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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
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No planning library loaded error in RViz #30

Open efevreowner opened 1 year ago

efevreowner commented 1 year ago

When I launch moveit for controlling robot in rviz using ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.161 [add_gripper:=false] I get the following terminal output: `ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.161 [add_gripper:=false] [INFO] [launch]: All log files can be found below /home/efevre/.ros/log/2023-02-17-09-51-41-333584-efevre-HP-250-G7-Notebook-PC-3972 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [3979] [INFO] [rviz2-2]: process started with pid [3981] [INFO] [static_transform_publisher-3]: process started with pid [3983] [INFO] [move_group-4]: process started with pid [3985] [INFO] [joint_state_publisher-5]: process started with pid [3987] [INFO] [ros2_control_node-6]: process started with pid [3989] [INFO] [spawner-7]: process started with pid [3991] [static_transform_publisher-3] [WARN] [1676620302.468997493] []: Old-style arguments are deprecated; see --help for new-style arguments [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [static_transform_publisher-3] [INFO] [1676620302.544327965] [static_transform_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-3] from 'world' to 'link_base' [robot_state_publisher-1] [INFO] [1676620302.553618567] [robot_state_publisher]: got segment link1 [robot_state_publisher-1] [INFO] [1676620302.553778913] [robot_state_publisher]: got segment link2 [robot_state_publisher-1] [INFO] [1676620302.553797982] [robot_state_publisher]: got segment link3 [robot_state_publisher-1] [INFO] [1676620302.553808071] [robot_state_publisher]: got segment link4 [robot_state_publisher-1] [INFO] [1676620302.553820098] [robot_state_publisher]: got segment link5 [robot_state_publisher-1] [INFO] [1676620302.553833061] [robot_state_publisher]: got segment link6 [robot_state_publisher-1] [INFO] [1676620302.553843178] [robot_state_publisher]: got segment link_base [robot_state_publisher-1] [INFO] [1676620302.553856308] [robot_state_publisher]: got segment link_eef [robot_state_publisher-1] [INFO] [1676620302.553867185] [robot_state_publisher]: got segment world [ros2_control_node-6] [INFO] [1676620302.570274477] [resource_manager]: Loading hardware 'uf_robot_hardware/UFRobotSystemHardware' [move_group-4] [WARN] [1676620302.624756436] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] Error: Semantic description is not specified for the same robot as the URDF [move_group-4] at line 664 in ./src/model.cpp [move_group-4] [INFO] [1676620302.628187047] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00313896 seconds [move_group-4] [INFO] [1676620302.628649556] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [move_group-4] [INFO] [1676620302.628664038] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-6] [INFO] [1676620302.659572163] [resource_manager]: Initialize hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620302.727819626] [UFACTORY.RobotHW]: [192.168.1.161] namespace: / [ros2_control_node-6] [INFO] [1676620302.727853514] [UFACTORY.RobotHW]: [192.168.1.161] robot_type: lite, hw_ns: ufactory, prefix: , report_type: normal [ros2_control_node-6] [INFO] [1676620302.729262722] [UFACTORY.RobotHW]: [192.168.1.161] dof: 6, velocity_control: 0, add_gripper: 0, baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] [INFO] [1676620302.730921240] [ufactory_driver]: robot_ip=192.168.1.161, report_type=normal, dof=6 [ros2_control_node-6] [INFO] [1676620302.731110565] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] SDK_VERSION: 1.11.6 [ros2_control_node-6] Tcp control connection successful [spawner-7] [INFO] [1676620302.914577647] [spawner_lite6_traj_controller]: Waiting for '/controller_manager' services to be available [ros2_control_node-6] ROBOT_IP: 192.168.1.161, VERSION: v1.12.2, PROTOCOL: V1, DETAIL: 6,9,LI1006,DL1000,v1.12.2, TYPE1300: [0, 0] [ros2_control_node-6] Tcp Report Rich connection successful [ros2_control_node-6] change prot_flag to 3 [ros2_control_node-6] Tcp Report Norm connection successful [ros2_control_node-6] report_data_size: 494, size_is_not_confirm: 0 [ros2_control_node-6] report_data_size: 145, size_is_not_confirm: 0 [ros2_control_node-6] [INFO] [1676620303.062561017] [ufactory_driver]: [TCP STATUS] CONTROL: 1, REPORT: 1 [rviz2-2] [INFO] [1676620303.068054836] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1676620303.068645093] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [ros2_control_node-6] [INFO] [1676620303.101035136] [ufactory_driver]: gripper_speed: 2000, gripper_max_pos: 850, gripper_frequency : 10, gripper_threshold: 3, gripper_threshold_times: 10 [ros2_control_node-6] [INFO] [1676620303.124792322] [UFACTORY.RobotHW]: [192.168.1.161] System Sucessfully configured! [ros2_control_node-6] [INFO] [1676620303.124829199] [resource_manager]: Successful initialization of hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620303.125125389] [resource_manager]: 'configure' hardware 'uf_robot_hardware/UFRobotSystemHardware'

