Because the moveit is updated recently.So I use "sudo apt-get remove ros-indigo-moveit" to remove moveit.And then I used "sudo apt-get install ros-indigo-moveit" to reinstall moveit.It can be found in http://moveit.ros.org/install/ .
After that I open a new terminal. I can rospack find moveit_setup_assistant in opt/ros/indigo/share.
But when I run “roslaunch moveit_setup_assistant setup_assistant.launch” It appeared 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]
After I run "source /opt/ros/indigo/setup.bash" in the terminal.The moveit_setup_assistant works well.
I must source /opt/ros/indigo/setup.bash can I use moveit_setup_assistant.However, after source /opt/...,I can't rospack find the packages in catkin_ws.So after source /opt/...When I run move_group.launch, It appeared error.
ERROR: cannot launch node of type [moveit_ros_move_group/move_group]: can't locate node [move_group] in package [moveit_ros_move_group]
I must source ~/catkin_ws/devel/setup.bash can I use the packages in catkin_ws. However this way I can't use setup_assistant.launch
The bottom lines of my ~/.bashrc file is
source /home/robot508/catkin_ws/catkin_industrial/devel/setup.bash
source /home/robot508/catkin_ws/le_myself/devel/setup.bash
source /home/robot508/catkin_ws/devel/setup.bash
When I add the source /opt/ros/indigo/setup.bash to the last line,It also can't work. How can I find the moveit_setupassistant.launch and move_group.launch at the same time.
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can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant]
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5 DOF arm IK solution for use in MoveIT
I am working on a custom 5 DOF arm(image at the bottom). I have generated the URDF, the MoveIt configs etc for it.
I want to have the basic IK, planning and collision detection features of MoveIt. Before programming my application, I tried running the simple planning in RViz, using the interactive marker etc. Now, since it is a 5 dof system, I had to enable "Allow Approximate IK solutions", for it to let me use the interactive markers.
It was using OMPL by default. I tried planning for some random-valid goal states. The problem is that the planning success rate was very very low. 4 out of 5 times the planning failed. I also tried changing the planners from the dropdowns, but none of them were consistent in planning succesfully, all of them were failing quite frequently.
After looking up this problem [here on Ros-Answers](http://answers.ros.org/question/10407/inverse-kinematics-solver/) and many other places, we found that IKFast would be what we should use, as it works reliably for 5 dof systems.
After installing openrave and ikfast via source, we ran the commands to generate a IKfast cpp file(using [this tutorial](http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution)) for our robot model. We tried the TranslationDirection5D ik type. Now here we are getting a `tuple index out of range error` which is something that others have faced before and have not been able to solve. See [this](http://openrave-users-list.185357.n3.nabble.com/Struggling-to-get-ikfast-to-work-td4027761.html) and [this](http://openrave-users-list.185357.n3.nabble.com/IndexError-tuple-index-out-of-range-td4026855.html). Basically, we've now hit a wall trying to get the IK on my 5 dof robot to work properly. Openrave is not even able to generate an Ikfast cpp.
It's 2017, we have 10 distros of ros and looking at ROS 2, and a 5dof manipulator still so difficult to get to work.
Is there a recommended way to get IKfast to generate a cpp or maybe even get the normal KDL to work reliably for my 5 dof system? I would really appreciate any kind of help to get this to work, thanks
Here's the picture of the bot from RViz
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↧
How to change velocity & acceleration in MotionPlanRequest topic
With the newest version of MoveIt! (Indigo 0.7.6), we can nicely scale the velocity and acceleration of trajectory on MoveIt! RViz plugin. Looking at the [Time Parameterization tutorial] changing them programmatically during runtime seems also possible by changing `MotionPlanRequest.msg`, but how exactly can we do so?
Now I'm trying to see using [NEXTAGE](wiki.ros.org/rtmros_nextage) but I don't see that type of topic being published while MoveIt! is running.
[Related question](http://answers.ros.org/question/250190/speed-up-rvizmoveit/) by @robotfan
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How to get the goal state of Rviz by programming?
In the Rviz, I drag the marker on an arm of robot, then the orange color represent the goal state. How to get the goal state（just the orange arm） by programming?
I want to get the orange arm's state(just every joint's angle), could you help me?
