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isucan avatar isucan commented on August 16, 2024

The virtual joint should connect a link of the robot (the root link in the URDF) to a frame that you name as you please. Is baseplate the URDF root? If not, that would explain the info message you see.

Do you mean that interactive markers do now show up for the arm(s)? If so, did you define kinematics solvers for the arms?

The broadcaster should publish a transform between the morel's root link (as defined in URDF) and the name of the frame (parent link) which in your case is world. So you should probably change the name of the link to the root one.

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sebasgm85 avatar sebasgm85 commented on August 16, 2024

I changed the virtual Joint, now I have "Child Link = World" and "Parent frame = reference_frame". The root error is solved. But the interactive markers are still failing.
I defined the kinematics solver, the generic one, there's another one specifically for PR2. Any idea?

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isucan avatar isucan commented on August 16, 2024

Is "World" the name of a link in your model? That sounds a bit weird to me. Is tf publishing a transform between frame and reference_frame? Make sure you set the rviz fixed frame to reference_frame. If that does not work, please send me an archive of your generated moveit config folder and the urdf file you used.

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sebasgm85 avatar sebasgm85 commented on August 16, 2024

The followings are the first seven lines that I see after run the check_urdf tool:

 robot name is: r2
---------- Successfully Parsed XML ---------------
root Link: world has 1 child(ren)
    child(1):  dummy
        child(1):  baseplate
            child(1):  base
                child(1):  robot_base

I tried using reference_frame on rviz but it doesn't work. What console shows while rviz is executing, is:

[ INFO] [1358184225.517276434]: MoveGroup running using planning plugin ompl_interface_ros/OMPLPlanner
[ INFO] [1358184225.560436116]: KDL solver initialized
[ INFO] [1358184225.698140844]: Initializing kdl solver
[ INFO] [1358184226.282918738]: KDL solver initialized
[ INFO] [1358184226.423360962]: Initializing kdl solver
[ INFO] [1358184226.997404541]: KDL solver initialized
[ INFO] [1358184227.419655307]: Starting scene monitor
[ INFO] [1358184227.426656962]: Listening to 'planning_scene'
[ WARN] [1358184227.504625769]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.504691573]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.508523573]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.508558270]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510068946]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510096250]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510757592]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.510786618]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184227.522638179]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184227.522757447]: Link [right_wrist_pitch] does not exist
[ INFO] [1358184227.582639757]: Waiting for MoveGroup action server (move_group)...
[ INFO] [1358184227.890689245]: Waiting for MoveGroup action server (pickup)...
[ INFO] [1358184228.152762172]: Ready to take MoveGroup commands for group left_arm.
[ INFO] [1358184228.161563837]: Waiting for MoveGroup action server (move_group)...
[ INFO] [1358184228.181916868]: Waiting for MoveGroup action server (pickup)...
[ INFO] [1358184228.202195457]: Ready to take MoveGroup commands for group right_arm.
[ WARN] [1358184277.002295357]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184277.002396664]: Link [right_wrist_pitch] does not exist
[ WARN] [1358184295.514397169]: Link [left_wrist_pitch] does not exist
[ WARN] [1358184295.514473148]: Link [left_wrist_pitch] does not exist

Seems like something is not well defined about the "Joints" and "Chains" but I don't what.

What do you think?

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sebasgm85 avatar sebasgm85 commented on August 16, 2024

Fixing a configuration problem in the Moveit Setup Assistant, the issue was solved.

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