In unit 5 perform motion planning programmatically,( in the course ROS Manipulation in 5 Days), Everything works well when i am using the Moveit GUI, and both the Moveit Simulator and Gazebo simulator robot respond to it, moving in sync.
Yet when i try to move the robot in Moveit Simulator through a python program as part of the , i get the following error. The program worked once but ever since then its been giving the following errors:
[ INFO] [1640947527.807267859, 553.643000000]: Ready to take commands for planning group arm.
[ WARN] [1640947532.854744561, 556.574000000]: Fail: ABORTED: No motion plan found. No execution attempted.
[ WARN] [1640947535.793857160, 558.405000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 558.406000 according to authority unknown_publisher
Program file:
#! /usr/bin/env python
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_group_python_interface_tutorial', anonymous=True)
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
group = moveit_commander.MoveGroupCommander("arm")
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=1)
pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0.9
pose_target.position.z = 1.5
group.set_pose_target(pose_target)
plan1 = group.plan()
rospy.sleep(5)
moveit_commander.roscpp_shutdown()
Launch File
<launch>
<!-- fetch_moveit_config_files is the name of the package created by Moveit -->
<!-- rbkairos is the name of the robot or namespace, so make sure that you change it to the namespace thats in use -->
<include file="$(find fetch_moveit_config_files)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/joint_states]</rosparam>
</node>
<include file="$(find fetch_moveit_config_files)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find fetch_moveit_config_files)/launch/moveit_rviz.launch">
<arg name="rviz_config" value="$(find fetch_moveit_config_files)/launch/moveit.rviz"/>
</include>
</launch>
Let me know your views on approaching this problem, also do let me know what the error “[ WARN] [1640947535.793857160, 558.405000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 558.406000 according to authority unknown_publisher” mean.
Thanks in advance.