Because the orange's arm is goal state ，is not current state. So I can't get the state by move_group.getCurrentState().
https://github.com/ros-planning/moveit_tutorials/issues/55
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Trajectory time exceeded and current robot state not at goal, last point required
When I used ur_driver and MoveIt to control real UR5, the UR5 can move but can't reach to the goal pose.In the ur_bringup terminal ,an [WARN] occurred
[2016-12-29 22:35:28.417916] on_goal
[WARN] [WallTime: 1483022131.205065] Trajectory time exceeded and current robot state not at goal, last point required
[WARN] [WallTime: 1483022131.205451] Current trajectory time: 2.78684282303, last point time: 2.779444779
Desired: [0.42070332844406366, -0.5392611878419296, 1.2213945445207879, -0.014400772983208299, -0.02953762591350824, 0.020142455794848496]
actual: [0.40468594431877136, -0.7387240568744105, 1.479959487915039, -0.6717637220965784, 0.7213889360427856, -0.06885129610170537]
velocity: [0.013294500298798084, 0.14815698564052582, -0.19076329469680786, 0.4873025715351105, -0.5491651296615601, 0.056661415845155716]
[2016-12-29 22:35:31.724464] Out: Braking
After running the ur5_bringup.launch , my move_group.launch(generated by moveit_setup_assistant),and the moveit_ik_demo.py,The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't reach to the desired pose. The warning is "Trajectory time exceeded and current robot state not at goal, last point required". I do not know how to set trajectory time.I also don't know the reason that caused the problem.
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URDF generated by SW2URDF fails planning in MoveIt
I am using the `sw_urdf_exporter` plugin to generate a URDF file for my custom 5-dof robot. The plugin worked correctly and I was able to preview the URDF and even move the joints using the sample `urdf_tutorials` viewer.
I generated a MoveIt config for the same, using the MoveIt setup assistant and I was able to load up the standard demo.launch file from the moveit config as well. RViz showed the robot prefectly.
The problem I faced was that I was not able to plan the trajectories reliably, I could only succesfully plan about 1-2 out of every 10 attempts. Even a few simple trajectories failed. I though this could be an issue with the KDL solver, but even IKfast, the alternate solver failed.([Check this question for details](http://answers.ros.org/question/251272/generating-ik-solution-for-use-in-moveit-for-5-dof-arm/)).
Now, just to ensure that there is no issue in my robot configuration, I built a URDF file by hand. I ensured that my joint configuration remained the same. This URDF worked flawlessly and almost all plans worked pretty fine. Even with the default KDL solver.
This tells me that there could have been an issue with the sw_urdf_exporter plugin. I am using solidworks 2013(the version recommended). My design is also pretty simple.
Has anybody got the plugin to generate a urdf which works reliably with MoveIt and planning? How can I debug what could have gone wrong in the URDF generation? I can provide both the generated and the handwritten URDFs if it would help someone.
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moveit_setup_assistant cannot load pr2.urdf.xacro
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/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html
**Note:**
1, indigo on Ubuntu 14
2,
Information about **OpenGL** by command line :**glxinfo | grep OpenGL**
**No error shown here.**
root@ShawnVM:~/catkin_ws/src/rbx2/pi_robot_moveit_config# glxinfo | grep OpenGL
OpenGL vendor string: VMware, Inc.
OpenGL renderer string: Gallium 0.4 on llvmpipe (LLVM 3.8, 256 bits)
OpenGL core profile version string: 3.3 (Core Profile) Mesa 11.2.0
OpenGL core profile shading language version string: 3.30
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 3.0 Mesa 11.2.0
OpenGL shading language version string: 1.30
OpenGL context flags: (none)
OpenGL extensions:
**Here is the error information with both text and image version:**
root@ShawnVM:/opt/ros/indigo/share/moveit_setup_assistant# roslaunch moveit_setup_assistant setup_assistant.launch
... logging to /root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/roslaunch-ShawnVM-81395.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:33182/
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
process[moveit_setup_assistant-1]: started with pid [81413]
[rospack] Error: no package given
[librospack]: error while executing command
[ INFO] [1478834698.670836156]: Running 'rosrun xacro xacro.py /opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro'...
[ INFO] [1478834703.591787951]: Loaded pr2 robot model.
[ INFO] [1478834703.591918734]: Setting Param Server with Robot Description
[ INFO] [1478834703.608182827]: Robot semantic model successfully loaded.
[ INFO] [1478834703.608598789]: Setting Param Server with Robot Semantic Description
[ INFO] [1478834703.620308337]: Loading robot model 'pr2'...
