Robot Successfully Plans Path But Fails to Execute #328

janperenic · 2024-11-18T09:57:51Z

janperenic
Nov 18, 2024

Hi, I have a problem with moving the robot in rviz2. I get joint position from real robot and also in simulation. The planing stage works but when I try to move the robot I can't. Does anybody know why this is happening?

[move_group-3] [WARN] [1731251918.411273694] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1731251918.411468533] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-4] [INFO] [1731251918.412526932] [move_group_interface]: Plan and Execute request aborted
[rviz2-4] [ERROR] [1731251918.413016384] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

I also have a problem that i am getting this message all the time:

[spawner-5] [WARN] [1731251924.933122738] [spawner_follow_joint_trajectory]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1731251924.933988833] [spawner_follow_joint_trajectory]: waiting for service /controller_manager/list_controllers to become available...

I made launch files with MoveIt Setup Assistant. I also tried ros2-starter-for-yaskawa-robots but I get the same error.

I am using Motors2 version & ROS2 distribution:
0.1.2
Humble

Robot Controller & Robot:
YRC1000
HC10

My launch file:

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch

import os
 
from launch import LaunchDescription
from launch.actions import (
    DeclareLaunchArgument,
    IncludeLaunchDescription,
)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
 
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
 
from srdfdom.srdf import SRDF
 
from moveit_configs_utils.launch_utils import (
    add_debuggable_node,
    DeclareBooleanLaunchArg,
)


def generate_demo_launch2(moveit_config, launch_package_path=None):
    """
    Launches a self contained demo
 
    launch_package_path is optional to use different launch and config packages
 
    Includes
     * static_virtual_joint_tfs
     * robot_state_publisher
     * move_group
     * moveit_rviz
     * warehouse_db (optional)
     * ros2_control_node + controller spawners
    """
    if launch_package_path == None:
        launch_package_path = moveit_config.package_path
 
    ld = LaunchDescription()
    ld.add_action(
        DeclareBooleanLaunchArg(
            "db",
            default_value=False,
            description="By default, we do not start a database (it can be large)",
        )
    )
    ld.add_action(
        DeclareBooleanLaunchArg(
            "debug",
            default_value=False,
            description="By default, we are not in debug mode",
        )
    )
    ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=True))
    # If there are virtual joints, broadcast static tf by including virtual_joints launch
    virtual_joints_launch = (
        launch_package_path / "launch/static_virtual_joint_tfs.launch.py"
    )
 
    if virtual_joints_launch.exists():
        ld.add_action(
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(str(virtual_joints_launch)),
            )
        )
 
    # Given the published joint states, publish tf for the robot links
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(launch_package_path / "launch/rsp.launch.py")
            ),
        )
    )
 
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(launch_package_path / "launch/move_group.launch.py")
            ),
        )
    )
 
    # Run Rviz and load the default config to see the state of the move_group node
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(launch_package_path / "launch/moveit_rviz.launch.py")
            ),
            condition=IfCondition(LaunchConfiguration("use_rviz")),
        )
    )
 
    # If database loading was enabled, start mongodb as well
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(launch_package_path / "launch/warehouse_db.launch.py")
            ),
            condition=IfCondition(LaunchConfiguration("db")),
        )
    )
  
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(launch_package_path / "launch/spawn_controllers.launch.py")
            ),
        )
    )
 
    return ld

def generate_launch_description():
    moveit_config = MoveItConfigsBuilder("motoman_hc10dt", package_name="hc10dt_moveit_config").to_moveit_configs()   
    return generate_demo_launch2(moveit_config)

ros2_controllers.yaml:

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    manipulator_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

manipulator_controller:
  ros__parameters:
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity

moveit_controllers.yaml:

# MoveIt uses this configuration for controller management
trajectory_execution:
  allowed_execution_duration_scaling: 10.0
  allowed_goal_duration_margin: 10.0
  allowed_start_tolerance: 0.1
  trajectory_duration_monitoring: false
  
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - follow_joint_trajectory

  follow_joint_trajectory:
    type: FollowJointTrajectory
    action_ns: ""
    default: true
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
    action_ns: ""
    default: true

Full debug log from control start to the finish when the error occurs:

