Motion planning pipeline tutorial roslaunch Error

[edetleon]

Description

Your environment

• ROS Distro: Melodic
• OS Version: e.g. Ubuntu 18.04 on VirtualBox
• Binary build
• Unversionned

Steps to reproduce

• Install moveit_tutorials package with git clone in /src :
  git clone https://github.com/ros-planning/moveit_tutorials.git -b melodic-devel

• Make your environnement (catkin_make), and follow this tutorial : http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/motion_planning_pipeline/motion_planning_pipeline_tutorial.html

• At the first step, roslaunch the launch file. A joint_state_publisher GUI appears, and safter a few seconds you can see the panda robot in the Rviz GUI :
  roslaunch moveit_tutorials motion_planning_pipeline_tutorial.launch

• When the terminal prints Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo... continuing press the Next button in RvizVisualToolsGui (bottom left of the Rviz window).

Expected behaviour

The panda arm moves to a pose goal.

Actual behaviour

In the Rviz GUI, the arm is in collision state.
Error messages are displayed on the terminal ant the panda arm doesn't move.

I don't know how the joint_state_publisher GUI is supposed to work (I never used it), but when I change the joints values the robot doesn't move.

Backtrace or Console output

WARNING: Package name "swurdf_Arm_ikfast_plugin" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "patte_ikfast_Leg_plugin" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[virtual_joint_broadcaster_0-1]: started with pid [14502]
process[joint_state_publisher-2]: started with pid [14503]
process[robot_state_publisher-3]: started with pid [14504]
process[rviz_edith_VirtualBox_14481_8276606921159861290-4]: started with pid [14505]
process[motion_planning_pipeline_tutorial-5]: started with pid [14511]
[ INFO] [1583937715.047109946]: Loading robot model 'panda'...
[ INFO] [1583937715.150063252]: rviz version 1.13.7
[ INFO] [1583937715.150168630]: compiled against Qt version 5.9.5
[ INFO] [1583937715.150211600]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1583937715.170898961]: Forcing OpenGl version 0.
[ WARN] [1583937715.240433455]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/panda_arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1583937715.403445120]: Initializing OMPL interface using ROS parameters
[ INFO] [1583937715.432621290]: Using planning interface 'OMPL'
[ INFO] [1583937715.435969169]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1583937715.437572740]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1583937715.438574314]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1583937715.439092635]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1583937715.439548150]: Param 'jiggle_fraction' was not set. Using default value: 0.02
[ INFO] [1583937715.443451599]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1583937715.443654107]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1583937715.443784017]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1583937715.443904599]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1583937715.444013229]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1583937715.444125606]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1583937715.451292139]: RemoteControl Ready.
[ INFO] [1583937715.609301891]: Stereo is NOT SUPPORTED
[ INFO] [1583937715.609644307]: OpenGl version: 3.1 (GLSL 1.4).
[ERROR] [1583937715.772605028]: Ignoring transform for child_frame_id "100" from authority "unknown_publisher" because of an invalid quaternion in the transform (0,000000 0,000000 0,000000 0,000000)
[ WARN] [1583937715.952220903]: Topic '/rviz_visual_tools' unable to connect to any subscribers within 0.5 sec. It is possible initially published visual messages will be lost.
[ INFO] [1583937715.958582894]: Loading robot model 'panda'...
[WARN] [1583937716.073134]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ INFO] [1583937716.888517373]: Loading robot model 'panda'...
[ WARN] [1583937716.966021391]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_edith_VirtualBox_14481_8276606921159861290/panda_arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1583937717.073596753]: Starting planning scene monitor
[ INFO] [1583937717.076104397]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1583937717.077392510]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1583937722.097813835]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.2/planning_scene_monitor/src/planning_scene_monitor.cpp:495

Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo... continuing
[ERROR] [1583937768.544020072]: Found empty JointState message
[ERROR] [1583937768.544548844]: Found empty JointState message
[ INFO] [1583937768.544964896]: Found a contact between 'panda_hand' (type 'Robot link') and 'panda_link5' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1583937768.545126177]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1583937768.545499863]: Start state appears to be in collision with respect to group panda_arm
[ WARN] [1583937768.610460199]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.020000 and 100 sampling attempts). Passing the original planning request to the planner.
[ERROR] [1583937768.614835703]: Found empty JointState message
[ERROR] [1583937768.615512649]: Found empty JointState message
[ INFO] [1583937768.617181032]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[ INFO] [1583937768.617841086]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1583937768.618421402]: RRTConnect: Skipping invalid start state (invalid state)
[ERROR] [1583937768.618601936]: RRTConnect: Motion planning start tree could not be initialized!
[ INFO] [1583937768.618724206]: No solution found after 0.000380 seconds
[ WARN] [1583937768.620438744]: Goal sampling thread never did any work.
[ INFO] [1583937768.620644016]: Unable to solve the planning problem
[ERROR] [1583937768.621580727]: Could not compute plan successfully
[motion_planning_pipeline_tutorial-5] process has finished cleanly
log file: /home/edith/.ros/log/09305068-639b-11ea-90ad-0800273c0207/motion_planning_pipeline_tutorial-5*.log

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

[welcome]

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

[henningkayser]

@edetleon thanks for this report. Did you clone the panda_moveit_config package into your workspace as well as described in the Getting Started section? This issue has been fixed a while ago moveit/panda_moveit_config#47. I assume the setup was picking up an outdated version of that package.

[simonbogh]

I can confirm this is still happening with the same setup. panda_moveit_config is cloned into the workspace.

Getting this error as well, which is probably due to the former

ros.moveit_ros_visualization: Unable to connect to move_group action server 'move_group' within allotted time (30s)

[basalp]

I could also confirm the issue having the panda_moveit_config being cloned into the ws. Solution mentioned here did not work on Ubuntu 18.04 (VirtualBox) with ROS Melodic.

[OmkarKabadagi5823]

Even I faced the same issue in the tutorial, but I was able to fix it with few modifications in code and launch file.
Fix for the first issue was to load the arm in a valid state. That can be done by setting the state to ready using planning scene in code. Planning the pose now works after this edit. But this still does visually change the state of arm in RViz, but if you plan a pose with show trail enabled for trajectory, you can see the trail starts from ready state instead of the collision state displayed which means the change in state is not being updated visually.
After seeing the rqt_graph, I realised that the /joint_states is not being taken as a feedback any where except robot_state_publisher. Including move_group.launch and remapping /joint_states to /joints_states_desired (move_group subscribes to /joint_state_desired to distinguish input and feedback) fixes the second issue.