How to create a tiago_moveit_config folder by own using MoveIT Setup Assistant?

hjw-1014 commented 3 years ago

Description

Currently, I want to create a new tiago_moveit_config folder. I found a Tiago xacro file here, and I tried to load it using MoveIT Setup Assistant, but I got problems, and I don't find a solution after I searched.

Your environment

ROS Distro: [Melodic]
OS Version: e.g. Ubuntu 18.04

Steps to reproduce

Basically, follow this.

Using roslaunch moveit_setup_assistant setup_assistant.launc to open MoveIT Setup Assistant.
Load Tiago xacro, then errors come.

Gtk-Message: 06:54:24.305: GtkDialog mapped without a transient parent. This is discouraged.
resource not found: tiago_description_calibration
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/huangjiawei/ws_moveit/src/geometric_shapes
ROS path [2]=/home/huangjiawei/ws_moveit/src/moveit/moveit
ROS path [3]=/home/huangjiawei/ws_moveit/src/moveit_msgs
ROS path [4]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/moveit_planners
ROS path [5]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_plugins
ROS path [6]=/home/huangjiawei/ws_moveit/src/moveit_resources/moveit_resources
ROS path [7]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_description
ROS path [8]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_moveit_config
ROS path [9]=/home/huangjiawei/ws_moveit/src/moveit/moveit_commander
ROS path [10]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_description
ROS path [11]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_moveit_config
ROS path [12]=/home/huangjiawei/ws_moveit/src/moveit_resources/pr2_description
ROS path [13]=/home/huangjiawei/ws_moveit/src/moveit/moveit_core
ROS path [14]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_motion_planner
ROS path [15]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_optimizer_adapter
ROS path [16]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_ikfast_manipulator_plugin
ROS path [17]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_moveit_config
ROS path [18]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_pg70_support
ROS path [19]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_ros
ROS path [20]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/occupancy_map_monitor
ROS path [21]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning
ROS path [22]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_fake_controller_manager
ROS path [23]=/home/huangjiawei/ws_moveit/src/moveit/moveit_kinematics
ROS path [24]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/ompl
ROS path [25]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_support
ROS path [26]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/move_group
ROS path [27]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/manipulation
ROS path [28]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/perception
ROS path [29]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/robot_interaction
ROS path [30]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/warehouse
ROS path [31]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/benchmarks
ROS path [32]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning_interface
ROS path [33]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_interface
ROS path [34]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/visualization
ROS path [35]=/home/huangjiawei/ws_moveit/src/moveit/moveit_runtime
ROS path [36]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_servo
ROS path [37]=/home/huangjiawei/ws_moveit/src/moveit/moveit_setup_assistant
ROS path [38]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager
ROS path [39]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_ros_control_interface
ROS path [40]=/home/huangjiawei/ws_moveit/src/panda_moveit_config
ROS path [41]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner_testutils
ROS path [42]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner
ROS path [43]=/home/huangjiawei/ws_moveit/src/rviz_visual_tools
ROS path [44]=/home/huangjiawei/ws_moveit/src/moveit_visual_tools
ROS path [45]=/home/huangjiawei/ws_moveit/src/moveit_tutorials
ROS path [46]=/opt/ros/melodic/share

Expected behaviour

Could anyone tell me if it's because I use the wrong tiago xacro file or how can Ioad a tiago in MoveIT Setup Assistant to create my own tiago_moveit_config folder?

Thanks in advance.

welcome[bot] commented 3 years ago

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

rhaschke commented 3 years ago

As stated by the error message, your workspace is missing the package tiago_description_calibration. Instead of using the repo https://github.com/pal-robotics/tiago_dual_robot, I suggest starting with https://github.com/pal-robotics/tiago_robot (assuming you have a single robot only). Note, that there is a ready-to-use https://github.com/pal-robotics/tiago_moveit_config package available. Finally, for questions regarding tiago_description you should consider https://answers.ros.org or the PAL sites.

hjw-1014 commented 3 years ago

As stated by the error message, your workspace is missing the package tiago_description_calibration. Instead of using the repo https://github.com/pal-robotics/tiago_dual_robot, I suggest starting with https://github.com/pal-robotics/tiago_robot (assuming you have a single robot only). Note, that there is a ready-to-use https://github.com/pal-robotics/tiago_moveit_config package available. Finally, for questions regarding tiago_description you should consider https://answers.ros.org or the PAL sites. Thank you so much, I'm new to MoveIt, so very sorry about this.

moveit / moveit_tutorials