Self collision not detected in planning scene Tutorial

[a-mathieu]

Description

Hello, I've been dealing with collision not detected issue for few days now so I decided to go back to tutorials and got an unexpected behavior executing the planning scene tutorial where the first self collision expected during Test 5 is actually not detected.

I tried to reproduce on another computer performing installation from scratch and got the same result.

Tutorial link: https://ros-planning.github.io/moveit_tutorials/doc/planning_scene/planning_scene_tutorial.html

Any advice on how to investigate this further would be welcomed. Thank you.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04 LTS
• Clean install of both ROS and Moveit as per as Getting Started tutorial

Steps to reproduce

• Install Moveit Noetic as per as Getting Started tutorial
• Execute Planning Scene Tutorial with provided command: roslaunch moveit_tutorials planning_scene_tutorial.launch

Expected behaviour

Expected Output as described in tutorial:

ros.moveit_tutorials: Test 1: Current state is not in self collision
ros.moveit_tutorials: Test 2: Current state is not in self collision
ros.moveit_tutorials: Test 3: Current state is not in self collision
ros.moveit_tutorials: Test 4: Current state is valid
ros.moveit_tutorials: Test 5: Current state is in self collision
ros.moveit_tutorials: Contact between: panda_leftfinger and panda_link1
ros.moveit_tutorials: Contact between: panda_link1 and panda_rightfinger
ros.moveit_tutorials: Test 6: Current state is not in self collision

Actual output:

[ INFO] [1675077012.648383221]: Loading robot model 'panda'...
[ INFO] [1675077012.726793717]: Test 1: Current state is not in self collision
[ INFO] [1675077012.727023217]: Test 2: Current state is not in self collision
[ INFO] [1675077012.727170417]: Test 3: Current state is not in self collision
[ INFO] [1675077012.727244217]: Test 4: Current state is valid
[ INFO] [1675077012.727370217]: Test 5: Current state is not in self collision
[ INFO] [1675077012.727516217]: Test 6: Current state is not in self collision

Console output

started roslaunch server http://ARTE-2021-AM:46475/

SUMMARY
========

PARAMETERS
 * /planning_scene_tutorial/$(arg arm_id)_arm/kinematics_solver: kdl_kinematics_pl...
 * /planning_scene_tutorial/$(arg arm_id)_arm/kinematics_solver_search_resolution: 0.005
 * /planning_scene_tutorial/$(arg arm_id)_arm/kinematics_solver_timeout: 0.05
 * /planning_scene_tutorial/$(arg arm_id)_manipulator/kinematics_solver: kdl_kinematics_pl...
 * /planning_scene_tutorial/$(arg arm_id)_manipulator/kinematics_solver_search_resolution: 0.005
 * /planning_scene_tutorial/$(arg arm_id)_manipulator/kinematics_solver_timeout: 0.05
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_kinematics/panda_manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_manipulator/kinematics_solver_timeout: 0.05
 * /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    planning_scene_tutorial (moveit_tutorials/planning_scene_tutorial)

auto-starting new master
process[master]: started with pid [22803]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a9d60516-a08e-11ed-ab16-00155dc75519
process[rosout-1]: started with pid [22813]
started core service [/rosout]
process[planning_scene_tutorial-2]: started with pid [22817]
[ INFO] [1675077012.648383221]: Loading robot model 'panda'...
[ INFO] [1675077012.726793717]: Test 1: Current state is not in self collision
[ INFO] [1675077012.727023217]: Test 2: Current state is not in self collision
[ INFO] [1675077012.727170417]: Test 3: Current state is not in self collision
[ INFO] [1675077012.727244217]: Test 4: Current state is valid
[ INFO] [1675077012.727370217]: Test 5: Current state is not in self collision
[ INFO] [1675077012.727516217]: Test 6: Current state is not in self collision
[ INFO] [1675077012.727676317]: Test 7: Current state is not in self collision
[ INFO] [1675077012.728428317]: Test 8: Random state is not constrained
[ INFO] [1675077012.728498217]: Test 9: Random state is not constrained
[ INFO] [1675077012.728568517]: Test 10: Random state is not constrained
[ INFO] [1675077012.728661817]: Test 11: Random state is not feasible
[ INFO] [1675077012.731711317]: Test 12: Random state is not valid
[planning_scene_tutorial-2] process has finished cleanly
log file: /home/antoine/.ros/log/a9d60516-a08e-11ed-ab16-00155dc75519/planning_scene_tutorial-2*.log

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