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moveit / moveit_task_constructor

A hierarchical multi-stage manipulation planner
https://moveit.github.io/moveit_task_constructor
BSD 3-Clause "New" or "Revised" License
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[moveit_task_constructor_visualization.marker_visualization]: "base_link" passed to lookupTransform argument target_frame does not exist #553

Open dogukanyilmazerkba opened 8 months ago

dogukanyilmazerkba commented 8 months ago

While running pick and place tutorial of the Moveit2 I got this error: 

    [move_group-4] [WARN] [1711710019.458969047] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'panda_link0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
    [move_group-4] [WARN] [1711710019.459017631] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )

I think its related with trying yo pass base_link to loopupTransform without actually getting the robot's model. But it not changed anything related to topic declerations and it was actually working until yesterday. It started to give this error after I added some more stages to my task. I really dont think is realted with that so I dont know what is going on. I tried to search where lookupTransform is called but could not find anything.

Edit: what this errors are causing is that the object that needs to be created, dont appear.

[rviz2-1] [INFO] [1711717381.985159120] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1711717381.985313340] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-1] [INFO] [1711717382.006719155] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [WARN] [1711717382.104305256] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1711717382.112414430] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00214873 seconds
[rviz2-1] [INFO] [1711717382.112493757] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
[rviz2-1] [WARN] [1711717382.141052558] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
[rviz2-1] [INFO] [1711717382.566736069] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00159668 seconds
[rviz2-1] [INFO] [1711717382.566824907] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
[rviz2-1] [WARN] [1711717382.595644020] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
[rviz2-1] [WARN] [1711717382.603342408] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1711717382.603485868] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
[rviz2-1] [INFO] [1711717382.712113508] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1711717382.714493372] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[move_group-4] [WARN] [1711717382.716864051] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'panda_link0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-4] [WARN] [1711717382.716918952] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )