Cannot find 'panda_control_moveit_rviz.launch'

[fzy139]

I want to calibrate my camera using easy_handeye. In its example the robot is started by panda_control_moveit_rviz.launch. However, this file could not be found anymore. Maybe it was deleted in a commit, for I find this file in bing. Is there any alternative to this file?

[rhaschke]

This file was replaced by franka_control.launch. See https://github.com/IFL-CAMP/easy_handeye/pull/112 for a fix.

[fzy139]

I changed my .launch file as your commit to easy_handeye. But I met some errors:

[ERROR] [1664965972.593216330]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist
[ERROR] [1664965972.593241398]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist
[ INFO] [1664965972.646884641]: Starting planning scene monitor
[ INFO] [1664965972.648844193]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1664965972.655189737]: Link 'panda_hand_tcp' declared as part of a chain in group 'panda_manipulator' is not known to the URDF
[ WARN] [1664965972.655226545]: Group 'panda_manipulator' is empty.
[ERROR] [1664965972.655409215]: Link 'panda_hand_tcp' specified as parent for end effector 'panda_hand_tcp' is not known to the URDF

Is there some way to fix it? My ROS version is Noetic.

[rhaschke]

Which version of panda_moveit_config and franka_description do you have installed? Latest are:

ros-noetic-panda-moveit-config                             0.8.1-1focal.20221003.150820
ros-noetic-franka-description                              0.10.1-1focal.20220926.212146

[fzy139]

When I installed ROS, I installed Desktop-Full version: sudo apt install ros-noetic-desktop-full. It should contain the latest ros-noetic-panda-moveit-config and ros-noetic-franka-description.

[fzy139]

When I tried roslaunch panda_moveit_config demo.launch, I got the error

$ roslaunch panda_moveit_config demo.launch 
... logging to /home/hyperplane/.ros/log/efe5f270-4556-11ed-965b-bf2b1c9e7cb8/roslaunch-hyperplane-98756.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt

No such file or directory: /home/hyperplane/ros-neotic-franka/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro [Errno 2] No such file or directory: '/home/hyperplane/ros-neotic-franka/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro'
RLException: while processing /opt/ros/noetic/share/panda_moveit_config/launch/move_group.launch:
while processing /opt/ros/noetic/share/panda_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['xacro', '/home/hyperplane/ros-neotic-franka/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro', 'hand:=true', 'arm_id:=panda']] returned with code [2]. 

Param xml is <param name="$(arg robot_description)" command="xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" if="$(arg load_robot_description)"/>
The traceback for the exception was written to the log file

[fzy139]

I find no directory in xxx/catkin_ws/src/franka_ros/franka_description/robots/.But there are several .xacro files:

dual_panda_example.urdf.xacro  hand.xacro            panda_arm.xacro     utils.xacro
hand.urdf.xacro                panda_arm.urdf.xacro  panda_gazebo.xacro

[rhaschke]

ros-noetic-desktop-full should contain the latest ros-noetic-panda-moveit-config and ros-noetic-franka-description.

Please explicitly check: dpkg -l | grep <package name>

No such file or directory: /home/hyperplane/ros-neotic-franka/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro [Errno 2] No such file or directory: '/home/hyperplane/ros-neotic-franka/catkin_ws/src/franka_ros/franka_description/robots/panda/panda.urdf.xacro'

As you can see here, franka_description 0.10.1 comprises this file. Older versions don't! Please check your versions!

As you are building from source, you should git remote update and git pull the latest versions of franka_ros and panda_moveit_config!

[fzy139]

Thanks for your answer. I updated my franka_ros and the error about .xacro files disappears. However, I got another errors when running roslaunch panda_moveit_config demo.launch:

[ INFO] [1665105587.197342563]: Loading planning pipeline 'chomp'
[ERROR] [1665105587.198660476]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner
Available plugins: ompl_interface/OMPLPlanner
...
[ERROR] [1665105587.203065213]: Failed to initialize planning pipeline 'chomp'.
...
[ INFO] [1665105587.255082063]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1665105587.256202775]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner
Available plugins: ompl_interface/OMPLPlanner
[ERROR] [1665105587.256241003]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.

I have checked that ompl is installed with ROS, but I cannot find chomp:

~$ roscd ompl/
ompl$ pwd
/opt/ros/noetic/share/ompl
ompl$ roscd chomp
roscd: No such package/stack 'chomp'

Since this is just a demonstration, I am not sure whether this error will influence my usage afterward

[rhaschke]

What about just installing the missing ROS packages? See here for a list of all available packages.