Fix moveit_simple_grasp not working !!!

[qboticslabs]

If this package is not working properly, you can use Ubuntu 14.04.2 instead 14.04.3, version !! It will work !!!

[wangcongrobot]

Hi @qboticslabs , the moveit_simple_grasp has release the version of Kinetic, I can compile it well, but it can't load the param of grasp data yaml. `siarobot@siarobot:~$ roslaunch moveit_simple_grasps sia_7f_grasp_generator_server.launch ... logging to /home/siarobot/.ros/log/716b4258-bd0f-11e7-8bfc-001aa0e11420/roslaunch-siarobot-28298.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://siarobot:45670/

SUMMARY

PARAMETERS

• /moveit_simple_grasps_server/base_link: sia_7f_base_link
• /moveit_simple_grasps_server/end_effector: gripper
• /moveit_simple_grasps_server/gripper_group/end_effector_name: gripper
• /moveit_simple_grasps_server/gripper_group/end_effector_parent_link: sia_7f_gripper
• /moveit_simple_grasps_server/gripper_group/grasp_pose_to_eef: [0, 0, 0]
• /moveit_simple_grasps_server/gripper_group/grasp_pose_to_eef_rotation: [0, 0, 0]
• /moveit_simple_grasps_server/gripper_group/grasp_posture: [0.0]
• /moveit_simple_grasps_server/gripper_group/grasp_time_from_start: 4.0
• /moveit_simple_grasps_server/gripper_group/joints: ['sia_7f_finger_j...
• /moveit_simple_grasps_server/gripper_group/pregrasp_posture: [-0.9]
• /moveit_simple_grasps_server/gripper_group/pregrasp_time_from_start: 4.0
• /moveit_simple_grasps_server/group: arm
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES / moveit_simple_grasps_server (moveit_simple_grasps/moveit_simple_grasps_server)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[moveit_simple_grasps_server-1]: started with pid [28316] [ERROR] [1509328247.770129719]: Grasp configuration parameter pregrasp_time_from_start missing from rosparam server. Did you load your end effector's configuration yaml file? Searching in namespace: /moveit_simple_grasps_server/right [moveit_simple_grasps_server-1] process has died [pid 28316, exit code -5, cmd /home/siarobot/sia_underwater_lab_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_server __name:=moveit_simple_grasps_server __log:=/home/siarobot/.ros/log/716b4258-bd0f-11e7-8bfc-001aa0e11420/moveit_simple_grasps_server-1.log]. log file: /home/siarobot/.ros/log/716b4258-bd0f-11e7-8bfc-001aa0e11420/moveit_simple_grasps_server-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done` Could you help me? Thank you so much!