rviz visual tools

[japalmer29]

When I launch pr2_moveit_config demo.launch, I get an error in RViz saying rviz_visual_tools/RVizVisualToolsGUI class not loaded. And I can't manipulate or plan anything with the robot. I have moveit_visual_tools. I'm not sure how to install any of these demos. I had to run "cmake ." in pr2_moveit_config and then source devel/setup.bash in order to get the demo.launch to run. But none of this is explained in the tutorial. It just says run git clone ... and then roslaunch ...., but that doesn't work.

[v4hn]

Your problems seem to boil down to missing knowledge about ROS workspaces and catkin. packages are not built via cmake, you have to build the whole workspace via catkin_make. This is supposed to be basic knowledge when using MoveIt, so it's not in our instructions, but in the official ROS tutorials at http://wiki.ros.org

[japalmer29]

I have gone through the ros tutorials. Unfortunately they are not very helpful. E.g http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment gives practically no useful information on dealing with the moveit packages or workspaces.

I know how to create a new workspace and a package, but there is no information on how to do this for a package that is released like the moveit packages. E.g. what are the dependencies supposed to be?

The Moveit tutorials seem to start from scratch with installation, and I doubt adding workspace and pagkage creation code would be more than a few lines. So there seems to be no reason for leaving out the workspace and package steps, which make it impossible for people trying to learn ROS and Moveit to use.

[v4hn]

There are more tutorials there. In particular two steps later: http://wiki.ros.org/ROS/Tutorials/CreatingPackage

[japalmer29]

Thanks, I saw that one. But I don't know what the dependencies should be for catkin_create_pkg. The same as the example?

[v4hn]

From the Tutorial I referenced above:

4. Building a catkin workspace and sourcing the setup file

Now you need to build the packages in the catkin workspace:

$ cd ~/catkin_ws
$ catkin_make

After the workspace has been built it has created a similar structure in the devel subfolder as you usually find under /opt/ros/$ROSDISTRO_NAME.

To add the workspace to your ROS environment you need to source the generated setup file:

$ . ~/catkin_ws/devel/setup.bash

You don't have to create a package, because the tutorial repository you cloned already is the package you want to build

[japalmer29]

Ok, thanks, it's clearer now. But I am getting an error when trying to build using catkin_make:

[ 94%] Building CXX object moveit/moveit_ros/visualization/robot_state_rviz_plugin/CMakeFiles/moveit_robot_state_rviz_plugin_core.dir/moveit_robot_state_rviz_plugin_core_automoc.cpp.o /home/bmi/Documents/pr2_ws/src/moveit_tutorials/doc/pr2_tutorials/planning/src/move_group_interface_tutorial.cpp: In function ‘int main(int, char**)’: /home/bmi/Documents/pr2_ws/src/moveit_tutorials/doc/pr2_tutorials/planning/src/move_group_interface_tutorial.cpp:88:16: error: ‘class moveit_visual_tools::MoveItVisualTools’ has no member named ‘loadRemoteControl’ visual_tools.loadRemoteControl(); ^ /home/bmi/Documents/pr2_ws/src/moveit_tutorials/doc/pr2_tutorials/planning/src/move_group_interface_tutorial.cpp:96:16: error: ‘class moveit_visual_tools::MoveItVisualTools’ has no member named ‘trigger’ visual_tools.trigger(); ^ .... MORE MISSING MEMBER ERRORS .....

[ 94%] Linking CXX executable /home/bmi/Documents/pr2_ws/devel/lib/moveit_tutorials/attached_body_tutorial moveit_tutorials/doc/pr2_tutorials/planning/CMakeFiles/move_group_interface_tutorial.dir/build.make:62: recipe for target 'moveit_tutorials/doc/pr2_tutorials/planning/CMakeFiles/move_group_interface_tutorial.dir/src/move_group_interface_tutorial.cpp.o' failed make[2]: [moveit_tutorials/doc/pr2_tutorials/planning/CMakeFiles/move_group_interface_tutorial.dir/src/move_group_interface_tutorial.cpp.o] Error 1 CMakeFiles/Makefile2:24683: recipe for target 'moveit_tutorials/doc/pr2_tutorials/planning/CMakeFiles/move_group_interface_tutorial.dir/all' failed make[1]: [moveit_tutorials/doc/pr2_tutorials/planning/CMakeFiles/move_group_interface_tutorial.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 94%] Built target attached_body_tutorial [ 94%] Linking CXX executable /home/bmi/Documents/pr2_ws/devel/lib/moveit_tutorials/pick_place_tutorial [ 94%] Built target pick_place_tutorial [ 94%] Linking CXX shared library /home/bmi/Documents/pr2_ws/devel/lib/libmoveit_robot_state_rviz_plugin_core.so [ 94%] Linking CXX shared library /home/bmi/Documents/pr2_ws/devel/lib/libmoveit_planning_scene_rviz_plugin_core.so [ 94%] Built target moveit_robot_state_rviz_plugin_core [ 94%] Built target moveit_planning_scene_rviz_plugin_core Makefile:138: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j8 -l8" failed

Do you know why I am getting missing member errors about "trigger" etc., and why the build is failing? Thanks for you help.

[japalmer29]

I also still get an error when I launch pr2_moveit_config demo.launch in RViz:

The class required for this panel, 'rviz_visual_tools/RvizVisualToolsGui', could not be loaded. Error: According to the loaded plugin descriptions the class rviz_visual_tools/RvizVisualToolsGui with base class type rviz::Panel does not exist. Declared types are rviz_plugin_tutorials/Teleop

And Robot planning, e.g. QueryStartState, etc. doesn:t work.

Also there are a bunch of the following error messages in the terminal window after roslaunch:

TIFFFieldWithTag: Internal error, unknown tag 0xa402.

[v4hn]

Did you checkout the right branches of the repositories you cloned? Looks like inconsistencies between indigo/kinetic to me.

[japalmer29]

I followed the git clone instructions on the page: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html

which seem to refer to kinetic, which is what I have.

[v4hn]

@davetcoleman wrote the visual tools and the integration code into the tutorials, so he can probably help better :)

[japalmer29]

Ok, thanks for the assistance.

[davetcoleman]

I ran through the tutorial just now and everything works fine on ROS Kinetic / Ubuntu 16.04. I've clarified the catkin setup instructions that might trip up new users: https://github.com/ros-planning/moveit_tutorials/pull/76

[Hariscorner]

Hi all, I'm facing the same issue as @japalmer29 and i came through the same path as he did. In particular, the error that I'm receiving is :

_The class required for this panel, 'rviz_visual_tools/RvizVisualToolsGui', could not be loaded. Error: According to the loaded plugin descriptions the class rviz_visual_tools/RvizVisualToolsGui with base class type rviz::Panel does not exist. Declared types are rviz_plugintutorials/Teleop

(I'm new to MoveIt! All I did so far was to go through this tutorial and the corresponding setup assistant tutorial linked there)

Is there a fix for the issue? Thanks in advance.

[davetcoleman]

I imagine you are not sourcing your workspace correctly, or not downloading the required dependencies using rosdep install

[anubhav1772]

I was getting the same error in kinetic, but doing sudo apt-get install ros-kinetic-rviz-visual-tools help me get rid of the error.

[irenjie]

I was getting the same error in kinetic, but doing sudo apt-get install ros-kinetic-rviz-visual-tools help me get rid of the error.

helpful for me

[siddarth09]

also try rosdep install --from-paths src --ignore-src -r -y this solved the error for me