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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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Semantic description is not specified for the same robot as the URDF #563

Closed keke-220 closed 3 years ago

keke-220 commented 3 years ago

I am trying to run ur5e on gazebo. When I run "roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch limited:=true", it shows some errors:

[ERROR] [1611882469.871418732]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1611882469.872031288]: Link 'ee_link' declared as part of a chain in group 'manipulator' is not known to the URDF
[ERROR] [1611882469.872057281]: Link 'ee_link' declared as part of group 'endeffector' is not known to the URDF
[ERROR] [1611882469.872129461]: Link 'ee_link' specified as parent for end effector 'moveit_ee' is not known to the URDF
[ERROR] [1611882469.898956814]: Group state 'home' specified for group 'manipulator', but that group does not exist
[ERROR] [1611882469.898964819]: Group state 'up' specified for group 'manipulator', but that group does not exist
[ERROR] [1611882469.946106525]: Failed to find 3D sensor plugin parameters for octomap generation

Does anyone know how it deal with it? Thanks!

full `roslaunch` output ``` SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'action_ns': 'f... * /move_group/endeffector/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/manipulator/default_planner_config: RRTConnectkConfig... * /move_group/manipulator/longest_valid_segment_fraction: 0.01 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau... * /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/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/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/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/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/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/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/execution_duration_monitoring: False * /move_group/use_controller_manager: False * /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/elbow_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.28 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.28 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.14 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.28 * /robot_description_semantic:
keke-220 commented 3 years ago

I was running the melodic-devel-staging branch on Melodic. And I was planning to run: roslaunch ur_gazebo ur5e_bringup.launch limited:=true roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true Did I miss anything?

gavanderhoorn commented 3 years ago

There is no MoveIt support in melodic-devel-staging.

See #538.

gavanderhoorn commented 3 years ago

As I believe we've identified the cause of the problem you report, I'm going to close this issue.

If it turns out that was not the cause, we can re-open.

In the meantime, feel free to keep commenting on it.

gavanderhoorn commented 3 years ago

Finally: please note that melodic-devel-staging is just that, a staging ground. It's not a released branch at the moment, so things may -- and likely will -- break at any time.