Pilz industrial motion planning capabilities not registered. Therefor not able to load them #1248
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bug
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@JafarAbdi As requested |
6 tasks
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Fixed by #1281 |
|
Edit: I found my mistake. For anybody else running into this problem. The capabilities have to be activated using the capabilities parameter passed to the move_group. This is how my move_group is launched now: moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.planning_scene_monitor(
publish_robot_description=True, publish_robot_description_semantic=True
)
.planning_pipelines(
pipelines=["pilz_industrial_motion_planner"]
)
.to_moveit_configs()
)
move_group_capabilities = {
"capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
}
# Start the actual move_group node/action server
run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
prefix=["gdbserver localhost:3000"],
output="screen",
parameters=[moveit_config.to_dict(),
move_group_capabilities],
emulate_tty=True,
)Original comment: I am trying to get the SequenceAction and SequenceService running with no success. I tried the current main and humble branches (Ubuntu 22.04) with my own robot and the panda robot. This is what my moveit_config of the panda robot looks like: moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
.planning_scene_monitor(
publish_robot_description=True, publish_robot_description_semantic=True
)
.planning_pipelines(
pipelines=["pilz_industrial_motion_planner"]
)
.to_moveit_configs()
)I am using the demo.launch.py script from moveit2_tutorials and just removed the other pipelines. {
'planning_pipelines': ['pilz_industrial_motion_planner'],
'default_planning_pipeline': 'pilz_industrial_motion_planner',
'pilz_industrial_motion_planner': {
'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
'request_adapters': 'default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints',
'default_planner_config': 'PTP',
'capabilities': 'pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService'
}
}This is the output of the move_group when pilz is loaded: No, error is given, but the action and service are also not loaded. Not sure if this is the same or a different issue, or if something is missing in my launch file. |
This was referenced Feb 25, 2024
Closed
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Description
When loading the Pilz industrial motion planner capabilities with:
The following error is given:
Your environment
Expected behaviour
Starting the sequence action and the move group sequence service.
Actual behaviour
Fails to load because the capabilities are not registered
The text was updated successfully, but these errors were encountered: