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ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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Joint 'erver' not found in model 'ur5_robot' error in moveit when using compute_cartesian_path #640

Closed devvaibhav455 closed 1 year ago

devvaibhav455 commented 1 year ago

Hi,

System details: Ubuntu 20.04 on amd64 architecture with ROS noetic

I am trying to simulate a UR5 robot in gazebo and want the EE to follow a cartesian goal in real-time. I subscribe to a topic which continuously publishes 6-DOF pose and then I use compute_cartesian_path. It works most of the times but sometimes I get these errors.

Error # 1: SimpleSetup: Path simplification took 0.001818 seconds and changed from 3 to 2 states [ INFO] [1686337081.111904271, 6693.901000000]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.050000 m and jump threshold 0.000000 (in global reference frame) [ INFO] [1686337081.117172171, 6693.906000000]: Computed Cartesian path with 2 points (followed 100.000000% of requested trajectory) [ INFO] [1686337081.117837855, 6693.907000000]: Execution request received [ERROR] [1686337081.119268921, 6693.908000000]: Joint 'erver' not found in model 'ur5_robot' [move_group-1] process has died [pid 1328127, exit code -11, cmd /opt/ros/noetic/lib/moveit_ros_move_group/move_group /scaled_pos_joint_traj_controller/follow_joint_trajectory:=/eff_joint_traj_controller/follow_joint_trajectory __name:=move_group __log:=/home/dev/.ros/log/62d75aac-06e6-11ee-9fd9-b5f2b2fb5025/move_group-1.log]. log file: /home/dev/.ros/log/62d75aac-06e6-11ee-9fd9-b5f2b2fb5025/move_group-1*.log

Error # 2: Execution request received [ERROR] [1686340497.445277228, 10104.988000000]: Joint '?? ?' not found in model 'ur5_robot' [move_group-1] process has died [pid 1802270, exit code -11, cmd /opt/ros/noetic/lib/moveit_ros_move_group/move_group /scaled_pos_joint_traj_controller/follow_joint_trajectory:=/eff_joint_traj_controller/follow_joint_trajectory __name:=move_group __log:=/home/dev/.ros/log/62d75aac-06e6-11ee-9fd9-b5f2b2fb5025/move_group-1.log]. log file: /home/dev/.ros/log/62d75aac-06e6-11ee-9fd9-b5f2b2fb5025/move_group-1*.log

I use the below commands to run the simulation and move it.

In terminal 1: roslaunch ur_gazebo ur5_bringup.launch

in terminal 2: roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=true

Thanks in advance for your help.

gavanderhoorn commented 1 year ago

This looks like a problem in move_group: -11 is a segfault, which implies memory corruption or ABI compatibility problems.

The fact you see erver and ?? as joint names makes me very suspicious, as those are clearly not proper names.

I'm going to close this here, as it's not a problem with the packages here -- as far as I can tell right now. I'd suggest posting on the MoveIt issue tracker instead.