ROS cpp api issues
Posted: Wed Jul 08, 2020 5:15 pm
I am trying to set up a new simulation under ROS Melodic.
Following these instructions http://wiki.ros.org/hebi_cpp_api_examples , which seem to supersede http://wiki.ros.org/hebiros
Can you confirm this is the latest setup?
Everything builds fine, but when I try to run
I get several errors on startup:
...
...
1) Please confirm which demos I should be running
2) Is this something wrong in development, or something wrong in my setup?
Comment:
If http://wiki.ros.org/hebiros is out of date, please add a note warning us to use the new setup.
Following these instructions http://wiki.ros.org/hebi_cpp_api_examples , which seem to supersede http://wiki.ros.org/hebiros
Can you confirm this is the latest setup?
Everything builds fine, but when I try to run
Code: Select all
roslaunch hebi_cpp_api_examples arm_moveit_node.launch arm_type:=A-2085-04
Code: Select all
INFO] [1594241603.604862358]: Found and successfully read 'hrdf_file' parameter
[ INFO] [1594241603.605599262]: Found and successfully read 'home_position' parameter
process[robot_state_publisher-3]: started with pid [30121]
process[move_group-4]: started with pid [30123]
process[rviz_L221_0000_30083_6042537302737999125-5]: started with pid [30124]
[ERROR] [1594241604.110096586]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.110990006]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.111023670]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.111053563]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594241604.111085480]: Group 'hebi_arm' is empty.
[ERROR] [1594241604.111130529]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111156230]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111183958]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111211545]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594241604.111261832]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111290537]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111316658]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111348296]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111372462]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111398792]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111424634]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111449986]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594241604.111528629]: Loading robot model 'A-2085-04'...
[ INFO] [1594241604.392845055]: rviz version 1.13.12
[ INFO] [1594241604.392904211]: compiled against Qt version 5.9.5
Code: Select all
[ INFO] [1594241604.396564567]: Forcing OpenGl version 0.
[ WARN] [1594241604.626297842]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594241604.626358116]: Failed to add group 'hebi_arm'
[ERROR] [1594241604.626401488]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[ WARN] [1594241604.823843610]: Could not initialize arm, trying again...
[ INFO] [1594241604.883178119]: Stereo is NOT SUPPORTED
[ INFO] [1594241604.883265770]: OpenGl version: 3.1 (GLSL 1.4).
[ WARN] [1594241606.424392311]: Could not initialize arm, trying again...
[ INFO] [1594241606.537922066]: Publishing maintained planning scene on 'monitored_planning_scene'
Code: Select all
[ INFO] [1594241606.546815551]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1594241606.547449089]: No sensor plugin specified for octomap updater 0; ignoring.
[ WARN] [1594241608.024872148]: Could not initialize arm, trying again...
[ERROR] [1594241608.529430933]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529484711]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529517258]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529547150]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594241608.529574808]: Group 'hebi_arm' is empty.
[ERROR] [1594241608.529634802]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529668955]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529699057]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529727413]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594241608.529812830]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529847332]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529876805]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529903764]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529927650]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529951606]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529980032]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.530009226]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594241608.530157780]: Loading robot model 'A-2085-04'...
[ERROR] [1594241609.025066270]: Failed to find the following modules in family: Arm
[ERROR] [1594241609.025182487]: > J1_base
[ERROR] [1594241609.025214894]: > J2_shoulder
[ERROR] [1594241609.025244717]: > J3_elbow
[ERROR] [1594241609.025274609]: > J4_wrist
[ERROR] [1594241609.025319937]: Could not initialize arm! Check for modules on the network, and ensure good connection (e.g., check packet loss plot in Scope). Shutting down...
[ WARN] [1594241609.126107067]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594241609.126162312]: Failed to add group 'hebi_arm'
[ERROR] [1594241609.126220561]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[arm_moveit_node-2] process has died [pid 30115, exit code 255, cmd /home/cpsc472_10/hebi-test/devel/lib/hebi_cpp_api_examples/arm_moveit_node __name:=arm_moveit_node __log:=/home/cpsc472_10/.ros/log/0f5cdbb2-c15d-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-2.log].
log file: /home/cpsc472_10/.ros/log/0f5cdbb2-c15d-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-2*.log
[ INFO] [1594241611.137035883]: Starting planning scene monitor
[ INFO] [1594241611.139616200]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1594241611.633278428]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1594241611.656916701]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1594241611.735268449]: Initializing OMPL interface using ROS parameters
[ INFO] [1594241611.743975247]: Using planning interface 'OMPL'
[ INFO] [1594241611.751154807]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1594241611.751597955]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1594241611.751954289]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594241611.752383539]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594241611.752773747]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1594241611.753140069]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1594241611.753209422]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1594241611.753243365]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1594241611.753269626]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1594241611.753292255]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1594241611.753316071]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1594241611.756300843]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager
1) Please confirm which demos I should be running
2) Is this something wrong in development, or something wrong in my setup?
Comment:
If http://wiki.ros.org/hebiros is out of date, please add a note warning us to use the new setup.