1731251903.5633657 [INFO] [launch]: All log files can be found below /home/janperenic/.ros/log/2024-11-10-16-18-23-562586-janperenic-OMEN-282650
1731251903.5635130 [INFO] [launch]: Default logging verbosity is set to INFO
1731251904.5322800 [INFO] [static_transform_publisher-1]: process started with pid [282681]
1731251904.5324986 [INFO] [robot_state_publisher-2]: process started with pid [282683]
1731251904.5326040 [INFO] [move_group-3]: process started with pid [282685]
1731251904.5327003 [INFO] [rviz2-4]: process started with pid [282687]
1731251904.5327928 [INFO] [spawner-5]: process started with pid [282689]
1731251904.5328832 [INFO] [spawner-6]: process started with pid [282691]
1731251904.5632803 [static_transform_publisher-1] [INFO] [1731251904.562899378] [static_transform_publisher0]: Spinning until stopped - publishing transform
1731251904.5635054 [static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
1731251904.5635886 [static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
1731251904.5636656 [static_transform_publisher-1] from 'world' to 'base_link'
1731251904.9662881 [rviz2-4] [INFO] [1731251904.965944074] [rviz2]: Stereo is NOT SUPPORTED
1731251904.9667206 [rviz2-4] [INFO] [1731251904.966049549] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
1731251904.9903302 [rviz2-4] [INFO] [1731251904.990052671] [rviz2]: Stereo is NOT SUPPORTED
1731251905.1007957 [rviz2-4] 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.
1731251905.1009841 [rviz2-4]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
1731251908.1244886 [rviz2-4] [ERROR] [1731251908.124006391] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
1731251908.1366892 [rviz2-4] [INFO] [1731251908.136411907] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
1731251908.2493341 [rviz2-4] [INFO] [1731251908.249007651] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0640194 seconds
1731251908.2495289 [rviz2-4] [INFO] [1731251908.249047815] [moveit_robot_model.robot_model]: Loading robot model 'motoman_hc10dt'...
1731251908.3047600 [rviz2-4] [INFO] [1731251908.304463392] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
1731251908.3053455 [rviz2-4] [INFO] [1731251908.305066473] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
1731251908.4979236 [rviz2-4] [INFO] [1731251908.497561975] [interactive_marker_display_110660297430144]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
1731251908.5051236 [rviz2-4] [INFO] [1731251908.504862921] [moveit_ros_visualization.motion_planning_frame]: group manipulator
1731251908.5053177 [rviz2-4] [INFO] [1731251908.504884070] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
1731251908.5141654 [rviz2-4] [INFO] [1731251908.513806983] [interactive_marker_display_110660297430144]: Sending request for interactive markers
1731251908.5146472 [rviz2-4] [INFO] [1731251908.514240601] [move_group_interface]: Ready to take commands for planning group manipulator.
1731251908.5153017 [rviz2-4] [INFO] [1731251908.515129899] [moveit_ros_visualization.motion_planning_frame]: group manipulator
1731251908.5487952 [rviz2-4] [INFO] [1731251908.548215642] [interactive_marker_display_110660297430144]: Service response received for initialization
1731251916.3498521 [rviz2-4] [INFO] [1731251916.349024935] [move_group_interface]: Plan and Execute request accepted
1731251918.4129479 [rviz2-4] [INFO] [1731251918.412526932] [move_group_interface]: Plan and Execute request aborted
1731251918.4133170 [rviz2-4] [ERROR] [1731251918.413016384] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

I would appreciate any helpful input on how to solve the issue.
Thanks

jimmy-mcelwain · 2024-11-18T14:28:50Z

jimmy-mcelwain
Nov 18, 2024
Collaborator

Hello. I have a new mostly complete set of instructions https://github.com/jimmy-mcelwain/motoros2_moveit2_config_packages. The organization is a little bit awkward, and I will be making some improvements/additions to it over the next few days. But even in its incomplete state, it is a much better resource than the setup guide that you linked. I have a complete HC10dtp-b00 package hosted there, but that unfortunately is different from the HC10dt that I see in your files, so you will have to go through the full process again.

