Vision guided grasping demo - after calibration - no tf link between /object and camera

[Murali25111993]

Hello @penglongxiang ,

After completing the calibration, now I moved to vision guided grasping demo.

I made necessary changes as mentioned in the readme file by changing the calibrated yaml file and updated the publish_tf.launch with new file name.

Made changes to start_find_obj_2d.launch by replacing my camera topic name.

find_2d_object GUI islaunching, I could able to add new object and it is successfully detecting.

But my tf is having a problem as it says there is no link between /object_3 and frame[world].

Note: I didn't publish any tf , which says rgb_frame, it should be launched by find_object_2d

I did rosrun rqt_tf_tree rqt_tf_tree

as you can see there is no link between camera_optical_frame or link_base with rgb_frame or /object_3.

whether I need to run any static transform ?

Thanks

[Murali25111993]

Update!

When I publish static tf between /camera_optical_frame and /rgb_frame. I could able to generate complete tree.

rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_color_optical_frame rgb_frame 10

But , I am getting lot of error like below:

rosrun d435i_xarm_setup findobj2d_grasp_moveit [ INFO] [1722343557.777460166]: Plan SUCCESS! Executing... [ERROR] [1722343557.888770354]: Failed to call service exec_plan [ WARN] [1722343558.379358396]: recognition listener: x: 0.352527, y: -0.062724, z: 0.184165, q: [-0.084694, 0.659489, 0.260264, 0.700117] [ INFO] [1722343558.476887399]: Plan SUCCESS! Executing... [ERROR] [1722343560.234317180]: Failed to call service exec_plan [ INFO] [1722343561.276938493]: Plan SUCCESS! Executing... [ERROR] [1722343561.393263857]: Failed to call service exec_plan [ INFO] [1722343562.477099176]: Plan SUCCESS! Executing... [ERROR] [1722343564.219283967]: Failed to call service exec_plan

Kindly tell me the what should be done. !. I even tried adding wait_for_service still same issue persist.

Thanks

[penglongxiang]

I tested the application with eye-on-hand and it worked fine:

[ INFO] [1722484578.289452287]: Plan SUCCESS! Executing... 
[ WARN] [1722484588.221498042]: recognition listener: x: 0.317007, y: -0.317107, z: 0.091406, q: [-0.130370, 0.665205, 0.105819, 0.727535]
[ INFO] [1722484588.306659405]: Plan SUCCESS! Executing... 
[ INFO] [1722484591.008308104]: Plan SUCCESS! Executing... 
[ INFO] [1722484593.307133461]: Plan SUCCESS! Executing... 

If xarm_exec_plan service can be listed out, please check if xArm is not in a proper mode (1), it can be checked by: $ rostopic echo /xarm/xarm_states If the mode field is not 1, or err filed is not 0. Then the robot can not respond to Moveit commands. Please clear the error if any and restart the launch process.

[penglongxiang]

Also, I did not find the link /rgb_frame during my latest test, so I do not have to publish any additional tf relationship, it is kind of strange.

As you can see, object_2 is and camera_color_optical_frame is directly related by the find_object result.

[Murali25111993]

Ok, Thanks for detailed info. I will check and update you.