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roslaunch stackit_robot_moveit_config demo.launch　でエラーが出てモデルが動かない #36

Closed Moirai closed 5 years ago

Moirai commented 5 years ago

@k-okada 何かお気づきの点があれば、コメントいただけると助かります。

camellia@Camellia:~$ roslaunch stackit_robot_moveit_config demo.launch
... logging to /home/camellia/.ros/log/f429091c-b373-11e9-948e-f894c22f7dc6/roslaunch-Camellia-31673.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Camellia:40841/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm_tip/planner_configs: ['SBLkConfigDefau...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'joints': ['bas...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /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/allowed_start_tolerance: 0.1
 * /move_group/whole_arm/planner_configs: ['SBLkConfigDefau...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/whole_arm/kinematics_solver: stackit_robot_who...
 * /robot_description_kinematics/whole_arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/whole_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/whole_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/base_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/base_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/base_lift_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/base_lift_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/base_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/base_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/base_pan_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/base_pan_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/dummy_a_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/dummy_a_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/dummy_a_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/dummy_a_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 1.571
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver: stackit_robot_who...
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_attempts: 3
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/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_Camellia_31673_1264217969422571553 (rviz/rviz)

auto-starting new master
process[master]: started with pid [31692]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f429091c-b373-11e9-948e-f894c22f7dc6
process[rosout-1]: started with pid [31705]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [31722]
process[robot_state_publisher-3]: started with pid [31723]
process[move_group-4]: started with pid [31724]
process[rviz_Camellia_31673_1264217969422571553-5]: started with pid [31730]
[ INFO] [1564564622.305748337]: Loading robot model 'stackit_robot'...
[ INFO] [1564564622.393267651]: rviz version 1.12.17
[ INFO] [1564564622.393336450]: compiled against Qt version 5.5.1
[ INFO] [1564564622.393357764]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1564564622.405000796]: base_pan_joint -1.571 1.571 1
[ INFO] [1564564622.405045901]: base_lift_joint -2.617 2.617 1
[ INFO] [1564564622.405063735]: elbow_flex_joint 0 2.617 1
[ INFO] [1564564622.405091485]: wrist_flex_joint -1.745 1.745 1
[ INFO] [1564564622.405104042]: dummy_a_joint -1.571 1.571 1
[ INFO] [1564564622.418534122]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1564564622.424647793]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1564564622.424748902]: Starting scene monitor
[ INFO] [1564564622.427394885]: Listening to '/planning_scene'
[ INFO] [1564564622.427477170]: Starting world geometry monitor
[ INFO] [1564564622.430159378]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1564564622.432774299]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1564564622.442982524]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1564564622.470907572]: Initializing OMPL interface using ROS parameters
[ INFO] [1564564622.498232021]: Using planning interface 'OMPL'
[ INFO] [1564564622.500584111]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1564564622.501157683]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1564564622.501608252]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564564622.502123499]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564564622.502556771]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1564564622.502992488]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1564564622.503061665]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1564564622.503081546]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1564564622.503096823]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1564564622.503112106]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1564564622.503126912]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1564564622.506939214]: Exception while loading controller manager 'moveit_fake_controller_manager/MoveItFakeControllerManager': According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_simple_controller_manager/MoveItSimpleControllerManager
[ INFO] [1564564622.521732759]: 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'...
[ INFO] [1564564622.579489080]: Stereo is NOT SUPPORTED
[ INFO] [1564564622.579567558]: OpenGl version: 3 (GLSL 1.3).
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1564564622.630919556]: 

