Resource not found: ur_e_description - Exercise 2.3 - ROS2 Manipulation Basics

Voltedge · February 9, 2023, 3:36pm

Hi I was following the Exercise 2.3 and when I try to launch

  roslaunch my_moveit_config my_planning_execution.launch

And I get this error

  user:~/catkin_ws$ roslaunch my_moveit_config my_planning_execution.launch
  ... logging to /home/user/.ros/log/d4d364c6-a885-11ed-ac72-0242ac120007/roslaunch-2_xterm-10689.log
  Checking log directory for disk usage. This may take a while.
  Press Ctrl-C to interrupt
  Done checking log file disk usage. Usage is <1GB.
  
  resource not found: ur_e_description
  ROS path [0]=/opt/ros/noetic/share/ros
  ROS path [1]=/home/user/catkin_ws/src
  ROS path [2]=/opt/ros/noetic/share
  when processing file: /home/user/catkin_ws/src/ur3e_robot.urdf.xacro
  RLException: while processing /home/user/catkin_ws/src/my_moveit_config/launch/planning_context.launch:
  Invalid <param> tag: Cannot load command parameter [robot_description]: command [['xacro', '/home/user/catkin_ws/src/ur3e_robot.urdf.xacro']] returned with code [2].
  
  Param xml is <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '/home/user/catkin_ws/src/ur3e_robot.urdf.xacro'"/>
  The traceback for the exception was written to the log file

albertoezquerro · February 10, 2023, 9:33am

Hello @Voltedge ,

Please try executing the following command before launching MoveIt:

source /home/simulations/public_sim_ws/devel/setup.bash

I think this will solve your isse.

dustyujanin · February 10, 2023, 9:53am

Did you build your workspace before calling source devel/setup.bash ? Can you please add the output of echo $ROS_PACKAGE_PATH ?

Voltedge · February 10, 2023, 9:52pm

Hi @albertoezquerro, @dustyujanin

This is the result of the commands that they added, it seems that it did not work

user:~$ source /home/simulations/public_sim_ws/devel/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
user:~$
user:~$ $ROS_PACKAGE_PATH
bash: /home/simulations/public_sim_ws/src:/opt/ros/noetic/share: No such file or directory
user:~$ roslaunch my_moveit_config my_planning_execution.launch
RLException: [my_planning_execution.launch] is neither a launch file in package [my_moveit_config] nor is [my_moveit_config] a launch file name
The traceback for the exception was written to the log file
user:~$ roslaunch my_moveit_config my_planning_execution.launch
RLException: [my_planning_execution.launch] is neither a launch file in package [my_moveit_config] nor is [my_moveit_config] a launch file name
The traceback for the exception was written to the log file
user:~$ cd catkin_ws/
user:~/catkin_ws$ catkin_make
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/user/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/user/catkin_ws/build"
####
Built target my_moveit_config_xacro_generated_to_devel_space_
user:~/catkin_ws$ source devel/setup.bash
user:~/catkin_ws$ roslaunch my_moveit_config my_planning_execution.launch
... logging to /home/user/.ros/log/4c7382f2-a98c-11ed-bbfd-0242c0a80007/roslaunch-4_xterm-1518.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

resource not found: ur_e_description
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/user/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
when processing file: /home/user/catkin_ws/src/ur3e_robot.urdf.xacro
RLException: while processing /home/user/catkin_ws/src/my_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['xacro', '/home/user/catkin_ws/src/ur3e_robot.urdf.xacro']] returned with code [2].

Param xml is <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '/home/user/catkin_ws/src/ur3e_robot.urdf.xacro'"/>
The traceback for the exception was written to the log file
user:~/catkin_ws$

albertoezquerro · February 13, 2023, 10:39am

Hello @Voltedge ,

From the logs messages shared, it seems the problem is that the catkin_ws is not in your ROS_PACKAGE_PATH. Try the following:

Grab a new Shell, where you have not executed any other commands before
Go to your catkin_ws: cd ~/catkin_ws
Remove previous build files: rm build devel
Source public_sims_ws: source /home/simulations/public_sim_ws/devel/setup.bash
Build the catkin_ws: catkin_make
Source catkin_ws: source ~/catkin_ws/devel/setup.bash
Run your program: roslaunch my_moveit_config my_planning_execution.launch

Following these steps should have your problem fixed.

Voltedge · February 14, 2023, 12:35am

Hi @albertoezquerro

Thanks! It works, but now I cant execute paths

  QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
  [ INFO] [1676334706.126160695]: rviz version 1.14.9
  [ INFO] [1676334706.126232882]: compiled against Qt version 5.12.8
  [ INFO] [1676334706.126260568]: compiled against OGRE version 1.9.0 (Ghadamon)
  [ INFO] [1676334706.233447729]: Loading robot model 'ur3e'...
  [ WARN] [1676334706.240929217]: Skipping virtual joint 'fixed_frame' because its child frame 'base_link' does not match the URDF frame 'world'
  [ INFO] [1676334706.241206147]: No root/virtual joint specified in SRDF. Assuming fixed joint
  [ INFO] [1676334706.243045268]: Forcing OpenGl version 0.
  [ INFO] [1676334706.579817387, 2713.331000000]: Stereo is NOT SUPPORTED
  [ INFO] [1676334706.580242571, 2713.331000000]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
  [ INFO] [1676334706.580406448, 2713.331000000]: OpenGl version: 3.1 (GLSL 1.4).
  [ INFO] [1676334706.925073282, 2713.663000000]: Publishing maintained planning scene on 'monitored_planning_scene'
  [ INFO] [1676334706.935194759, 2713.673000000]: Listening to 'joint_states' for joint states
  [ INFO] [1676334706.956555508, 2713.699000000]: Listening to '/attached_collision_object' for attached collision objects
  [ INFO] [1676334706.956661320, 2713.699000000]: Starting planning scene monitor
  [ INFO] [1676334706.990983771, 2713.736000000]: Listening to '/planning_scene'
  [ INFO] [1676334706.991110304, 2713.736000000]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
  [ INFO] [1676334707.008597872, 2713.753000000]: Listening to '/collision_object'
  [ INFO] [1676334707.030170711, 2713.762000000]: Listening to '/planning_scene_world' for planning scene world geometry
  [ERROR] [1676334707.051804109, 2713.788000000]: No sensor plugin specified for octomap updater 0; ignoring.
  [ INFO] [1676334707.115649230, 2713.843000000]: Loading planning pipeline 'chomp'
  [ INFO] [1676334707.222341856, 2713.955000000]: Using planning interface 'CHOMP'
  [ INFO] [1676334707.231027878, 2713.964000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
  [ INFO] [1676334707.233844337, 2713.972000000]: Param 'start_state_max_bounds_error' was set to 0.1
  [ INFO] [1676334707.235630590, 2713.974000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  [ INFO] [1676334707.246900714, 2713.986000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  [ INFO] [1676334707.248639545, 2713.988000000]: Param 'jiggle_fraction' was not set. Using default value: 0.02
  [ INFO] [1676334707.250005915, 2713.989000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
  [ INFO] [1676334707.250085739, 2713.989000000]: Using planning request adapter 'Add Time Parameterization'
  [ INFO] [1676334707.250161376, 2713.989000000]: Using planning request adapter 'Resolve constraint frames to robot links'
  [ INFO] [1676334707.250198758, 2713.989000000]: Using planning request adapter 'Fix Workspace Bounds'
  [ INFO] [1676334707.250235951, 2713.989000000]: Using planning request adapter 'Fix Start State Bounds'
  [ INFO] [1676334707.250268726, 2713.989000000]: Using planning request adapter 'Fix Start State In Collision'
  [ INFO] [1676334707.250298245, 2713.989000000]: Using planning request adapter 'Fix Start State Path Constraints'
  [ INFO] [1676334707.254575265, 2713.990000000]: Loading planning pipeline 'ompl'
  [ INFO] [1676334707.474619738, 2714.200000000]: Using planning interface 'OMPL'
  [ INFO] [1676334707.479105490, 2714.203000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
  [ INFO] [1676334707.480704994, 2714.205000000]: Param 'start_state_max_bounds_error' was set to 0.1
  [ INFO] [1676334707.482026488, 2714.206000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  [ INFO] [1676334707.483537447, 2714.208000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  [ INFO] [1676334707.485393518, 2714.210000000]: Param 'jiggle_fraction' was not set. Using default value: 0.02
  [ INFO] [1676334707.486833938, 2714.211000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
  [ INFO] [1676334707.486933222, 2714.211000000]: Using planning request adapter 'Add Time Parameterization'
  [ INFO] [1676334707.487178718, 2714.212000000]: Using planning request adapter 'Resolve constraint frames to robot links'
  [ INFO] [1676334707.487323139, 2714.212000000]: Using planning request adapter 'Fix Workspace Bounds'
  [ INFO] [1676334707.487461025, 2714.212000000]: Using planning request adapter 'Fix Start State Bounds'
  [ INFO] [1676334707.487524739, 2714.212000000]: Using planning request adapter 'Fix Start State In Collision'
  [ INFO] [1676334707.487641536, 2714.212000000]: Using planning request adapter 'Fix Start State Path Constraints'
  [ INFO] [1676334707.487875843, 2714.212000000]: Loading planning pipeline 'pilz_industrial_motion_planner'
  [ INFO] [1676334707.496124693, 2714.216000000]: Reading limits from namespace /robot_description_planning
  [ INFO] [1676334707.650568378, 2714.359000000]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP
  [ INFO] [1676334707.650639344, 2714.359000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
  [ INFO] [1676334707.654456245, 2714.363000000]: Registered Algorithm [CIRC]
  [ INFO] [1676334707.654509921, 2714.363000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
  [ INFO] [1676334707.657426554, 2714.367000000]: Registered Algorithm [LIN]
  [ INFO] [1676334707.657512957, 2714.367000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
  [ INFO] [1676334707.660007046, 2714.370000000]: Registered Algorithm [PTP]
  [ INFO] [1676334707.660066098, 2714.370000000]: Using planning interface 'Pilz Industrial Motion Planner'
  [FATAL] [1676334707.667289797, 2714.378000000]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.
  [ INFO] [1676334707.727711267, 2714.428000000]: Trajectory execution is managing controllers
  [ INFO] [1676334707.728157349, 2714.428000000]: MoveGroup debug mode is OFF
  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'...
  Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
  [ INFO] [1676334708.033718401, 2714.729000000]: initialize move group sequence action
  [ INFO] [1676334708.085647750, 2714.771000000]: Reading limits from namespace /robot_description_planning
  Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
  [ INFO] [1676334708.219478722, 2714.909000000]: Reading limits from namespace /robot_description_planning
  [ INFO] [1676334708.371247747, 2715.053000000]:
  
