moveit2_tutorials failed running the moveit_resources_panda_moveit

failed running the moveit_resources_panda_moveit_config from demo.launch.py

Open wei1224hf opened this issue 1 year ago • 0 comments

Description

Overview of your issue here.

Your environment

ROS Distro: IRON
OS Version: e.g. Ubuntu 22.04
Source or Binary build: Moveit2 by binary, tutorials by souce
If binary, which release version: moveit2 2.8
If source, which git commit or tag:

Steps to reproduce

succeed running the demo.launch.py with this tutorial : https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst but I wan to try the panda robot , so I install the moveit_resources_panda_moveit_config binary package by: sudo apt-get install ros-iron-moveit-resources-panda-moveit-config sudo apt-get install ros-iron-moveit-resources-panda-description Then I modify the demo.launch.py with:

import os from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from ament_index_python.packages import get_package_share_directory from moveit_configs_utils import MoveItConfigsBuilder

def generate_launch_description():

# Define xacro mappings for the robot description file
launch_arguments = {
    "robot_ip": "xxx.yyy.zzz.www",
    "use_fake_hardware": "true",
    "gripper": "robotiq_2f_85",
    "dof": "7",
}

# Load the robot configuration
moveit_config = (
    MoveItConfigsBuilder(
        "panda", package_name="moveit_resources_panda_moveit_config"
    )
    .robot_description(mappings=launch_arguments)
    .trajectory_execution(file_path="config/moveit_controllers.yaml")
    .planning_scene_monitor(
        publish_robot_description=True, publish_robot_description_semantic=True
    )
    .planning_pipelines(
        pipelines=["ompl", "stomp", "pilz_industrial_motion_planner"]
    )
    .to_moveit_configs()
)

# Start the actual move_group node/action server
run_move_group_node = Node(
    package="moveit_ros_move_group",
    executable="move_group",
    output="screen",
    parameters=[moveit_config.to_dict()],
)

# RViz for visualization
# Get the path to the RViz configuration file
rviz_config_arg = DeclareLaunchArgument(
    "rviz_config",
    default_value="panda_moveit_config_demo.rviz",
    description="RViz configuration file",
)
rviz_base = LaunchConfiguration("rviz_config")
rviz_config = PathJoinSubstitution(
    [FindPackageShare("moveit2_tutorials"), "launch", rviz_base]
)

# Launch RViz
rviz_node = Node(
    package="rviz2",
    executable="rviz2",
    name="rviz2",
    output="log",
    arguments=["-d", rviz_config],
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
        moveit_config.planning_pipelines,
        moveit_config.joint_limits,
    ],
)

# Static TF
static_tf = Node(
    package="tf2_ros",
    executable="static_transform_publisher",
    name="static_transform_publisher",
    output="log",
    arguments=["--frame-id", "world", "--child-frame-id", "base_link"],
)

# Publish TF
robot_state_publisher = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    name="robot_state_publisher",
    output="both",
    parameters=[moveit_config.robot_description],
)

# ros2_control using mock hardware for trajectory execution
ros2_controllers_path = os.path.join(
    get_package_share_directory("moveit_resources_panda_moveit_config"),
    "config",
    "ros2_controllers.yaml",
)
ros2_control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[ros2_controllers_path],
    remappings=[
        ("/controller_manager/robot_description", "/robot_description"),
    ],
    output="both",
)

joint_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "joint_state_broadcaster",
        "--controller-manager",
        "/controller_manager",
    ],
)

arm_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["panda_arm_controller", "-c", "/controller_manager"],
)


hand_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["panda_hand_controller", "-c", "/controller_manager"],
)


return LaunchDescription(
    [
        rviz_config_arg,
        rviz_node,
        static_tf,
        robot_state_publisher,
        run_move_group_node,
        ros2_control_node,
        joint_state_broadcaster_spawner,
        arm_controller_spawner,
        hand_controller_spawner,
    ]
)

Then I build it , then run it, then errors comes out:

[spawner-6] [INFO] [1706863336.316555922] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available [spawner-8] [INFO] [1706863336.755889541] [spawner_panda_hand_controller]: Waiting for '/controller_manager' services to be available [spawner-7] [INFO] [1706863336.771893800] [spawner_panda_arm_controller]: Waiting for '/controller_manager' services to be available [spawner-6] [ERROR] [1706863338.328291305] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner-6]: process has died [pid 3495, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [spawner-8] [ERROR] [1706863338.767587140] [spawner_panda_hand_controller]: Controller manager not available [spawner-7] [ERROR] [1706863338.783745145] [spawner_panda_arm_controller]: Controller manager not available [ERROR] [spawner-8]: process has died [pid 3505, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner panda_hand_controller -c /controller_manager --ros-args']. [ERROR] [spawner-7]: process has died [pid 3497, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner panda_arm_controller -c /controller_manager --ros-args'].