Open rhaschke opened 1 month ago
Can any MoveIt2 @moveit/maintainers help on this issue? Any reason why robot_description
is found, but robot_description_semantic
not?
The error is about the subscription which probably succeeds for the robot_description but not for the srdf. I assume none of the original parameters make it through the python bindings or launch system. This sounds oddly familiar with https://github.com/moveit/moveit2/issues/2219 and https://github.com/moveit/moveit2/pull/2393. What config are you working on?
When you launch move_group
node, did you set this parameter to True? - https://github.com/moveit/moveit2/blob/82ef3fc8dbf6770f309557924634ce0bc4ea6af8/moveit_configs_utils/moveit_configs_utils/launches.py#L216
What config are you working on?
I'm running the demo launch file of MTC: ros2 launch demo/launch/demo.launch.py
and then an example binary or python script:
ros2 run moveit_task_constructor_demo cartesian
python3 demo/scripts/cartesian.py
@Abishalini, your hint resolved the SRDF issue. Thanks!
Next issue is that the kinematics parameters are not found:
[WARN] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
Is there any way to run simple binaries/scripts and pass the corresponding parameters?
I don't want to provide a .launch.py
for each and every example.
Wouldn't it make sense to fetch those common parameters from the move_group
node using ParametersClient
classes (see https://answers.ros.org/question/340600/how-to-get-ros2-parameter-hosted-by-another-node)? Did you consider that option?
Next issue is that the kinematics parameters are not found: [WARN] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
I've been running into this same issue with some C++ examples I have. I kinda like the idea of getting them from the move_group
parameter namespace, but what if my node is built on moveit_cpp
? We could provide MTC a namespace that it could search for robot_description_kinematics
or it would probably be best if MoveIt published the info on a topic like it does with robot_description_semantic
.
What about ompl_planing.yaml
and joint_limits
? Doesn't MTC need all of the parameters to match the node that is going to execute the planned trajectory?
I highly appreciate your effort for reenabling the Python API for ROS2. :-) Have you already progressed? Maybe this helps for getting a list of parameters from another node https://answers.ros.org/question/327280/ros2-rclpy-list-parameters-from-node/
. If you need anybody for testing (humble, jazzy), I am happy to help.
Hi @JafarAbdi,
I'm currently working on reenabling the Python API for the
ros2
branch of MTC, which you initially disabled when porting to ROS2. Unfortunately, I'm stuck with several issues. One of them is, that theRobotModelLoader
cannot access therobot_description_semantic
parameter, although it can accessrobot_description
:Any idea what is different between these parameters? Shouldn't the
rclcpp::Node
either be able to access both of them or none?