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Moveit not working with UR10

Open ptiwari0664 opened this issue 3 years ago • 18 comments

Hi,

I am trying to run UR10 with moveit as per the instructions. However, Moveit is not able to connect with Unity and it says

[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list

I have tried multiple options with sim param, as its should remap /follow_joint_trajectory to /arm_controller/follow_joint_trajectory, but it is not able to do it. Has anybody faced the same issue ?

Detailed terminal goes:

root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-10719.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://e540d66baca3:38603/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [10737]
[ INFO] [1651847099.716217232]: Loading robot model 'ur10'...
[ WARN] [1651847099.716655379]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847099.716670591]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847099.743529660]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847099.769913593]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847099.771059716]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847099.771081300]: Starting planning scene monitor
[ INFO] [1651847099.772341652]: Listening to '/planning_scene'
[ INFO] [1651847099.772365893]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847099.773288430]: Listening to '/collision_object'
[ INFO] [1651847099.774191846]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847099.774545909]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847099.777916526]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847099.790731301]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847099.799695248]: Using planning interface 'OMPL'
[ INFO] [1651847099.801389164]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847099.801562937]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847099.801705782]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.801943884]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.802200115]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847099.802421237]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847099.802455819]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847099.802473257]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847099.802483233]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847099.802492383]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847099.802502046]: Using planning request adapter 'Fix Start State Path Constraints'
^C[move_group-1] killing on exit
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'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

shutting down processing monitor...
... shutting down processing monitor complete
done
root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-13309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://e540d66baca3:37537/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [13331]
[ INFO] [1651847473.999408531]: Loading robot model 'ur10'...
[ WARN] [1651847473.999867721]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847473.999885801]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847474.026697789]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847474.053489726]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847474.054688295]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847474.054705284]: Starting planning scene monitor
[ INFO] [1651847474.055865953]: Listening to '/planning_scene'
[ INFO] [1651847474.055890018]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847474.056981798]: Listening to '/collision_object'
[ INFO] [1651847474.057909013]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847474.058257948]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847474.061443062]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847474.074040013]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847474.083310310]: Using planning interface 'OMPL'
[ INFO] [1651847474.085295264]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847474.085501257]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847474.085693770]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.085900324]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.086092015]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847474.086287048]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847474.086311449]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847474.086323462]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847474.086333088]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847474.086345243]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847474.086353999]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1651847485.095080548]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list
[ INFO] [1651847491.150718714]: 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'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1651847491.177652954]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1651847491.177689133]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1651847491.177702904]: MoveGroup context initialization complete

You can start planning now!

ptiwari0664 avatar May 06 '22 14:05 ptiwari0664

I'm also facing the same issue! I have noticed that after following the steps mentioned in the tutorial, i did rostopic list. "/arm_controller" topics come up on the first time, but on re-running the rostopic list command, i have observed that amr_controller doesnt seem to be on the list. Something is causing the arm controller to stop and hence action client says not found. Please check for the same.

tejasps28 avatar May 07 '22 03:05 tejasps28

@ptiwari0664 & @tejasps28

It looks like the newer versions of Unity mess up the rigged Unity UR10 model. You can try to re-import the UR10 URDF or wait for us to update.

micahpearlman avatar May 09 '22 15:05 micahpearlman

@ptiwari0664 & @tejasps28

It looks like the newer versions of Unity mess up the rigged Unity UR10 model. You can try to re-import the UR10 URDF or wait for us to update.

Hello, thank you for your reply. To re-import the URDF i'll need to follow your "Import URDF" tutorial right? I shall let you know how this goes. Also, would this issue be resolved if we try this tutorial in your version of the editor, i.e 2020.1.1f1?

tejasps28 avatar May 09 '22 16:05 tejasps28

Folllow the "LEO Robot" Example, except for UR10: https://github.com/fsstudio-team/ZeroSimROSUnity#import-urdf

Also, you may need to use a 2020 version of Unity as we have not done any thorough testing with 2021 and it seems to break a lot of things -- we are slowly working through the issues with 2021.

micahpearlman avatar May 09 '22 16:05 micahpearlman

Folllow the "LEO Robot" Example, except for UR10: https://github.com/fsstudio-team/ZeroSimROSUnity#import-urdf

Also, you may need to use a 2020 version of Unity as we have not done any thorough testing with 2021 and it seems to break a lot of things -- we are slowly working through the issues with 2021.

Okay, will try this out. Thank you! Also, yes. I am using Unity version 2020.3.33f1 LTS.

tejasps28 avatar May 09 '22 16:05 tejasps28

FYI: Some random notes for UR10 Import from awhile ago -- should be still relevant. Note: the ZeroSim Docker image already has UR10 repo in the Catkin Worksapace.

