Dear ros community, I have a custom robot I'm simulating in Gazebo through ROS. Recently, I started to integrate it in Moveit! to exploit its motion planning capabilities. I have already successfully switched to trajectory controllers and set up everything using Moveit! online support. The problem I'm facing right now is the following: Briefly, when I click the plan and execute button (after having placed the robot in the desired pose through the RViZ gui) the simulated robot doesn't move and I get the following warning: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time. First valid point will be reached in 0.499s. Is there something I am missing? Any workaround to solve this problem? Thanks in advance for your support!

I do not want my robot plan from current pose. So I try to set start pose of my robot to another pose. I followed http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html#planning-to-a-pose-goal, and used setStartState() to change robot start pose. But, I found the start state was not changed after setStartState(). robot_state::RobotState start_state(*group.getCurrentState()); geometry_msgs::Pose start_pose2; start_pose2.orientation.w = 1.0; start_pose2.position.x = 0.55; start_pose2.position.y = -0.05; start_pose2.position.z = 0.8; const robot_state::JointModelGroup *joint_model_group = start_state.getJointModelGroup(group.getName()); start_state.setFromIK(joint_model_group, start_pose2); group.setStartState(start_state); So, how could I change the start pose? Thank you very much.

Hello everyone, I was trying to do source based installation of recently released "Moveit". When the installation reached 61% I am getting the following error:

[ 60%] Building CXX object moveit_ros/planning/trajectory_execution_manager/CMakeFiles/test_controller_manager.dir/test/test_app.cpp.o
Linking CXX shared library /home/karthik/groovy_workspace/moveit/devel/lib/libtest_controller_manager_plugin.so
/home/karthik/groovy_workspace/moveit/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp: In member function ‘void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree()’:
/home/karthik/groovy_workspace/moveit/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:533:10: error: ‘class shapes::Mesh’ has no member named ‘mergeVertices’
[ 60%] Built target test_controller_manager_plugin
Linking CXX executable /home/karthik/groovy_workspace/moveit/devel/lib/moveit_ros_planning/test_controller_manager
[ 60%] Built target test_controller_manager
make[2]: *** [moveit_ros/planning/planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/src/planning_scene_monitor.cpp.o] Error 1
make[1]: *** [moveit_ros/planning/planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

I tried uninstalling ROS,reinstalled it again without debian based moveit and it gives the same issue. Please help me on this. I am working on *ROS-GROOVY *Ubuntu 12.04

I do not want my robot plan from current pose. So I try to set start pose of my robot to another pose. I followed http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html#planning-to-a-pose-goal, and used setStartState() to change robot start pose. robot_state::RobotState start_state(*group.getCurrentState()); geometry_msgs::Pose start_pose2; start_pose2.orientation.w = 1.0; start_pose2.position.x = 0.55; start_pose2.position.y = -0.05; start_pose2.position.z = 0.8; const robot_state::JointModelGroup *joint_model_group = start_state.getJointModelGroup(group.getName()); start_state.setFromIK(joint_model_group, start_pose2); group.setStartState(start_state); But, I found setFromIK() always return false and could not find IK solution. Is there any problem in this program? Or is there other method to set start pose of robot? Thank you very much.

I would like to start with moveit_setup_assistant roslaunch moveit_setup_assistant setup_assistant.launch 1, I have roscd to the **moveit_setup_assistant pakage**, but fail to roslaunch . (at that time ,echo $ROS_PACKAGE_PATH ---> /root/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks ) 2, if I do: source /opt/ros/indigo/setup.bash (at that time ,echo $ROS_PACKAGE_PATH ---> /opt/ros/indigo/share:/opt/ros/indigo/stacks) then, roslaunch succeeds, but I cannot find my own package which means my own workplace is not on the environment path. Here is the part of error message "[rospack] Error: package 'rbx2_description' not found [librospack]: error while executing command " Below is the error message for 1st statement, root@ShawnVM:~/catkin_ws/src/moveit_setup_assistant# roslaunch moveit_setup_assistant setup_assistant.launch ... logging to /root/.ros/log/90e8c606-a5a4-11e6-9533-000c290a3fdb/roslaunch-ShawnVM-31009.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://ShawnVM:43182/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.20 NODES / moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found ERROR: cannot launch node of type [moveit_setup_assistant/moveit_setup_assistant]: can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant] No processes to monitor shutting down processing monitor... ... shutting down processing monitor complete

Hi, I plan to implement a cartesian controller for controlling 7 dof arm via some haptic device. I found JT cartesian controller in pr2_mechanisms package that could be utilized for this purpose. But since ros_control is a rewrite of pr2 packages I was wondering if there is such package in ros control which could be utilized for this purpose. Is there something in moveit that could be utilized or I have to implement all from scratch using KDL.

Hi All. I'm running a UR5 simulation, using ROS Kinetic with MoveIt! and gazebo, but the moveit_ros_move_group node crashes on start-up. A backtrace shows an illegal instruction, seemingly issued by libmoveit_collision_detection_fcl.so: Thread 1 "move_group" received signal SIGILL, Illegal instruction. 0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5 (gdb) bt #0 0x00007fffeb76b430 in fcl::AABB::AABB() () from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5 #1 0x00007fffef50f139 in fcl::BVHModel::BVHModel() () from /opt/ros/kinetic/lib/libmoveit_collision_detection_fcl.so.0.9.1 I followed the instructions at http://wiki.ros.org/ur_gazebo initially and the above error comes when the move_group node is called from within the ur5_moveit_planning_execution.launch file. Running 'rosrun moveit_ros_move_group move_group' directly gives the same error and stack trace. I've tried using MoveIt from within the Kinetic distro and tried updating from the shadow-fixed server, and also tried building MoveIt from source, but the behaviour is the same. I'm running Linux Ubuntu, version details: 4.4.0-43-generic (buildd@lgw01-22) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.2) Any advice on what to try next would be greatly appreciated!

Hello, I have a problem I installed moveit (apt-get install ros-indigo-full) in indigo ros. When I try to start moveit_setup_assistant I have an error> ERROR: cannot launch node of type [moveit_setup_assistant/moveit_setup_assistant]: can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant] but if I write source /opt/ros/indigo/setup.bash it work's but i cannot load urdf files from my workspace and then I have this error > started roslaunch server http://lenovo-Lenovo-Z580:48193/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.20 NODES / moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant) auto-starting new master process[master]: started with pid [4680] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 0003089c-59ad-11e6-a798-9c4e363e21f8 process[rosout-1]: started with pid [4693] started core service [/rosout] process[moveit_setup_assistant-2]: started with pid [4700] [rospack] Error: no package given [librospack]: error while executing command [ INFO] [1470251044.034022112]: Loaded origins robot model. [ INFO] [1470251044.034098866]: Setting Param Server with Robot Description [ INFO] [1470251044.038456612]: Robot semantic model successfully loaded. [ INFO] [1470251044.038513275]: Setting Param Server with Robot Semantic Description [ INFO] [1470251044.057449009]: Loading robot model 'origins'... [ INFO] [1470251044.057519186]: No root joint specified. Assuming fixed joint [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.081150637]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.105417166]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.130234290]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.155245446]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.179064495]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.201857911]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl]: Package [sam_load_urdf_into_rviz] does not exist [ INFO] [1470251044.296414031]: Stereo is NOT SUPPORTED [ INFO] [1470251044.296514461]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1470251044.438444256]: Loading robot model 'origins'... [ INFO] [1470251044.438502480]: No root joint specified. Assuming fixed joint [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.463628224]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.490362214]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.515006440]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.541040205]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.566688572]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.589428115]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.615792109]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.615909345]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.616027330]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.616103593]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.616164565]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.640174257]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.640278640]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.640350763]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl' for link 'chwytak': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.640417334]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.640475820]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl' for link 'chwytak': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.664436607]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.664558444]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.664632736]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl' for link 'czlon1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.664699324]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.664761326]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl' for link 'czlon1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.688725754]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.688833289]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.688906230]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl' for link 'czlon2': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.688976294]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.689037233]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl' for link 'czlon2': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.713061650]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.713203876]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.713310182]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl' for link 'nadgarstek': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.713446951]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.713568366]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl' for link 'nadgarstek': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.738767020]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.738891757]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.738981630]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl' for link 'podstawka': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.739064320]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.739143364]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl' for link 'podstawka': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ INFO] [1470251044.744666623]: Loading robot model 'origins'... [ INFO] [1470251044.744720600]: No root joint specified. Assuming fixed joint [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.769319223]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.793802685]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.818130899]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.841442902]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.864851154]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl]: Package [sam_load_urdf_into_rviz] does not exist [rospack] Error: package 'sam_load_urdf_into_rviz' not found [librospack]: error while executing command [ERROR] [1470251044.889505015]: Error retrieving file [package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl]: Package [sam_load_urdf_into_rviz] does not exist [ WARN] [1470251044.889922338]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890012420]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890073659]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890133560]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/wozek_nowe.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890254687]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890317376]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl' for link 'chwytak': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890372491]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890431045]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl' for link 'chwytak': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgarstek2.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890545600]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890606067]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl' for link 'czlon1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890659806]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890715516]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl' for link 'czlon1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon1_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890826542]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890885271]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl' for link 'czlon2': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.890938065]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.890993213]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl' for link 'czlon2': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/czlon2_TOP.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.891103321]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.891161839]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl' for link 'nadgarstek': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.891213686]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.891268504]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl' for link 'nadgarstek': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/nadgartek1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.891372998]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.891430646]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl' for link 'podstawka': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ WARN] [1470251044.891483371]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ERROR] [1470251044.891538455]: Could not load model 'package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl' for link 'podstawka': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://sam_load_urdf_into_rviz/urdf/NOWE_STL/podstawa_obrotowa.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756) [ INFO] [1470251044.921358451]: Loading Setup Assistant Complete Do you know how to fix this problem? I was traying to remove and install again and nothing works...

I follow the **moveit official tutorial** to **roslaunch moveit_setup_assistant**, and then **load the pr2.urdf.xacro file**, and come across error then the **assistant crashes**. Here is the tutorial link: http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html **Note:** indigo on Ubuntu 14 **Here is the error information:** 

I have created 4 separate IKFast plugins (in different packages) for a quadruped robot and created plugins for MoveIt!. In order to test each IKFast plugin individually, I kept `kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin`, except for the planning group I was testing, in which `kinematics_solver: leg_XX_kinematics/IKFastKinematicsPlugin`. I then launched `demo.launch` and set a position target I knew was reachable through a python node running `MoveGroupCommander`. For the next test, I reset `kinematics_solver: leg_XX_kinematics/IKFastKinematicsPlugin` back to `kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin`, and changed the new planning group to `kinematics_solver: leg_XX_kinematics/IKFastKinematicsPlugin`. For each leg (XX = RR, RF, LR, or LF), the plan was generated and successfully executed. Now I tried running all 4 IKFast plugins together by changing them all to `kinematics_solver: leg_XX_kinematics/IKFastKinematicsPlugin`. However, only the first planning group in the `kinematics.yaml` file was able to plan to the position target tested above. The other three planning groups failed. Below is the output for the first two planning groups in the `kinematics.yaml` file. The first succeeded, but the other one failed (same as the last two in the `kinematics.yaml` file). Appears to be different when it reaches the line in which it is sampling valid states for goal tree. [ INFO] [1478811497.752041786]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1478811497.752709217]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1478811497.775881219]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1478811497.776011916]: Solution found in 0.023363 seconds [ INFO] [1478811497.776170580]: SimpleSetup: Path simplification took 0.000057 seconds and changed from 4 to 2 states [ INFO] [1478811497.780874798]: Received new trajectory execution service request... [ INFO] [1478811497.781173505]: Fake execution of trajectory [ INFO] [1478811499.581798402]: Execution completed: SUCCEEDED [ INFO] [1478811509.153249036]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1478811509.153772008]: RRTConnect: Starting planning with 1 states already in datastructure [ERROR] [1478811509.174940381]: RRTConnect: Unable to sample any valid states for goal tree [ INFO] [1478811509.174985629]: RRTConnect: Created 1 states (1 start + 0 goal) [ INFO] [1478811509.175004149]: No solution found after 0.021306 seconds [ INFO] [1478811509.175031377]: Unable to solve the planning problem Has anyone else run into this problem, or know of a moveit_config package that uses more than one IKFAST plugin? Another option if I cannot get it to work is running IKFast in my python node (if possible), then passing the IKFast joint angles to `group.set_joint_value_target()`. Is it possible to run IKFast in a python node for your robot, similar to `pykdl_utils KDLkinematics`? Any help would be appreciated.

How can i dynamically vary the speed of urdf robot while it is doing some path planning in rviz?

