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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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Error while trying to use the xArm6 Moveit package with ROS_NAMESPACE #236

Open nitish3693 opened 1 month ago

nitish3693 commented 1 month ago

Hi Team,

When trying to launch the realMove_exec.launch from the xarm6_moveit_config under a ROS namespace, the process is giving errors and not connecting to the follow_joint_trajectory server.

Logs,

Ubuntu20:~/ros_wk$ ROS_NAMESPACE=test roslaunch xarm6_moveit_config realMove_exec.launch robot_ip:=192.168.1.212 
... logging to /home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/roslaunch-Ubuntu20-9361.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://Ubuntu20:45153/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /source_list: ['xarm/joint_stat...
 * /test/joint_state_publisher/rate: 10
 * /test/joint_state_publisher/use_gui: False
 * /test/move_group/allow_trajectory_execution: True
 * /test/move_group/capabilities: move_group/MoveGr...
 * /test/move_group/controller_list: [{'name': '', 'ac...
 * /test/move_group/jiggle_fraction: 0.05
 * /test/move_group/max_range: 5.0
 * /test/move_group/max_safe_path_cost: 1
 * /test/move_group/moveit_controller_manager: moveit_simple_con...
 * /test/move_group/moveit_manage_controllers: True
 * /test/move_group/octomap_resolution: 0.025
 * /test/move_group/planner_configs/BFMT/balanced: 0
 * /test/move_group/planner_configs/BFMT/cache_cc: 1
 * /test/move_group/planner_configs/BFMT/extended_fmt: 1
 * /test/move_group/planner_configs/BFMT/heuristics: 1
 * /test/move_group/planner_configs/BFMT/nearest_k: 1
 * /test/move_group/planner_configs/BFMT/num_samples: 1000
 * /test/move_group/planner_configs/BFMT/optimality: 1
 * /test/move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /test/move_group/planner_configs/BFMT/type: geometric::BFMT
 * /test/move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /test/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/BKPIECE/range: 0.0
 * /test/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /test/move_group/planner_configs/BiEST/range: 0.0
 * /test/move_group/planner_configs/BiEST/type: geometric::BiEST
 * /test/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /test/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /test/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /test/move_group/planner_configs/BiTRRT/init_temperature: 100
 * /test/move_group/planner_configs/BiTRRT/range: 0.0
 * /test/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /test/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /test/move_group/planner_configs/EST/goal_bias: 0.05
 * /test/move_group/planner_configs/EST/range: 0.0
 * /test/move_group/planner_configs/EST/type: geometric::EST
 * /test/move_group/planner_configs/FMT/cache_cc: 1
 * /test/move_group/planner_configs/FMT/extended_fmt: 1
 * /test/move_group/planner_configs/FMT/heuristics: 0
 * /test/move_group/planner_configs/FMT/nearest_k: 1
 * /test/move_group/planner_configs/FMT/num_samples: 1000
 * /test/move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /test/move_group/planner_configs/FMT/type: geometric::FMT
 * /test/move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /test/move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /test/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/KPIECE/range: 0.0
 * /test/move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /test/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/LBKPIECE/range: 0.0
 * /test/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /test/move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /test/move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /test/move_group/planner_configs/LBTRRT/range: 0.0
 * /test/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /test/move_group/planner_configs/LazyPRM/range: 0.0
 * /test/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /test/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /test/move_group/planner_configs/PDST/type: geometric::PDST
 * /test/move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /test/move_group/planner_configs/PRM/type: geometric::PRM
 * /test/move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /test/move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /test/move_group/planner_configs/ProjEST/range: 0.0
 * /test/move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /test/move_group/planner_configs/RRT/goal_bias: 0.05
 * /test/move_group/planner_configs/RRT/range: 0.0
 * /test/move_group/planner_configs/RRT/type: geometric::RRT
 * /test/move_group/planner_configs/RRTConnect/allowed_planning_time: 0.02
 * /test/move_group/planner_configs/RRTConnect/range: 0.0
 * /test/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /test/move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /test/move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /test/move_group/planner_configs/RRTstar/range: 0.0
 * /test/move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /test/move_group/planner_configs/SBL/range: 0.0
 * /test/move_group/planner_configs/SBL/type: geometric::SBL
 * /test/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /test/move_group/planner_configs/SPARS/max_failures: 1000
 * /test/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /test/move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /test/move_group/planner_configs/SPARS/type: geometric::SPARS
 * /test/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /test/move_group/planner_configs/SPARStwo/max_failures: 5000
 * /test/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /test/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /test/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /test/move_group/planner_configs/STRIDE/degree: 16
 * /test/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /test/move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /test/move_group/planner_configs/STRIDE/max_degree: 18
 * /test/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /test/move_group/planner_configs/STRIDE/min_degree: 12
 * /test/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /test/move_group/planner_configs/STRIDE/range: 0.0
 * /test/move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /test/move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /test/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /test/move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /test/move_group/planner_configs/TRRT/goal_bias: 0.05
 * /test/move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /test/move_group/planner_configs/TRRT/k_constant: 0.0
 * /test/move_group/planner_configs/TRRT/max_states_failed: 10
 * /test/move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /test/move_group/planner_configs/TRRT/range: 0.0
 * /test/move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /test/move_group/planner_configs/TRRT/type: geometric::TRRT
 * /test/move_group/planning_plugin: ompl_interface/OM...
 * /test/move_group/planning_scene_monitor/publish_geometry_updates: True
 * /test/move_group/planning_scene_monitor/publish_planning_scene: True
 * /test/move_group/planning_scene_monitor/publish_state_updates: True
 * /test/move_group/planning_scene_monitor/publish_transforms_updates: True
 * /test/move_group/request_adapters: industrial_trajec...
 * /test/move_group/sample_duration: 0.02
 * /test/move_group/start_state_max_bounds_error: 0.1
 * /test/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /test/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /test/move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /test/move_group/trajectory_execution/execution_duration_monitoring: False
 * /test/move_group/xarm/xarm_gripper/default_planner_config: RRTConnect
 * /test/move_group/xarm/xarm_gripper/planner_configs: ['SBL', 'EST', 'L...
 * /test/move_group/xarm6/default_planner_config: RRTConnect
 * /test/move_group/xarm6/planner_configs: ['SBL', 'EST', 'L...
 * /test/nsxx1: xarm6_traj_contro...
 * /test/robot_description: <?xml version="1....
 * /test/robot_description_kinematics/xarm6/kinematics_solver: bio_ik/BioIKKinem...
 * /test/robot_description_kinematics/xarm6/kinematics_solver_search_resolution: 0.005
 * /test/robot_description_kinematics/xarm6/kinematics_solver_timeout: 0.005
 * /test/robot_description_kinematics/xarm6/minimal_displacement_weight: 0.8
 * /test/robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint1/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint1/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint1/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint2/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint2/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint2/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint3/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint3/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint3/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint4/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint4/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint4/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint5/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint5/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint5/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint6/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint6/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint6/max_velocity: 2.14
 * /test/robot_description_semantic: <?xml version="1....
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver: bio_ik/BioIKKinem...
