no interactive marker and kinematic solver error during launch the file #3
Comments
|
Thank you for your report. To use HSR simulator, you are required to launch all the required modules (not just moveit!) to enable whole body planning. Most recommended way is to use the following docker image: In case if you want to use the simulator using your own simulation world, please refer to the following launch file: |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
HI @yosuke @yuka-hashiguchi @davidhsrtoyota thank you for your file sharing.
i would like to report this following error when i run :
roslaunch hsrb_moveit_config hsrb_demo.launch
and also i could not see the interactive marker move the arm of HSR
please kindly help to solve this following error, thank you
kubota-lab@kubotalab-P960EF:~/ws_moveit$ roslaunch hsrb_moveit_config hsrb_demo.launch
... logging to /home/kubota-lab/.ros/log/71e55dc0-0912-11eb-9abb-5076afa87c35/roslaunch-kubotalab-P960EF-11711.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARN: unrecognized 'remap' tag in tag
started roslaunch server http://192.168.1.17:32807/
SUMMARY
PARAMETERS
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_kubotalab_P960EF_11711_4224753817626408993 (rviz/rviz)
auto-starting new master
process[master]: started with pid [11725]
ROS_MASTER_URI=http://192.168.1.17:11311/
setting /run_id to 71e55dc0-0912-11eb-9abb-5076afa87c35
process[rosout-1]: started with pid [11738]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [11755]
process[robot_state_publisher-3]: started with pid [11756]
process[move_group-4]: started with pid [11757]
process[rviz_kubotalab_P960EF_11711_4224753817626408993-5]: started with pid [11759]
[ERROR] [1602126040.470079960]: Joint 'odom_x' declared as part of group 'base' is not known to the URDF
[ERROR] [1602126040.470142409]: Joint 'odom_y' declared as part of group 'base' is not known to the URDF
[ERROR] [1602126040.470151557]: Joint 'odom_r' declared as part of group 'base' is not known to the URDF
[ WARN] [1602126040.470159784]: Group 'base' is empty.
[ INFO] [1602126040.470493949]: Loading robot model 'hsrb'...
[ INFO] [1602126040.496490379]: rviz version 1.12.17
[ INFO] [1602126040.496520541]: compiled against Qt version 5.5.1
[ INFO] [1602126040.496527475]: compiled against OGRE version 1.9.0 (Ghadamon)
[ WARN] [1602126040.507498937]: Group 'base' must have at least one valid joint
[ WARN] [1602126040.507523456]: Failed to add group 'base'
[ WARN] [1602126040.507531843]: Could not process group 'whole_body' due to unmet subgroup dependencies
[ WARN] [1602126040.507537999]: Could not process group 'whole_body_weighted' due to unmet subgroup dependencies
[ WARN] [1602126040.507548737]: Could not process group 'whole_body_light' due to unmet subgroup dependencies
[ERROR] [1602126040.591352903]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class bio_ik/BioIKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
[ERROR] [1602126040.591386311]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1602126040.609670113]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1602126040.611573311]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1602126040.611597116]: Starting scene monitor
[ INFO] [1602126040.613659714]: Listening to '/planning_scene'
[ INFO] [1602126040.613676920]: Starting world geometry monitor
[ INFO] [1602126040.615553338]: Listening to '/collision_object' using message notifier with target frame '/odom '
[ INFO] [1602126040.617724900]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1602126040.631174882]: Listening to '/hsrb/head_depth_camera/depth_registered/rectified_points' using message filter with target frame '/odom '
[ INFO] [1602126040.634972996]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1602126040.654987208]: Initializing OMPL interface using ROS parameters
[ INFO] [1602126040.679285250]: Using planning interface 'OMPL'
[ INFO] [1602126040.681487024]: Param 'default_workspace_bounds' was set to 2
[ INFO] [1602126040.681940169]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1602126040.682342822]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1602126040.682701568]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1602126040.683117233]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1602126040.683457322]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1602126040.683495967]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1602126040.683508004]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1602126040.683521772]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1602126040.683534138]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1602126040.683547690]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1602126040.687532537]: Exception while loading controller manager 'hsrb_moveit_fake_controller_manager/MoveItFakeControllerManager': According to the loaded plugin descriptions the class hsrb_moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager moveit_ros_control_interface::MoveItControllerManager moveit_ros_control_interface::MoveItMultiControllerManager moveit_simple_controller_manager/MoveItSimpleControllerManager
[ INFO] [1602126040.700502421]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
[ WARN] [1602126040.749500132]: Unable to update multi-DOF joint 'world_joint': TF has no common time between '/odom' and 'base_footprint':
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1602126040.761285162]:
[ INFO] [1602126040.761331486]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1602126040.761343723]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1602126041.319044218]: Stereo is NOT SUPPORTED
[ INFO] [1602126041.319109165]: OpenGl version: 4.6 (GLSL 4.6).
0x2d819d0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2033540) ): Attempt to set a screen on a child window.
0x2d82570 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2033540) ): Attempt to set a screen on a child window.
0x2d808e0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2033540) ): Attempt to set a screen on a child window.
0x2d836a0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2033540) ): Attempt to set a screen on a child window.
[ERROR] [1602126044.669693908]: Joint 'odom_x' declared as part of group 'base' is not known to the URDF
[ERROR] [1602126044.669722068]: Joint 'odom_y' declared as part of group 'base' is not known to the URDF
[ERROR] [1602126044.669729232]: Joint 'odom_r' declared as part of group 'base' is not known to the URDF
[ WARN] [1602126044.669766746]: Group 'base' is empty.
[ INFO] [1602126044.670239994]: Loading robot model 'hsrb'...
[ WARN] [1602126044.676125813]: Group 'base' must have at least one valid joint
[ WARN] [1602126044.676142069]: Failed to add group 'base'
[ WARN] [1602126044.676150900]: Could not process group 'whole_body' due to unmet subgroup dependencies
[ WARN] [1602126044.676157655]: Could not process group 'whole_body_weighted' due to unmet subgroup dependencies
[ WARN] [1602126044.676163708]: Could not process group 'whole_body_light' due to unmet subgroup dependencies
[ERROR] [1602126044.756528589]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class bio_ik/BioIKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
[ERROR] [1602126044.756565493]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1602126044.786338996]: Starting scene monitor
[ INFO] [1602126044.788872759]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1602126045.126034170]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1602126045.128590984]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1602126046.106728688]: Ready to take commands for planning group arm.
[ INFO] [1602126046.106870877]: Looking around: no
[ INFO] [1602126046.106941182]: Replanning: no
[ERROR] [1602126064.008353543]: Could not find parameter for database plugin name
[ INFO] [1602126090.626406314]: Clearing octomap...
[ INFO] [1602126090.626505775]: Octomap cleared.
[ INFO] [1602126178.691375399]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
The text was updated successfully, but these errors were encountered: