Update moveit_tutorials (Noetic) #97
Comments
|
@rhaschke I started updating the moveit setup assistant tutorial (see moveit/moveit_tutorials#678). I, however, noticed that the poses used in the I think this is because the MSA uses the coarse collisions (see https://github.com/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp#L785-L789). Should we choose new poses, or is this something we should fix in the MSA or franka_ros? You can see the behaviour when opening the MSA using see https://github.com/rickstaa/msa_test. |
|
Ah, I now see that https://github.com/rickstaa/msa_test mixed the results of the PMC with the newly created config. I will replace it with a freshly made robot configuration repository later. |
|
The URDF description needs more rework: frankaemika/franka_ros#199. But I don't have more time to invest in there... |
|
Thanks, I haven't seen that pull request yet. I will take a look. |
|
Hello, |
|
Please try |
|
In fact I want to use an example with moveit. And in my move_to_start.launch there is already a call to franka_control.launch Is there an other example of Moveit ? |
|
Note that a |
|
After replacing panda_moveit.launch by franka_control.launch, I had to add robot_ip But I get that error: |
|
After a try I get the same trouble as @xav12358 I am on Ubuntu 20.04 and Noetic . And also Noetic on all my repos. |
|
Ok. Looking into <?xml version="1.0" ?>
<launch>
<arg name="robot_ip" />
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="false" />
</include>
<include file="$(find panda_moveit_config)/launch/move_group.launch">
<arg name="load_gripper" value="false" />
</include>
<node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch> |
|
I copy paste your launch file and I get now that error: full log: |
|
@xav12358, looks like you are not running ROS Noetic, but ROS Melodic. In any case, you can ignore this error. It just states that the Pilz planner is not available (in Melodic). |
|
I update my previous post. When I run the move_to_start.py the robot arm is not moving |
|
Looks like you interrupted with Ctrl-C, didn't you? |
|
Indeed I interrupted the program because no rviz was launch, just because it was not in the launch file. So I start rviz in an other terminal. So now I get that full log: In rviz terminal: And the echo seems to work properly: |
|
I also try to launch the move_to_start.py script in an other terminal and I get that error: |
|
You are missing controllers: because the corresponding controller_spawner fails: The reason for this is in <!-- Load and start the controllers -->
<node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
args="$(arg transmission)_joint_trajectory_controller" />The root cause of that problem is that @frankaemika uses a namespace ( |
|
Thank you. SO I remove in ros_controller.launch that line: And I get that error: |
|
I also juste remove ns="/$(arg arm_id)" in ros_controller.launch |
|
Controllers still seem not active yet. Please check controller status via http://wiki.ros.org/rqt_controller_manager and http://wiki.ros.org/rqt_joint_trajectory_controller. |
|
Here is the result:
In log it is written:
|
|
Please start the desired controller manually. I don‘t understand, why the controller isn‘t started by the controller spawner in ros_controllers.launch. You should investigate this command. |
|
What could I find the list of controller? and how could I launch it? |
|
Is it roslaunch that example? In my franka-ros_franka_control.launch file I get: franka_control_node is used. I try to modify with default_controllers.yaml but I get that error: |
|
@arnauddomes and @xav12358, please open a new issue to continue the conversation. You kind of hijacked this thread... |
|
Ok I will create a new issue |
|
@rhaschke This issue is also being tracked at moveit/moveit_tutorials#525. Let's close it here? |
7 tasks
|
Sure. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
The MoveIt tutorials should be updated now that the new
noeticbranch has been released. This issue tracks this process.TODOS
@tylerjw already performed some tests for his solution with the moveit_tutorials. We however need to re-perform these tests for the new Noetic release. Please first check #74 (comment) before testing one of the following tutorials:
/move_group/display_planned_pathshould bemove_group/display_planned_path.panda_toolwill be renamed change group picture.panda_moveit_configare in collision now (see https://github.com/rickstaa/msa_test). This should be fixed in thepanda_moveit_configand the pose picture should be updated.I also found the following changes that need to be performed to the moveit_tutorials:
panda_control_moveit_rviz.launchfile should be documented in the documentation.demo_chomp.launchfile was added to the panda_moveit_config repository, but this file is not used in the moveit_tutorials.lerp_example.launchfile but this file is not included I think this should be changed to refer thedemo_lerp.launchfile.The text was updated successfully, but these errors were encountered: