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wilselby / ROS_quadrotor_simulator

Quadrotor simulator using ROS, Gazebo, and RVIZ
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Group 'Quad_base' is not a chain #6

Closed zychaoqun closed 6 years ago

zychaoqun commented 7 years ago

When I run roslaunch quad_3dnav quad_3dnav.launch I get the error: [ERROR] [1480357098.245956879]: Group 'Quad_base' is not a chain [ERROR] [1480357098.246008743]: Kinematics solver of type 'kdl_kinematics_plugin /KDLKinematicsPlugin' could not be initialized for group 'Quad_base' [ERROR] [1480357098.246182732]: Kinematics solver could not be instantiated for joint group Quad_base.

And I can't interact with the quadrotor in rviz, there is no interact marker on the model. What's wrong here? Is there anything I can do ? Thanks!

nishathussain commented 7 years ago

I also had same problem, then I ran MoveIt setup assistant to generate. https://www.wilselby.com/research/ros-integration/3d-mapping-navigation/ it will generate files: quad.srdf, ompl_planning.yaml, kinematics.yaml, joint_limits.yaml, fake_controllers.yaml while doing so add a leaf to baselink to make it a chain.

wilselby commented 7 years ago

Additionally, you can set the "Kinematic Solver" to "None" in the "Planning Groups" section of the MoveIt! set-up assistant.

ajayfuloria commented 7 years ago

nishathussain :+1: I am facing the same problem, can you elaborate what do you mean by "add a leaf to baselink to make it a chain" ?? Also these files already exist in the repo, do we have to replace them with the ones that are generated by us ? Thanks

wilselby commented 7 years ago

Ajay,

Try running the MoveIt! Setup Assistant with the kinematic solver set to none since we are treating the quadrotor as a simple single object. I think the repo files were outdated and I left a kinematic solver in there to generate those.

The leaf comment with the baselink is something you can add in the MoveIt! setup assistant as well.

This page might help: http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html

ajayfuloria commented 7 years ago

Hi Wilselby !

thanks for reply. I did use Moveit! assistant to generate the files. The quad_3dnav.launch file does not get generated, so I replaced the files that you mention in your writeup in the repo folder and try and launch quad_3dnav.launch. Here is what I get

unused args [db] for include of [/home/merlin/catkin_ws/src/ROS_quadrotor_simulator/quad_3dnav/launch/move_group.launch] The traceback for the exception was written to the log file

Files that I replace are

wilselby commented 7 years ago

Ajay,

I updated the config files so you shouldn't need to regenerate them anymore.

Try setting this argument to false in the quad_3dnav.launch file: <arg name="db" default="true" />