6 replies

jimmy-mcelwain Nov 19, 2024
Collaborator

Do your joint_states names match the names in the config files provided? These lines are the first real problem that I notice:

[move_group-1] [INFO] [1732013340.059226623] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1732013339.059134, but latest received state has time 0.000000.
[move_group-1] Check clock synchronization if your are running ROS across multiple machines!
[move_group-1] [WARN] [1732013340.059270314] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s

That would suggest to me that your PC isn't receiving joint_states names that match those in the config file. It could be that you modified the joint names using the motoros2_config.yaml file, or it could possibly be a network problem. When you type ros2 topic echo /joint_states into your terminal on the same PC that MoveIt is running on, what does the result look like? This could also happen if you remapped the joint_states to publish to another topic name.

janperenic Nov 19, 2024
Author

Thank you very much for your answer. Oh, I didn't think of that problem. I have the robot available for testing only on Thursday and Friday, and because of that, I am simulating everything. I will try it on a robot by the end of the week and see what happens.

jimmy-mcelwain Nov 19, 2024
Collaborator

Happy to help. Also, I would not recommend using my files directly unless you are actually using an HC10DTP-B00. I saw in your console output originally that you were using the HC10DT. There may be differences in the .stl, collision matrix, joint limits, etc. that could cause problems. I would recommend making sure that you are using the support files that exactly match your robot.

janperenic Nov 19, 2024
Author

I modified your files to match my robot, so I think it should be okay.

janperenic Nov 22, 2024
Author

I successfully tested the script yesterday on the robot; it planned the path and moved the robot accordingly. However, I'm now facing an issue where I cannot run my script for moving the robot, which is based on the hello_moveit tutorial.

Despite having both robot_description and robot_description_semantic in the parameter list and ensuring that the files are correctly formatted, I still encounter the following error. This script was previously tested on the official Panda tutorial and on my version, where it successfully planned the path. I also tested it on your robot simulation, but I encounter the same error. Also the .srdf file is listed int he demo.launch.py file and looks correct.

Error Message:

janperenic@janperenic-OMEN:~/moveit2$ ros2 run hello_moveit hello_moveit_node
[ERROR] [1732271419.460509462] [hello_moveit]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
Error:   Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
         at line 715 in ./src/model.cpp
[ERROR] [1732271419.478091279] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[FATAL] [1732271419.478178221] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to construct robot model. Please make sure all needed information is on the parameter server.
[ros2run]: Aborted

This is what i get in terminal. I know i have a problem with namespace so i will change it.

motoros2_config.yaml file:

