panda arm tutorial does not move in c++ motion_planning_api_tutorial #188
Description
I am following the motion_planning_api_tutorial, my system is ROS kinetic and Ubuntu 16.04.
There are two issues with this tutorial, which I am surprised that I could not find any similar issues and solutions to it.
1: console outputs error:
[ INFO] [1530492597.516038871]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.12/planning_scene_monitor/src/planning_scene_monitor.cpp:485
I have seen similar posts about this issue, but there seems to be no solution yet. And some people say this should just be a warning instead of an error. Is this true?
2: the panda arm does not move even though solution is found.
The console outputs:
[ERROR] [1530492689.634402542]: Found empty JointState message [ INFO] [1530492689.634574456]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead. [ WARN] [1530492689.634755603]: It looks like the planning volume was not specified. [ WARN] [1530492689.635149109]: Returning dirty link transforms [ WARN] [1530492689.635364041]: Returning dirty link transforms [ WARN] [1530492689.635715756]: Returning dirty link transforms [ WARN] [1530492689.635739751]: Returning dirty link transforms [New Thread 0x7fffd11c7700 (LWP 3044)] [ INFO] [1530492689.636269834]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1530492689.639705328]: RRTConnect: Starting planning with 1 states already in datastructure [Thread 0x7fffd11c7700 (LWP 3044) exited] [ INFO] [1530492689.681683929]: RRTConnect: Created 6 states (2 start + 4 goal) [ INFO] [1530492689.681715274]: Solution found in 0.043579 seconds [ INFO] [1530492689.690989722]: SimpleSetup: Path simplification took 0.009124 seconds and changed from 5 to 2 states [ INFO] [1530492689.694297461]: Visualizing the trajectory
But I cannot see the arm move at all during the process.
BTW, i did no change to the original code, both the moveit_tutorials and panda_config folders were directly git cloned to my local.
Could you help me identify what is wrong?