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tork-a / rtmros_nextage

ROS-OpenRTM-based opensource robot controller software for dual-armed robot Nextage from Kawada Industries
http://wiki.ros.org/rtmros_nextage
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"moveit_planning_execution.launch" doesn't work on my environment #67

Closed youtalk closed 10 years ago

youtalk commented 10 years ago

Hi, I'm @youtalk using this package every day. It's quite useful.

These days I'm trying to use the nextage_moveit_config package. But while launching roslaunch nextage_moveit_config moveit_planning_execution.launch, some robot models cannot be found and the 3D model doesn't appear. Do you have some idea to resolve it?

I use an Ubuntu 12.04 64bit PC with ROS Hydro and the package of nextage_moveit_config was installed via latest ros-shadow-fixed repository.

The console outputs are shown as follow. Thank you anyway.

$ roslaunch nextage_moveit_config moveit_planning_execution.launch
... logging to /home/yutaka/.ros/log/5dd45c68-e570-11e3-8f26-6480995f8700/roslaunch-yutaka-lnx1307-22965.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://yutaka-lnx1307:51254/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution
 * /move_group/capabilities
 * /move_group/controller_list
 * /move_group/controller_manager_name
 * /move_group/controller_manager_ns
 * /move_group/jiggle_fraction
 * /move_group/left_arm/kinematics_solver
 * /move_group/left_arm/kinematics_solver_attempts
 * /move_group/left_arm/kinematics_solver_search_resolution
 * /move_group/left_arm/kinematics_solver_timeout
 * /move_group/left_arm/longest_valid_segment_fraction
 * /move_group/left_arm/planner_configs
 * /move_group/left_arm/projection_evaluator
 * /move_group/max_safe_path_cost
 * /move_group/moveit_controller_manager
 * /move_group/moveit_manage_controllers
 * /move_group/planner_configs/BKPIECEkConfigDefault/type
 * /move_group/planner_configs/ESTkConfigDefault/type
 * /move_group/planner_configs/KPIECEkConfigDefault/type
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type
 * /move_group/planner_configs/PRMkConfigDefault/type
 * /move_group/planner_configs/PRMstarkConfigDefault/type
 * /move_group/planner_configs/RRTConnectkConfigDefault/type
 * /move_group/planner_configs/RRTkConfigDefault/type
 * /move_group/planner_configs/RRTstarkConfigDefault/type
 * /move_group/planner_configs/SBLkConfigDefault/type
 * /move_group/planner_configs/TRRTkConfigDefault/type
 * /move_group/planning_plugin
 * /move_group/planning_scene_monitor/publish_geometry_updates
 * /move_group/planning_scene_monitor/publish_planning_scene
 * /move_group/planning_scene_monitor/publish_state_updates
 * /move_group/planning_scene_monitor/publish_transforms_updates
 * /move_group/request_adapters
 * /move_group/right_arm/kinematics_solver
 * /move_group/right_arm/kinematics_solver_attempts
 * /move_group/right_arm/kinematics_solver_search_resolution
 * /move_group/right_arm/kinematics_solver_timeout
 * /move_group/right_arm/longest_valid_segment_fraction
 * /move_group/right_arm/planner_configs
 * /move_group/right_arm/projection_evaluator
 * /move_group/start_state_max_bounds_error
 * /move_group/use_controller_manager
 * /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity
 * /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits
 * /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits
 * /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration
 * /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity
 * /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits
 * /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits
 * /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration
 * /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity
 * /robot_description_semantic
 * /rosdistro
 * /rosversion
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_attempts
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_search_resolution
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/left_arm/kinematics_solver_timeout
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_attempts
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_search_resolution
 * /rviz_yutaka_lnx1307_22965_7114027598889966647/right_arm/kinematics_solver_timeout

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    rviz_yutaka_lnx1307_22965_7114027598889966647 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[move_group-1]: started with pid [22988]
process[rviz_yutaka_lnx1307_22965_7114027598889966647-2]: started with pid [23012]
[ INFO] [1401176553.225739891]: rviz version 1.10.16
[ INFO] [1401176553.225818259]: compiled against OGRE version 1.7.4 (Cthugha)
[ WARN] [1401176553.247658825]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

