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ros-industrial / motoman_experimental

Experimental packages for Motoman manipulators within ROS-Industrial
Apache License 2.0
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real robot erro #55

Open qcz01 opened 2 years ago

qcz01 commented 2 years ago

18.04,melodic 1,change demo.launch have this erro image image

gavanderhoorn commented 2 years ago

Please do not post screenshots of terminals. It's not necessary (it's all text) and they're difficult to read.

Please replace your screenshots by a copy-paste of the terminal text, and make sure to format is using fenced code blocks.

qcz01 commented 2 years ago 
[ INFO] [1655917405.506977853]: Loading robot model 'motoman_gp8'...
[ INFO] [1655917405.507076652]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1655917405.788250413]: Starting planning scene monitor
[ INFO] [1655917405.790387238]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1655917405.882611099]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1655917410.894392827]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1655917410.894533132]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ERROR] [1655917441.005606601]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ INFO] [1655917441.005984654]: Constructing new MoveGroup connection for group 'manipulator' in namespace
gavanderhoorn commented 2 years ago

There seem to be many more lines in the screenshots.

Did you copy-paste all of it?

qcz01 commented 2 years ago 
root@jet-virtual-machine:~/catkin_ws# roslaunch  motoman_mpl80_moveit_config  demo.launch  robot_ip:=192.168.0.33 controller:=yrc1000
... logging to /root/.ros/log/4810d556-f358-11ec-93ca-000c29590ce1/roslaunch-jet-virtual-machine-22350.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://jet-virtual-machine:41713/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'action_ns': 'j...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(joint_s,jo...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_b/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_b/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_b/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_b/max_velocity: 2.967
 * /robot_description_planning/joint_limits/joint_l/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_l/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_l/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_l/max_velocity: 2.967
 * /robot_description_planning/joint_limits/joint_s/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_s/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_s/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_s/max_velocity: 2.967
 * /robot_description_planning/joint_limits/joint_t/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_t/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_t/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_t/max_velocity: 6.108
 * /robot_description_planning/joint_limits/joint_u/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_u/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_u/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_u/max_velocity: 2.967
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rviz_jet_virtual_machine_22350_5693409868792641771/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_jet_virtual_machine_22350_5693409868792641771/manipulator/kinematics_solver_attempts: 3
 * /rviz_jet_virtual_machine_22350_5693409868792641771/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_jet_virtual_machine_22350_5693409868792641771/manipulator/kinematics_solver_timeout: 0.005
 * /source_list: ['/move_group/fak...

