Error: Moveit - Gazebo communication about panda_simulator

[justagist]

You shouldn't have to make any changes in the config, and the demos should work out-of-the-box if you manage to build the package successfully.
Can you specify which commands you ran? Did you start the moveit server using roslaunch panda_sim_moveit sim_move_group.launch before running moveit demos? The error message seems to say the controllers are not being loaded correctly. Make sure all the runtime dependencies are met (apt install ros-melodic-moveit ros-melodic-ros-control ros-melodic-joint-trajectory-controller), and try running again.

[StephanPythonGod]

I installed all dependencies specified in the dockerfile and also pip3 installed all requirements.txt libraries.

The launch order is following:
roslaunch panda_gazebo panda_world.launch roslaunch panda_sim_moveit sim_move_group.launch roslaunch panda_simulator_examples demo_moveit.launch

For the moveit server I get following Warning and Error:
[ WARN] [1614599318.717904557, 375.179000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1614599324.732847140, 381.179000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1614599330.754851815, 387.179000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1614599335.853593910, 392.258000000]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1614599341.883159988, 398.258000000]: Waiting for franka_gripper/gripper_action to come up [ERROR] [1614599347.913771236, 404.258000000]: Action client not connected: franka_gripper/gripper_action

When running the move_robot.py I get following Traceback:
$ python move_robot.py Traceback (most recent call last): File "move_robot.py", line 4, in <module> from franka_core_msgs.msg import JointCommand, RobotState ImportError: No module named franka_core_msgs.msg

[justagist]

I installed all dependencies specified in the dockerfile and also pip3 installed all requirements.txt libraries.

The package requires python 2, so pip3 install won't do it, you'll have to use the python 2 variant (pip install usually).

For the moveit server I get following Warning and Error:

This seems to suggest that the simulator launch is not complete (the custom action servers for joint trajectory and gripper don't seem to have started). You should wait till the simulator is fully loaded before starting the moveit server. If the problem still persists, you might want to disable the automatic start of the custom action servers using the flag use_custom_action_servers:=false (roslaunch panda_gazebo panda_world.launch use_custom_action_servers:=false), and then start the action server nodes separately (see the nodes started by this flag in the launch file). Then start the moveit server.

When running the move_robot.py I get following Traceback:
$ python move_robot.py Traceback (most recent call last): File "move_robot.py", line 4, in <module> from franka_core_msgs.msg import JointCommand, RobotState ImportError: No module named franka_core_msgs.msg

If you already have met the dependencies (including franka_ros_interface package), then it seems either the workspace is not built properly, or it is not sourced (source <catkin_ws>/devel/setup.bash).

[StephanPythonGod]

We solved the issue by:

1. changing the url for the REST server API for Gazebo: this issue
2. reinstalling numpy etc. via: python -m pip install numpy-quaternion

Thank you very much!!!

[justagist]

You hadn't mentioned the REST API error, or I could have pointed it out for you.
Anyway, glad to hear you got it working!