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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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Bug fixes: demo_chomp.launch does not display Interactive markers. #55

Closed jsbyysheng closed 4 years ago

jsbyysheng commented 4 years ago

When executing roslaunch panda_moveit_config demo_chomp.launch, I added the MotionPlanning plugin and changed Move Group to panda_arm. However, Interactive markers is missing. The reason for this can be found in the warning msg: 

Loading 'move_group/MoveGroupExecuteTrajectoryAction'...                                                                                                                                                      
[ WARN] [1582773293.919377788]: Unable to update multi-DOF joint 'virtual_joint': Failure to lookup transform between 'world' and 'panda_link0' with TF exception: "world" passed to lookupTransform argument target_frame does not exist.                                                                                                                                                                                  
Loading 'move_group/MoveGroupGetPlanningSceneService'...                                                                                                                                                      
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...

The world is not added to the tf tree.

rhaschke commented 4 years ago

Thanks for pointing out this issue. I think, a cleaner solution is to refer to demo.launch directly as proposed in #57. This will avoid inconsistencies in the future as well. Closing this PR in favour of #57.