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver_search_resolution: 0.005
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver_timeout: 0.005
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/minimal_displacement_weight: 0.8
 * /test/xarm/DOF: 6
 * /test/xarm/add_gripper: False
 * /test/xarm/baud_checkset: True
 * /test/xarm/default_gripper_baud: 2000000
 * /test/xarm/enforce_limits: True
 * /test/xarm/joint_limits/joint1/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint1/has_velocity_limits: True
 * /test/xarm/joint_limits/joint1/max_acceleration: 0
 * /test/xarm/joint_limits/joint1/max_velocity: 2.14
 * /test/xarm/joint_limits/joint2/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint2/has_velocity_limits: True
 * /test/xarm/joint_limits/joint2/max_acceleration: 0
 * /test/xarm/joint_limits/joint2/max_velocity: 2.14
 * /test/xarm/joint_limits/joint3/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint3/has_velocity_limits: True
 * /test/xarm/joint_limits/joint3/max_acceleration: 0
 * /test/xarm/joint_limits/joint3/max_velocity: 2.14
 * /test/xarm/joint_limits/joint4/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint4/has_velocity_limits: True
 * /test/xarm/joint_limits/joint4/max_acceleration: 0
 * /test/xarm/joint_limits/joint4/max_velocity: 2.14
 * /test/xarm/joint_limits/joint5/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint5/has_velocity_limits: True
 * /test/xarm/joint_limits/joint5/max_acceleration: 0
 * /test/xarm/joint_limits/joint5/max_velocity: 2.14
 * /test/xarm/joint_limits/joint6/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint6/has_velocity_limits: True
 * /test/xarm/joint_limits/joint6/max_acceleration: 0
 * /test/xarm/joint_limits/joint6/max_velocity: 2.14
 * /test/xarm/joint_names: ['joint1', 'joint...
 * /test/xarm/joint_state_controller/publish_rate: 50
 * /test/xarm/joint_state_controller/type: joint_state_contr...
 * /test/xarm/prefix: 
 * /test/xarm/uf_model: XARM
 * /test/xarm/velocity_control: False
 * /test/xarm/xarm6_traj_controller/action_monitor_rate: 10
 * /test/xarm/xarm6_traj_controller/constraints/goal_time: 0.5
 * /test/xarm/xarm6_traj_controller/constraints/joint1/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint1/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint2/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint2/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint3/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint3/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint4/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint4/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint5/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint5/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint6/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint6/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /test/xarm/xarm6_traj_controller/joints: ['joint1', 'joint...
 * /test/xarm/xarm6_traj_controller/state_publish_rate: 25
 * /test/xarm/xarm6_traj_controller/stop_trajectory_duration: 0.2
 * /test/xarm/xarm6_traj_controller/type: position_controll...
 * /test/xarm/xarm6_traj_controller_velocity/action_monitor_rate: 10
 * /test/xarm/xarm6_traj_controller_velocity/constraints/goal_time: 0.5
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint1/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint1/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint2/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint2/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint3/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint3/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint4/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint4/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint5/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint5/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint6/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint6/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/stopped_velocity_tolerance: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/joints: ['joint1', 'joint...
 * /test/xarm/xarm6_traj_controller_velocity/state_publish_rate: 25
 * /test/xarm/xarm6_traj_controller_velocity/stop_trajectory_duration: 0.2
 * /test/xarm/xarm6_traj_controller_velocity/type: velocity_controll...
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint1: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint2: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint3: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint4: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint5: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint6: 0.25
 * /test/xarm/xarm_report_type: normal
 * /test/xarm/xarm_robot_ip: 192.168.1.212