Hello all, **Background/Context:** I am in the process of writing a xacro file that calls x2 URs. A UR10 and a UR5, each with different end effectors on them. My ideal goal is to control both arms with Moveit and have them move at the same time as well as plan paths that will not result in collisions with each other. The end-effectors on these robots will be working within close proximity together on a process. So collision avoidance will be important. From what I've read and understood, moveit will only be able to plan for two manipulators if they are tied to the same "robot". I can't have two instances of moveit running and have them plan with respect to each other, so I am trying to import both arms into a global frame as a single arm. I am able to build the xacro and use check_urdf to build the link trees and verify they look correct from the world frame, to each parallel arm and their respective manipulators. **My main issue:** When I try and use the MoveIt setup assistant, I see this preview. As you can see the UR5(the one on the left) is being stretched out to the link lengths of the UR10.  When I swap their import order in the high level xacro file I see:  As you can see, the UR10 (right again) is now crunched up to have the link lengths of the UR5. I am importing these URDF xacro models FROM Universal Robot's ROS package. Namely these two files: I think that there is some sort of inheritance issue due to the usage of the property tag in the XMLs: From the UR5 urdf: and the UR10: I have already tried to hardcode these values as such: and it is still wonky. HELP! I'm losing my mind trying to figure out how to get this odd inheritance parameter issue sorted out!

I was following the [tutorial](http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot) on using the `MoveIt Setup Assistant` to create a MoveIt package for an industrial Robot. In the Add Planning groups section, it is mentioned that adding a Kinematic Chain is generally preferred over add joints or add links. But in [this](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) MoveIt tutorial, they use the Add Joints for the planning group `right_arm` and Add Links for the `right_gripper` group. I want to know what is the difference between these two approaches. Which one is better and in what situation? Thanks for all inputs!

I have, from what I can tell, successfully attached a mesh to my robot via this [tutorial](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/planning_scene_ros_api_tutorial.html), however the collision checking in RViz seems wrong. After attaching the added object (previously green) turns purple. By dragging the goal state query around I confirm that the attached object collides correctly with the robot **but NOT with other objects in the environment** (the robot, however, will collide with said objects). I tried searching for this issue and found some other related topics but none with my exact situation. Some notes: * The attached object is not visible on RViz's goal query until I hit the "Publish Current Scene" button * Visualizations via the "/move_group/display_planned_path" do not show the attached object [edit] Playing some more with RViz I am getting status messages to the effect of: Goal state colliding links: attached_object - environment_object but the robot doesn't turn any links red and/or cycle through solutions looking for a "good" solution. It is also more than happy to plan and execute to that goal state with colliding links... What am I missing here?

I have an application where being able to visualize the trajectory before executing is beneficial for a number of reasons. I recently added attached collision objects to the robot but they don't seem to show up in the trajectories visualized using move_group's `/move_group/display_planned_path` topic. Is this the intended behavior? If so, does anyone have suggestions on how to elegantly achieve what I am trying to get? Somewhat related to [http://answers.ros.org/question/248071/rviz-ignoring-collisions-between-attached-object-and-environment/](http://answers.ros.org/question/248071/rviz-ignoring-collisions-between-attached-object-and-environment/)

How can i customly give x,y,z point to move the robot in rviz using moveit.I tried different values of x,y,z positions for the abb 2400.can any one tell me the exact value of x,y,z where a motion plan can be executed.

Hello! I use MoveIt! to control a Kuka Youbot arm in Rviz. Apparently i used the computecartesianpath() to move the arm from point A to B. Afterwards i wanted to display the trajetory from A -> B and tried to use the Trajectory Addon in Rviz but it did not work. Do u have any ideas how i can, at least, prove that the youbot operates in a straight line? At least i know, that the computed cartesian path has 144 points and my terminal shows any jointangle for each point when i display the trajectory. Thanks! mutu

