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Moveit Demo #40

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upuphero opened this issue Apr 23, 2021 · 3 comments
Closed

Moveit Demo #40

upuphero opened this issue Apr 23, 2021 · 3 comments

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@upuphero
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When running the Moveit Demo, rviz came out but disappeared quickly. I have run the Task-space control using Franka ROS Interface successfully.
I am sure I follow the Usage and I type these three commands in order in terminals but still find the bugs
roslaunch panda_gazebo panda_world.launch
roslaunch panda_sim_moveit sim_move_group.launch
roslaunch panda_simulator_examples demo_moveit.launch

The bug shows below:
[rviz_ubuntu_4376_5041817988713892492-1] process has died [pid 4525, exit code 127, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/ye/ws_moveit/src/franka_ros_interface/franka_moveit/config/moveit_demo.rviz __name:=rviz_ubuntu_4376_5041817988713892492 __log:=/home/ye/.ros/log/142905d8-a403-11eb-aeb0-000c294926c2/rviz_ubuntu_4376_5041817988713892492-1.log]. log file: /home/ye/.ros/log/142905d8-a403-11eb-aeb0-000c294926c2/rviz_ubuntu_4376_5041817988713892492-1*.log
@justagist
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Hi, these messages don't really help. There must be some other warning or error messages before; if not, please look into the log files and let me know what you find.

@upuphero
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Hi, these messages don't really help. There must be some other warning or error messages before; if not, please look into the log files and let me know what you find.

I found the log folder dfba3fcc-a409-11eb-aeb0-000c294926c2， but I can't find the rviz_ubuntu_121048_1056280393894983898-1*.log

Here is the bug
[rviz_ubuntu_121048_1056280393894983898-1] process has died [pid 121190, exit code 127, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/ye/ws_moveit/src/franka_ros_interface/franka_moveit/config/moveit_demo.rviz __name:=rviz_ubuntu_121048_1056280393894983898 __log:=/home/ye/.ros/log/dfba3fcc-a409-11eb-aeb0-000c294926c2/rviz_ubuntu_121048_1056280393894983898-1.log]. log file: /home/ye/.ros/log/dfba3fcc-a409-11eb-aeb0-000c294926c2/rviz_ubuntu_121048_1056280393894983898-1*.log

I copied all the sentence in the terminal

roslaunch panda_simulator_examples demo_moveit.launch
... logging to /home/ye/.ros/log/dfba3fcc-a409-11eb-aeb0-000c294926c2/roslaunch-ubuntu-121048.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:37411/

PARAMETERS

  • /panda_arm/kinematics_solver: kdl_kinematics_pl...
  • /panda_arm/kinematics_solver_search_resolution: 0.005
  • /panda_arm/kinematics_solver_timeout: 0.05
  • /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
  • /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
  • /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
  • /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
  • /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
  • /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
  • /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
  • /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
  • /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
  • /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
  • /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
  • /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
  • /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
  • /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
  • /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
  • /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
  • /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
  • /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.10

NODES
/
demo_boxes_scene_loader (franka_moveit/test_scene_interface.py)
rviz_ubuntu_121048_1056280393894983898 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_ubuntu_121048_1056280393894983898-1]: started with pid [121190]
process[demo_boxes_scene_loader-2]: started with pid [121192]

(rviz:121190): Gtk-WARNING **: 01:16:12.177: Theme parsing error: gtk.css:4101:29: Expected ',' in color definition

(rviz:121190): Gtk-WARNING **: 01:16:12.177: Theme parsing error: gtk.css:4142:92: The :prelight pseudo-class is deprecated. Use :hover instead.

(rviz:121190): Gtk-WARNING **: 01:16:12.177: Theme parsing error: gtk.css:4146:43: The :prelight pseudo-class is deprecated. Use :hover instead.
[ INFO] [1619165772.217125962]: rviz version 1.13.16
[ INFO] [1619165772.217176168]: compiled against Qt version 5.9.5
[ INFO] [1619165772.217184192]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1619165772.229586105]: Forcing OpenGl version 0.
[ INFO] [1619165772.931058426, 940.059000000]: Stereo is NOT SUPPORTED
[ INFO] [1619165772.931149838, 940.059000000]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1619165772.931168395, 940.059000000]: OpenGl version: 2.1 (GLSL 1.2).
/usr/local/lib/python2.7/dist-packages/quaternion/numba_wrapper.py:21: UserWarning:

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly. You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

warnings.warn(warning_text)
============ Starting test ...
[ INFO] [1619165776.346635124, 943.286000000]: Loading robot model 'panda'...
[ WARN] [1619165776.346797683, 943.286000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1619165776.347384292, 943.287000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1619165776.356541166, 943.295000000]: Loading robot model 'panda'...
[ WARN] [1619165776.356709436, 943.295000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1619165776.356762709, 943.295000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1619165776.536945900, 943.449000000]: Starting planning scene monitor
[ INFO] [1619165776.544479279, 943.452000000]: Listening to '/move_group/monitored_planning_scene'
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector'
(Make sure 'QVector' is registered using qRegisterMetaType().)
[ INFO] [1619165776.977430283, 943.820000000]: Starting planning scene monitor
[ INFO] [1619165776.983168414, 943.827000000]: Listening to '/planning_scene'
/opt/ros/melodic/lib/rviz/rviz: symbol lookup error: /opt/ros/melodic/lib/libmoveit_dynamics_solver.so.1.0.7: undefined symbol: _ZNK3KDL6Vector4NormEv
[rviz_ubuntu_121048_1056280393894983898-1] process has died [pid 121190, exit code 127, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/ye/ws_moveit/src/franka_ros_interface/franka_moveit/config/moveit_demo.rviz __name:=rviz_ubuntu_121048_1056280393894983898 __log:=/home/ye/.ros/log/dfba3fcc-a409-11eb-aeb0-000c294926c2/rviz_ubuntu_121048_1056280393894983898-1.log].
log file: /home/ye/.ros/log/dfba3fcc-a409-11eb-aeb0-000c294926c2/rviz_ubuntu_121048_1056280393894983898-1*.log
============ Press Enter to begin the tutorial by setting up the scene_interface (press ctrl-d to exit) ...

If there is anything else helpful, I am glad to supply. Thanks a lot!

@justagist
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/opt/ros/melodic/lib/rviz/rviz: symbol lookup error: /opt/ros/melodic/lib/libmoveit_dynamics_solver.so.1.0.7: undefined symbol: _ZNK3KDL6Vector4NormEv

This suggests that you are not using the specified version of orocos_kinematics_dynamics package. Please checkout to the right commit version of the package after cloning it into your workspace as I told you here. Then make sure you do a clean build of your workspace (delete the build and devel directories in your workspace, and run catkin build again).

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@justagist @upuphero