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ROS on Windows Documentation Repository
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RViz window did not appear when run demo of Move Group C++ Interface #344

Open tangguotongling opened 2 years ago

tangguotongling commented 2 years ago

Describe the bug

Hi~

I installed ROS melodic + MoveIt on Win10 (following https://ms-iot.github.io/ROSOnWindows/Moveit/moveit_tutorials.html)

When I run the demon of Move Group C++ Interface: roslaunch panda_moveit_config demo.launch (http://docs.ros.org/en/melodic/api/moveit_tutorials/html/index.html)

The RViz window did not appear, which means that I can not interact with the moveit planning progress.

However, there seemed to be a moveit.rvz task on the task bar: RVizAbnormal

and I got the tail of console output as :

QObject::connect: Cannot queue arguments of type 'QVector<int>' (Make sure 'QVector<int>' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector<int>' (Make sure 'QVector<int>' is registered using qRegisterMetaType().)

but I do not think that relates with the phenomena.

What's more, I can run the demo of MoveIt Quickstart in RViz correctly: roslaunch panda_moveit_config demo.launch rviz_tutorial:=true (http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) RVizOK2

Can anybody help me?

Thank you~

To Reproduce Steps to reproduce the behavior:

call c:\opt\ros\melodic\x64\setup.bat

Expected behavior

According to the moveit, there ought to be a RViz window with a robot like: RVizDesized where I can interact with the MoveIt.

Environment information:

I attach the cmd output at last:

Visual Studio 2019 Developer Command Prompt v16.9.4 Copyright (c) 2021 Microsoft Corporation

C:\Windows\System32>cd c:\

c:>cd moveit_ws

c:\moveit_ws>call devel\setup.bat

c:\moveit_ws>roslaunch panda_moveit_config demo.launch ... logging to C:\Users\ThinkStation.ros\log\7211bcee-41f9-11ec-90f7-c809a865ac12\roslaunch-ZGMFX10A-14916.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://127.0.0.1:2926/

SUMMARY

PARAMETERS

NODES / joint_state_desired_publisher (topic_tools/relay) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_ZGMFX10A_14916_2087259776671793920 (rviz/rviz) virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://127.0.0.1:11311 process[virtual_joint_broadcaster_1-1]: started with pid [14324] process[joint_state_publisher-2]: started with pid [11956] process[joint_state_desired_publisher-3]: started with pid [2852] process[robot_state_publisher-4]: started with pid [14740] process[move_group-5]: started with pid [5844] [ INFO] [1636530111.416647400]: Loading robot model 'panda'... process[rviz_ZGMFX10A_14916_2087259776671793920-6]: started with pid [2096] [ INFO] [1636530111.671729900]: rviz version 1.13.15 [ INFO] [1636530111.671956700]: compiled against Qt version 5.10.1 [ INFO] [1636530111.672974600]: compiled against OGRE version 1.10.11 (Xalafu) [ INFO] [1636530111.682107400]: Forcing OpenGl version 0. [ INFO] [1636530112.144900600]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1636530112.148052700]: MoveGroup debug mode is ON Starting planning scene monitors... [ INFO] [1636530112.148827800]: Starting planning scene monitor [ INFO] [1636530112.152069600]: Listening to '/planning_scene' [ INFO] [1636530112.152239900]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1636530112.154674200]: Listening to '/collision_object' [ INFO] [1636530112.156361600]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1636530112.173624900]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1636530112.177408000]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1636530112.188903700]: Initializing OMPL interface using ROS parameters [ INFO] [1636530112.247129200]: Using planning interface 'OMPL' [ERROR] [1636530112.253172000]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds [ INFO] [1636530112.253932900]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1636530112.254651500]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1636530112.255017800]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1636530112.255730600]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1636530112.256285400]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1636530112.257002400]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1636530112.257161200]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1636530112.257405500]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1636530112.257670700]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1636530112.257940500]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1636530112.258207800]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1636530112.268226100]: Loading robot model 'panda'... [ INFO] [1636530112.319595100]: Set joints of group 'panda_arm' to pose 'ready'. [ INFO] [1636530112.319746200]: Set joints of group 'hand' to pose 'open'. [ INFO] [1636530112.321675500]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ INFO] [1636530112.323425600]: Fake controller 'fake_hand_controller' with joints [ panda_finger_joint1 panda_finger_joint2 ] [ INFO] [1636530112.325261100]: Returned 2 controllers in list [ INFO] [1636530112.334923300]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1636530112.386223100]:

[ INFO] [1636530112.387739300]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1636530112.388510000]: MoveGroup context initialization complete  You can start planning now!

[ INFO] [1636530113.423653000]: Stereo is NOT SUPPORTED [ INFO] [1636530113.423827300]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1636530113.533963000]: Loading robot model 'panda'... [ INFO] [1636530113.922282900]: Loading robot model 'panda'... [ INFO] [1636530114.060339000]: Starting planning scene monitor [ INFO] [1636530114.062917100]: Listening to '/move_group/monitored_planning_scene' QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().)

AB#509392

lilustga commented 2 years ago

Hello @tangguotongling,

I tried running the demo on the latest tutorial and was able to see this same behavior by omitting rviz_tutorial:=true from the command. Could you try running roslaunch panda_moveit_config demo.launch rviz_tutorial:=true. That is the command as recommended in the quickstart tutorial. http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Please let me know if that works. Thanks!

tangguotongling commented 2 years ago

Hello @tangguotongling,

I tried running the demo on the latest tutorial and was able to see this same behavior by omitting rviz_tutorial:=true from the command. Could you try running roslaunch panda_moveit_config demo.launch rviz_tutorial:=true. That is the command as recommended in the quickstart tutorial. http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Please let me know if that works. Thanks!

Hi @lilustga~

Thank you for your attention~ I tried the "MoveIt Quickstart in RViz"(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) command as you required: roslaunch panda_moveit_config demo.launch rviz_tutorial:=true Yes, I can see the RViz window. But if I continue with the "Move Group C++ Interface":(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) roslaunch panda_moveit_config demo.launch roslaunch moveit_tutorials move_group_interface_tutorial.launch RViz did not show which prevent the interactive with the demo since it requires a click on the 'Next' button. I can shield the rviz visualization related lines in the source code of "Move Group C++ Interface". But that degenerates to a pure console window.......