MoveIt-Py unable to construct goal representation with PoseStamped

[AGuthmann]

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Description

I am currently trying to get the MoveItPy package to work with an URSimulator. Followed this approach for the MoveIt-Py-tutorial and almost got all of the examples to work. But one -Plan and Execute Motion with PoseStamped- runs into an ominous error: [moveit.ompl_planning.model_based_planning_context]: Unable to construct goal representation without any further information.

Did anyone run into a similar issue before and could provide help with it?

Your environment

(All Packages Binary)

• OS Version: WSL2 Ubuntu 22.04
• UniversalRobots URSim_cb3 (Docker)
• ROS Distro: Rolling : 2.8.0-2jammy.20231019.013248 amd64
• ros-rolling-ros2-control 3.19.1-1jammy.20231018.232413 amd64
• ros-rolling-ros2-controllers 3.16.0-1jammy.20231018.233440 amd64
• ur_ros2_driver (ros-rolling-ur): 2.4.1-1jammy.20231031.014900 amd64
• ros-rolling-moveit: 2.8.0-2jammy.20231019.013248 amd64
• ross-rolling-moveit-py: 2.8.0-2jammy.20231019.005438 amd64

Steps to reproduce

1. Install ros2 Rolling and all other listed binaries
2. Source ros2 environment
3. Create own package with code example from here
4. Adjust config directories from moveit_tutorial to UR_Driver or current package.
5. Only return moveit_py_node as node to start (easier to debug when moveit move_group node runs separate)
6. Add launch and config files to setup.py
7. Launch Ursim ros2 run ur_client_library start_ursim.sh -m ur5
8. Launch UR_Driver & wait for it to start all controllers ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=localhost launch_rviz:=false
9. Launch MoveIt Move_group ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true
10. Launch MoveIt_py_node ros2 launch hello_py_ur hello_py_ur.launch.py

Expected behaviour

The robot should be able to plan a trajectory and move to the given coordinates. The coordinates should be valid since they are the same as in the C++ tutorial.

Actual behaviour

Instead of getting a planned trajectory, the robot stays in place and only displays the ERROR: Unable to construct goal representation

Backtrace or Console output

[INFO] [launch]: All log files can be found below ~/.ros/log/2024-01-31-08-59-58-102474-WKS0000644601-77628
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_py_ur-1]: process started with pid [77640]
[hello_py_ur-1] [INFO] [1706687998.971443917] [moveit_cpp_initializer]: Initialize rclcpp
[hello_py_ur-1] [INFO] [1706687998.972696020] [moveit_cpp_initializer]: Initialize node parameters
[hello_py_ur-1] [INFO] [1706687998.972719620] [moveit_cpp_initializer]: Initialize node and executor
[hello_py_ur-1] [INFO] [1706687999.027788319] [moveit_cpp_initializer]: Spin separate thread
[hello_py_ur-1] [INFO] [1706687999.032909428] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00497661 seconds
[hello_py_ur-1] [INFO] [1706687999.032976828] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[hello_py_ur-1] [INFO] [1706687999.032983328] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[hello_py_ur-1] [WARN] [1706687999.049702458] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[hello_py_ur-1] [INFO] [1706687999.104146256] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[hello_py_ur-1] [INFO] [1706687999.104360556] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[hello_py_ur-1] [INFO] [1706687999.105521358] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[hello_py_ur-1] [INFO] [1706687999.106591960] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[hello_py_ur-1] [INFO] [1706687999.106624860] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[hello_py_ur-1] [INFO] [1706687999.107360261] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[hello_py_ur-1] [INFO] [1706687999.107390561] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[hello_py_ur-1] [INFO] [1706687999.108157063] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[hello_py_ur-1] [INFO] [1706687999.108896664] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[hello_py_ur-1] [WARN] [1706687999.109005164] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[hello_py_ur-1] [ERROR] [1706687999.109023464] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[hello_py_ur-1] [INFO] [1706687999.119580383] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[hello_py_ur-1] [INFO] [1706687999.123346290] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[hello_py_ur-1] [INFO] [1706687999.123397090] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[hello_py_ur-1] [INFO] [1706687999.123416290] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[hello_py_ur-1] [INFO] [1706687999.123419990] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[hello_py_ur-1] [INFO] [1706687999.123423590] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[hello_py_ur-1] [INFO] [1706687999.129915502] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[hello_py_ur-1] [INFO] [1706687999.146702932] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[hello_py_ur-1] [INFO] [1706687999.146746132] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[hello_py_ur-1] [INFO] [1706687999.148119535] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[hello_py_ur-1] [INFO] [1706687999.148171535] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[hello_py_ur-1] [INFO] [1706687999.149006136] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[hello_py_ur-1] [INFO] [1706687999.149041436] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[hello_py_ur-1] [INFO] [1706687999.149945638] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[hello_py_ur-1] [INFO] [1706687999.149981438] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[hello_py_ur-1] [INFO] [1706687999.155972949] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[hello_py_ur-1] [INFO] [1706687999.156017649] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[hello_py_ur-1] [INFO] [1706687999.156023149] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[hello_py_ur-1] [INFO] [1706687999.156026949] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[hello_py_ur-1] [INFO] [1706687999.233728588] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[hello_py_ur-1] [INFO] [1706687999.238728097] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[hello_py_ur-1] [INFO] [1706687999.238919898] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[hello_py_ur-1] [INFO] [1706687999.238942598] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[hello_py_ur-1] [INFO] [1706687999.239621699] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[hello_py_ur-1] [INFO] [1706687999.249072116] [moveit_py.pose_goal]: MoveItPy instance created
[hello_py_ur-1] [INFO] [1706687999.249705017] [moveit_py.pose_goal]: 
[hello_py_ur-1] 
[hello_py_ur-1]  Start Plan 3:
[hello_py_ur-1] 
[hello_py_ur-1] [INFO] [1706687999.508993382] [moveit_py.pose_goal]: Planning trajectory
[hello_py_ur-1] [ERROR] [1706687999.509948084] [moveit.ompl_planning.model_based_planning_context]: Unable to construct goal representation
[hello_py_ur-1] [WARN] [1706687999.510036084] [moveit.ros_planning.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner.
[hello_py_ur-1] [ERROR] [1706687999.510847186] [moveit_py.pose_goal]: Planning failed
[hello_py_ur-1] [INFO] [1706688002.518970382] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp

Gist with relevant files

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[peterdavidfagan]

Thank you @AGuthmann for posting this detailed issue, I am setting up a workspace for UR10s in my lab and it will involve the usage of the MoveIt python library. When I go through this I will try to replicate this error, my work will also be open sourced so if it works on my setup I can share this as a reference.

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.