  ********************************************************
  * MoveGroup using:
  *     - ApplyPlanningSceneService
  *     - ClearOctomapService
  *     - CartesianPathService
  *     - ExecuteTrajectoryAction
  *     - GetPlanningSceneService
  *     - KinematicsService
  *     - MoveAction
  *     - PickPlaceAction
  *     - MotionPlanService
  *     - QueryPlannersService
  *     - StateValidationService
  *     - SequenceAction
  *     - SequenceService
  ********************************************************
  
  [ INFO] [1676334708.371372051, 2715.053000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  [ INFO] [1676334708.371416992, 2715.053000000]: MoveGroup context initialization complete
  
  You can start planning now!
  
  [ INFO] [1676334710.252507543, 2716.837000000]: Loading robot model 'ur3e'...
  [ WARN] [1676334710.252632072, 2716.837000000]: Skipping virtual joint 'fixed_frame' because its child frame 'base_link' does not match the URDF frame 'world'
  [ INFO] [1676334710.252824488, 2716.837000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
  [ INFO] [1676334710.814029738, 2717.362000000]: Starting planning scene monitor
  [ INFO] [1676334710.831475388, 2717.383000000]: Listening to '/move_group/monitored_planning_scene'
  [ INFO] [1676334711.385159603, 2717.922000000]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
  [ INFO] [1676334711.387212317, 2717.925000000]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
  [ INFO] [1676334711.399802212, 2717.931000000]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
  [ INFO] [1676334712.748838050, 2719.166000000]: Ready to take commands for planning group gripper.
  [ INFO] [1676334712.749790735, 2719.166000000]: Looking around: no
  [ INFO] [1676334712.749981454, 2719.166000000]: Replanning: no

I think that that’s the error

 [FATAL] [1676334707.667289797, 2714.378000000]: Parameter 
 '~moveit_controller_manager' not specified. This is needed to identify the plugin 
 'to use for interacting with controllers. No paths can be executed.'

albertoezquerro · February 14, 2023, 9:16am

Hello @Voltedge ,

That’s a strange error. Did you create the packages using the Moveit Setup Assistant as indicated in the notebook? Could you share here the contents of your my_planning_execution.launch and ur3e_moveit_controller_manager.launch.xml launch files?

37kuba · March 21, 2023, 11:38pm

Hi Alberto, can you explain why do we need source some different workspace for this to work? What is happening under the hood? Why sourcing some other workspace fixes the problem? Thank you.