Problem when use this package in simulation robot in Gazebo.

[TouchDeeper]

Hello,

I tried to use this package in the UR5 in Gazebo.

I modified the example of ur5_kinect_calibration.launch to be below:

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />

<!--    <arg name="robot_ip" doc="The IP address of the UR5 robot" />-->

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" value="0.1" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" value="38"/>
    <arg name="camera_info" value="/left_hand_camera/rgb/camera_info"/>
    <arg name="image" value="/left_hand_camera/rgb/image_raw"/>
    <arg name="reference_frame" value="left_hand_camera_rgb_frame"/>
    <arg name="camera_frame" value="left_hand_camera_rgb_optical_frame"/>
    <!-- start the Kinect -->
<!--    <include file="$(find freenect_launch)/launch/freenect.launch" >-->
<!--        <arg name="depth_registration" value="true" />-->
<!--    </include>-->

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/left_hand_camera/rgb/camera_info" />
        <remap from="/image" to="/left_hand_camera/rgb/image_raw" />
        <param name="image_is_rectified" value="false"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="left_hand_camera_rgb_frame"/>
        <param name="camera_frame"       value="$(arg camera_frame)"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

<!--     start the robot -->
<!--    <include file="$(find ur_bringup)/launch/ur5_bringup.launch">-->
<!--        <arg name="limited" value="true" />-->
<!--        <arg name="robot_ip" value="192.168.0.21" />-->
<!--    </include>-->
<!--    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">-->
<!--        <arg name="limited" value="true" />-->
<!--    </include>-->

    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="true" />

        <arg name="tracking_base_frame" value="left_hand_camera_rgb_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="left_ur_arm_tool0" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
        <arg name="move_group" value="left_ur_arm"/>
    </include>

</launch>

I comment the Kinect related line and UR5 related line, because the Kinect and UR5 has run in Gazebo. When I run roslaunch easy_handeye ur5_kinect_calibration.launch, something wrong occurred:

PARAMETERS
 * /aruco_tracker/camera_frame: left_hand_camera_...
 * /aruco_tracker/image_is_rectified: False
 * /aruco_tracker/marker_frame: camera_marker
 * /aruco_tracker/marker_id: 38
 * /aruco_tracker/marker_size: 0.1
 * /aruco_tracker/reference_frame: left_hand_camera_...
 * /easy_handeye_calibration_server_robot/calibration_namespace: ur5_kinect_handey...
 * /rosdistro: kinetic
 * /rosversion: 1.12.16
 * /rviz_wang_System_Product_Name_28661_884266866154505972/left_ur_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_wang_System_Product_Name_28661_884266866154505972/left_ur_arm/kinematics_solver_attempts: 3
 * /rviz_wang_System_Product_Name_28661_884266866154505972/left_ur_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_wang_System_Product_Name_28661_884266866154505972/left_ur_arm/kinematics_solver_timeout: 0.005
 * /rviz_wang_System_Product_Name_28661_884266866154505972/right_ur_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_wang_System_Product_Name_28661_884266866154505972/right_ur_arm/kinematics_solver_attempts: 3
 * /rviz_wang_System_Product_Name_28661_884266866154505972/right_ur_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_wang_System_Product_Name_28661_884266866154505972/right_ur_arm/kinematics_solver_timeout: 0.005
 * /ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover/max_acceleration_scaling: 0.2
 * /ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover/max_velocity_scaling: 0.5
 * /ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover/move_group: left_ur_arm
 * /ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover/rotation_delta_degrees: 25
 * /ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover/translation_delta_meters: 0.1
 * /ur5_kinect_handeyecalibration_eye_on_hand/eye_on_hand: True
 * /ur5_kinect_handeyecalibration_eye_on_hand/move_group: left_ur_arm
 * /ur5_kinect_handeyecalibration_eye_on_hand/move_group_namespace: /
 * /ur5_kinect_handeyecalibration_eye_on_hand/robot_base_frame: base_link
 * /ur5_kinect_handeyecalibration_eye_on_hand/robot_effector_frame: left_ur_arm_tool0
 * /ur5_kinect_handeyecalibration_eye_on_hand/tracking_base_frame: left_hand_camera_...
 * /ur5_kinect_handeyecalibration_eye_on_hand/tracking_marker_frame: camera_marker