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

[ INFO] [1564564622.631282180]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1564564622.631411673]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1564564625.994050405]: Loading robot model 'stackit_robot'...
[ INFO] [1564564626.034821489]: base_pan_joint -1.571 1.571 1
[ INFO] [1564564626.034858622]: base_lift_joint -2.617 2.617 1
[ INFO] [1564564626.034875467]: elbow_flex_joint 0 2.617 1
[ INFO] [1564564626.034891129]: wrist_flex_joint -1.745 1.745 1
[ INFO] [1564564626.034905649]: dummy_a_joint -1.571 1.571 1
[ INFO] [1564564626.088440800]: Starting scene monitor
[ INFO] [1564564626.099684565]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1564564626.316504850]: Constructing new MoveGroup connection for group 'whole_arm' in namespace ''
[ INFO] [1564564627.411952738]: Ready to take commands for planning group whole_arm.
[ INFO] [1564564627.412516040]: Looking around: no
[ INFO] [1564564627.412720719]: Replanning: no
[ WARN] [1564564627.439555062]: Interactive marker 'EE:goal_dummy_a_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ INFO] [1564564636.266539192]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1564564636.266828885]: Planning attempt 1 of at most 1
[ INFO] [1564564636.268366957]: Planner configuration 'whole_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1564564636.269446989]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269593060]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269695043]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269809644]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.281881030]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.282707549]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.282876723]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.284917713]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.285195650]: ParallelPlan::solve(): Solution found by one or more threads in 0.016169 seconds
[ INFO] [1564564636.285760569]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.285986874]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.286218599]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.287353426]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.287558682]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.288366577]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.289768334]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.289930489]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1564564636.290210950]: ParallelPlan::solve(): Solution found by one or more threads in 0.004583 seconds
[ INFO] [1564564636.290385656]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.290425326]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.292246067]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.292415397]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.292604906]: ParallelPlan::solve(): Solution found by one or more threads in 0.002259 seconds
[ INFO] [1564564636.299347122]: SimpleSetup: Path simplification took 0.006335 seconds and changed from 3 to 2 states
[ERROR] [1564564636.300495407]: Unable to identify any set of controllers that can actuate the specified joints: [ base_lift_joint base_pan_joint elbow_flex_joint wrist_flex_joint ]
[ERROR] [1564564636.300533851]: Known controllers and their joints:

[ERROR] [1564564636.300571273]: Apparently trajectory initialization failed
[ INFO] [1564564636.308552719]: ABORTED: Solution found but controller failed during execution
Moirai commented 5 years ago

実機でmove_arm.pyは動く（ので、fakeを使わなければよいのか）

/move_group/fake_controller_joint_states は出ていない (topic listには居るがpublishしてない）

Moirai commented 5 years ago 
the class moveit_fake_controller_manager/MoveItFakeControllerManager class type moveit_controller_manager::MoveItControllerManager does not exist.

MoveItSimpleControllerManagerにしなければいけないのか？

@y-yosuke moveitでkineitcになって変わった関連で、何かお気づきの点がありましたらコメントいただけると助かります。

Moirai commented 5 years ago

（実機は動くのだから諦めるべきか）

k-okada commented 5 years ago

kinetic 最新 は最近syncされたのですが，その後の最新でしょうか？ curl -sL https://goo.gl/Dj5BCp | bash して結果をgistにでも貼ってみてください．

sudo apt-get install ros-kinetic-moveit-fake-controller-manager はしているでしょうか．

rospack plugins --attrib=plugin moveit_core の出力はなにになるでしょうか？

-- ◉ Kei Okada

-- ◉ Kei Okada

2019年7月31日(水) 18:25 y.suzuki notifications@github.com:

@k-okada 何かお気づきの点があれば、コメントいただけると助かります。

kinetic 最新 ソルバはikfastに変更済み 実機とつなぐ前の段階でエラーが出る indigoは問題ない FaceControllerをkineticでは使えない？

camellia@Camellia:~$ roslaunch stackit_robot_moveit_config demo.launch

... logging to /home/camellia/.ros/log/f429091c-b373-11e9-948e-f894c22f7dc6/roslaunch-Camellia-31673.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Camellia:40841/

SUMMARY

========

PARAMETERS

  • /joint_state_publisher/use_gui: False

  • /move_group/allow_trajectory_execution: True

  • /move_group/arm_tip/planner_configs: ['SBLkConfigDefau...

  • /move_group/capabilities: move_group/MoveGr...

  • /move_group/controller_list: [{'joints': ['bas...

  • /move_group/jiggle_fraction: 0.05

  • /move_group/max_range: 5.0

  • /move_group/max_safe_path_cost: 1

  • /move_group/moveit_controller_manager: moveit_fake_contr...

  • /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/allowed_start_tolerance: 0.1

  • /move_group/whole_arm/planner_configs: ['SBLkConfigDefau...

  • /robot_description: <?xml version="1....

  • /robot_description_kinematics/whole_arm/kinematics_solver: stackit_robot_who...