  1. Convert STL & DAE meshes to OBJ: /zerosim_tools/convert_meshes_to_obj.sh ./src/universal_robot/ur_description/meshes/ur10/

  2. Generate UR10 URDF rosrun xacro xacro src/universal_robot/ur_description/urdf/ur10_robot.urdf.xacro transmission_hw_interface:=hardware_interface/PositionJointInterface > /tmp/ur10.urdf

  3. Copy the generated URDF docker cp my_zerosim_vnc_docker:/tmp/ur10.urdf .

  4. Copy the meshes: docker cp my_zerosim_vnc_docker:/catkin_ws/src/universal_robot/ur_description/meshes .

  5. Fixup the mesh paths

micahpearlman avatar May 09 '22 16:05 micahpearlman

@micahpearlman Thanks a lot for this precise guidance. I shall let you know how it goes. Cheers!

tejasps28 avatar May 09 '22 16:05 tejasps28

@tejasps28 after further analysis I may be sending you down the wrong rabbit hole. Apologies. I am now seeing some weird connection issue through ROS bridge. In the Unity console I'm getting:

ERROR: ZOROSBridgeConnection::ClientReadAsync System.InvalidOperationException: Queue empty.

And in the Docker I'm getting:

[ERROR] [1652115654.246938824]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1652115654.247015161]: Known controllers and their joints:

micahpearlman avatar May 09 '22 17:05 micahpearlman

@tejasps28 after further analysis I may be sending you down the wrong rabbit hole. Apologies. I am now seeing some weird connection issue through ROS bridge. In the Unity console I'm getting:

ERROR: ZOROSBridgeConnection::ClientReadAsync System.InvalidOperationException: Queue empty.

And in the Docker I'm getting:

[ERROR] [1652115654.246938824]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1652115654.247015161]: Known controllers and their joints:

Uh, yes. I had noticed these myself too. So could you suggest what's the right way forward? Also, i did try the aforementioned steps and it didn't seem to work. Got the same error.

tejasps28 avatar May 09 '22 17:05 tejasps28

Not super clear on that at the moment. Trying to back track to what has changed to have caused this issue -- we haven't done a lot of changes in the past several months, either to the Unity code base or the Docker image -- so it is one of those very odd bugs.

micahpearlman avatar May 09 '22 17:05 micahpearlman

Not super clear on that at the moment. Trying to back track to what has changed to have caused this issue -- we haven't done a lot of changes in the past several months, either to the Unity code base or the Docker image -- so it is one of those very odd bugs.

Okay. Please let me know the solution to this when you find the bug. Thank you!

tejasps28 avatar May 09 '22 17:05 tejasps28

rqt

So RQT works just fine (see above). Something broken with the RViz config. Try launching RViz without the configuration and hand configure it?

micahpearlman avatar May 09 '22 17:05 micahpearlman

I'm sure there is just some weird ROS namespace thing or some minor configuration with RViz MoveIt. Take a look at the launch file: /catkin_ws# vim src/zero_sim_ros/launch/ur10_moveit.launch. But it appears RQT and MoveIt! Python works just fine -- RViz I don't have an ETA on fixing this.

micahpearlman avatar May 09 '22 17:05 micahpearlman

@micahpearlman Thanks, i did this and was able to reproduce the same using RQT. Willl try rviz configuration manually and let you know how it goes.

tejasps28 avatar May 11 '22 05:05 tejasps28

@micahpearlman @tejasps28 Hi, I have found the problem. Just correct the ZO_CONTROLLER_MANAGER_SERVICE in Unity Editor with name undefined_10 -> ur_10_control. It will work. Please correct and commit.

I have verified it with docker and VNC. I will try to test it on noetic as well.

ptiwari0664 avatar May 22 '22 09:05 ptiwari0664

@micahpearlman @tejasps28 Hi, I have found the problem. Just correct the ZO_CONTROLLER_MANAGER_SERVICE in Unity Editor with name undefined_10 -> ur_10_control. It will work. Please correct and commit.

I have verified it with docker and VNC. I will try to test it on noetic as well.

Yes, i tried this! It seems to work perfectly fine! Thank you @ptiwari0664 @micahpearlman

tejasps28 avatar May 22 '22 09:05 tejasps28

Fantastic! I will put in a fix for this ASAP.

micahpearlman avatar May 23 '22 21:05 micahpearlman

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anqitongxue avatar Oct 11 '22 07:10 anqitongxue