collision problem from start the panda moveit demo.launch in noetic version

moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

http://docs.ros.org/kinetic/api/moveit_tutorials/html/

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collision problem from start the panda moveit demo.launch in noetic version #118

Closed cnaes93 closed 2 years ago

cnaes93 commented 2 years ago

Hi I installed recently the moveit for noetic from link and clone the panda-moveit.config the melodic version (-b melodic-devel) like in the Installation was. But when I launch it roslaunch panda_moveit_config demo.launch rviz_tutorial:=true from the start the panda robot is in collision state I think (the links are red) like in the picture.

Then I reinstalled it this time with (-b noetic-devel). It didn't solved the Problem. After that i tried to do a motion planning but I got the error: Panda-arm:Motion planning start tree could not be initialized

How can I solve this issue?

rhaschke commented 2 years ago

The melodic-devel branch of panda_moveit_config is known to have collision issues. However, this was solved (but not yet released) in Noetic. Hence, running the most recent code (of MoveIt@master and panda_moveit_config@noetic-devel) this works for me:

Could you please check/specify the exact versions of MoveIt and panda_moveit_config you use? Given that your group is called hand (instead of panda_hand), I suspect that you are using old versions.

cnaes93 commented 2 years ago

How can I find the version of moveit and panda_moveit_config? for the panda_moveit_config I used: link

and for moveit:

as in the installation mentioned.

rhaschke commented 2 years ago

How can I find the version?

https://unix.stackexchange.com/questions/6284/how-do-i-check-package-version-using-apt-get-aptitude https://stackoverflow.com/questions/949314/how-do-i-get-the-hash-for-the-current-commit-in-git

cnaes93 commented 2 years ago

I solved it. I started the installing from Getting Started and there is no sudo apt install ros-noetic-moveit so i actually didn't installed the moveit, but I'm wondering how could I opend the moveit without installing it. How ever I find my problem after I compared the installings code between Melodic and Notic version. There is no sudo apt install ros-notic-moveit in noetic version (it's in first page of moveit, not in getting started).

rhaschke commented 2 years ago

The Noetic version of Getting Started installs MoveIt from source as explained here. But even without this step, the required packages should get installed via rosdep as explained here.

cnaes93 commented 2 years ago

I did the installation via rosdep as explained there on 2 devices but there was no Panda_hand in MotionPlanning (just hand) and collision problem for start planning the robot (Panda-arm:Motion planning start tree could not be initialized). So reinstalled moveit again this time with sudo apt install ros-noetic-moveit and then installing the packages and finally evrythings work well.