[melodic] UR5 Moveit model not showing correctly #374
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This could be a Gazebo 9 incompatibility issue. Could you please provide us with the version of Gazebo you have running and a single message from the |
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Here are the versions I have installed: And the output of joint_states is: IMHO the joint states message should be fine? Here are the outputs of the launch commands: roslaunch ur_gazebo ur5.launch roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true roslaunch ur5_moveit_config moveit_rviz.launch config:=true Please let me know if you need any more data/info! |
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If I enable the
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Note that I posted a more general question here https://answers.ros.org/question/299709/where-does-rvizmoveit-get-the-link-position/ |
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@Pro wrote:
That was not really necessary: there is no magic topic, it's all TF. |
Ok, sorry! I wanted to keep the general discussion separated from the issue here, since I'm new in RViz+Gazebo, the question on answers.ros.org was more a general understanding question. Could it be a universal_robot package configuration issue that RViz is not taking the correct tf data? |
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At this point I don't know -- I've not migrated to Melodic. have you changed anything in the The fact that the TF frames look normal seems to indicate this is purely a rendering issue. Are both the visual and the collision geometry rendered like this? |
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The only thing I changed in the --- a/ur5_moveit_config/launch/move_group.launch
+++ b/ur5_moveit_config/launch/move_group.launch
@@ -50,7 +50,7 @@
<!-- MoveGroup capabilities to load -->
<param name="capabilities" value="move_group/MoveGroupCartesianPathService
- move_group/MoveGroupExecuteService
+ move_group/MoveGroupExecuteTrajectoryAction
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPickPlaceActionotherwise you get the error: When I start your suggested
This looks quite similar to the previous output where all the links are not correct. But now, if I set the fixed frame in global options from
It looks like the moveit configuration is also using some invalid fixed frame and thus the model is not shown correctly. Could it be related to the output here for the |
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The misconfigured fixed frame is expected, that is not a problem.
No, those are not related, and it's also not the same concept. Please don't make statements about causes unless you've verified them. Edit: you could update the config of the |
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I won't have time to look at this more today or tomorrow unfortunately. If you could try and see whether you can determine what is going on, that would be great. Otherwise I can probably take a look later. |
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Not sure what I can change in the config for You can probably easily reproduce the issue by installing Ubuntu 18.04 in a VM and just install ros-melodic-desktop-full. Then cone this repo into a workspace. |
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@Pro thanks for testing UR with melodic. Could you please take a screenshot of the collisions (the collisions are stl files instead of collada)? If the frames are right and the origins of the visual links are zero, looks like the problem is something with the 3D models(?). I recommend just start rviz and the joint and robot state publisher like this: Go to RobotModel disable "Visual enabled" and enable "Collision enabled" and please take a screenschot ( check also that the TF tag "Show axes" is enabled). Then press the button "Randomize" of the joint_state_publisher dialog and check RVIZ again. did you test also the UR10 or the UR3? Thanks a lot!! |
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@ipa-nhg thanks for your help! Here some screenshots: If I run exactly the commands you provide, the output is this: So this looks OK to me. Randomize also works as expected:
So it looks to me that the models are correct and the issue is together with gazebo. UR10 has the same issue when executing it together with Gazebo:
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@Pro Thanks a lot for the quick answer, can you please test this branch of my fork https://github.com/ipa-nhg/universal_robot/tree/MelodicHotFix ?? Please do not close the issue if this version solves the problem, it is just a Hot Fix and not a proper solution. |
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Unfortunately it's still the same with your version. The only difference is that the robot does not include any color now:
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Could it be somehow related to an invalid fixed frame setting? I.e. if I select an invalid fixed frame in RViz (without starting gazebo), the robot looks somehow similar to the broken one, when starting with gazebo. (as mentioned here: #374 (comment)) So just a wild guess: And since the Scene Robot description is using the SRDF file for the |
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Yayyy, found the issue: It is in more detail described here: If you have a german locale setting, i.e. Note that the PR ros/urdfdom_headers#41 is not (yet) included in the current melodic release. |
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Ah, the locale issue. Good find. Thanks for reporting back. |
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How was the model appearing dark in gazebo solved? The RViz model loads up fine for me but Gazebo doesnt. |
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Hi @sapan-ostic, you already posted a similar question in another thread. Please don't post duplicate questions in unrelated issues and follow up there if you'd like further clarifications. |
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@Pro Hi,I found the same error like you ,when i open bring up ur5 model in gazebo,it show a error position about the model,could you give me some information to fix this problem? |
I am on a newly installed Ubuntu 18.04 with ROS Melodic.
I installed all the ROS packages with apt and then cloned the universal_robot repo into my workspace.
Then I run:
which opens the following windows:
As you can see in RViz the robot looks somehow broken. If I try to plan a path, it always fails since the robot is already colliding.
If I check the position property of the links, they are all set to 0,0,0...
Do you have any clues how to fix this?
Thanks!
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