janperenic@janperenic-OMEN:~/moveit2$ ros2 launch hc10dt_moveit_config demo.launch.py 
[INFO] [launch]: All log files can be found below /home/janperenic/.ros/log/2024-11-20-15-56-09-358892-janperenic-OMEN-114392
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [114393]
[INFO] [rviz2-2]: process started with pid [114395]
[INFO] [robot_state_publisher-3]: process started with pid [114397]
[robot_state_publisher-3] [INFO] [1732114569.594887459] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1732114569.595091440] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1732114569.595099283] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1732114569.595104090] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1732114569.595108898] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1732114569.595113155] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1732114569.595117222] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1732114569.595121959] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1732114569.595126407] [robot_state_publisher]: got segment tool0
[move_group-1] [INFO] [1732114569.604070435] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0235261 seconds
[move_group-1] [INFO] [1732114569.604134729] [moveit_robot_model.robot_model]: Loading robot model 'motoman_hc10dt'...
[move_group-1] [INFO] [1732114569.640956340] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1732114569.641143103] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1732114569.641875791] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1732114569.642119497] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1732114569.642132187] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1732114569.642328175] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1732114569.642339453] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1732114569.642559090] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1732114569.642757281] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1732114569.642944936] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1732114569.642956114] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1732114569.644864830] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1732114569.654970593] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1732114569.657236799] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.657271205] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.657276173] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1732114569.657292950] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1732114569.657306572] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1732114569.657312652] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.657321727] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.657327526] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1732114569.657332394] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1732114569.657439127] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1732114569.657444296] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1732114569.657447501] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1732114569.657451137] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1732114569.657454322] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1732114569.657459160] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1732114569.659263697] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1732114569.661265254] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1732114569.663076943] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1732114569.663088582] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1732114569.663935716] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1732114569.663945221] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1732114569.664508265] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1732114569.664516919] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1732114569.665046498] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1732114569.665056344] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1732114569.665527117] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1732114569.666464348] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1732114569.667323061] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.667331254] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.667334840] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1732114569.667354882] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1732114569.667365630] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1732114569.667369456] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.667377699] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.667381766] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1732114569.667385702] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1732114569.667395799] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1732114569.667398794] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1732114569.667401638] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1732114569.667405074] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1732114569.667407478] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1732114569.667411043] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1732114569.667740027] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1732114569.689489708] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for follow_joint_trajectory
[move_group-1] [INFO] [1732114569.689712630] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114569.689732662] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114569.690088370] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1732114569.690103154] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1732114569.702036772] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1732114569.702096869] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1732114569.702105944] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] [INFO] [1732114569.850640350] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1732114569.850825941] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1732114569.868951032] [rviz2]: Stereo is NOT SUPPORTED
[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
[rviz2-2] [ERROR] [1732114572.956672772] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1732114572.968170806] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1732114573.040175715] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0195664 seconds
[rviz2-2] [INFO] [1732114573.040245438] [moveit_robot_model.robot_model]: Loading robot model 'motoman_hc10dt'...
[rviz2-2] [INFO] [1732114573.100962354] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1732114573.101653741] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1732114573.329440664] [interactive_marker_display_101501286873456]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[move_group-1] [WARN] [1732114573.334236718] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/base' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/base' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334282422] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' (Could not find a connection between 'base_link' and 'world' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334292779] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/flange' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/flange' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334300231] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tool0' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tool0' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334307453] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tcp_15' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tcp_15' because they are not part of the same tree.Tf has two or more unconnected trees.)
[rviz2-2] [INFO] [1732114573.335085801] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-2] [INFO] [1732114573.335103420] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-2] [INFO] [1732114573.342973943] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-2] [INFO] [1732114573.344037997] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-2] [INFO] [1732114573.344630643] [interactive_marker_display_101501286873456]: Sending request for interactive markers
[rviz2-2] [INFO] [1732114573.377712283] [interactive_marker_display_101501286873456]: Service response received for initialization
[rviz2-2] [INFO] [1732114584.785945070] [move_group_interface]: MoveGroup action client/server ready
[move_group-1] [INFO] [1732114584.786967816] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-2] [INFO] [1732114584.787224318] [move_group_interface]: Planning request accepted
[move_group-1] [INFO] [1732114584.787236448] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1732114584.804238224] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/base' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/base' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804295459] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' (Could not find a connection between 'base_link' and 'world' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804307719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/flange' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/flange' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804388011] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tool0' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tool0' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804396495] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tcp_15' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tcp_15' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1732114584.804498043] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1732114584.804580899] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1732114584.804673472] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-1] [INFO] [1732114584.804724676] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[move_group-1] [INFO] [1732114584.805673770] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-2] [INFO] [1732114584.806191643] [move_group_interface]: Planning request complete!
[rviz2-2] [INFO] [1732114584.806876762] [move_group_interface]: time taken to generate plan: 0.000292091 seconds
[move_group-1] [INFO] [1732114586.534683611] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-1] [INFO] [1732114586.534827228] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-1] [INFO] [1732114586.534887057] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.534907300] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[rviz2-2] [INFO] [1732114586.534912308] [move_group_interface]: Execute request accepted
[move_group-1] [INFO] [1732114586.534998451] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1732114586.540882605] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1732114586.540939990] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.540957439] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.541080562] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to follow_joint_trajectory
[move_group-1] [INFO] [1732114586.570922692] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: follow_joint_trajectory started execution
[move_group-1] [INFO] [1732114586.570979556] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-1] [WARN] [1732114589.076368877] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'follow_joint_trajectory' failed with error unknown error: Final position was outside tolerance. Check robot safety-limits that could be inhibiting motion. [joint_3: 0.0000 deviation] [joint_5: 0.0000 deviation]
[move_group-1] [WARN] [1732114589.076444883] [moveit_ros.trajectory_execution_manager]: Controller handle follow_joint_trajectory reports status ABORTED
[move_group-1] [INFO] [1732114589.076457794] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-1] [INFO] [1732114589.076523513] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-2] [INFO] [1732114589.076854281] [move_group_interface]: Execute request aborted
[rviz2-2] [ERROR] [1732114589.076949709] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

Here is three structure of tf
frames_2024-11-20_15.57.45.pdf

gavanderhoorn · 2024-11-20T19:19:20Z

gavanderhoorn
Nov 20, 2024
Maintainer

@janperenic: please post (an, if desired: anonymised version of) your motoros2_config.yaml, and please clarify your control flow.

