rethinkrobotics / sawyer_moveit Goto Github PK

When using rviz to plan and execute a trajectory, planning goes well but executing the path fails with this error:
[ERROR] [1519413877.822655341]: Unable to identify any set of controllers that can actuate the specified joints: [ right_j0 right_j1 right_j2 right_j3 right_j4 right_j5 right_j6 ] [ERROR] [1519413877.822726115]: Known controllers and their joints:

All Moveit! packages are installed and our Sawyer is running on release-5.2.0

When launching sawyer_moveit.launch this shows up:
[ERROR] [1519414365.681661603]: Action client not connected: /robot/limb/right/follow_joint_trajectory
but everything else goes well and I am able to plan.

I looked into the joints available in rviz but the joints there are named something like 'right_l0' instead of the expected names in sawyer_controllers.yaml

I know this repo is dead, but in case anyone else runs into this issue:

Inside planning_context.launch, when load_robot_description is set to true, it attempts to load a nonexistent urdf file into the robot_description parameter.

A fix for this should be:

<param if="$(arg load_robot_description)" name="$(arg robot_description)" 
  command="$(find xacro)/xacro '$(find sawyer_description)/urdf/sawyer.urdf.xacro'
      electric_gripper:=$(arg electric_gripper)"/>

I am using Ubuntu 16.04 and ros kinetic. I am able to move the sawyer with the intera sdk examples, but when I use the execute button after it has created a plan in the rviz gui it fails with this message:

[ WARN] [1505497768.668273664]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1505497768.668366775]: Execution completed: ABORTED

I double checked and the robot is enabled and the joint_trajectory_action_server is also running. Does anyone know why this won't execute on the real robot?

Hi,

I'm using (group =) moveit_commander.MoveGroupCommander("right_arm") to get the group. I'm able to access the group. But when I do group.get_current_joint_values() , I get all the values equal to zero, irrespective of the configuration of the robot. Also when I try to do group.get_current_pose().pose, I get the pose corresponding to the zero joint angles in any configuration of the arm. But the rviz moveit visualizer is working fine ( it is showing the present configuration of the robot).

Can you guide me how to resolve this issue?

In the Context panel, when selecting any planner other than default.

[ INFO] [1478272079.499072664]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1478272079.500586737]: Planner configuration 'right_arm[LBKPIECEkConfigDefault]' will use planner 'geometric::LBKPIECE'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1478272079.501569647]: right_arm[LBKPIECEkConfigDefault]: Attempting to use default projection.
[ERROR] [1478272079.501759871]: No default projection is set. Perhaps setup() needs to be called
[ERROR] [1478272079.503726730]: OMPL encountered an error: No projection evaluator specified
[ WARN] [1478272079.510240936]: Fail: ABORTED: Catastrophic failure

The electric gripper articulated mesh, and its joint states are not currently available from the robot. We need a different (temporary) set of collision shapes just for the electric gripper.

There are two sets of warning that now show up when starting roslaunch sawyer_moveit_config sawyer_moveit.launch:

• Trajectory Parameters

[ WARN] [1478272020.526312660]: 
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1478272020.529095252]: 
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!

and

• move_group Trajectory Action

[ WARN] [1478272026.036739941]: 
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch

and

• xacro.py deprecation

xacro.py is deprecated; please use xacro instead

When i use "roslaunch sawyer_moveit_config sawyer_moveit.launch electric_grippe" and plan a feasible trajectory, but it failed to executed with the following warn:
[ INFO] [1616054616.353942433]: Execution request received
[ INFO] [1616054617.354446093]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ WARN] [1616054617.354575457]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1616054617.354697942]: Execution completed: ABORTED
[ INFO] [1616054617.367115973]: ABORTED: Solution found but controller failed during execution

Currently pointing at the old wiki, let's update to the new wiki pages.