Update pr2 tutorials to work with Kinetic #110

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davetcoleman opened this Issue Aug 23, 2016 · 17 comments

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davetcoleman commented Aug 23, 2016

Our current tutorials only work with Indigo. We would like to have them tested and fixed for Jade and possibly with Kinetic - though this would require building the PR2 dependencies from source. For now a note has been added to the tutorials page.

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Random-Word Nov 11, 2016

I'd love to be able to compile these for Kinetic. Is there any documentation anywhere on how to do this? The pr2_simulator package's indigo-devel branch doesn't seem to be able to build under kinetic, and master is five years old.

I'd love to be able to compile these for Kinetic. Is there any documentation anywhere on how to do this? The pr2_simulator package's indigo-devel branch doesn't seem to be able to build under kinetic, and master is five years old.

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davetcoleman Nov 13, 2016

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I've updated the MoveGroup Interface package to build with Kinetic but its still under review: ros-planning/moveit_tutorials#45

My strategy there was to remove the dependency on moveit_pr2 because maintenance on it has fallen behind. You're welcome to use my replacement package pr2_moveit_config to fixup the other tutorials via pull requests. Thanks!

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davetcoleman commented Nov 13, 2016

I've updated the MoveGroup Interface package to build with Kinetic but its still under review: ros-planning/moveit_tutorials#45

My strategy there was to remove the dependency on moveit_pr2 because maintenance on it has fallen behind. You're welcome to use my replacement package pr2_moveit_config to fixup the other tutorials via pull requests. Thanks!

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iretiayo Feb 6, 2017

@Random-Word @davetcoleman
Are you able to successfully run pr2 on ros kinetic? I've tried installing pr2-related packages from source but I keep running into different issues.
Kindly advise.

iretiayo commented Feb 6, 2017

@Random-Word @davetcoleman
Are you able to successfully run pr2 on ros kinetic? I've tried installing pr2-related packages from source but I keep running into different issues.
Kindly advise.

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v4hn Feb 6, 2017

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@iretiayo What do you mean by "run pr2 on ros kinetic"?
I do not suppose you installed Ubuntu 16.04 on a PR2 and try to get it to run with MoveIt?

What are you doing and which errors do you encounter?

The hardest part I am aware of was to make pr2_arm_kinematics compile/work with MoveIt kinetic.
I just did the appropriate changes and pushed them to my fork here for now.

With that I have the moveit move_group_interface tutorial up and running with MoveIt kinetic on ROS indigo (that's just my custom setup over here...)

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v4hn commented Feb 6, 2017

@iretiayo What do you mean by "run pr2 on ros kinetic"?
I do not suppose you installed Ubuntu 16.04 on a PR2 and try to get it to run with MoveIt?

What are you doing and which errors do you encounter?

The hardest part I am aware of was to make pr2_arm_kinematics compile/work with MoveIt kinetic.
I just did the appropriate changes and pushed them to my fork here for now.

With that I have the moveit move_group_interface tutorial up and running with MoveIt kinetic on ROS indigo (that's just my custom setup over here...)

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iretiayo Feb 6, 2017

The pr2_simulator package (and most other PR2 pkgs) haven't been released for Kinetic. So I had to manually download the packages from the PR2 github page. However, when I try to compile the codes, I get errors like below.
When I saw the title of this issue, I thought someone might have a working pr2-simulator on ros-kinetic and wanted to find out how they set it up.

catkin_make error:

/opt/ros/kinetic/include/hardware_interface/internal/interface_manager.h:194:21: error: no matching function for call to ‘pr2_mechanism_model::RobotState::RobotState()’
         iface_combo = new T;

iretiayo commented Feb 6, 2017

The pr2_simulator package (and most other PR2 pkgs) haven't been released for Kinetic. So I had to manually download the packages from the PR2 github page. However, when I try to compile the codes, I get errors like below.
When I saw the title of this issue, I thought someone might have a working pr2-simulator on ros-kinetic and wanted to find out how they set it up.

catkin_make error:

/opt/ros/kinetic/include/hardware_interface/internal/interface_manager.h:194:21: error: no matching function for call to ‘pr2_mechanism_model::RobotState::RobotState()’
         iface_combo = new T;
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v4hn commented Feb 6, 2017

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nmalo5 Mar 11, 2017

Hi!,
I´m a university student trying to make progress with MoveIt in ROS Kinetic and Ubuntu 16.04.
The main goal of my project is to do a Pick and Place movement in the simulator.
I found some tutorials about a PR2 arm and MoveIt (http://docs.ros.org/kinetic/api/moveit_tutorials/html/), but I found problems because some necessary packages in this tutorial makes reference to ROS Indigo instead of Kinetic.
Then, searching for similar issues, I ended up here. It seems that PR2 support isn´t available for ROS Kinetic yet... Is there any way to run the PR2 MoveIt tutorials in ROS Kinetic? Could I achieve this goal(Pick&Place in robotic arm) easily with other available tutorials?

nmalo5 commented Mar 11, 2017

Hi!,
I´m a university student trying to make progress with MoveIt in ROS Kinetic and Ubuntu 16.04.
The main goal of my project is to do a Pick and Place movement in the simulator.
I found some tutorials about a PR2 arm and MoveIt (http://docs.ros.org/kinetic/api/moveit_tutorials/html/), but I found problems because some necessary packages in this tutorial makes reference to ROS Indigo instead of Kinetic.
Then, searching for similar issues, I ended up here. It seems that PR2 support isn´t available for ROS Kinetic yet... Is there any way to run the PR2 MoveIt tutorials in ROS Kinetic? Could I achieve this goal(Pick&Place in robotic arm) easily with other available tutorials?

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davetcoleman Mar 12, 2017

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A while back I fixed the MoveGroupInterface tutorial to run on Kinetic with the PR2's URDFs. I achieved this by skipping all of PR2's custom plugins and instead using the default KDL IK solver, etc. This "slimmed down" version of pr2_moveit_config is here

This has nothing to do with actual hardware, however.

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davetcoleman commented Mar 12, 2017

A while back I fixed the MoveGroupInterface tutorial to run on Kinetic with the PR2's URDFs. I achieved this by skipping all of PR2's custom plugins and instead using the default KDL IK solver, etc. This "slimmed down" version of pr2_moveit_config is here

This has nothing to do with actual hardware, however.

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Hi @davetcoleman ! I am trying to follow the MoveGroupINterface tutorial on ROS-Kinetic.
While running roslaunch pr2_moveit_config demo.launch and roslaunch moveit_tutorials move_group_interface_tutorial.launch, I am getting the following error after which the roslaunch exits:
/pr2_moveit_tutorial/catkin_ws/devel/lib/moveit_tutorials/move_group_interface_tutorial: error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory.

I am not able to see any related documentation. Can you please help?

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nsnitish commented Jun 11, 2017

Hi @davetcoleman ! I am trying to follow the MoveGroupINterface tutorial on ROS-Kinetic.
While running roslaunch pr2_moveit_config demo.launch and roslaunch moveit_tutorials move_group_interface_tutorial.launch, I am getting the following error after which the roslaunch exits:
/pr2_moveit_tutorial/catkin_ws/devel/lib/moveit_tutorials/move_group_interface_tutorial: error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory.

I am not able to see any related documentation. Can you please help?

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davetcoleman Jun 21, 2017

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That issue is off-topic for this discussion thread - next time please create a new issue.

libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file

That is a problem with your binary/debian installation - something is out of sync with your computer's installed packages.

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davetcoleman commented Jun 21, 2017

That issue is off-topic for this discussion thread - next time please create a new issue.

libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file

That is a problem with your binary/debian installation - something is out of sync with your computer's installed packages.

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janisa9 Jun 27, 2017

Hi, same problem here,

error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory

Did little digging, and yeah there is libmoveit_planning_scene_interface.so.0.9.7 not libmoveit_planning_scene_interface.so.0.9.6 in opt/ros/kinetic/lib . Is there any solutions to downgrade libraries or use this libmoveit_planning_scene_interface.so.0.9.7 instead of this libmoveit_planning_scene_interface.so.0.9.6 library ??

EDIT

Solved my problem

Somehow catkin build was the problem, everything worked with catkin_make ... wierd..

janisa9 commented Jun 27, 2017

Hi, same problem here,

error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory

Did little digging, and yeah there is libmoveit_planning_scene_interface.so.0.9.7 not libmoveit_planning_scene_interface.so.0.9.6 in opt/ros/kinetic/lib . Is there any solutions to downgrade libraries or use this libmoveit_planning_scene_interface.so.0.9.7 instead of this libmoveit_planning_scene_interface.so.0.9.6 library ??

EDIT

Solved my problem

Somehow catkin build was the problem, everything worked with catkin_make ... wierd..

@jrgnicho jrgnicho referenced this issue in ros-planning/moveit_kinematics_tests Jul 2, 2017

Merged

Fix kinetic build issues and travis-ci #13

@huckl3b3rry87 huckl3b3rry87 referenced this issue in ros-planning/moveit_tutorials Jul 11, 2017

Merged

Revamp move_group_interface_tutorial #45

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maxgitt Jul 28, 2017

Hi @davetcoleman I am completely new to moveit and am running through the "MoveIt! RViz Plugin Tutorial" for kinetic. What confuses me is the number of indigo references on this page.

Under pre-requisites the first thing to check is that I have the "pr2_moveit_config" which I can either find in the "MoveIt! Setup Assistant tutorial" or by typing in on my commandline:

sudo apt-get install ros-indigo-moveit-pr2

I tried:

sudo apt-get install ros-kinetic-moveit-pr2
but it doesn't seem to exist. So I tried the other option which was to go to the "MoveIt! Setup Assistant tutorial". This page is also listed as a kinetic page and after launching the moveit_setup_assistant, the first step is to load the xacro file found here:
/opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

/opt/ros/kinetic/share/
directory I could not find the pr2_description sub-directory. I found your comments explaining that I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

I am not sure what I've missed here and would appreciate your help loading the xacro file for kinetic.

maxgitt commented Jul 28, 2017

Hi @davetcoleman I am completely new to moveit and am running through the "MoveIt! RViz Plugin Tutorial" for kinetic. What confuses me is the number of indigo references on this page.

Under pre-requisites the first thing to check is that I have the "pr2_moveit_config" which I can either find in the "MoveIt! Setup Assistant tutorial" or by typing in on my commandline:

sudo apt-get install ros-indigo-moveit-pr2

I tried:

sudo apt-get install ros-kinetic-moveit-pr2
but it doesn't seem to exist. So I tried the other option which was to go to the "MoveIt! Setup Assistant tutorial". This page is also listed as a kinetic page and after launching the moveit_setup_assistant, the first step is to load the xacro file found here:
/opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

/opt/ros/kinetic/share/
directory I could not find the pr2_description sub-directory. I found your comments explaining that I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

I am not sure what I've missed here and would appreciate your help loading the xacro file for kinetic.

@davetcoleman davetcoleman changed the title from Update pr2 tutorials to work with Jade and Kinetic to Update pr2 tutorials to work with Kinetic Jul 30, 2017

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davetcoleman Jul 30, 2017

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First - yes, those tutorials sorely need to be updated for Kinetic. Just needs someone to put in the effort.

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

The xacro file is not in the moveit_pr2 package but actually the pr2_common pkg that is available in Kinetic.

I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

You need both the slimmed down pr2_moveit_config and pr2_common to run the tutorial in Kinetic.

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davetcoleman commented Jul 30, 2017

First - yes, those tutorials sorely need to be updated for Kinetic. Just needs someone to put in the effort.

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

The xacro file is not in the moveit_pr2 package but actually the pr2_common pkg that is available in Kinetic.

I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

You need both the slimmed down pr2_moveit_config and pr2_common to run the tutorial in Kinetic.

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maxgittelman Jul 31, 2017

I created a pull request. ros-planning/moveit_tutorials#88

The tutorial now includes the missing pr2_common pkg and some finer changes to make the kinetic tutorial more clear.

maxgittelman commented Jul 31, 2017

I created a pull request. ros-planning/moveit_tutorials#88

The tutorial now includes the missing pr2_common pkg and some finer changes to make the kinetic tutorial more clear.

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maxgittelman Aug 1, 2017

I also made a pull request for the RViz plugin tutorial. Hopefully this gets looked at and merged soon.

I also made a pull request for the RViz plugin tutorial. Hopefully this gets looked at and merged soon.

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keep it coming!

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davetcoleman commented Aug 2, 2017

keep it coming!

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davetcoleman Jun 28, 2018

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Closing this issue because we have switched to the Franka Emika robot, away from the PR2, for all kinetic tutorials and newer:
ros-planning/moveit_tutorials#166

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davetcoleman commented Jun 28, 2018

Closing this issue because we have switched to the Franka Emika robot, away from the PR2, for all kinetic tutorials and newer:
ros-planning/moveit_tutorials#166

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