts: 3
  • /move_group/left_arm/kinematics_solver_search_resolution: 0.005
  • /move_group/left_arm/kinematics_solver_timeout: 0.005
  • /move_group/left_arm/longest_valid_segment_fraction: 0.05
  • /move_group/left_arm/planner_configs: ['SBLkConfigDefau...
  • /move_group/left_arm/projection_evaluator: joints(left_s0,le...
  • /move_group/left_hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/max_safe_path_cost: 1
  • /move_group/moveit_controller_manager: moveit_simple_con...
  • /move_group/moveit_manage_controllers: True
  • /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  • /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  • /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  • /move_group/planner_configs/LazyRRTkConfigDefault/type: geometric::LazyRRT
  • /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  • /move_group/planner_configs/RRTStarkConfigDefault/type: geometric::RRTstar
  • /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  • /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  • /move_group/planning_plugin: ompl_interface/OM...
  • /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/request_adapters: default_planner_r...
  • /move_group/right_arm/kinematics_solver: kdl_kinematics_pl...
  • /move_group/right_arm/kinematics_solver_attempts: 3
  • /move_group/right_arm/kinematics_solver_search_resolution: 0.005
  • /move_group/right_arm/kinematics_solver_timeout: 0.005
  • /move_group/right_arm/longest_valid_segment_fraction: 0.05
  • /move_group/right_arm/planner_configs: ['SBLkConfigDefau...
  • /move_group/right_arm/projection_evaluator: joints(right_s0,r...
  • /move_group/right_hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/start_state_max_bounds_error: 0.1
  • /move_group/use_controller_manager: True
  • /robot_description: <?xml version="1....
  • /robot_description_planning/joint_limits/left_e0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_e0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_e0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_e0/max_velocity: 0.75
  • /robot_description_planning/joint_limits/left_e1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_e1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_e1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_e1/max_velocity: 0.75
  • /robot_description_planning/joint_limits/left_s0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_s0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_s0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_s0/max_velocity: 0.75
  • /robot_description_planning/joint_limits/left_s1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_s1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_s1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_s1/max_velocity: 0.75
  • /robot_description_planning/joint_limits/left_w0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_w0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_w0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_w0/max_velocity: 1.0
  • /robot_description_planning/joint_limits/left_w1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_w1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_w1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_w1/max_velocity: 1.0
  • /robot_description_planning/joint_limits/left_w2/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/left_w2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/left_w2/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/left_w2/max_velocity: 1.0
  • /robot_description_planning/joint_limits/right_e0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_e0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_e0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_e0/max_velocity: 0.75
  • /robot_description_planning/joint_limits/right_e1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_e1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_e1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_e1/max_velocity: 0.75
  • /robot_description_planning/joint_limits/right_s0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_s0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_s0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_s0/max_velocity: 0.75
  • /robot_description_planning/joint_limits/right_s1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_s1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_s1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_s1/max_velocity: 0.75
  • /robot_description_planning/joint_limits/right_w0/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_w0/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_w0/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_w0/max_velocity: 1.0
  • /robot_description_planning/joint_limits/right_w1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_w1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_w1/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_w1/max_velocity: 1.0
  • /robot_description_planning/joint_limits/right_w2/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/right_w2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/right_w2/max_acceleration: 2.0
  • /robot_description_planning/joint_limits/right_w2/max_velocity: 1.0
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: indigo
  • /rosversion: 1.11.10
  • /rviz_robot_machine_4163_4265146324484657284/left_arm/kinematics_solver: kdl_kinematics_pl...
  • /rviz_robot_machine_4163_4265146324484657284/left_arm/kinematics_solver_attempts: 3
  • /rviz_robot_machine_4163_4265146324484657284/left_arm/kinematics_solver_search_resolution: 0.005
  • /rviz_robot_machine_4163_4265146324484657284/left_arm/kinematics_solver_timeout: 0.005
  • /rviz_robot_machine_4163_4265146324484657284/right_arm/kinematics_solver: kdl_kinematics_pl...
  • /rviz_robot_machine_4163_4265146324484657284/right_arm/kinematics_solver_attempts: 3
  • /rviz_robot_machine_4163_4265146324484657284/right_arm/kinematics_solver_search_resolution: 0.005
  • /rviz_robot_machine_4163_4265146324484657284/right_arm/kinematics_solver_timeout: 0.005
  • /warehouse_exec: mongod
  • /warehouse_host: localhost
  • /warehouse_port: 33829

NODES / mongo_wrapper_ros_robot_machine_4163_1742465395671208038 (warehouse_ros/mongo_wrapper_ros.py) move_group (moveit_ros_move_group/move_group) rviz_robot_machine_4163_4265146324484657284 (rviz/rviz)

ROS_MASTER_URI=http://011503P0005.local:11311

core service [/rosout] found process[move_group-1]: started with pid [4172] process[rviz_robot_machine_4163_4265146324484657284-2]: started with pid [4178] [ INFO] [1433358274.003722081]: Loading robot model 'baxter'... [ INFO] [1433358274.003846753]: No root joint specified. Assuming fixed joint process[mongo_wrapper_ros_robot_machine_4163_1742465395671208038-3]: started with pid [4181] [ INFO] [1433358274.085376425]: rviz version 1.11.7 [ INFO] [1433358274.085470653]: compiled against OGRE version 1.8.1 (Byatis) [ INFO] [1433358274.276320421]: Stereo is NOT SUPPORTED [ INFO] [1433358274.276578526]: OpenGl version: 3 (GLSL 1.3). [move_group-1] process has died [pid 4172, exit code -11, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group joint_states:=/robot/joint_states __name:=move_group __log:=/home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/move_group-1.log]. log file: /home/robot/.ros/log/05b88ae4-0a23-11e5-801d-989096a30be7/move_group-1*.log [ INFO] [1433358280.627983103]: Loading robot model 'baxter'... [ INFO] [1433358280.628058672]: No root joint specified. Assuming fixed joint [ INFO] [1433358280.966805252]: Loading robot model 'baxter'... [ INFO] [1433358280.966868403]: No root joint specified. Assuming fixed joint [ INFO] [1433358281.040967536]: Loading robot model 'baxter'... [ INFO] [1433358281.041018305]: No root joint specified. Assuming fixed joint [ INFO] [1433358281.180184335]: Starting scene monitor [ INFO] [1433358281.187234902]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1433358281.189903927]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ WARN] [1433358286.196228065]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20150518-1441/planning_scene_monitor/src/planning_scene_monitor.cpp:461 [ INFO] [1433358286.338112129]: Constructing new MoveGroup connection for group 'both_arms' in namespace '' [ERROR] [1433358316.383081414]: Unable to connect to move_group action server within allotted time (2) [ERROR] [1433358670.691599403]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358675.694535882]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358695.778399991]: couldn't resolve publisher host [011503P0005.local] [ERROR] [1433358700.782768453]: couldn't resolve publisher host [011503P0005.local]

I hope you guys can help me solve this problem, All regards VInicius Parizotto Wayne State University

— Reply to this email directly or view it on GitHub https://github.com/ros-planning/moveit_ros/issues/585.