[ERROR] [1401176553.467613367, 17.580000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176553.485277730, 17.610000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176553.494279357, 17.615000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176553.656842324, 17.800000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176553.657203423, 17.800000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176553.657248624, 17.800000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176553.657689488, 17.800000000]: Loading robot model 'HiroNX'...
[ INFO] [1401176554.251673484, 18.385000000]: Stereo is NOT SUPPORTED
[ INFO] [1401176554.251811146, 18.385000000]: OpenGl version: 3 (GLSL 1.3).
[ WARN] [1401176554.304348918, 18.445000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

[ERROR] [1401176554.569392362, 18.710000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176554.582604737, 18.725000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176554.593199476, 18.735000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176554.848872337, 18.990000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176554.849254158, 18.990000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176554.849338720, 18.990000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176554.849621160, 18.990000000]: Loading robot model 'HiroNX'...
[ WARN] [1401176554.966085296, 19.110000000]: The root link WAIST_Link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1401176555.022030792, 19.165000000]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.

[ERROR] [1401176555.259152494, 19.405000000]: Target Node visual1/node_joint0_axis0 NOT found!!!

[ WARN] [1401176555.272286436, 19.405000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ WARN] [1401176555.284080038, 19.425000000]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

[ERROR] [1401176555.586442286, 19.735000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1401176555.586894665, 19.735000000]: End effector 'right_eef' specified for group 'right_gripper', but that group is not known
[ERROR] [1401176555.587099646, 19.735000000]: End effector 'left_eef' specified for group 'left_gripper', but that group is not known
[ INFO] [1401176555.587495216, 19.735000000]: Loading robot model 'HiroNX'...
[ WARN] [1401176555.657729864, 19.805000000]: The root link WAIST_Link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1401176555.790236623, 19.935000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1401176555.796922784, 19.935000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1401176555.796986550, 19.935000000]: Starting scene monitor
[ INFO] [1401176555.799564528, 19.940000000]: Listening to '/planning_scene'
[ INFO] [1401176555.799722144, 19.940000000]: Starting world geometry monitor
[ INFO] [1401176555.807560106, 19.945000000]: Listening to '/collision_object' using message notifier with target frame '/WAIST_Link '
[ INFO] [1401176555.809421118, 19.950000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN] [1401176555.811365338, 19.955000000]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1401176555.832477897, 19.980000000]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are  rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/Range rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
[ INFO] [1401176555.870244714, 20.005000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1401176556.150819929, 20.300000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1401176556.252903430, 20.405000000]: Using planning interface 'OMPL'
[ INFO] [1401176556.418866282, 20.535000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1401176556.420789729, 20.535000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1401176556.422293900, 20.535000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1401176556.423851842, 20.535000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1401176556.425442054, 20.535000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1401176556.428564602, 20.540000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1401176556.428692906, 20.540000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1401176556.428730481, 20.540000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1401176556.428761220, 20.540000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1401176556.428789656, 20.540000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1401176556.428817577, 20.540000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1401176556.485517049, 20.605000000]: Exception while loading controller manager 'pr2_moveit_controller_manager/Pr2MoveItControllerManager': According to the loaded plugin descriptions the class pr2_moveit_controller_manager/Pr2MoveItControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are 
[ INFO] [1401176556.506659258, 20.635000000]: Trajectory execution is managing controllers
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
[ERROR] [1401176556.727566105, 20.875000000]: Exception while loading move_group capability 'move_group/MoveGroupPickPlaceAction': According to the loaded plugin descriptions the class move_group/MoveGroupPickPlaceAction with base class type move_group::MoveGroupCapability does not exist. Declared types are  move_group/MoveGroupCartesianPathService move_group/MoveGroupExecuteService move_group/MoveGroupGetPlanningSceneService move_group/MoveGroupKinematicsService move_group/MoveGroupMoveAction move_group/MoveGroupPlanService move_group/MoveGroupQueryPlannersService move_group/MoveGroupStateValidationService
Available capabilities: move_group/MoveGroupCartesianPathService, move_group/MoveGroupExecuteService, move_group/MoveGroupGetPlanningSceneService, move_group/MoveGroupKinematicsService, move_group/MoveGroupMoveAction, move_group/MoveGroupPlanService, move_group/MoveGroupQueryPlannersService, move_group/MoveGroupStateValidationService
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1401176556.735212678, 20.885000000]: 