[ INFO] [1478834703.620406108]: No root joint specified. Assuming fixed joint
[ INFO] [1478834703.777751659]: Stereo is NOT SUPPORTED
[ INFO] [1478834703.777928749]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1478834703.937708930]: Loading robot model 'pr2'...
[ INFO] [1478834703.937975156]: 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] [1478834704.959022007]: Loading robot model 'pr2'...
[ INFO] [1478834704.959187880]: No root joint specified. Assuming fixed joint
================================================================================REQUIRED process [moveit_setup_assistant-1] has died!
process has died [pid 81413, exit code -11, cmd /opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/moveit_setup_assistant-1.log].
log file: /root/.ros/log/1740324a-a756-11e6-9533-000c290a3fdb/moveit_setup_assistant-1*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
**Edit1:**
I follow this answer http://answers.ros.org/question/217186/a-problem-with-launching-the-moveit-setup-assistant/
try to install xserver-xorg, but another things shown up
root@ShawnVM:/opt/ros/indigo/share/moveit_setup_assistant# sudo apt-get install xserver-xorg
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
unity-control-center : Depends: libcheese-gtk23 (>= 3.4.0) but it is not going to be installed
Depends: libcheese7 (>= 3.0.1) but it is not going to be installed
E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
**Edit2:**
Then, I have to sovle **Edit1** problem, which leads me to this
http://askubuntu.com/questions/575548/system-settings-stopped-showing-up
But it does not work for me. Still cannot **install xserver**
**Edit3:**
I forgot to mention that, **moveit_setup_assistant can load the pi_robot.urdf file in the ros-by-example-2 tutorial**
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can't visualise collision world in rviz with moveit
I was following [this](http://picknik.io/moveit_wiki/index.php?title=PR2/Gazebo/Quick_Start) tutorial, where i was moving the arms of pr2 robot by using moveit motion planner. but when i try to visualise the collision world in rviz nothing is their even after i put objects infront of pr2 robot. Here is my rviz screenshot:
and here is my gazebo screenshot with a cube infront of it:
I have installed ros indigo full and which included gazebo 2 and i also installed pr2 full package. As tutorial said i created all the launch and config files inside the configuration folder of pr2_moveit_config. I was able to run the pr2 in gazebo with moveit and move it by using motion planner but in this step i am stuck.
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limitations of moveit?
I was learning to use moveit but i have got some of doubts:
1. What is maximum degree of freedom of robot joint where it can be used? As i saw [here](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/ikfast_tutorial.html) it is saying that for arms with > 7 DOF it donot works. Does this means that arms with DOF>7 cant use moveit.
2. How complicated motion planning or obstacle avoidance can it do? For example if i have robot similar to human hand than can it make it grab all objects from every possible way in which humans can do avoiding other collision objects in its path?
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How to deal with limit tag when joint limits are changeable (depended on other links) and not fixed?
My robot has not fixed joint limits. On every position is has a different joint limits other side it will hit parent/child link. Or it will go out of working area because I removed support links (closed loop) that are increasing max payload. What I think is to add an extra dummy link to parent/child link to make collision detection and prevent crashing. But i can't deal when it is going out of working area.
Can I add a mathematic equation on limits?
If not I should add again support links (counterweights for payload), close the open loop, prevent collision with parent links and then it will never go out of working area.. but i find it too difficult to close the open loop. Is there any way to deal with it?
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Raspbian Jessie ROS INDIGO download image
Hello all,
during christmas vacation I compiled ROS INDIGO on a Raspbian Jessie image with the following features / packages installed:
C-BERRY TFT framebuffer driver
ROS INDIGO
- ROS base
- RQT
- imageview
- geometry
- moveit
- rviz
- robot model
Here is the link for downloading:
https://drive.google.com/open?id=0Bzu4fg52rneFX1V3REhKTmM2VWc&authuser=0
ROS INDIGO
- ROS base
- RQT
- imageview
- geometry
- moveit
- rviz
- robot model
Here is the link for downloading:
https://drive.google.com/open?id=0Bzu4fg52rneFX1V3REhKTmM2VWc&authuser=0
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Is it possible to perform inverse kinematics using MoveIt! plugin without defining dynamic parameters at urdf file?
Given that (in theory) kinematics (forward o inverse) doesn't care about dynamic parameters such as mass or inertial matrix /Ixx, Izxy, etc.( related to links and so on. Can I perform inverse kinematics using move it! plugin in Rviz without defining dynamic parameters in the URDF file?
