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Having problems with humble no plan execution #4

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FrGe2016 opened this issue Feb 20, 2023 · 10 comments
Closed

Having problems with humble no plan execution #4

FrGe2016 opened this issue Feb 20, 2023 · 10 comments

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@FrGe2016
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Hi

I have installed the pakages using the various humble branches for all of them.

Unfortunately after the plan has been made nothing is happening when i try to execute. I have the following messages. with
ros2 launch panda_ros2_moveit2 original.panda.launch.py

[move_group-11] [INFO] [1676858740.016299549] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-12] [INFO] [1676858740.016713319] [move_group_interface]: Planning request complete!
[rviz2-12] [INFO] [1676858740.052927755] [move_group_interface]: time taken to generate plan: 0.0168374 seconds
[move_group-11] [INFO] [1676858742.558244929] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-11] [INFO] [1676858742.558383129] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-11] [INFO] [1676858742.558423099] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list
[move_group-11] [INFO] [1676858742.558447790] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list
[move_group-11] [INFO] [1676858742.558531070] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-12] [INFO] [1676858742.558380164] [move_group_interface]: Execute request accepted
[move_group-11] [INFO] [1676858743.558678868] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-11] Check clock synchronization if your are running ROS across multiple machines!
[move_group-11] [WARN] [1676858743.558720377] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-11] [INFO] [1676858743.558759820] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-12] [INFO] [1676858743.559199775] [move_group_interface]: Execute request aborted
[rviz2-12] [ERROR] [1676858743.659235852] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

I have made the changes proposed in that post moveit/moveit2#1480
but the i get a new problem
[rviz2-12] [INFO] [1676859524.497266606] [move_group_interface]: Planning request accepted
[move_group-11] [INFO] [1676859524.497296263] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-11] [WARN] [1676859525.598361714] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-11] [WARN] [1676859526.599494855] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock

with every possible launch that i have tried
ros2 launch panda_ros2_moveit2 panda.launch.py
ros2 launch panda_ros2_moveit2 modified.panda.launch.py
or simply
ros2 launch panda_ros2_gazebo panda.launch.py

I never have/ joint_states published when i am tryng to echo them
ros2 topic echo /joint_states
@MikelBueno
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Hi @FrGe2016,

Unfortunately, this ros2_RobotSimulation repository works with ROS2 Foxy, and not for ROS2 Humble (the ros2_control and ros2_controllers of both versions are different, and that is the main reason why it won't work).

As an example of components that change from one version to the other, ROS2 Humble Gazebo + MoveIt!2 simulations require the {use_sim_time:= True} parameter to be assigned, and the joint_state_publisher in Foxy is converted to joint_state_broadcaster in Humble.

However, I am planning to upload the ROS2 Humble packages soon.

Best regards,
Mikel

@FrGe2016
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FrGe2016 commented Feb 28, 2023 via email

@bi3ri
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bi3ri commented Mar 3, 2023

@MikelBueno Thanks for your work and effort! An example with moveit2 and gazebo would also help me a lot!

Can you tell me why you chose Gazebo over the new Ignition simulation package?

@FrGe2016
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FrGe2016 commented Mar 3, 2023 via email

@MikelBueno
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Hi both (@FrGe2016, @bi3ri),

Thanks for your comments :).

First of all, I am happy to share that I have just uploaded the ROS2 Humble repository for ros2_RobotSimulation. @FrGe2016 I would really appreciate it if you could test some of the packages and confirm they are working on your PC (I have uploaded the simplest set-up instructions to the README.md file as well). That would help me a lot to find some bugs in the code or documentation.

With regard to your question @bi3ri, I come from ROS1 and I have always used Gazebo, and that is the main reason why I still work with it. When something works, that's a good reason to continue using it :). But yes, you're right, it seems that Ignition will replace Gazebo in the future, therefore I might start testing some stuff with it (I still feel there is a lack of ROS2-Ignition documentation)... But for the moment, I will stick to Gazebo for ros2_RobotSimulation.

Best regards,
Mikel

@qboticslabs
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@FrGe2016 You can also check the solution mentioned in the link. This worked for me.

@FrGe2016
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FrGe2016 commented Mar 4, 2023

Hi Mikel

I will try the package (starting today but not necessarily ending)

I will simply document the problems that apear ( not trying to solve them unless a solution is obvious and do not involve C++programming)

First the package build ros2_action fails
( i open a separate issue for this item)

@FrGe2016
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FrGe2016 commented Mar 4, 2023

Very interesting results of my first tests ( i will need the ros2_action to go further )

ros2 launch cr35ia_ros2_moveit2 cr35ia.launch.py

RVIZ start	ok
    Gazebo start    ok
    
    MoveIT2 move from the joint tab ok (simple rotation of joint_1 to -45 degres)	OK
    Planning ok
    Execution fails	( the gazebo model gets unstable and is destroyed)
    
    [move_group-9] [INFO] [1677936736.738234503] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [WARN] [1677936738.225529876] [cr35ia_controller]: Aborted due to state tolerance violation
[move_group-9] [WARN] [1677936738.238852159] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'cr35ia_controller' 
failed with error 	PATH_TOLERANCE_VIOLATED: 
[move_group-9] [WARN] [1677936738.238926861] [moveit_ros.trajectory_execution_manager]: Controller handle cr35ia_controller reports status ABORTED
[move_group-9] [INFO] [1677936738.238945860] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-9] [INFO] [1677936738.239010121] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-8] [INFO] [1677936738.239329369] [move_group_interface]: Execute request aborted
[rviz2-8] [ERROR] [1677936738.337824938] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

Same result with velocity and acceleration scalling down from 0.7 to 0.1

ros2 launch panda_ros2_moveit2 panda.launch.py

First I strugle to make the choice entry Proposed improvement to panda.launch.py ( this comment apply to all the other robots with options )	
    print("     + Option 1: PANDA ROBOT alone.")
    print("     + Option 2: PANDA ROBOT on top of a pedestal.")
    cell_layout = input ("  Please select an option number: ")
    
    Worked perfectly for many random valid Goal states with pan and execute

ros2 launch irb1200_ros2_moveit2 irb1200.launch.py ok for the execution
ros2 launch irb120_ros2_moveit2 irb120.launch.py ok for the execution Same comment as Panda.launch for the option selection
ros2 launch irb6640_ros2_moveit2 irb6640.launch.py the gazebo model is having vibrations a joint fell in the floor ?
ros2 launch iiwa_ros2_moveit2 iiwa.launch.py Model Not finished yet
ros2 launch ur3_ros2_moveit2 ur3.launch.py Model Not finished yet
ros2 launch ur5_ros2_moveit2 ur5.launch.py Model Not finished yet
ros2 launch ur10_ros2_moveit2 ur5.launch.py Model Not finished yet but more advanced ( Vibration in the gazebo model)

@ghost
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ghost commented Jun 9, 2023 •
edited by ghost
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Hello, @MikelBueno,
Sorry for interruption. I also got stuck on ROS 2 Humble with issue #11 . Could you confirm it and what's the problem on it? Thanks.

@FrGe2016
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FrGe2016 commented Jun 12, 2023 via email

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5 participants
@qboticslabs @FrGe2016 @bi3ri @MikelBueno @IFRA-Cranfield