********************************************************
* MoveGroup using: 
*     - CartesianPathService
*     - ExecutePathService
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1401176556.735310096, 20.885000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1401176556.735350307, 20.885000000]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!
130s commented 10 years ago

I compared the error output you shared with what I just got on my machine, and it doesn't show anything strange (there are some "not found"s that are normal under current setting, which is better off being handled though). Does it happen all the time or only sometime?

youtalk commented 10 years ago

Yes, it happens all the time. I try again and check the model files.

k-okada commented 10 years ago

some robot models cannot be found and the 3D model doesn't appear. Do you have some idea to resolve it?

Can you capture and paste the rviz view? I also want to check the output of hrpsys of hironx_ros_bridge_simulation.launch or equivalent.

youtalk commented 10 years ago

Finally, I got the reason why it doesn't work. In my environment I've already installed ros-hydro-nextage-moveit-config but not yet installed ros-hydro-hironx-moveit-config. After installing ros-hydro-hironx-moveit-config related packages, above roslaunch scripts of both nextage and hironx are successfully executed.

I'm not sure but the dependencies of ros-hydro-nextage-moveit-config should be fixed. Thank you for your help.

$ sudo apt-get install ros-hydro-nextage-moveit-config
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-hydro-nextage-moveit-config is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.

$ sudo apt-get install ros-hydro-hironx-moveit-config
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following extra packages will be installed:
  libmongo-client-dev libmongo-client0 mongodb-clients mongodb-dev mongodb-server
  ros-hydro-household-objects-database-msgs ros-hydro-manipulation-msgs
  ros-hydro-moveit-planners ros-hydro-moveit-planners-ompl ros-hydro-moveit-ros
  ros-hydro-moveit-ros-benchmarks ros-hydro-moveit-ros-benchmarks-gui
  ros-hydro-moveit-ros-manipulation ros-hydro-moveit-ros-planning-interface
  ros-hydro-moveit-ros-robot-interaction ros-hydro-moveit-ros-visualization
  ros-hydro-moveit-ros-warehouse ros-hydro-ompl ros-hydro-pr2-moveit-plugins
  ros-hydro-warehouse-ros
The following NEW packages will be installed:
  libmongo-client-dev libmongo-client0 mongodb-clients mongodb-dev mongodb-server
  ros-hydro-hironx-moveit-config ros-hydro-household-objects-database-msgs
  ros-hydro-manipulation-msgs ros-hydro-moveit-planners ros-hydro-moveit-planners-ompl
  ros-hydro-moveit-ros ros-hydro-moveit-ros-benchmarks ros-hydro-moveit-ros-benchmarks-gui
  ros-hydro-moveit-ros-manipulation ros-hydro-moveit-ros-planning-interface
  ros-hydro-moveit-ros-robot-interaction ros-hydro-moveit-ros-visualization
  ros-hydro-moveit-ros-warehouse ros-hydro-ompl ros-hydro-pr2-moveit-plugins
  ros-hydro-warehouse-ros
0 upgraded, 21 newly installed, 0 to remove and 2 not upgraded.
Need to get 29.8 MB of archives.
After this operation, 84.0 MB of additional disk space will be used.
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k-okada commented 10 years ago

Thanks, and happy to hear that.

By the way, we designed nextage_moveit_config not to depend on hironx_moveit_config, so something strange here. Could you add some comment on #71, if you know which part of nextage_moveit_config depends on hironx_moveit config ?

Thanks in advance.

youtalk commented 10 years ago

@k-okada I'll check it.