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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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ros2-ified #136

Open 130s opened 1 year ago

130s commented 1 year ago

Issue

CoS

Impl approach

130s commented 1 year ago
Hmm. Reading the existing local panda_moveit_config repo (I see .setup_assistant present) fails. ``` root@130s-p16s:/cws/src/ros-planning/panda_moveit_config# ros2 launch moveit_setup_assistant setup_assistant.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-06-01-05-733463-130s-p16s-10140 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [moveit_setup_assistant-1]: process started with pid [10141] [moveit_setup_assistant-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [moveit_setup_assistant-1] terminate called after throwing an instance of 'ament_index_cpp::PackageNotFoundError' [moveit_setup_assistant-1] what(): package 'franka_description' not found, searching: [/opt/ros/humble] [moveit_setup_assistant-1] Stack trace (most recent call last): [moveit_setup_assistant-1] #31 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248b6363, in QApplication::notify(QObject*, QEvent*) [moveit_setup_assistant-1] #30 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248ae712, in QApplicationPrivate::notify_helper(QObject*, QEvent*) [moveit_setup_assistant-1] #29 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248f14ed, in QWidget::event(QEvent*) [moveit_setup_assistant-1] #28 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a61e6, in QAbstractButton::mouseReleaseEvent(QMouseEvent*) [moveit_setup_assistant-1] #27 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a5fc3, in [moveit_setup_assistant-1] #26 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a439d, in [moveit_setup_assistant-1] #25 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a4115, in QAbstractButton::clicked(bool) [moveit_setup_assistant-1] #24 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in [moveit_setup_assistant-1] #23 Source "./src/helper_widgets.cpp", line 171, in btnFileDialog [0x7f34251f55cf] [moveit_setup_assistant-1] #22 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a04a91, in QWidgetLineControl::internalSetText(QString const&, int, bool) [moveit_setup_assistant-1] #21 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a047ce, in QWidgetLineControl::finishChange(int, bool, bool) [moveit_setup_assistant-1] #20 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a010f8, in QWidgetLineControl::textChanged(QString const&) [moveit_setup_assistant-1] #19 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in [moveit_setup_assistant-1] #18 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249f9845, in QLineEdit::textChanged(QString const&) [moveit_setup_assistant-1] #17 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in [moveit_setup_assistant-1] #16 Source "./.obj-x86_64-linux-gnu/include/moveit_setup_framework/qt/moc_helper_widgets.cpp", line 222, in pathChanged [0x7f342521dbd5] [moveit_setup_assistant-1] #15 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in [moveit_setup_assistant-1] #14 Source "./src/start_screen_widget.cpp", line 300, in onPackagePathChanged [0x7f3416007939] [moveit_setup_assistant-1] #13 Source "./src/start_screen_widget.cpp", line 319, in loadPackageSettings [0x7f3416007863] [moveit_setup_assistant-1] #12 Source "./src/start_screen.cpp", line 73, in loadExisting [0x7f341600733b] [moveit_setup_assistant-1] #11 Source "./src/package_settings_config.cpp", line 149, in loadExisting [0x7f34252058e2] [moveit_setup_assistant-1] #10 Source "./src/urdf_config.cpp", line 60, in loadPrevious [0x7f34251fdbbb] [moveit_setup_assistant-1] #9 | Source "./src/urdf_config.cpp", line 123, in getSharePath [moveit_setup_assistant-1] Source "./include/moveit_setup_framework/utilities.hpp", line 52, in loadFromPackage [0x7f34251fcffd] [moveit_setup_assistant-1] #8 Object "/opt/ros/humble/lib/libament_index_cpp.so", at 0x7f3423affe32, in ament_index_cpp::get_package_share_directory(std::__cxx11::basic_string, std::allocator > const&) [moveit_setup_assistant-1] #7 Object "/opt/ros/humble/lib/libament_index_cpp.so", at 0x7f3423afdb16, in [moveit_setup_assistant-1] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f3423925517, in __cxa_throw [moveit_setup_assistant-1] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f34239252b6, in std::terminate() [moveit_setup_assistant-1] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f342392524b, in [moveit_setup_assistant-1] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f3423919bbd, in [moveit_setup_assistant-1] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34236557f2, in abort [moveit_setup_assistant-1] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f342366f475, in raise [moveit_setup_assistant-1] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34236c3a7c, in pthread_kill [moveit_setup_assistant-1] Aborted (Signal sent by tkill() 10141 0) [ERROR] [moveit_setup_assistant-1]: process has died [pid 10141, exit code -6, cmd '/opt/ros/humble/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args']. ``` I'm doing this in Docker container via `rocker` so that GUI can be opened. Hope that doesn't matter. > `package 'franka_description' not found` ?? Adding `franka_description` https://github.com/frankaemika/franka_ros/issues/344 and retried. Got: ``` # export PATH_INSTALL_BASE=/opt/ros/$ROS_DISTRO && source $PATH_INSTALL_BASE/setup.bash && colcon build --parallel-workers 2 --packages-select franka_description panda_moveit_config [0.326s] WARNING:colcon.colcon_core.package_augmentation.check_dependency_constraint:panda_moveit_config depends on franka_description which has version 0.0.0 but expects it to be greater than or equal to 0.10.0 Starting >>> franka_description Finished <<< franka_description [0.74s] Starting >>> panda_moveit_config Finished <<< panda_moveit_config [0.50s] Summary: 2 packages finished [1.40s] root@130s-p16s:/cws# source install/setup.bash root@130s-p16s:/cws# ros2 launch moveit_setup_assistant setup_assistant.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-06-20-49-028319-130s-p16s-703 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [moveit_setup_assistant-1]: process started with pid [704] [moveit_setup_assistant-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [moveit_setup_assistant-1] [ERROR] [1686133261.047474865] [moveit_rdf_loader.rdf_loader]: File does not exist [moveit_setup_assistant-1] [ERROR] [1686133263.965740426] [moveit_rdf_loader.rdf_loader]: File does not exist : URDF/COLLADA file not found: /cws/install/franka_description/share/franka_description/robots/panda/panda.urdf.xacro ```

