Comments (5)
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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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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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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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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Fixing a configuration problem in the Moveit Setup Assistant, the issue was solved.
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Related Issues (20)
- suggestions from Mirza
- notes from Acorn HOT 1
- notes from Steve HOT 2
- Simplify installation instructions on one page HOT 1
- Suggestion from Jeff HOT 1
- ros-groovy-robot-model does not seem to get installed HOT 1
- Small issues with the doc HOT 1
- Better Doxygen API Documentation HOT 3
- Groovy/Robonaut/Rviz Plugin/Quick Start instructions need fix HOT 1
- Fix link to installation page HOT 1
- Dead link in wiki tutorial Part 3 (Gazebo) HOT 1
- need an indigo-devel branch HOT 1
- moveit.rosinstall for indigo-devel HOT 6
- Broken link (Simple MoveIt! Controller Manager Plugin) HOT 1
- Copyright of Tutorials
- Overhall MoveIt! Documentation
- Sphinx usage removes Doxygen API docs
- Finish copying Wiki documentation to Sphinx
- Python doxygen is broken HOT 4
- 404 api/moveit_setup_assistant/html/doc/tutorial.html
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