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moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt
https://moveit.github.io/moveit_tutorials/
BSD 3-Clause "New" or "Revised" License
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MoveIt Setup Assistant tutorial: Spawn service timed out error #807

Closed marinaaoki closed 7 months ago

marinaaoki commented 9 months ago

Description

I have been trying to spawn the robot in Gazebo using the URDF generated by the MoveIt Setup Assistant using step 9 in the tutorial.

Launching the empty world works without any issues, but spawning the model in the next step simply gives me an error that the spawn service timed out.

I have followed the steps in the tutorial as specified.

Your environment

Steps to reproduce

By following the MoveIt Setup Assistant tutorial steps 1-9

Expected behaviour

Robot model is spawned in Gazebo without any error

Backtrace or Console output

Spawning the model using the command rosrun gazebo_ros spawn_model -file </path_to_new_urdf/file_name.urdf> -urdf -x 0 -y 0 -z 1 -model panda gives me the following error message:

[INFO] [1703238121.019351]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name panda [ERROR] [1703238121.020110]: Spawn service failed. Exiting.

In the other terminal where the empty world was launched I get this error message:

Error [parser.cc:488] parse as old deprecated model file failed. Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF. Error Code 8 Msg: Error reading element Error Code 8 Msg: Error reading element Error Code 8 Msg: Error reading element

welcome[bot] commented 9 months ago

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

ReemAlhosainy commented 7 months ago

Have you found a solution to this problem as I face the same?

rhaschke commented 7 months ago

The gazebo/plugin tag added by MSA misses the filename="libgazebo_ros_control.so" attribute. This is fixed via https://github.com/ros-planning/moveit/pull/3572.

erwinmaast commented 7 months ago

The gazebo/plugin tag added by MSA misses the filename="libgazebo_ros_control.so" attribute. This is fixed via ros-planning/moveit#3572.

After Adding this missing filename, the robot spawns, but falls (ragdolls) on the ground.

How to fix this ?

rhaschke commented 7 months ago

Do you have ROS controllers activated? Which robot you use? The Panda robot stays upright as expected.

erwinmaast commented 7 months ago

I followed the same steps as described above. I used the panda.urdf.xacro from the franka_description package. After generating the panda_movit_config package trough the assistant, I try to launch Rviz and Gazebo.

roslaunch panda_moveit_config demo_gazebo.launch

Before adding the missing filename the robot didn't spawn. (Parsing Error as described above) After adding the filename and running the roslaunch command the robot ragdolls on the ground. The base link (panda_link0) isn't even connected with the ground.

I checked everything in Setup Assistant a dozen times already. I tried different settings, but still same outcome.

rhaschke commented 7 months ago

Running roslaunch panda_moveit_config demo_gazebo.launch works out-of-the-box with the existing panda_moveit_config package. There is no need to modify any files with MSA. If you made changes to the package, revert them and try again.

If you created panda_moveit_config from scratch following the MSA tutorial, you need to add a root link name world in order to fix the robot to the ground.