I tried to **load pr2.urdf.xacro with moveit_setup_assistant** following the [ official tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) But after the loading bar reached 100%, the console became dark and finally stopped. Note that moveit_setup_assistant can **work well with other file** like the moveit tutorial in the book, ros by example vol2. Here was the error result from terminal. SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.20 NODES / moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant) auto-starting new master process[master]: started with pid [66948] ROS_MASTER_URI=http://localhost:11311 setting /run_id to e1e4b9ae-b11e-11e6-b242-000c290a3fdb process[rosout-1]: started with pid [66961] started core service [/rosout] process[moveit_setup_assistant-2]: started with pid [66964] [rospack] Error: no package given [librospack]: error while executing command [ INFO] [1479865759.144299071]: Running 'rosrun xacro xacro.py /opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro'... [ INFO] [1479865763.768824299]: Loaded pr2 robot model. [ INFO] [1479865763.768900516]: Setting Param Server with Robot Description [ INFO] [1479865763.788140448]: Robot semantic model successfully loaded. [ INFO] [1479865763.788221240]: Setting Param Server with Robot Semantic Description [ INFO] [1479865763.809109524]: Loading robot model 'pr2'... [ INFO] [1479865763.809186007]: No root joint specified. Assuming fixed joint [ INFO] [1479865763.952783314]: Stereo is NOT SUPPORTED [ INFO] [1479865763.952884243]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1479865764.130981952]: Loading robot model 'pr2'... [ INFO] [1479865764.131149135]: No root joint specified. Assuming fixed joint TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored. [ INFO] [1479865765.214522606]: Loading robot model 'pr2'... [ INFO] [1479865765.214625559]: No root joint specified. Assuming fixed joint ================================================================================REQUIRED process [moveit_setup_assistant-2] has died! process has died [pid 66964, exit code -11, cmd /opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/shawn/.ros/log/e1e4b9ae-b11e-11e6-b242-000c290a3fdb/moveit_setup_assistant-2.log]. log file: /home/shawn/.ros/log/e1e4b9ae-b11e-11e6-b242-000c290a3fdb/moveit_setup_assistant-2*.log Initiating shutdown! ================================================================================ [moveit_setup_assistant-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done **NOTE:** version indigo ubuntu 14.04

In **moveit_commander.move_group.MoveGroupCommander** [class source code](http://docs.ros.org/jade/api/moveit_commander/html/move__group_8py_source.html), In line 40, > from moveit_ros_planning_interface import _moveit_move_group_interface It raises my curiosity to find it out what it is. Then I **search moveit_ros_planning_interface trying to find more about this API**, **however, I cannot find more about it** In [ros index website,](http://rosindex.github.io/p/moveit_ros_planning_interface/)I click **API doc** on the right, then click [**namespace**](http://docs.ros.org/indigo/api/moveit_ros_planning_interface/html/namespaces.html) and find **moveit_ros_planning_interface** However, when I click **moveit_ros_planning_interface** , it only appears [**planning_interface**](http://docs.ros.org/indigo/api/moveit_ros_planning_interface/html/namespacemoveit__ros__planning__interface.html), I click it , and it links me to [**ros.org**](http://wiki.ros.org/planning_interface) but it tells me > This page does not exist yet. **Q1:** How can I find more info about **moveit_ros_planning_interface** and **_moveit_move_group_interface** within it? **Q2：**  As figure shows, why do both **planning_interface and py_bindings_tools** have **parent namespace moveit**, while **moveit_ros_planning_interface** do not? **Q3:** In [moveit_ros repos](http://rosindex.github.io/r/moveit_ros/github-ros-planning-moveit_ros/), it says, > MoveIt ROS This repository includes > components of MoveIt that use ROS. > This is where much of the > functionality MoveIt provides it put > together. Libraries from MoveIt Core > and various plugins are used to > provide that functionality. - planning > - planning interfaces - benchmarking - manipulation - visualization Now I am **confused with the concept of package and API**, what is moveit_ros_planning_interface exactly？ **Q4:** In **moveit_commander.move_group.MoveGroupCommander** [class source code](http://docs.ros.org/jade/api/moveit_commander/html/move__group_8py_source.html), 00044 class MoveGroupCommander(object): 00045 """ 00046 Execution of simple commands for a particular group 00047 """ 00048 00049 def __init__(self, name, robot_description="robot_description"): 00050 """ Specify the group name for which to construct this commander instance. Throws an exception if there is an initialization error. """ 00051 self._g = _moveit_move_group_interface.MoveGroup(name, robot_description) Why there is **._g** in __init__function ?

I installed the Moveit! package following [this](http://moveit.ros.org/install/) link. Then I moved to the Setup Assistant but I encountered the following problem : :~$ roslaunch moveit_setup_assistant setup_assistant.launch [setup_assistant.launch] is neither a launch file in package [moveit_setup_assistant] nor is [moveit_setup_assistant a launch file name The traceback for the exception was written to the log file When I tried to check if the package moveit_setup_assistant exists, this is what it showed : :~$ rospack find moveit_setup_assistant [rospack] Error: package 'moveit_setup_assistant' not found I have tried to search for answers but I haven't been able to find any. From [this](https://github.com/ros-planning/moveit) link it seems like they have aborted the setup_assistant package for Jade. Any solutions to this problem?