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Move_group.launch Error

kinetic

#1

Hey guys,

I am trying to move my robot arm with XBOX controller and for that first I am launching the demo.launch file followed by move_group.launch file and then the joystick_control.launch file.

In both the move_group.launch file and the joystick_control.launch files, I am getting an error. In the demo.launch I am getting warnings as follows:

[ WARN] [1525355941.049859437]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ WARN] [1525355962.844137594]: Shutdown request received.
[ WARN] [1525355962.844183740]: Reason given for shutdown: [new node registered with same name]
[move_group-4] process has finished cleanly
log file: /home/kashyap/.ros/log/1c6972f4-4eda-11e8-bdd3-e82a44e7a573/move_group-4*.log
[ WARN] [1525355984.696784203]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
[ WARN] [1525355984.696889365]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
[ WARN] [1525355984.696956868]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
[ WARN] [1525355984.697012117]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
[ WARN] [1525355984.697097885]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
[ WARN] [1525355984.697155851]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
[ WARN] [1525355984.697205708]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
[ WARN] [1525355984.697254351]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list

The error in move_group.launch is as follows:

[ WARN] [1525355972.391054987]: Waiting for arm_controller/follow_joint_trajectory to come up
[ WARN] [1525355972.391054987]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1525355984.391501483]: Action client not connected: arm_controller/follow_joint_trajectory

and my move_group.launch file is as follows

<launch>

  <include file="$(find igus_moveit_config)/launch/planning_context.launch" />

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
	   value="gdb -x $(find igus_moveit_config)/launch/gdb_settings.gdb --ex run --args" />

  <!-- Verbose Mode Option -->
  <arg name="info" default="$(arg debug)" />
  <arg unless="$(arg info)" name="command_args" value="" />
  <arg     if="$(arg info)" name="command_args" value="--debug" />

  <!-- move_group settings -->
  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="fake_execution" default="false"/>
  <arg name="max_safe_path_cost" default="1"/>
  <arg name="jiggle_fraction" default="0.05" />
  <arg name="publish_monitored_planning_scene" default="true"/>

  <!-- Planning Functionality -->
  <include ns="move_group" file="$(find igus_moveit_config)/launch/planning_pipeline.launch.xml">
    <arg name="pipeline" value="ompl" />
  </include>

  <!-- Trajectory Execution Functionality -->
  <include ns="move_group" file="$(find igus_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_manage_controllers" value="true" />
    <arg name="moveit_controller_manager" value="igus" unless="$(arg fake_execution)"/>
    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
  </include>

  <!-- Sensors Functionality -->
  <include ns="move_group" file="$(find igus_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="igus" />
  </include>

  <!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />

    <!-- load these non-default MoveGroup capabilities -->
    <!--
    <param name="capabilities" value="
                  a_package/AwsomeMotionPlanningCapability
                  another_package/GraspPlanningPipeline
                  " />
    -->

    <!-- inhibit these default MoveGroup capabilities -->
 
    <param name="disable_capabilities" value="
                  move_group/MoveGroupKinematicsService
                  move_group/ClearOctomapService
                  " />

 <!-- MoveGroup capabilities to load -->

   <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
  </node>

</launch>

and the error in the joystick_control.launch file is in the following link below

roslaunch joystick_control.launch 
... logging to /home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/roslaunch-kashyap-Lenovo-ideapad-320-15IKB-21878.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://kashyap-Lenovo-ideapad-320-15IKB:34895/
SUMMARY
========
PARAMETERS
* /joy/autorepeat_rate: 40
* /joy/coalesce_interval: 0.025
* /joy/deadzone: 0.2
* /joy/dev: /dev/input/js0
* /rosdistro: kinetic
* /rosversion: 1.12.13

NODES
/
 joy (joy/joy_node)
moveit_joy (moveit_ros_visualization/moveit_joy.py)
ROS_MASTER_URI=http://localhost:11311

process[joy-1]: started with pid [21895]
process[moveit_joy-2]: started with pid [21896]
[ERROR] [1524996050.168624845]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1524996050.967877063]: Loading robot model 'igus'...
[ INFO] [1524996050.967919483]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1524996051.220354327]: Loading robot model 'igus'...
[ INFO] [1524996051.220388920]: No root/virtual joint specified in SRDF. Assuming fixed joint
[FATAL] [1524996051.417448]: Check if you started movegroups. Exiting.
Traceback (most recent call last):
 File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/scripts/moveit_joy.py", line 42, in <module>
app = MoveitJoy()
File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py", line 381, in __init__
 self.updatePlanningGroup(0)
File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py", line 405, in updatePlanningGroup
raise rospy.ROSInitException(msg)
rospy.exceptions.ROSInitException: Check if you started movegroups. Exiting.
[moveit_joy-2] process has died [pid 21896, exit code 1, cmd /home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/scripts/moveit_joy.py __name:=moveit_joy __log:=/home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/moveit_joy-2.log].
log file: /home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/moveit_joy-2*.log

#2

Hello Kashyap_Maheshwari

(As @tfoote usually answers) Thanks for your question. However we ask that you please ask questions on http://answers.ros.org following our support guidelines: http://wiki.ros.org/Support

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