moveit_cfg: 6640 ctrlr mngr launch file empty

[gavanderhoorn]

Overwritten with default file generated by the MoveIt Setup Assistant (in 0529203). moveit_planning_execution.launch now doesn't work correctly.

[gavanderhoorn]

Btw, irb_6640_moveit_config has been released (v1.1.1) with this empty irb_6640_moveit_controller_manager.launch.xml, afaict.

[gavanderhoorn]

The old (released) version of this file is still empty. The newer package (introduced with #43) is ok.

I'll submit a pull request later to fix the issue with irb_6640_moveit_config.

[gavanderhoorn]

I'm having some difficulty getting this to work again. Even a going back to the state of the repository as of 428bec4e (before any changes to the irb_6640 package) doesn't give me a working configuration. moveit_planning_execution.launch always errors out with:

[ERROR] [/joint_trajectory_action]: Joint trajectory action failing on invalid joints

Followed by:

[ERROR] [/move_group]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.569268 seconds). Stopping trajectory.

I haven't looked into the invalid joints error yet though.

[gavanderhoorn]

Ok, it would appear that the two joints for the piston and the cylinder are causing the invalid joints error. industrial_utils::isSimilar(..) returns false, causing the action to fail.

The latest Groovy version shows the same behaviour. Has this ever worked?

I have no idea why the abb_irb6640_moveit_config package does not suffer from the same problem: it also includes the piston and cylinder.

[gavanderhoorn]

Ping?

[gavanderhoorn]

Ping again.

[Levi-Armstrong]

@gavanderhoorn, It looks like this was addressed by PR #89, do you agree?

[gavanderhoorn]

Not sure.

There are now two *_controller_manager.launch files in the abb_irb6640_moveit_config/launch directory. The one that is being used (abb_irb6640_185_280_moveit_controller_manager.launch.xml) is (still) empty, the other one (launch/abb_irb6640_moveit_controller_manager.launch.xml) is not.

I think we should move the old one to the new one.

Seems I forgot to test the moveit_planning_execution.launch script yesterday. That would have showed that things are still not correct.

[gavanderhoorn]

Addressed in 421e955.

[gavanderhoorn]

Thanks @Levi-Armstrong.