using move group interface for a real robot

puren commented 4 years ago

Description

Hello,

I can run roslaunch moveit_tutorials move_group_interface_tutorial.launch without any issue. I even modified the code for my own purposes. It works perfectly fine for simulation. Now I want to run it on Panda Franka arm. But the same code cannot be used to move a real robot arm. The code freezes in the begining: moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP); What can be the reason for that?

By the way, I can move Panda robot arm by using moveit by running the following command: roslaunch panda_moveit_config moveit_rviz.launch I simply drag the arm to a specific place in the simulation and then click to plan and execute in rviz interface. Then, in reality the arm perfectly moves to the place in the simulation.

I want to do the same with Move group interface with some randomly sampled end-effector poses but as I said, it stucks in the begining. I am probably missing a very obvious point since I am new in using moveit.

Your environment

ROS Distro: Kinetic
OS Version: Ubuntu 16.04

Steps to reproduce

Connecting to a robot arm like panda and run roslaunch moveit_tutorials move_group_interface_tutorial.launch

Expected behaviour

The arm doesn't move.

Backtrace or Console output

... logging to /home/aass/.ros/log/6d476a10-3d20-11ea-87c3-94c6911c3d43/roslaunch-FrankaLabDesk1-26386.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.

invalid ROS_IP (must be a valid IPv4 or IPv6 address)
invalid ROS_IP (must be a valid IPv4 or IPv6 address)
started roslaunch server http://FrankaLabDesk1:34723/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    move_group_interface_tutorial (moveit_tutorials/move_group_interface_tutorial)

ROS_MASTER_URI=http://snow-white:11311

process[move_group_interface_tutorial-1]: started with pid [26395]
[ INFO] [1579713073.999152858]: Loading robot model 'panda'...
[ INFO] [1579713073.999278443]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1579713074.162980816]: Loading robot model 'panda'...
[ INFO] [1579713074.163019404]: No root/virtual joint specified in SRDF. Assuming fixed joint

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

welcome[bot] commented 4 years ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

felixvd commented 3 years ago

Closing for inactivity, sorry for the long silence. I hope you managed to solve your problem.

moveit / moveit_tutorials