How do you start everything, and what services and actions do you call/submit goals to and in which order.

And if you feel things should be working, please also provide a complete debug log (see Debug log client, note: the logger script is hosted in this repository). Make sure to start the logging client before you turn on your YRC1000.

Finally, just to check: the Readme contains some information on how to control motion: see Commanding Motion.

Even if using MoveIt fi, especially step 6 is important.

3 replies

janperenic Nov 22, 2024
Author

Absolutely, I start by connecting with an Ethernet cable, then I start micro_ros_agent and execute ros2 service call /start_traj_mode motoros2_interfaces/srv/StartTrajMode. After that, I run the demo.launch.py file in another terminal. I then tested whether it works directly with the MoveIt2 marker on the robot's TCP, but it only plans the path and does not execute the movements. I will edit the debug log next week because today I did not have access to the robot, so I've reserved it for next Thursday.

I successfully moved the robot with help from @jimmy-mcelwain, but then I encountered a problem with running the hello_moveit script.

motoros2_config.yaml file:

---
# SPDX-FileCopyrightText: 2022-2023, Yaskawa America, Inc.
# SPDX-FileCopyrightText: 2022-2023, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0


#-----------------------------------------------------------------------------
# REQUIRED
# IP address and UDP port number of the Micro-ROS Agent PC. All communication
# to/from MotoROS2 will route through the Agent application.
# (There is no default value for these fields. They must be specified by
# the user.)
agent_ip_address: "172.16.0.2"
agent_port_number: 8888

# Any settings that are not specified will be set to their DEFAULT value.


#-----------------------------------------------------------------------------
# The (DDS) domain to join
#
# Please refer to the ROS 2 documentation on DDS domain IDs for more
# information. This setting works exactly like its ROS 2 analogue.
#
# DEFAULT: 0 (the default ROS 2 domain ID)
#ros_domain_id: 0

#-----------------------------------------------------------------------------
# Name under which MotoROS2 should register with the ROS 2 node graph.
#
# DEFAULT: "motoman_xx_yy_zz"  (xyz: last three bytes of robot's MAC address)
#node_name: ""

#-----------------------------------------------------------------------------
# Namespace to use for the MotoROS2 node and all topics.
#
# DEFAULT: ""  (empty string)
#node_namespace: ""

#-----------------------------------------------------------------------------
# Remap rules to apply to ROS 2 resource names.
#
# This configures the micro-ROS equivalent of the ROS 2 remap functionality.
#
# The current implementation expects all remap rules as a single,
# space-separated string. Whitespace in resource names is not allowed, so
# this should not pose any issues.
#
# Maximum total length of the remap_rules string: 255 chars. Any characters
# beyond that will be ignored (and likely result in parsing failures).
#
# Please refer to the ROS 2 documentation on remapping for more information
# on syntax and contraints.
#
# Example: the following remaps the 'joint_states' topic to 'my_joint_states',
# and the 'read_single_io' service to 'io/read_single':
#
#   "joint_states:=my_joint_states read_single_io:=io/read_single"
#
# DEFAULT: ""  (empty string)
#remap_rules: ""

#-----------------------------------------------------------------------------
# This will ensure that when timestamps are sampled, they will match the clock
# of the Agent PC. This is useful if the date/time of the robot controller is
# not synchronized.
#
# DEFAULT: true
sync_timeclock_with_agent: true