UPDATE: I ended up running MSA 2.5.4 against franka_description from franka_ros2 frankaemika/franka_ros#344 to work these around.

130s commented 1 year ago
Runtime error while verifying demo.launch.py ``` # ros2 launch panda_moveit_config demo.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-11-57-12-903618-130s-p16s-1174 [INFO] [launch]: Default logging verbosity is set to INFO Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. WARNING:root:cartesian_limits.yaml is deprecated, please rename to pilz_cartesian_limits.yaml [ERROR] [launch]: Caught exception in launch (see debug for traceback): Failed to handle type {'class': 'stomp_moveit/NormalDistributionSampling', 'stddev': [0.05, 0.8, 1.0, 0.8, 0.4, 0.4, 0.4]} ```

UPDATE: Resolved by stashing away the files generated in ros1 era.

rhaschke commented 1 year ago

Dear Isaac, I want to emphasize again that a panda_moveit_config should not rely on the URDF from moveit_resources, because that's terribly outdated and only used for internal MoveIt testing. Looking for ros2 packages from Franka, I found that they already provide a ros2 MoveIt config, called franka_moveit_config: https://support.franka.de/docs/franka_ros2.html#moveit However, they haven't yet released anything.

130s commented 1 year ago

@rhaschke Sorry, (aside from the decision https://github.com/ros-planning/moveit2_tutorials/issues/704#issuecomment-1703137286) I fully agree to keep this package away from moveit_resource. The push I made yesterday was just a sync, didn't mean to request re-review. I'll update this PR accordingly.

rhaschke commented 1 year ago

Aside from the franka_description stuff, I primarily wanted to point out that there is already a moveit_config package. Maybe you can just use that or at least derive from it. (Unfortunately, they renamed the package.)