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moveit visualize steady goal state
As in rviz we can visualize the start and goal state to make a plan, I would like to visualize the goal state before executing the move from code. Move group plan does animate the path in rviz, but its not as good as visualizing a steady goal state pose.
How can I visualize a steady goal state pose via moveit from code (not from rviz visual interface) and how can it be updated when a target pose is set for the group?
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initJointTrajectory in ros_controllers ignoring first JointTrajectoryPoint in provided message
I am trying to initialize a (quintic spline) `Trajectory` using the functionality within ros_controllers/joint_trajectory_controller but am getting some undesired behavior when I sample the Trajectory constructed via `joint_trajectory_control::initJointTrajectory`.
In particular, when sampling times between the first (at time t=0.0) and second points, the spline returns always the second point's values (expected behavior for all times before the Trajectory's start time)
Additionally, when calling the initialization I get the following message:
> Dropping first 1 trajectory point(s) out of ### as they occur before the current time...
It seems that the initialization function is throwing away my first point (with `time_from_start = 0.0`) despite my trajectory starting from `ros::Time(0.0)` as specified in the passed message.
Digging through the code, the comments make me think that this should work but it is not. Is there perhaps a strict less-than compare instead of a less-than-or-equal or a missing check/case for `msg.header.time == 0.0`?
I seem to remember from somewhere that ros_control (in contrast to MoveIt!) assumes that the proved trajectory does not contain the current position and I assume that this is related to my issue BUT I feel that there is inherently something wrong with this approach. In particular, what about the case (mine currently) where the provided trajectory_msg for initialization is significantly sparse in time such that a significant number of sampled times are between the current pose and the first spline segment?
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How can i use moveit for multi chain arm
It seems like moveit can be used only for arm having single chain. but i want my robot to grasp all those things which human hand can grasp like knife, gun or machine gun, cup and other tools. But after studying moveit i found that if a robot arm contains multiple chain like fingers than it do not works fine. So is moveit suitable for this type of application? Like below:
I am trying to make similar arm with urdf and trying to simulate it in gazebo to do the human hand thing.
A ros node running computer vision codes will first detect a 3d object with its oriantation and position. Than by specifying the pose and oriantation of each fingers of robot i want the moveit to plan the trajectory for that with obstacle avoidance than grab the tool exactly as specified in the action client node. Currentely my [computer vision program](https://www.youtube.com/watch?v=ad_Zxw0N2hc) is only able to detect one object with its oriantation and position and will work further after understanding this ros controllers, actions, trajectory msgs everything. And since this program can also do object classification it will detect and save the grasping and movement position of object and than latter same action can be done by using the previous learned(saved) data's. I'm really happy that i found ROS(open source :>)
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How do I disable execution_duration_monitoring ?
I'm using the [fanuc](https://github.com/ros-industrial/fanuc) package for ROS-Industrial and when launching the [moveit_planning_execution.launch](https://github.com/ros-industrial/fanuc/blob/indigo-devel/fanuc_m10ia_moveit_config/launch/moveit_planning_execution.launch) I get the following error:
[ERROR] [1415027195.809289492]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.992567 seconds). Stopping trajectory.
The error is explained [here](http://wiki.ros.org/fanuc/Troubleshooting/MoveIt%20Trajectory%20Execution%20Manager). What I understand is that I have to add a line in one of the launch file, something like:
I tried 2 things without success:
[trajectory_execution.launch.xml](https://github.com/ros-industrial/fanuc/blob/indigo-devel/fanuc_m10ia_moveit_config/launch/trajectory_execution.launch.xml)
And [move_group.launch](https://github.com/ros-industrial/fanuc/blob/indigo-devel/fanuc_m10ia_moveit_config/launch/move_group.launch)
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Should I choose to write a URDF manually or export URDF by Solidworks?
I wonder what is the normal process of the development of a robot, this would be a broad question and not specific enough.
What I want to know urgently is dependent on what I choose to **get URDF by hand OR by Solidworks export plugin.**
I heard that using **sw_urdf_exporter** would **introduce error** of coordinate etc. and sometimes not work, and the code format is **not good for maintenance** if exported automatically **without xacro**. In addition, I notice that the URDF of **pr2** robot is written manually, which easier to understand the code.
However, writing a bunch of URDF to develop a robot seems not normal intuitively.
