Resolve trac_ik "deprecated API", pilz "Multi-DOF-Joint" and TF exception "map" warnings on start-up
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On start-up roslaunch tables_demo_bringup demo_sim.launch, these warnings appear:
IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [/mobipick/move_group]
The same warning is shown for [/mobipick/moveit_macros] and [/mobipick/move_group_commander_wrappers_<ID>] later, most likely due to same root cause.
Later these warnings appear:
Multi-DOF-Joint 'mobipick/virtual_joint' not supported. [/mobipick/move_group]
Unable to update multi-DOF joint 'mobipick/virtual_joint': Failure to lookup transform between 'map' and 'mobipick/base_footprint' with TF exception: "map" passed to lookupTransform argument target_frame does not exist. [/mobipick/move_group]
IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
This is a bug in trac_ik_kinematics_plugin. The issue is tracked here. Looks like an easy fix; somebody should send a pull request.
Multi-DOF-Joint 'mobipick/virtual_joint' not supported.
This is a warning from the pilz_industrial_motion_planner (this line). Related to moveit/moveit#2930. The warning gets printed because there is a floating virtual joint in our model, but the planner doesn't even have to plan for it because we use the base_link as the planning frame, so planning still works despite the warning.
Unable to update multi-DOF joint 'mobipick/virtual_joint': Failure to lookup transform between 'map' and 'mobipick/base_footprint' with TF exception: "map" passed to lookupTransform argument target_frame does not exist. [/mobipick/move_group]
I think this is a transient error that goes away as soon as the map frame gets published.
That's a nice tongue twister title now. 😃
Yes, but at least it's specific enough so I don't have to click all 6 similarly-looking titles until I find the one I'm looking for. :)
Also should probably have been 3 separate issues, that would make the titles shorter. :-P
I considered the same but since I didn't know about their root causes I didn't want to create even more issues. We still can, what seems better than cross-linking multiple issues in case they're related.