[ros2_control_node-6] [INFO] [1676620303.125150464] [resource_manager]: 'activate' hardware 'uf_robot_hardware/UFRobotSystemHardware' [rviz2-2] [INFO] [1676620303.134509068] [rviz2]: Stereo is NOT SUPPORTED [move_group-4] [INFO] [1676620303.136165548] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1676620303.136332435] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1676620303.137756226] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1676620303.138648686] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1676620303.138677274] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1676620303.139396483] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1676620303.139421121] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1676620303.140215470] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1676620303.140946265] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1676620303.141359543] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1676620303.141380095] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [joint_state_publisher-5] [INFO] [1676620303.151070800] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [move_group-4] [INFO] [1676620303.238354049] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-4] [INFO] [1676620303.276756012] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1676620303.280740873] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1676620303.280761835] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1676620303.280767067] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1676620303.280781316] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1676620303.280795770] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 [move_group-4] [INFO] [1676620303.280801286] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1676620303.280812055] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1676620303.280817967] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1676620303.280822903] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1676620303.280833705] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1676620303.280838586] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1676620303.280842464] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1676620303.280845902] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1676620303.280869501] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [move_group-4] [INFO] [1676620303.336997928] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for lite6_traj_controller [move_group-4] [INFO] [1676620303.337182623] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1676620303.337208258] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1676620303.343128945] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1676620303.343225975] [move_group.move_group]: MoveGroup debug mode is ON [rviz2-2] Error: Semantic description is not specified for the same robot as the URDF [rviz2-2] at line 664 in ./src/model.cpp [rviz2-2] [INFO] [1676620303.349363089] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00379841 seconds [rviz2-2] [INFO] [1676620303.349422777] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [rviz2-2] [INFO] [1676620303.349441084] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-4] [INFO] [1676620303.376173602] [move_group.move_group]: [move_group-4] [move_group-4] **** [move_group-4] MoveGroup using: [move_group-4] - ApplyPlanningSceneService [move_group-4] - ClearOctomapService [move_group-4] - CartesianPathService [move_group-4] - ExecuteTrajectoryAction [move_group-4] - GetPlanningSceneService [move_group-4] - KinematicsService [move_group-4] - MoveAction [move_group-4] - MotionPlanService [move_group-4] - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] **** [move_group-4] [move_group-4] [INFO] [1676620303.376237174] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1676620303.376253117] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4] [rviz2-2] [ERROR] [1676620303.501826995] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-2] [spawner-7] [INFO] [1676620304.934131111] [spawner_lite6_traj_controller]: Waiting for '/controller_manager' services to be available [ros2_control_node-6] [motion_enable], xArm is ready to move [ros2_control_node-6] [INFO] [1676620305.873948417] [UFACTORY.RobotHW]: [192.168.1.161] System Sucessfully started!

[ros2_control_node-6] [INFO] [1676620305.895146681] [controller_manager]: update rate is 50 Hz [ros2_control_node-6] [INFO] [1676620305.899053032] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-6] [INFO] [1676620305.957631096] [controller_manager]: Loading controller 'lite6_traj_controller' [ros2_control_node-6] [INFO] [1676620305.974064556] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [spawner-7] [INFO] [1676620305.981608637] [spawner_lite6_traj_controller]: Loaded lite6_traj_controller [ros2_control_node-6] [INFO] [1676620305.983154582] [controller_manager]: Configuring controller 'lite6_traj_controller' [ros2_control_node-6] [INFO] [1676620305.983306038] [lite6_traj_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-6] [INFO] [1676620305.983350860] [lite6_traj_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-6] [INFO] [1676620305.983370150] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [ros2_control_node-6] [INFO] [1676620305.983375674] [lite6_traj_controller]: Using 'splines' interpolation method. [ros2_control_node-6] [INFO] [1676620305.984599042] [lite6_traj_controller]: Controller state will be published at 25.00 Hz. [ros2_control_node-6] [INFO] [1676620305.986178736] [lite6_traj_controller]: Action status changes will be monitored at 10.00 Hz. [spawner-7] [INFO] [1676620306.021564185] [spawner_lite6_traj_controller]: Configured and activated lite6_traj_controller [INFO] [spawner-7]: process has finished cleanly [pid 3991] [rviz2-2] [ERROR] [1676620306.528326776] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] [INFO] [1676620306.576272603] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-2] [ERROR] [1676620306.642097297] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-2] [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Error: Semantic description is not specified for the same robot as the URDF [rviz2-2] at line 664 in ./src/model.cpp [rviz2-2] [INFO] [1676620306.646173725] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00135559 seconds [rviz2-2] [INFO] [1676620306.646231900] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [rviz2-2] [INFO] [1676620306.646243154] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] [ERROR] [1676620306.746748009] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.joint1.max_velocity' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.joint1.max_velocity} is of type {double}, setting it to {string} is not allowed.`

In RViz it shows error NO PLANNING LIBRARY LOADED and planning group is empty.

Screenshot from 2023-02-17 09-52-19 Screenshot from 2023-02-17 09-52-46

wxgisu commented 1 year ago

It looks like there is a data type error: 

{robot_description_planning.joint_limits.joint1.max_velocity} is of type {double}, setting it to {string} is not allowed.
efevreowner commented 1 year ago

It looks like there is a data type error:

{robot_description_planning.joint_limits.joint1.max_velocity} is of type {double}, setting it to {string} is not allowed.

What do I need to edit to fix this? This is not my code

vimior commented 1 year ago

@efevreowner What version of ROS are you using?

efevreowner commented 1 year ago

@vimior ROS2 humble

vimior commented 1 year ago

@efevreowner Maybe it's a problem with encoding settings, you can refer to some issues of moveit2 to see if it can be solved. https://github.com/ros-planning/moveit2/issues/1596 https://github.com/ros-planning/moveit2/issues/1782

DaniGarciaLopez commented 1 year ago

I'm also experiencing the same issue in Humble. I tried changing to cyclonedds and UTF8 encoding with no luck.