  • /robot_description_kinematics/whole_arm/kinematics_solver_attempts: 3

  • /robot_description_kinematics/whole_arm/kinematics_solver_search_resolution: 0.005

  • /robot_description_kinematics/whole_arm/kinematics_solver_timeout: 0.005

  • /robot_description_planning/joint_limits/base_lift_joint/has_acceleration_limits: True

  • /robot_description_planning/joint_limits/base_lift_joint/has_velocity_limits: True

  • /robot_description_planning/joint_limits/base_lift_joint/max_acceleration: 1.571

  • /robot_description_planning/joint_limits/base_lift_joint/max_velocity: 1.571

  • /robot_description_planning/joint_limits/base_pan_joint/has_acceleration_limits: True

  • /robot_description_planning/joint_limits/base_pan_joint/has_velocity_limits: True

  • /robot_description_planning/joint_limits/base_pan_joint/max_acceleration: 1.571

  • /robot_description_planning/joint_limits/base_pan_joint/max_velocity: 1.571

  • /robot_description_planning/joint_limits/dummy_a_joint/has_acceleration_limits: True

  • /robot_description_planning/joint_limits/dummy_a_joint/has_velocity_limits: True

  • /robot_description_planning/joint_limits/dummy_a_joint/max_acceleration: 1.571

  • /robot_description_planning/joint_limits/dummy_a_joint/max_velocity: 1.571

  • /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True

  • /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True

  • /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.571

  • /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.571

  • /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True

  • /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True

  • /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 1.571

  • /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 1.571

  • /robot_description_semantic: <?xml version="1....

  • /rosdistro: kinetic

  • /rosversion: 1.12.14

  • /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver: stackit_robot_who...

  • /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_attempts: 3

  • /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_search_resolution: 0.005

  • /rviz_Camellia_31673_1264217969422571553/whole_arm/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_Camellia_31673_1264217969422571553 (rviz/rviz)

auto-starting new master

process[master]: started with pid [31692]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to f429091c-b373-11e9-948e-f894c22f7dc6

process[rosout-1]: started with pid [31705]

started core service [/rosout]

process[joint_state_publisher-2]: started with pid [31722]

process[robot_state_publisher-3]: started with pid [31723]

process[move_group-4]: started with pid [31724]

process[rviz_Camellia_31673_1264217969422571553-5]: started with pid [31730]

[ INFO] [1564564622.305748337]: Loading robot model 'stackit_robot'...

[ INFO] [1564564622.393267651]: rviz version 1.12.17

[ INFO] [1564564622.393336450]: compiled against Qt version 5.5.1

[ INFO] [1564564622.393357764]: compiled against OGRE version 1.9.0 (Ghadamon)

[ INFO] [1564564622.405000796]: base_pan_joint -1.571 1.571 1

[ INFO] [1564564622.405045901]: base_lift_joint -2.617 2.617 1

[ INFO] [1564564622.405063735]: elbow_flex_joint 0 2.617 1

[ INFO] [1564564622.405091485]: wrist_flex_joint -1.745 1.745 1

[ INFO] [1564564622.405104042]: dummy_a_joint -1.571 1.571 1

[ INFO] [1564564622.418534122]: Publishing maintained planning scene on 'monitored_planning_scene'

[ INFO] [1564564622.424647793]: MoveGroup debug mode is ON

Starting context monitors...

[ INFO] [1564564622.424748902]: Starting scene monitor

[ INFO] [1564564622.427394885]: Listening to '/planning_scene'

[ INFO] [1564564622.427477170]: Starting world geometry monitor

[ INFO] [1564564622.430159378]: Listening to '/collision_object' using message notifier with target frame '/base_link '

[ INFO] [1564564622.432774299]: Listening to '/planning_scene_world' for planning scene world geometry

[ INFO] [1564564622.442982524]: Listening to '/attached_collision_object' for attached collision objects

Context monitors started.

[ INFO] [1564564622.470907572]: Initializing OMPL interface using ROS parameters

[ INFO] [1564564622.498232021]: Using planning interface 'OMPL'

[ INFO] [1564564622.500584111]: Param 'default_workspace_bounds' was not set. Using default value: 10

[ INFO] [1564564622.501157683]: Param 'start_state_max_bounds_error' was set to 0.1

[ INFO] [1564564622.501608252]: Param 'start_state_max_dt' was not set. Using default value: 0.5

[ INFO] [1564564622.502123499]: Param 'start_state_max_dt' was not set. Using default value: 0.5

[ INFO] [1564564622.502556771]: Param 'jiggle_fraction' was set to 0.05

[ INFO] [1564564622.502992488]: Param 'max_sampling_attempts' was not set. Using default value: 100

[ INFO] [1564564622.503061665]: Using planning request adapter 'Add Time Parameterization'

[ INFO] [1564564622.503081546]: Using planning request adapter 'Fix Workspace Bounds'

[ INFO] [1564564622.503096823]: Using planning request adapter 'Fix Start State Bounds'

[ INFO] [1564564622.503112106]: Using planning request adapter 'Fix Start State In Collision'

[ INFO] [1564564622.503126912]: Using planning request adapter 'Fix Start State Path Constraints'

[FATAL] [1564564622.506939214]: Exception while loading controller manager 'moveit_fake_controller_manager/MoveItFakeControllerManager': According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_simple_controller_manager/MoveItSimpleControllerManager

[ INFO] [1564564622.521732759]: 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'...

