ERROR: cannot launch node of type [industrial_robot_client/robot_state]: industrial_robot_client

[AshwathamanGovind]

hai, I am trying connect the my tx2_60 robot (cs9 controller) with ROS. Initially i have created a move_it package from tx2_60 using staubli_tx2_60_support and i also have created a custom launch file for planning and execution (PFA). Even though my ros_server is up and running seamlessly in CS9(SP2) i am not able to connect to my robot. I get the following error message saying :-

ERROR: cannot launch node of type [industrial_robot_client/robot_state]: industrial_robot_client ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ash/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share ERROR: cannot launch node of type [industrial_robot_client/motion_streaming_interface]: industrial_robot_client ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ash/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: industrial_robot_client ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ash/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share

I will also attach the .launch file that i have made for planning and execution

launch_fileindocs.txt

Can anyone suggest anyway to sort this out??

Thanks in advance

[gavanderhoorn]

How did you install everything?

From the error message I see two possibilities:

1. you only git cloned the Staubli related repositories, but did not install any of the dependencies, or
2. you forgot to source your workspace before trying to start your .launch file

re 1) all ROS packages have dependencies. You must install those, or things won't work. See How to build a package from source on Ubuntu MATE 16.04 LTS and ROS Kinetic? on ROS Answers for an example of the workflow (it has Kinetic and Ubuntu 16.04 in the title, but it's the same workflow for all ROS versions).

[gavanderhoorn]

As this is most likely not an issue with any of the packages here (nor with staubli_val3_driver), I'm going to already close it.

If it turns out there is something to fix here, we can re-open.

In all cases, feel free to keep commenting on the issue of course.

[AshwathamanGovind]

hey @gavanderhoorn . Thanks for the response. I have sorted out some errors by installing the dependencies. But still, a few are still remaining. I am not sure why i keep getting this error Action client not connected: manipulator_controller/follow_joint_trajectory Even after i have checked all my dependencies and set proper values in my launch file dependencies. Any idea on why this is happening??

To get an elaborate picture on the issues that i am facing, please have a look at my logs given below:

auto-starting new master process[master]: started with pid [15966] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e4d550a6-cad7-11eb-8816-30e17123b662 process[rosout-1]: started with pid [15979] started core service [/rosout] process[robot_state_publisher-2]: started with pid [15996] process[move_group-3]: started with pid [15997] process[rviz_ash_HP_ENVY_x360_Convertible_15953_4670776025175027809-4]: started with pid [15998] ERROR: cannot launch node of type [warehouse_ros_mongo/mongo_wrapper_ros.py]: warehouse_ros_mongo ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ash/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share [ INFO] [1623431418.106461203]: Loading robot model 'staubli_tx2_60'... [ INFO] [1623431418.160390030]: rviz version 1.12.17 [ INFO] [1623431418.160429537]: compiled against Qt version 5.5.1 [ INFO] [1623431418.160440151]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1623431418.173534110]: Loading robot model 'staubli_tx2_60'... [ INFO] [1623431418.226912020]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1623431418.231698717]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1623431418.231804825]: Starting scene monitor [ INFO] [1623431418.238828971]: Listening to '/planning_scene' [ INFO] [1623431418.238862642]: Starting world geometry monitor [ INFO] [1623431418.241512039]: Listening to '/collision_object' using message notifier with target frame '/base_link ' [ INFO] [1623431418.244205932]: Listening to '/planning_scene_world' for planning scene world geometry [ERROR] [1623431418.245818286]: No sensor plugin specified for octomap updater 0; ignoring. [ INFO] [1623431418.253779828]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1623431418.288245303]: Initializing OMPL interface using ROS parameters [ERROR] [1623431418.292063163]: Could not find the planner configuration 'None' on the param server [ INFO] [1623431418.324382687]: Stereo is NOT SUPPORTED [ INFO] [1623431418.324478398]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1623431418.329060246]: Using planning interface 'OMPL' [ INFO] [1623431418.333869688]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1623431418.334587679]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1623431418.335185260]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1623431418.335859600]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1623431418.336519267]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1623431418.338005369]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1623431418.338086192]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1623431418.338104557]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1623431418.338122353]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1623431418.338139642]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1623431418.338158000]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1623431421.738109943]: Loading robot model 'staubli_tx2_60'... [ INFO] [1623431421.783820499]: Loading robot model 'staubli_tx2_60'... [ INFO] [1623431421.867206435]: Starting scene monitor [ INFO] [1623431421.870540942]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1623431421.871382825]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ WARN] [1623431423.369822859]: Waiting for manipulator_controller/follow_joint_trajectory to come up [ INFO] [1623431426.887985183]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.18/planning_scene_monitor/src/planning_scene_monitor.cpp:491 [ INFO] [1623431427.014931544]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ WARN] [1623431429.370183138]: Waiting for manipulator_controller/follow_joint_trajectory to come up [ERROR] [1623431435.370518687]: Action client not connected: manipulator_controller/follow_joint_trajectory [ INFO] [1623431435.408182749]: Returned 0 controllers in list [ INFO] [1623431435.441158733]: 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] [1623431435.518185175]:

---

MoveGroup using:

• ApplyPlanningSceneService
• ClearOctomapService
• CartesianPathService
• ExecuteTrajectoryAction
• GetPlanningSceneService
• KinematicsService
• MoveAction
• PickPlaceAction
  • MotionPlanService
  • QueryPlannersService
• StateValidationService

  ---

[ INFO] [1623431435.518239927]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1623431435.518260693]: MoveGroup context initialization complete

You can start planning now!

[gavanderhoorn]

Yes, see How to use staubli_val3_driver/ industrial_robot_simulator with industrial_robot_client and Moveit on ROS Answers.