when using moveit in a simulation environment, an error appears that : Group 'manipulator' was not found.

[Mr-rain-drop]

Thanks for looking at my problem, I want to command the robot using moveit in a simulation environment, so I ran the following code to start a simulation in gazebo:

roslaunch iiwa_moveit moveit_planning_execution.launch

Then, I used the cpp file from the wiki pages of commandrobotmoveit：

**#include "ros/ros.h"
#include <iiwa_ros.h>
#include <moveit/move_group_interface/move_group_interface.h>

using moveit::planning_interface::MoveItErrorCode;

int main (int argc, char **argv) {

// Initialize ROS
ros::init(argc, argv, "CommandRobotMoveit");
ros::NodeHandle nh("~");

// ROS spinner.
ros::AsyncSpinner spinner(1);
spinner.start();

iiwa_ros::iiwaRos my_iiwa;
my_iiwa.init();

std::string movegroup_name, ee_link;
geometry_msgs::PoseStamped command_cartesian_position;

// Dynamic parameters. Last arg is the default value. You can assign these from a launch file.
nh.paramstd::string("move_group", movegroup_name, "manipulator");
nh.paramstd::string("ee_link", ee_link, "tool_link_ee");

// Dynamic parameter to choose the rate at wich this node should run
double ros_rate;
nh.param("ros_rate", ros_rate, 0.1); // 0.1 Hz = 10 seconds
ros::Rate* loop_rate_ = new ros::Rate(ros_rate);

int direction = 1;

// Create MoveGroup
moveit::planning_interface::MoveGroupInterface group(movegroup_name);
moveit::planning_interface::MoveGroupInterface::Plan myplan;

// Configure planner
group.setPlanningTime(0.5);
group.setPlannerId("RRTConnectkConfigDefault");
group.setEndEffectorLink(ee_link);
MoveItErrorCode success_plan = MoveItErrorCode::FAILURE, motion_done = MoveItErrorCode::FAILURE;
while (ros::ok()) {
if (my_iiwa.getRobotIsConnected()) {

command_cartesian_position = group.getCurrentPose(ee_link);
command_cartesian_position.pose.position.z -= direction * 0.10;

group.setStartStateToCurrentState();
group.setPoseTarget(command_cartesian_position, ee_link);
success_plan = group.plan(myplan);
if (success_plan == MoveItErrorCode::SUCCESS) {
motion_done = group.execute(myplan);
}
if (motion_done == MoveItErrorCode::SUCCESS) {
direction = -1; // In the next iteration the motion will be on the opposite direction
loop_rate_->sleep(); // Sleep for some millisecond. The while loop will run every 10 seconds in this example.
}
}
else {
ROS_WARN_STREAM("Robot is not connected...");
ros::Duration(5.0).sleep(); // 5 seconds
}
}
};*

The code compiled successfully,but failed to run，
[ERROR] Robot semantic description not found, Did you forget to define or remap '/robot_description_semantic'?
[FATAL] Group 'manipulator' was not found.
and I found that there existed /iiwa/robot_description_semantic,but not /robot_description_semantic in the rosparam list,I know that the move group is under the namespace iiwa ,but I really don't know how to fix this problem, I will be grateful if someone can give me a solution.

[lyh458]

Hi, I have a similar problem here, how did you solve your problem? Thanks.

[mf093087]

The same to me