#-----------------------------------------------------------------------------
# Should MotoROS2 monitor the link state of the ethernet port used to
# communicate with the Agent?
#
# If enabled, this will cause immediate notification of loss-of-connection
# when the link goes down, causing MotoROS2 to activate it's shutdown
# behaviour (ie: stop all motion (if enabled), release resources, wait for
# link up and attempt reconnection with the Agent).
#
# If this is disabled, Agent disconnection detection uses an application
# layer based timeout mechanism which takes longer to detect disconnects (but
# might be more robust against intermittent link-layer disconnects which do not
# cause network disconnections).
#
# DEFAULT: true
#userlan_monitor_enabled: true

#-----------------------------------------------------------------------------
# Which port should MotoROS2 monitor, if 'userlan_monitor_enabled' is 'true'?
#
# If not specified, MotoROS2 will attempt to auto-detect the network port
# that is used to connect to the micro-ROS Agent. It will do this by
# comparing the 'agent_ip_address' setting against the IP addresses (and
# netmasks) of all available network interfaces.
#
# If the Agent can be reached directly over a particular interface, or via a
# configured default gateway on the same interface, the associated port will be
# monitored for link drops.
#
# To disable auto-detection, uncomment 'userlan_monitor_port' below and set
# it to the desired port.
#
# NOTE:   this setting only applies to YRC1000 and YRC1000u controllers.
#         DX200 and FS100 controllers only have a single ethernet port, and any
#         value other than 1 will be ignored.
#
# NOTE 2: auto-detection is not perfect. It can't determine whether the Agent
#         might be reachable using multiple hops. Nor can it determine whether
#         any routers have been configured to forward particular types of
#         traffic or firewalls exist between MotoROS2 and the micro-ROS Agent.
#         For deployments with complex network configurations, disable
#         auto-detection by configuring 'userlan_monitor_port' below.
#
# NOTE 3: the port specified here is NOT checked against 'agent_ip_address'.
#         In other words: if 'agent_ip_address' is on 'USER_LAN1', but
#         'userlan_monitor_port' is set to 'USER_LAN2', MotoROS2 will detect
#         link down events on 'USER_LAN2', whether or not that port is used
#         to communicate with the Agent.
#
# OPTIONS: USER_LAN1, USER_LAN2
# DEFAULT: USER_LAN1
#userlan_monitor_port: USER_LAN1

#-----------------------------------------------------------------------------
# If the Agent PC disconnects from the robot while it is in motion, should the
# robot come to a stop?
#
# DEFAULT: true
stop_motion_on_disconnect: true

#-----------------------------------------------------------------------------
# Should MotoROS2 broadcast transforms on '/tf'? This can be disabled if
# the data will interfere with applications such as robot_state_publisher.
#
# DEFAULT: true
publish_tf: true

#-----------------------------------------------------------------------------
# Should the 'tf' topic be namespaced if 'node_namespace' is configured with a
# non-empty string?
#
# Setting this to 'false' will make MotoROS2 broadcast transforms on the '/tf'
# global topic, which cannot be namespaced (due to being an absolute name).
# Otherwise, it will broadcast on 'tf', which can be namespaced.
#
# DEFAULT: true
namespace_tf: true

#-----------------------------------------------------------------------------
# Similar to the 'frame_prefix' parameter of the ROS 2 'robot_state_publisher'
# node. All published TF frames will be prefixed with this string.
#
# Example: with this parameter set to "left/", the "r1/tool0" frame would be
# published as "left/r1/tool0".
#
# NOTE: the prefix must include a separator (fi: '/') if one should be included
#       in the final name of the TF frames. Such a separator is not added
#       automatically.
#
# DEFAULT: ""  (empty string)
#tf_frame_prefix: ""

#-----------------------------------------------------------------------------
# Joints in this configuration file must be listed in the order of Robots,
# Base-axes, Station-axes.
#
# Example: R1+B1+R2+S1 system
#
# joint_names:
# - [r1_s_axis, r1_l_axis, r1_u_axis, r1_r_axis, r1_b_axis, r1_t_axis]
# - [r2_s_axis, r2_l_axis, r2_u_axis, r2_r_axis, r2_b_axis, r2_t_axis, r2_e_axis]
# - [b1_axis]
# - [s1_axis_1, s1_axis_2]
#
# When using a 7 axis robot arm with an elbow joint (E) in the middle of the
# arm, the elbow axis should be listed last (SLURBTE).
#
# DEFAULT: "group_x/joint_y"
#joint_names:
# - [group_1/joint_1, group_1/joint_2, group_1/joint_3, group_1/joint_4, group_1/joint_5, group_1/joint_6]
joint_names:
- [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
#-----------------------------------------------------------------------------
# Logging settings
logging:
  # All log messages are broadcast on the network on port UDP 21789.
  # Additionally, the messages can be printed to the standard output stream of
  # the robot controller. This would be visible over a telnet connection, or by
  # attaching a VGA debug monitor to the robot controller.
  #
  # NOTE: this WILL slow down the application.
  #
  # DEFAULT: false
  log_to_stdout: false

