Confusion about IKFast installation

[bjutlss]

Description

I tried to configure the IKFast plugin for my 5D robotic arm in the ros-noetic version and installed it according to the IKFast Kinematics Solver, completing all the steps, including installing the docker image personalrobotics/ros-openrave. But when running the command roslaunch "$MYROBOT_NAME"_moveit_config demo.launch to verify the feasibility, I can't drag the interactive ball at the end. I'm confused about this, is it because I didn't generate a container based on the image that caused ikfast to be unable to call openrave? Or something else, I hope I can get an answer.

Your environment

• ROS Distro: Noetic
• OS Version: e.g. Ubuntu 20.04
• Source or Binary build? Source

Steps to reproduce

I followed the instructions step by step to install. https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html

Backtrace or Console output

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - SequenceAction
*     - SequenceService
********************************************************

[ INFO] [1680603236.727396100]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1680603236.727408857]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1680603236.846412557]: Stereo is NOT SUPPORTED
[ INFO] [1680603236.846452055]: OpenGL device: NVIDIA GeForce RTX 3070 Ti/PCIe/SSE2
[ INFO] [1680603236.846462993]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1680603240.111642052]: Loading robot model 'robot_model'...
[ WARN] [1680603240.150352061]: Could not identify parent group for end-effector 'gripper'
[ INFO] [1680603240.156224530]: Using empty link_prefix.
[ INFO] [1680603240.303807502]: Starting planning scene monitor
[ INFO] [1680603240.306669220]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1680603240.371524813]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1680603240.374970111]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1680603241.574876300]: Ready to take commands for planning group manipulator.

Use [gist.github.com](gist.github.com) to copy-paste the console output or segfault backtrace using gdb.

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

Please provide the log of the generator script auto_create_ikfast_moveit_plugin.sh as well as a link to your generated *_move_config files. From the output of the MoveIt itself, one cannot guess what went wrong during the generation.

[bjutlss]

Sorry for not replying in time. I cannot find the log of the generator script auto_create_ikfast_moveit_plugin.sh,Can you give me some tips on logs? For example the exact path. Thanks.

[rhaschke]

I'm afraid there is no log file of this, but you need to repeat the generation process.

[bjutlss]

In fact, I have followed the instructions and installed it no less than 5 times, for which I have tried to configure 6D ikfast for ur5 and it is working fine. But configuring ikfast with TranslationDirection5Dd for my own 5-DOF robot arm does not work properly.

------------------ 原始邮件 ------------------ 发件人: "Robert @.>; 发送时间: 2023年4月5日(星期三) 晚上9:41 收件人: @.>; 抄送: @.>; @.>; 主题: Re: [ros-planning/moveit_tutorials] Confusion about IKFast installation (Issue #767)

I'm afraid there is no log file of this, but you need to repeat the generation process.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>

[rhaschke]

I'm sorry for that, but without the log, we cannot help.

[bjutlss]

I'm sorry for that, but without the log, we cannot help. Where should the log file be generated? Is it a normal phenomenon to have no log files? I tried searching the entire workspace for a file like ikfast.log, but no luck. Can you tell me the name of the log file?

[rhaschke]

As I said, there is no log file of the output. You need to pipe the cmdline output of the generator into a file on your own. https://stackoverflow.com/questions/30765730/simple-tee-example

[bjutlss]

I might see what you mean, I will try to generate my log file. Thanks for your reply! I should save the cmdline in a file when I run the code below, right? rosrun moveit_kinematics auto_create_ikfast_moveit_plugin.sh --iktype Transform6D /tmp/$MYROBOT_NAME.urdf <planning_group_name> <base_link> <eef_link>