Not able to control simulation after loading controllers

kasheesh.prabhudesai · November 6, 2019, 9:07pm

**I am trying to control the robot in move it simulation by loading the joint trajectory controller and giving commands through motion planning in Move-It.

I followed the tutorial from ROS Industrial robot. Loaded the URDF File and created a yaml file for controllers. Edited the launch controller manager file and also created a custom planning execution launch file as instructed on the ros tutorial. But when I try to plan and execute a random valid position i get the following error as posted below.**

roslaunch niryo_moveit niryo_planning_execution.launch 
... logging to /home/kasheesh/.ros/log/ce475020-00d8-11ea-99be-380025610bf7/roslaunch-tensorbook-8223.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tensorbook:35493/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['joint_1', 'join...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/default_planner_config: None
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{}]
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /rviz_tensorbook_8223_2036335610000306758/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_tensorbook_8223_2036335610000306758/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_tensorbook_8223_2036335610000306758/manipulator/kinematics_solver_timeout: 0.005
 * /source_list: ['/niryo/joint_st...

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    rviz_tensorbook_8223_2036335610000306758 (rviz/rviz)

auto-starting new master
process[master]: started with pid [8241]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ce475020-00d8-11ea-99be-380025610bf7
process[rosout-1]: started with pid [8252]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [8259]
process[move_group-3]: started with pid [8260]
process[rviz_tensorbook_8223_2036335610000306758-4]: started with pid [8261]
[ INFO] [1573074177.009162599]: Loading robot model 'niryo_one'...
[ INFO] [1573074177.049981321]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1573074177.051393362]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1573074177.051431711]: Starting planning scene monitor
[ INFO] [1573074177.052523539]: Listening to '/planning_scene'
[ INFO] [1573074177.052556656]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1573074177.053493999]: Listening to '/collision_object'
[ INFO] [1573074177.054666596]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1573074177.055147342]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1573074177.058738796]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1573074177.060108465]: rviz version 1.13.5
[ INFO] [1573074177.060147898]: compiled against Qt version 5.9.5
[ INFO] [1573074177.060157668]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1573074177.062849269]: Forcing OpenGl version 0.
[ INFO] [1573074177.074861222]: Initializing OMPL interface using ROS parameters
[ERROR] [1573074177.077589632]: Could not find the planner configuration 'None' on the param server
[ INFO] [1573074177.086893502]: Using planning interface 'OMPL'
[ INFO] [1573074177.089134490]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1573074177.089351498]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1573074177.089543710]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1573074177.089786074]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1573074177.089996955]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1573074177.090246374]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1573074177.090286257]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1573074177.090304487]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1573074177.090317397]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1573074177.090331714]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1573074177.090343208]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1573074177.829159519]: Stereo is NOT SUPPORTED
[ INFO] [1573074177.829212240]: OpenGl version: 4.6 (GLSL 4.6).
[ WARN] [1573074182.099941029]: Waiting for niryo/joint_trajectory/follow_joint_trajectory to come up
[ INFO] [1573074184.028415270]: Loading robot model 'niryo_one'...
[ WARN] [1573074184.039290212]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_tensorbook_8223_2036335610000306758/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1573074184.090172423]: Starting planning scene monitor
[ INFO] [1573074184.092539014]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1573074184.093086538]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1573074188.100362144]: Waiting for niryo/joint_trajectory/follow_joint_trajectory to come up
[ INFO] [1573074189.100144134]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.2/planning_scene_monitor/src/planning_scene_monitor.cpp:495
[ INFO] [1573074189.980106080]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ERROR] [1573074194.100666865]: Action client not connected: niryo/joint_trajectory/follow_joint_trajectory
[ INFO] [1573074194.128301665]: Returned 0 controllers in list
[ INFO] [1573074194.159515642]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1573074194.216179952]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1573074194.216213960]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1573074194.216224615]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1573074195.367926261]: Ready to take commands for planning group manipulator.
[ INFO] [1573074195.368055814]: Looking around: no
[ INFO] [1573074195.368117909]: Replanning: no
[ INFO] [1573074199.213073265]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1573074199.213613865]: Planning attempt 1 of at most 1
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ INFO] [1573074199.216421008]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1573074199.217919241]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.218016521]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.218055801]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.218128471]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.232142763]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1573074199.233649534]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.233822220]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.236381673]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.236715598]: ParallelPlan::solve(): Solution found by one or more threads in 0.019011 seconds
[ INFO] [1573074199.237314889]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.237494787]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.237625321]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.237819032]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.244105296]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.244718509]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.245314586]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.245728336]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.245988473]: ParallelPlan::solve(): Solution found by one or more threads in 0.008817 seconds
[ INFO] [1573074199.246455203]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.246620410]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1573074199.250603037]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1573074199.251833848]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1573074199.252153716]: ParallelPlan::solve(): Solution found by one or more threads in 0.005836 seconds
[ INFO] [1573074199.272639140]: SimpleSetup: Path simplification took 0.020198 seconds and changed from 3 to 2 states
[ INFO] [1573074199.279046377]: Returned 0 controllers in list
[ERROR] [1573074199.279182203]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ERROR] [1573074199.279254921]: Known controllers and their joints:

[ERROR] [1573074199.279377605]: Apparently trajectory initialization failed
[ INFO] [1573074199.306350065]: ABORTED: Solution found but controller failed during execution

rtellez · November 7, 2019, 8:33pm

Hi,
this is very difficult to debug like this. Please create a rosject and share it with me. The rosject must include all the content (simulation and code) and instructions for us to reproduce the error, and we will be able to reproduce the situation and then find where the problem is.
Check this video to learn how to create the rosject.

kasheesh.prabhudesai · November 8, 2019, 5:38pm

Please find the link to my rosject below. I have recreated the exact workspace which i have made on my laptop along with a notebook explaining how to recreate the error i am facing.

kasheesh.prabhudesai · November 12, 2019, 3:40pm

Hi ,

I have solved the problem and it was a misunderstanding on my side. I had not created a gazebo file to connect the move it robot to simulate it . It was a misunderstanding on my side. As a result there was no Actionserver created for the controllers for the move it to publish messages to.