#-----------------------------------------------------------------------------
update_periods:
  # The delay between checks for incoming activity on the network. A lower
  # number will result in quicker responsiveness to received messages.
  # Additionally, it determines the rate at which the feedback_publisher timers
  # are checked.
  # This value should be <= to action_feedback_publisher_period as executor_sleep_period
  # is the rate at which the action-feedback timer is checked. If the value for
  # action_feedback_publisher_period is < executor_sleep_period, it will effectively
  # be treated as having the same value executor_sleep_period at runtime.
  #
  # DEFAULT: 10 milliseconds
  executor_sleep_period: 10

  # The delay between each publish of feedback position and status information.
  # A lower number will publish the feedback data more frequently.
  # This value should be >= to executor_sleep_period and
  # controller_status_monitor_period.
  #
  # DEFAULT: 20 milliseconds
  action_feedback_publisher_period: 20

  # The delay between each poll of the robot I/O and controller status data.
  # This value should be <= to action_feedback_publisher_period.
  #
  # DEFAULT: 10 milliseconds
  controller_status_monitor_period: 10

#-----------------------------------------------------------------------------
# QoS profile to use for various publishers MotoROS2 creates.
# The default values here are based on tests and inspection of the source code
# of typical consumers of messages on these topics.
#
# NOTE : RViz2 expects/requires 'tf' to use the 'default' profile (ie: reliable).
# NOTE2: MoveIt2 expects/requires 'joint_states' to use the 'default' profile.
publisher_qos:
  # DEFAULT: sensor_data
  robot_status: sensor_data

  # DEFAULT: sensor_data
  joint_states: sensor_data

  # DEFAULT: default
  tf: default

#-----------------------------------------------------------------------------
# Name of the INFORM job to be used (and monitored) by MotoROS2.
#
# Maximum length: 32 UTF-8 characters. 16 Japanese (Shift-JIS) characters.
#
# Set this to a custom value when using a custom INFORM job with a different
# name.
#
# NOTE: do NOT include the file extension here (ie: '.JBI'). Only the name
#       of the job should be specified.
#
# DEFAULT: "INIT_ROS"
#inform_job_name: "INIT_ROS"

#-----------------------------------------------------------------------------
# Allow custom INFORM job.
#
# If MotoROS2 detects that the specified INFORM job is not formatted properly
# then an alarm will be raised at startup.
# This flag indicates that the job is intentionally configured and will
# suppress the alarm.
#
# When this flag is set to 'true', then MotoROS2 will not validate whether the
# job is compatible. It is the responsibility of the user to make sure the
# custom job includes the required INFORM statements and in the expected order
# (refer to the provided INFORM job files for the general structure).
#
# DEFAULT: false
#allow_custom_inform: false

gavanderhoorn Nov 22, 2024
Maintainer

Thanks for the config file.

I see you have this at the defaults:

publisher_qos:
  # DEFAULT: sensor_data
  robot_status: sensor_data

  # DEFAULT: sensor_data
  joint_states: sensor_data

  # DEFAULT: default
  tf: default

could you perhaps try to configure joint_states with a default QoS?

As the note says:

NOTE2: MoveIt2 expects/requires 'joint_states' to use the 'default' profile.

janperenic Nov 22, 2024
Author

Thank you for your help and quick reply. I will upload the changed file to the robot next week when I have access to it. I will let you know if anything changes.

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Robot Successfully Plans Path But Fails to Execute #328

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Robot Successfully Plans Path But Fails to Execute #328

janperenic Nov 18, 2024

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