[ INFO] [1564564622.579489080]: Stereo is NOT SUPPORTED

[ INFO] [1564564622.579567558]: OpenGl version: 3 (GLSL 1.3).

Loading 'move_group/MoveGroupPickPlaceAction'...

Loading 'move_group/MoveGroupPlanService'...

Loading 'move_group/MoveGroupQueryPlannersService'...

Loading 'move_group/MoveGroupStateValidationService'...

[ INFO] [1564564622.630919556]:

  • MoveGroup using:

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

[ INFO] [1564564622.631282180]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner

[ INFO] [1564564622.631411673]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1564564625.994050405]: Loading robot model 'stackit_robot'...

[ INFO] [1564564626.034821489]: base_pan_joint -1.571 1.571 1

[ INFO] [1564564626.034858622]: base_lift_joint -2.617 2.617 1

[ INFO] [1564564626.034875467]: elbow_flex_joint 0 2.617 1

[ INFO] [1564564626.034891129]: wrist_flex_joint -1.745 1.745 1

[ INFO] [1564564626.034905649]: dummy_a_joint -1.571 1.571 1

[ INFO] [1564564626.088440800]: Starting scene monitor

[ INFO] [1564564626.099684565]: Listening to '/move_group/monitored_planning_scene'

[ INFO] [1564564626.316504850]: Constructing new MoveGroup connection for group 'whole_arm' in namespace ''

[ INFO] [1564564627.411952738]: Ready to take commands for planning group whole_arm.

[ INFO] [1564564627.412516040]: Looking around: no

[ INFO] [1564564627.412720719]: Replanning: no

[ WARN] [1564564627.439555062]: Interactive marker 'EE:goal_dummy_a_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

[ INFO] [1564564636.266539192]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.

[ INFO] [1564564636.266828885]: Planning attempt 1 of at most 1

[ INFO] [1564564636.268366957]: Planner configuration 'whole_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1564564636.269446989]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.269593060]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.269695043]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.269809644]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.281881030]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1564564636.282707549]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.282876723]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.284917713]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.285195650]: ParallelPlan::solve(): Solution found by one or more threads in 0.016169 seconds

[ INFO] [1564564636.285760569]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.285986874]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.286218599]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.287353426]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.287558682]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1564564636.288366577]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1564564636.289768334]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.289930489]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1564564636.290210950]: ParallelPlan::solve(): Solution found by one or more threads in 0.004583 seconds

[ INFO] [1564564636.290385656]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.290425326]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1564564636.292246067]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.292415397]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1564564636.292604906]: ParallelPlan::solve(): Solution found by one or more threads in 0.002259 seconds

[ INFO] [1564564636.299347122]: SimpleSetup: Path simplification took 0.006335 seconds and changed from 3 to 2 states

[ERROR] [1564564636.300495407]: Unable to identify any set of controllers that can actuate the specified joints: [ base_lift_joint base_pan_joint elbow_flex_joint wrist_flex_joint ]

[ERROR] [1564564636.300533851]: Known controllers and their joints:

[ERROR] [1564564636.300571273]: Apparently trajectory initialization failed

[ INFO] [1564564636.308552719]: ABORTED: Solution found but controller failed during execution

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◉ Kei Okada

Moirai commented 5 years ago 
sudo apt-get install ros-kinetic-moveit-fake-controller-manager

で、解決しました。ありがとうございました。

kineitcでは明示的に入れる必要があると認識しました。

は最近syncされたのですが，その後の最新でしょうか？

はい。そうです。 解決しましたがcurlの中身を貼ります。 https://gist.github.com/Moirai/1e9e9a7c0a22534a9da2d4568ff54e7b

k-okada commented 5 years ago

moveit_config に入れておかないといけないみたいですね。追加してPR送ってもらえると助かります https://github.com/ros-planning/panda_moveit_config/blame/e3a431a9ca1421d254e7d121ece6620d4a9254f1/package.xml#L22

Moirai commented 5 years ago

package.xmlに moveit_fake_controller_manager　を追加しました。