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move group python interface error
terminate called after throwing an instance of 'boost::exception_detail::clone_impl>'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
I'm getting this error when i tried to run the python program to move the robot in rviz. And also where is the move_group_interface.cpp file in the pr2_moveit_tutorial package in ros indigo. I wanted to move the pr2 in gazebo also not just in rviz but i'm not finding the cpp file, python file is present their but its not working. What should i do.
I installed the pr2_moveit_package as : `sudo apt-get install ros-indigo-moveit-pr2`
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MoveIt Planning and Execution Fails
Hi,
I am facing some issues with `MoveIt`. I have a 6 DOF robot and I have created the moveit_config package for it. I have also followed [this](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html) tutorial and I am able to add objects to the `planning_scene` and attach them to my robot as well.
However, I am facing problems with the planning and execution in MoveIt. I have followed the [Move Group Interface](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html) tutorial and I have made some nodes for `Joint Space Goals` and also `Pose Goals`. Here is a snippet of my node:
moveit::planning_interface::MoveGroup group("arm");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
std::vector j_values;
j_values.resize(6);
j_values[0] = 0.00;
j_values[1] = -0.80;
j_values[2] = 0.73;
j_values[3] = 0.00;
j_values[4] = 0.755;
j_values[5] = 0.00;
group.setJointValueTarget(j_values);
//Motion plan from current location to custom position
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);
ROS_INFO("Visualizing Plan %s",success?"":"FAILED");
/* Sleep to give RViz time to visualize the plan. */
sleep(5.0);
moveit_msgs::MoveItErrorCodes error_codes;
if (success == true)
{
ROS_INFO("Planning To Move");
error_codes = group.move();
ROS_INFO("%d", error_codes.val);
}
I have used the `GUI sliders` of the `joint state publisher` and noted these joint values so I am certain that they are valid positions. The funny part is that sometimes the planning fails and sometimes, even if the planning succeeds and I am able to visualize the trajectory in `RViz`, the fake trajectory execution fails.
I have also seen this behaviour when I set `Pose Goals` and `Cartesian Path Plan`.
I have setup `MoveIt` without any controllers. I am using the `fake_arm_controller`. Could this have to do with anything?
Also I was reading about `KDL` and in some places, it is given that it works for >= 6 DOF arms but in the book `Mastering ROS for Robotics Programming` on page 404, it is mentioned that KDL works well for DOF > 6.
Which one holds true? Should I start looking into `IKFast`?
Thanks for your inputs!
**EDIT** :
This is what I get in the terminal from which I launch my node :
[ INFO] [1482329713.395102382]: Loading robot model 'mitsubishi_rv6sd'...
[ INFO] [1482329713.792179428]: Loading robot model 'mitsubishi_rv6sd'...
[ INFO] [1482329714.748339492]: Ready to take MoveGroup commands for group arm.
[ INFO] [1482329718.508234984]: Visualizing Plan
[ INFO] [1482329723.508560155]: Planning To Move
[ INFO] [1482329728.544356683]: ABORTED: No motion plan found. No execution attempted.
[ INFO] [1482329728.544465716]: -1
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
Aborted (core dumped)
and this from the move_group terminal :
[ INFO] [1482329714.751108276]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1482329714.784687548]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1482329717.107128883]: LBKPIECE1: Created 184 (156 start + 28 goal) states in 169 cells (151 start (151 on boundary) + 18 goal (18 on boundary))
[ INFO] [1482329717.107195147]: Solution found in 2.333180 seconds
[ INFO] [1482329718.133562849]: SimpleSetup: Path simplification took 1.026287 seconds and changed from 30 to 25 states
[ INFO] [1482329723.509644220]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1482329723.509803230]: Planning attempt 1 of at most 1
[ INFO] [1482329723.545069363]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1482329728.542936085]: LBKPIECE1: Created 121 (35 start + 86 goal) states in 108 cells (33 start (33 on boundary) + 75 goal (75 on boundary))
[ INFO] [1482329728.542997085]: No solution found after 5.006173 seconds
[ INFO] [1482329728.543036308]: Unable to solve the planning problem
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connection between launch file and src file in moveit
I was learning moveit tutorials, but since the moveit full package was not avialbe for pr2 in ros indigo, i can't understand how does the src folders of moveit(eg.move_group_interface.cpp) and launch file of moveit_configuration folder(eg.move_group_interface.launch) are connected and how do the src file is executed when the launch file is launch by using roslanch. And i am not that experienced with launch files, yaml files etc. But learning day by day.
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