NODES
  /ur5_kinect_handeyecalibration_eye_on_hand/
    calibration_mover (rqt_easy_handeye/rqt_calibrationmovements)
    easy_handeye_calibration_server (easy_handeye/calibrate.py)
    hand_eye_solver (visp_hand2eye_calibration/visp_hand2eye_calibration_calibrator)
    namespace_wang_System_Product_Name_28661_1677677962753511127_rqt (rqt_easy_handeye/rqt_easy_handeye)
  /
    aruco_tracker (aruco_ros/single)
    dummy_handeye (tf/static_transform_publisher)
    easy_handeye_calibration_server_robot (easy_handeye/robot.py)
    rviz_wang_System_Product_Name_28661_884266866154505972 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[aruco_tracker-1]: started with pid [28679]
process[dummy_handeye-2]: started with pid [28706]
process[easy_handeye_calibration_server_robot-3]: started with pid [28866]
process[ur5_kinect_handeyecalibration_eye_on_hand/hand_eye_solver-4]: started with pid [28897]
rosout: Loading parameters for calibration ur5_kinect_handeyecalibration_eye_on_hand/ from the parameters server
process[ur5_kinect_handeyecalibration_eye_on_hand/easy_handeye_calibration_server-5]: started with pid [28903]
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.rosconsole_bridge.console_bridge: TF_OLD_DATA ignoring data from the past for frame left_hand_camera_rgb_frame at time 2763.32 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
process[ur5_kinect_handeyecalibration_eye_on_hand/namespace_wang_System_Product_Name_28661_1677677962753511127_rqt-6]: started with pid [28991]
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
rosout: Loading parameters for calibration /ur5_kinect_handeyecalibration_eye_on_hand/ from the parameters server
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
process[ur5_kinect_handeyecalibration_eye_on_hand/calibration_mover-7]: started with pid [29101]
Warning: TF_OLD_DATA ignoring data from the past for frame left_hand_camera_rgb_frame at time 2763.32 according to authority /robot_state_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
arguments:  Namespace(quiet=False)
unknowns:  []
process[rviz_wang_System_Product_Name_28661_884266866154505972-8]: started with pid [29212]
rosout: Configuring for calibration with namespace: /ur5_kinect_handeyecalibration_eye_on_hand/
rosout: Loading parameters for calibration /ur5_kinect_handeyecalibration_eye_on_hand/ from the parameters server
ros.rviz: rviz version 1.12.17
ros.rviz: compiled against Qt version 5.5.1
ros.rviz: compiled against OGRE version 1.9.0 (Ghadamon)
ros.moveit_ros_planning_interface.move_group_interface: Ready to take commands for planning group left_ur_arm.
ros.rviz: Stereo is NOT SUPPORTED
ros.rviz: OpenGl version: 4.6 (GLSL 4.6).
ros.moveit_ros_visualization.trajectory_visualization: No robot state or robot model loaded
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.moveit_core.robot_model: Loading robot model 'ridgeback'...
ros.moveit_core.robot_model: No root/virtual joint specified in SRDF. Assuming fixed joint
ros.moveit_ros_planning.planning_scene_monitor: Starting scene monitor
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/planning_scene'
ros.moveit_ros_visualization: Constructing new MoveGroup connection for group 'left_ur_arm' in namespace ''
ros.moveit_ros_planning_interface.move_group_interface: Ready to take commands for planning group left_ur_arm.
ros.moveit_ros_planning_interface.move_group_interface: Looking around: no
ros.moveit_ros_planning_interface.move_group_interface: Replanning: no

The main problem are:

1. Warning: TF_OLD_DATA ignoring data from the past for frame left_hand_camera_rgb_frame at time 2762.93 according to authority /robot_state_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained Maybe this is because the tf of left_hand_camera_rgb_frame and left_hand_camera_rgb_frame is existed, Do you have some ideas?
2. ros.moveit_ros_visualization.trajectory_visualization: No robot state or robot model loaded No idea.

After I click on the check starting pose, terminal output:rosout: Can't calibrate from this position!. What's more, I can't control my robot in Gazebo by MotionPlanning in rviz. Could you please provide some advice? Thanks a lot.

Below is the sceenshot on rviz and Gazebo:

The related part of tf tree is: