Open tangguotongling opened 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!
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 runningroslaunch 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.htmlPlease 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.......
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](https://user-images.githubusercontent.com/39935918/141072407-b092ba51-1589-46d1-92d5-03b4d52aa74e.png)
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:![RVizOK2](https://user-images.githubusercontent.com/39935918/141074356-4286dd89-c81a-4483-ac99-e6604c883467.png)
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)Can anybody help me?
Thank you~
To Reproduce Steps to reproduce the behavior:
call c:\opt\ros\melodic\x64\setup.bat
c:\moveit_ws>call devel\setup.bat
roslaunch panda_moveit_config demo.launch
Expected behavior
According to the moveit, there ought to be a RViz window with a robot like:
where I can interact with the MoveIt.
Environment information:
winver
Win10 Pro 21H1 19043.1320choco list --local-only
Chocolatey v0.11.3 chocolatey 0.11.3 chocolatey-core.extension 1.3.5.1 git 2.33.1 git.install 2.33.1 4 packages installed.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 [96mStarting planning scene monitors... [0m[ 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 [96mPlanning scene monitors started. [0m[ 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 [96mLoading 'move_group/ApplyPlanningSceneService'... [0m[96mLoading 'move_group/ClearOctomapService'... [0m[96mLoading 'move_group/MoveGroupCartesianPathService'... [0m[96mLoading 'move_group/MoveGroupExecuteTrajectoryAction'... [0m[96mLoading 'move_group/MoveGroupGetPlanningSceneService'... [0m[96mLoading 'move_group/MoveGroupKinematicsService'... [0m[96mLoading 'move_group/MoveGroupMoveAction'... [0m[96mLoading 'move_group/MoveGroupPickPlaceAction'... [0m[96mLoading 'move_group/MoveGroupPlanService'... [0m[96mLoading 'move_group/MoveGroupQueryPlannersService'... [0m[96mLoading 'move_group/MoveGroupStateValidationService'... [0m[ INFO] [1636530112.386223100]:
[ INFO] [1636530112.387739300]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1636530112.388510000]: MoveGroup context initialization complete [92m You can start planning now!
[0m[ 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