NODES
  /
    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_jet_virtual_machine_22350_5693409868792641771 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [22368]
process[robot_state_publisher-2]: started with pid [22369]
process[move_group-3]: started with pid [22370]
process[rviz_jet_virtual_machine_22350_5693409868792641771-4]: started with pid [22371]
[ WARN] [1656032618.281506009]: Shutdown request received.
[ WARN] [1656032618.281563521]: Reason given for shutdown: [[/move_group] Reason: new node registered with same name]
[ INFO] [1656032618.286934230]: Loading robot model 'motoman_mpl80'...
[ INFO] [1656032618.295908471]: rviz version 1.13.24
[ INFO] [1656032618.295959171]: compiled against Qt version 5.9.5
[ INFO] [1656032618.295965995]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1656032618.304897342]: Forcing OpenGl version 0.
[ WARN] [1656032618.314817382]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1656032618.338894772]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1656032618.340380999]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1656032618.340432432]: Starting planning scene monitor
[ INFO] [1656032618.341725580]: Listening to '/planning_scene'
[ INFO] [1656032618.341777670]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1656032618.345884384]: Listening to '/collision_object'
[ INFO] [1656032618.348279855]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1656032618.349010101]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1656032618.352485152]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1656032618.365066170]: Initializing OMPL interface using ROS parameters
[ INFO] [1656032618.380720590]: Using planning interface 'OMPL'
[ INFO] [1656032618.383385039]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1656032618.384971908]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1656032618.385363471]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1656032618.386262088]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1656032618.386664574]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1656032618.387067868]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1656032618.387122279]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1656032618.387158111]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1656032618.387169578]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1656032618.387197519]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1656032618.387205883]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1656032618.405129247]: Stereo is NOT SUPPORTED
[ INFO] [1656032618.405208741]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1656032618.405254463]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1656032621.704911035]: Loading robot model 'motoman_mpl80'...
[ WARN] [1656032621.716136215]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_jet_virtual_machine_22350_5693409868792641771/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1656032621.746249017]: Starting planning scene monitor
[ INFO] [1656032621.748037943]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1656032621.866845869]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1656032623.432246886]: Waiting for /joint_trajectory_action to come up
[ INFO] [1656032626.874497876]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1656032626.874629117]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ WARN] [1656032629.442497811]: Waiting for /joint_trajectory_action to come up
[ERROR] [1656032635.450799584]: Action client not connected: /joint_trajectory_action
[ INFO] [1656032635.481313994]: Returned 0 controllers in list
[ INFO] [1656032635.488401918]: 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] [1656032635.527674830]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1656032635.527736439]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1656032635.527747739]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1656032636.688368183]: Ready to take commands for planning group manipulator.
[ INFO] [1656032636.688458344]: Looking around: no
[ INFO] [1656032636.688470508]: Replanning: no
[ INFO] [1656032662.297293819]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1656032662.297501379]: Planning attempt 1 of at most 1
[ INFO] [1656032662.298368648]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1656032662.299012085]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.299104671]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.299205908]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.299330919]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.310522790]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.310615364]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.310693308]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1656032662.310820848]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.311065222]: ParallelPlan::solve(): Solution found by one or more threads in 0.012260 seconds
[ INFO] [1656032662.311305812]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.311402847]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.311497282]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.311568177]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.312031522]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.312119529]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.312290470]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.312530804]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.312651842]: ParallelPlan::solve(): Solution found by one or more threads in 0.001429 seconds
[ INFO] [1656032662.313231721]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.313611174]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1656032662.313907149]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.314183515]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1656032662.314450705]: ParallelPlan::solve(): Solution found by one or more threads in 0.001715 seconds
[ INFO] [1656032662.316904741]: SimpleSetup: Path simplification took 0.002341 seconds and changed from 3 to 2 states
[ INFO] [1656032662.317162472]: Returned 0 controllers in list
[ERROR] [1656032662.317207316]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_b joint_l joint_s joint_t joint_u ]
[ERROR] [1656032662.317237266]: Known controllers and their joints:

[ERROR] [1656032662.317273025]: Apparently trajectory initialization failed
[ INFO] [1656032662.326202489]: ABORTED: Solution found but controller failed during execution
qcz01 commented 2 years ago

I have a motoman GP8 with YRC1000micro controller,which can receive right position message like "position: [0.08648243546485901, -0.033493515104055405, 0.3939070999622345, -0.09030033648014069, -0.3075391948223114, -1.54208505153656]",but when I change the demo.launch as someone said <arg name="fake_execution" value="false"/>,it didn't work，I want to know how to control GP8 by RViz

qcz01 commented 2 years ago

image

qcz01 commented 2 years ago

I had finished this erro by coping other demo

gavanderhoorn commented 2 years ago

First, again: could you please use code blocks when copy-pasting terminal text?

I don't believe you can use demo.launch for interaction with a real robot, so I'm confused as to what you are trying to do.

This also seems like a MoveIt configuration problem, which would be better asked over at the MoveIt issue tracker.

Unable to identify any set of controllers that can actuate the specified joints: [ joint_b joint_l joint_s joint_t joint_u ]

this indicates you either have no (MoveIt) controllers configured, or have not provided the correct configuration to those controllers (note: MoveIt controllers aren't really controllers, or at least not the 'controller' you'd have to use with motoman_driver. They are essentially action clients).

I had finished this erro by coping other demo

does this mean you've solved the problem, or is this an explanation for what you did in the past and what caused you to end up in this situation?