NODES
  /test/
    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_Ubuntu20_9361_7429938474669580425 (rviz/rviz)
  /test/xarm/
    traj_controller_spawner (controller_manager/spawner)
    uf_ros_controller (xarm_controller/uf_ros_controller)

auto-starting new master
process[master]: started with pid [9373]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 226b56c6-49d9-11ef-be2f-c9a005e8bc99
process[rosout-1]: started with pid [9383]
started core service [/rosout]
process[test/xarm/uf_ros_controller-2]: started with pid [9390]
process[test/xarm/traj_controller_spawner-3]: started with pid [9391]
process[test/joint_state_publisher-4]: started with pid [9392]
process[test/robot_state_publisher-5]: started with pid [9393]
process[test/move_group-6]: started with pid [9398]
process[test/rviz_Ubuntu20_9361_7429938474669580425-7]: started with pid [9400]
[ WARN] [1721838241.596239522]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1721838241.601185729]: Loading robot model 'UF_ROBOT'...
[ INFO] [1721838241.601214870]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1721838241.690430826]: rviz version 1.14.25
[ INFO] [1721838241.690479229]: compiled against Qt version 5.12.8
[ INFO] [1721838241.690489306]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1721838241.698126050]: Forcing OpenGl version 0.
[INFO] [1721838241.828753]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1721838241.860120506]: Stereo is NOT SUPPORTED
[ INFO] [1721838241.860187938]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1721838241.860207354]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1721838242.048106096]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1721838242.051435013]: Listening to 'joint_states' for joint states
[ INFO] [1721838242.053766617]: Listening to '/test/attached_collision_object' for attached collision objects
[ INFO] [1721838242.053788655]: Starting planning scene monitor
[ INFO] [1721838242.055157088]: Listening to '/test/planning_scene'
[ INFO] [1721838242.055176212]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1721838242.056330379]: Listening to '/test/collision_object'
[ INFO] [1721838242.057471343]: Listening to '/test/planning_scene_world' for planning scene world geometry
[ INFO] [1721838242.057922019]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1721838242.129280424]: Loading planning pipeline ''
[ INFO] [1721838242.159109571]: Using planning interface 'OMPL'
[ INFO] [1721838242.160782643]: Constructing N point filter
[ INFO] [1721838242.161986057]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1721838242.162196382]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1721838242.162419156]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1721838242.162612452]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1721838242.162787824]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1721838242.162964626]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1721838242.162993529]: Using planning request adapter 'Trajectory filter 'UniformSampleFilter' of type 'UniformSampleFilter''
[ INFO] [1721838242.163005658]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1721838242.163039709]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1721838242.163076461]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1721838242.163085796]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1721838242.163094724]: Using planning request adapter 'Fix Start State Path Constraints'
SDK_VERSION: 1.13.21
Tcp control connection successful
change protocol identifier to 2
ROBOT_IP: 192.168.1.212, VERSION: v2.3.0, PROTOCOL: V1, DETAIL: 6,6,XI1300,AC1300,v2.3.0, TYPE1300: [1, 1]
Tcp Report Rich connection successful
change protocol identifier to 3
report_data_size: 495, size_is_not_confirm: 0
Tcp Report Norm connection successful
[ INFO] [1721838242.868426597]: [TCP STATUS] CONTROL: 1, REPORT: 1
report_data_size: 145, size_is_not_confirm: 0
Error:   Error document empty.
         at line 100 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
[test/xarm/uf_ros_controller-2] process has died [pid 9390, exit code -11, cmd /home/nitish/ros_wk/devel/lib/xarm_controller/uf_ros_controller ip=192.168.1.212 __name:=uf_ros_controller __log:=/home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/test-xarm-uf_ros_controller-2.log].
log file: /home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/test-xarm-uf_ros_controller-2*.log
[ INFO] [1721838245.130532985]: Loading robot model 'UF_ROBOT'...
[ INFO] [1721838245.130638959]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1721838245.597070502]: Starting planning scene monitor
[ INFO] [1721838245.598646025]: Listening to '/test/move_group/monitored_planning_scene'
[ INFO] [1721838245.611042767]: waitForService: Service [/test/get_planning_scene] has not been advertised, waiting...
[ WARN] [1721838247.172671763]: Waiting for /follow_joint_trajectory to come up...
[ INFO] [1721838250.620695291]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1721838250.620845256]: Constructing new MoveGroup connection for group 'xarm6' in namespace ''
[ WARN] [1721838252.173054540]: Waiting for /follow_joint_trajectory to come up...
[ERROR] [1721838257.173472955]: Action client not connected: /follow_joint_trajectory
[ INFO] [1721838257.189766299]: Returned 0 controllers in list
[ INFO] [1721838257.196082631]: Trajectory execution is managing controllers
[ INFO] [1721838257.196124848]: MoveGroup debug mode is ON
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'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1721838257.238734292]: 

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

[ INFO] [1721838257.239529017]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1721838257.239583422]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1721838258.424786705]: Ready to take commands for planning group xarm6.
^C[test/rviz_Ubuntu20_9361_7429938474669580425-7] killing on exit
[test/move_group-6] killing on exit
[test/robot_state_publisher-5] killing on exit
[test/joint_state_publisher-4] killing on exit
[test/xarm/traj_controller_spawner-3] killing on exit
[WARN] [1721838259.204696]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
nitish3693 commented 1 month ago

Please note : Starting the xarm6_server.launch under a ROS_NAMESPACE works,

Logs: 

Ubuntu20:~/ros_wk$ ROS_NAMESPACE=test roslaunch xarm_bringup xarm6_server.launch robot_ip:=192.168.1.212
... logging to /home/nitish/.ros/log/29b359fc-49d8-11ef-be2f-c9a005e8bc99/roslaunch-Ubuntu20-8630.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Ubuntu20:34331/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /test/xarm/DOF: 6
 * /test/xarm/add_gripper: False
 * /test/xarm/baud_checkset: True
 * /test/xarm/default_gripper_baud: 2000000
 * /test/xarm/enforce_limits: True
 * /test/xarm/joint_names: ['joint1', 'joint...
 * /test/xarm/prefix: 
 * /test/xarm/uf_model: XARM
 * /test/xarm/velocity_control: False
 * /test/xarm/xarm_report_type: normal
 * /test/xarm/xarm_robot_ip: 192.168.1.212

