Motion Planning for real robot
yunqiguhm opened this issue · 1 comments
yunqiguhm commented
Hi,
i'm trying to control the real robot use Moveit. I've tried moveit_servo and it works. But when i try to use move_group run following code:
ros2 launch iiwa_bringup iiwa.launch.py use_fake_hardware:=false use_planning:=true
RVIZ can't be open correctly:
The log is as following:
yunqi@yunqi-U22:~/iiwa_ros2$ ros2 launch iiwa_bringup iiwa.launch.py use_planning:=true use_fake_hardware:=false
[INFO] [launch]: All log files can be found below /home/yunqi/.ros/log/2023-02-16-09-03-06-598122-yunqi-U22-4105
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [4127]
[INFO] [move_group-2]: process started with pid [4129]
[INFO] [rviz2-3]: process started with pid [4131]
[INFO] [robot_state_publisher-4]: process started with pid [4133]
[INFO] [spawner-5]: process started with pid [4135]
[INFO] [spawner-6]: process started with pid [4137]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-4] [INFO] [1676534587.696214674] [robot_state_publisher]: got segment iiwa_base
[robot_state_publisher-4] [INFO] [1676534587.696367481] [robot_state_publisher]: got segment link_0
[robot_state_publisher-4] [INFO] [1676534587.696387726] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1676534587.696418566] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1676534587.696427992] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1676534587.696436614] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1676534587.696445038] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1676534587.696454152] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1676534587.696462944] [robot_state_publisher]: got segment link_7
[robot_state_publisher-4] [INFO] [1676534587.696471560] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1676534587.696480075] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1676534587.729492701] [resource_manager]: Loading hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734064847] [resource_manager]: Initialize hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734122372] [resource_manager]: Successful initialization of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734263854] [resource_manager]: 'configure' hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734277812] [resource_manager]: Successful 'configure' of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734291666] [resource_manager]: 'activate' hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.734302830] [IiwaFRIHardwareInterface]: Starting ...please wait...
[ros2_control_node-1] [INFO] [1676534587.734322449] [IiwaFRIHardwareInterface]: Connecting FRI to port= 30200 and ip= 172.31.1.147
[ros2_control_node-1] [INFO] [1676534587.734362491] [IiwaFRIHardwareInterface]: System Successfully started!
[ros2_control_node-1] [INFO] [1676534587.734370130] [resource_manager]: Successful 'activate' of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1676534587.739109584] [controller_manager]: update rate is 225 Hz
[ros2_control_node-1] [WARN] [1676534587.739382336] [controller_manager]: Could not enable FIFO RT scheduling policy
[move_group-2] [INFO] [1676534587.743602930] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00422034 seconds
[move_group-2] [INFO] [1676534587.743707053] [moveit_robot_model.robot_model]: Loading robot model 'iiwa'...
[move_group-2] [WARN] [1676534587.743721345] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'iiwa_base' does not match the URDF frame 'world'
[move_group-2] [INFO] [1676534587.743728906] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-1] [INFO] [1676534587.932074113] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1676534587.962666120] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1676534587.963954234] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1676534587.964086259] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1676534587.979445647] [spawner_ets_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-3] [INFO] [1676534588.045471167] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1676534588.045643015] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1676534588.071372649] [rviz2]: Stereo is NOT SUPPORTED
[move_group-2] [INFO] [1676534588.781310674] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1676534588.781534938] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1676534588.782236642] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1676534588.782600376] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1676534588.782730352] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1676534588.783089217] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1676534588.783110032] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1676534588.783558968] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1676534588.784047483] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1676534588.784941937] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1676534588.784960466] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link_6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3] at line 93 in ./src/buffer_core.cpp
May i ask how to fix this problem?
Thanks in advance.
Geson12138 commented
Maybe you should start with use_fake_hardware:=true