[BUG]: Moveit configuration for jazzy release
Opened this issue · 1 comments
brammmieee commented
Issue Description
When including the planning launch file in the main launch file moveit terminates due to multiple parameter issues.
Steps to Reproduce
Run the following command from the /alpha/alpha_bringup/launch folder after having built the project using colcon: ros2 launch ./alpha.launch.py use_planning:=true
Expected Behavior
After the expected Error from the moveit.moveit.ros.occupancy_map_monitor node saying "No 3D sensor plugin(s) defined for octomap updates" the following error will appear:
[move_group-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[move_group-1] what(): expected [string_array] got [string]
Error Message
No response
Runtime Environment
Dell laptop running Ubuntu 24.04 natively
Additional Context
No response
brammmieee commented
Changing the planning_pipelines.yaml to the following will resolve the issue:
/**:
ros__parameters:
default_planning_pipeline: ompl
planning_pipelines: [pilz, ompl]
pilz:
planning_plugins: [pilz_industrial_motion_planner/CommandPlanner]
start_state_max_bounds_error: 0.1
ompl:
planning_plugins: [ompl_interface/OMPLPlanner]
request_adapters:
- default_planner_request_adapters/AddTimeOptimalParameterization
- default_planning_request_adapters/CheckForStackedConstraints
- default_planning_request_adapters/CheckStartStateBounds
- default_planning_request_adapters/CheckStartStateCollision
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/ValidateWorkspaceBounds
start_state_max_bounds_error: 0.1
After that you will be met with another issue:
[FATAL] [1723815312.946491966] [move_group]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeOptimalParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeOptimalParameterization with base class type planning_interface::PlanningRequestAdapter does not exist. Declared types are default_planning_request_adapters/CheckForStackedConstraints default_planning_request_adapters/CheckStartStateBounds default_planning_request_adapters/CheckStartStateCollision default_planning_request_adapters/ResolveConstraintFrames default_planning_request_adapters/ValidateWorkspaceBounds
Which can be solved by changing it to the following:
/**:
ros__parameters:
default_planning_pipeline: ompl
planning_pipelines: [pilz, ompl]
pilz:
planning_plugins: [pilz_industrial_motion_planner/CommandPlanner]
start_state_max_bounds_error: 0.1
ompl:
planning_plugins: [ompl_interface/OMPLPlanner]
request_adapters:
request_adapters:
- default_planner_request_adapters/AddTimeOptimalParameterization
- default_planning_request_adapters/CheckForStackedConstraints
- default_planning_request_adapters/CheckStartStateBounds
- default_planning_request_adapters/CheckStartStateCollision
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/ValidateWorkspaceBounds
start_state_max_bounds_error: 0.1