NODES
  /test/xarm/
    uf_driver (xarm_api/xarm_driver_node)

auto-starting new master
process[master]: started with pid [8638]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 29b359fc-49d8-11ef-be2f-c9a005e8bc99
process[rosout-1]: started with pid [8648]
started core service [/rosout]
process[test/xarm/uf_driver-2]: started with pid [8655]
[ INFO] [1721837823.783537738]: namespace: /test/xarm
[ INFO] [1721837823.785952677]: xarm_driver_node start
SDK_VERSION: 1.13.21
Tcp control connection successful
change protocol identifier to 2
ROBOT_IP: 192.168.1.212, VERSION: v2.3.0, PROTOCOL: V1, DETAIL: 6,6,XI1300,AC1300,v2.3.0, TYPE1300: [1, 1]
Tcp Report Rich connection successful
change protocol identifier to 3
Tcp Report Norm connection successful
report_data_size: 495, size_is_not_confirm: 0
[ INFO] [1721837824.106527657]: [TCP STATUS] CONTROL: 1, REPORT: 1
report_data_size: 145, size_is_not_confirm: 0
^C[test/xarm/uf_driver-2] killing on exit
[xarm_driver] Ctrl-C caught, exit process...
[rosout-1] killing on exit
^C[master] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done
nitish3693 commented 1 month ago

@penglongxiang,

Looks like the error is coming when launching with the argument use_moveit set as true

penglongxiang commented 1 month ago

@nitish3693, it seems the namespace and remapping had some issues working together, we are looking into this and will get back to you later.

penglongxiang commented 1 month ago

Hi @nitish3693, we are still in the process of optimizing the namespace compatibility, you may try with the following launch file temporarily, there are still some remappings needed: 

<?xml version="1.0"?>
<launch>
  <arg name="ns" default="" doc="namespace as a group"/>
  <arg name="robot_ip" />

  <group ns="$(arg ns)">
    <remap from="/robot_description" to="/$(arg ns)/robot_description" />
    <remap from="/move_group/monitored_planning_scene" to="/$(arg ns)/move_group/monitored_planning_scene" />
    <remap from="/$(arg ns)/source_list" to="/source_list" />
    <include file="$(find xarm7_moveit_config)/launch/realMove_exec.launch">
      <arg name="robot_ip" value="$(arg robot_ip)"/>
    </include>
  </group>

</launch>

If you launch this file and specify ns:=test in the command line, you may achieve the similar namespace isolation. We will update the repository after we have finished the optimization.

nitish3693 commented 1 month ago

Hi @penglongxiang, we tested the launch file,

The initial moveit plan work but the current state of the robot is not updating, causing consequent palns to have in correct start position.

image

Current State in Moveit : Light white arm

Current State of Real Hardware : Solid white arm.

penglongxiang commented 1 month ago

Hi @nitish3693, please check your output of rostopic list | grep monitored command and the Planning Scene Topic in your moveit.rviz configuration file in the xarm6_moveit_config package (if this is the corresponding launch package).

nitish3693 commented 1 month ago

Hi @penglongxiang

output of command, 

@Ubuntu20:~/ros_wk$ rostopic list | grep monitored
/test/move_group/monitored_planning_scene

In the moveit.rviz : 

Planning Scene Topic: move_group/monitored_planning_scene
nitish3693 commented 1 month ago

@penglongxiang note in the xarm7_moveit_config, moveit.rviz, the planning scene topic is using absolute path,

Planning Scene Topic: /move_group/monitored_planning_scene
nitish3693 commented 1 month ago

I will test by changing that to relative path and will check.

vimior commented 1 month ago

@nitish3693 I pushed an update to the master branch. Can you try to see if it solves your current problem?

nitish3693 commented 3 weeks ago

@penglongxiang @vimior thanks for the update.

We were able to run xarm6 and xarm7 on same machine, but the tf was completely merged,

image