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Hi @NickBak08! I have the absolutely same issue with an UR3 robot arm. I somehow found a workaround. In the ur_moveit.launch.py file i commented out the robot_description_kinematics parameter from rviz_node (around 230th line). I wish you the best, |
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Same issue. The "workaround" worked for me but what is the actual solution ? |
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To be honest... I think nobody knows. We gave up on ROS2 in my company after that. |
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Hello,
ROS2 version: humble
First I run this line of code: ros2 run ur_robot_driver start_ursim.sh ur_type:=ur5e
Then I start the drivers: ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101 launch_rviz:=true
The next step is too start the moveit example with the ursim but then I get this error. I says that I didn't define the kinematics.yaml. But I didn't change anything to the moveit launch file. What is going wrong?
`ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true description_pacakge:=ur_description moveit_config_package:=ur_moveit_config
[INFO] [launch]: All log files can be found below /home/nick/.ros/log/2023-02-07-16-01-45-674683-nick-OMEN-by-HP-Laptop-15-dc1xxx-15394
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [15402]
[INFO] [rviz2-2]: process started with pid [15404]
[INFO] [servo_node_main-3]: process started with pid [15406]
[servo_node_main-3] [WARN] [1675782106.823961856] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [WARN] [1675782106.833800588] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1675782106.836516169] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00251814 seconds
[move_group-1] [INFO] [1675782106.836550493] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1675782106.836562431] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [INFO] [1675782106.836756183] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00496205 seconds
[servo_node_main-3] [INFO] [1675782106.836784917] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1675782106.836796940] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1675782106.850179389] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[servo_node_main-3] [INFO] [1675782106.913356333] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-3] [INFO] [1675782106.930023590] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1675782106.930054889] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1675782106.930262992] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1675782106.930444260] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1675782106.932948826] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[servo_node_main-3] [INFO] [1675782106.933465861] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1675782106.933647565] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1675782106.933668302] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1675782106.934278935] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1675782106.934298780] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node_main-3] [INFO] [1675782106.934373708] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[move_group-1] [INFO] [1675782106.934943376] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1675782106.935472007] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1675782106.935696615] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1675782106.935714430] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1675782106.942403682] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[servo_node_main-3] [WARN] [1675782106.948057681] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1675782106.948092604] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[move_group-1] [INFO] [1675782106.959439692] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1675782106.962029381] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1675782106.962043832] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1675782106.962048986] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1675782106.962061919] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1675782106.962075849] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1675782106.962081211] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1675782106.962092104] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1675782106.962097350] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1675782106.962102523] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1675782106.962113469] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1675782106.962118669] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1675782106.962122708] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1675782106.962126401] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1675782106.962150331] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1675782107.002051818] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1675782107.006957148] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1675782107.007081920] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1675782107.007114003] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1675782107.008020679] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1675782107.008038356] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1675782107.031294522] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] * - ApplyPlanningSceneService
[move_group-1] * - ClearOctomapService
[move_group-1] * - CartesianPathService
[move_group-1] * - ExecuteTrajectoryAction
[move_group-1] * - GetPlanningSceneService
[move_group-1] * - KinematicsService
[move_group-1] * - MoveAction
[move_group-1] * - MotionPlanService
[move_group-1] * - QueryPlannersService
[move_group-1] * - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1675782107.031331767] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1675782107.031345376] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]
[rviz2-2] [INFO] [1675782107.707477272] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1675782107.707537309] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1675782107.811221885] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1675782110.902594088] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1675782110.934644009] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1675782110.999845910] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00395356 seconds
[rviz2-2] [INFO] [1675782110.999899779] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1675782110.999910081] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [ERROR] [1675782111.014539914] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_kinematics.ur_manipulator.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {robot_description_kinematics.ur_manipulator.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.
`
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