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tesseract-robotics / tesseract_qt

Tesseract Qt Widgets and Applications
GNU Lesser General Public License v3.0
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srdf setup issue #73

Open zingff opened 9 months ago

zingff commented 9 months ago

HI! When I use ./tesseract_qt_srdf_app to modify a custom robot loading a urdf model, I ran into this error:

$ ./tesseract_qt_srdf_app 
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Warning: ContactManagersPluginFactory, tried to get discrete contact manager '' that does not exist!
         at line 210 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_collision/core/src/contact_managers_plugin_factory.cpp
Error:   Discrete manager with  does not exist in factory!
         at line 809 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_environment/src/environment.cpp

Then i tried a model in tesseract_support: abb_irb2400.urdf and it srdf, still error.

$ ./tesseract_qt_srdf_app 
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Error:   Semantic description is not specified for the same robot as the URDF
         at line 113 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_srdf/src/srdf_model.cpp
Error:   Failed to parse SRDF.
         at line 208 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_environment/src/environment.cpp
exception: SRDF: Failed to parse file '/home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_support/urdf/iiwa7.srdf'!
  exception: SRDF: Error parsing srdf kinematics plugin config for robot 'iiwa7'!
    exception: kinematics_plugin_config: config file does not exist: '/home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_support/urdf/iiwa7_config.yaml'.
Error:   Semantic description is not specified for the same robot as the URDF
         at line 113 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_srdf/src/srdf_model.cpp
Error:   Failed to parse SRDF.
         at line 208 in /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_environment/src/environment.cpp
exception: SRDF: Failed to parse file '/home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_support/urdf/iiwa7.srdf'!
  exception: SRDF: Error parsing srdf kinematics plugin config for robot 'iiwa7'!
    exception: kinematics_plugin_config: config file does not exist: '/home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract/tesseract_support/urdf/iiwa7_config.yaml'

And in both situations, in the Kinematic Groups and Kinematic Group Joint States menu, the links and joints can not be loaded, there is no option when clicking chain/joints/links drop-down menu. 20230919tesseractQtError

Is this a bug to fix? If i want to generate the config files for other robots which are not listed in tesseract_support/srdf, any alternatives? can i use something else like moveit_setup_assistant in MoveIt?

Levi-Armstrong commented 9 months ago

Yea, I have not gotten around to finishing this. You can use the moveit_setup_assistant to generate the srdf but things like the collision checker and kinematics yaml you will have to manually create.