Hello,
I want to use two robot group in a moveit configuration and I follow this [repo](https://github.com/ros-industrial/motoman/tree/kinetic-devel/motoman_sda10f_moveit_config) to setup.
But when I launch it, I got some errors below:
1st part:
[ERROR] [1561381793.673494508]: Client [/motion_streaming_interface] wants topic /joint_path_command to have datatype/md5sum [motoman_msgs/DynamicJointTrajectory/81bfbf2d02070fdef3a528bd72b49257], but our version has [trajectory_msgs/JointTrajectory/65b4f94a94d1ed67169da35a02f33d3f]. Dropping connection.
2nd part:
[ INFO] [1561381797.737253621]: Starting scene monitor
[ INFO] [1561381797.741169725]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1561381797.742239299]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1561381799.094229861]: Waiting for mh5/r1/joint_trajectory_action to come up
[ INFO] [1561381802.758199851]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.15/planning_scene_monitor/src/planning_scene_monitor.cpp:498
[ INFO] [1561381803.239068841]: Constructing new MoveGroup connection for group 'r1_manipulator' in namespace ''
[ WARN] [1561381805.094440152]: Waiting for mh5/r1/joint_trajectory_action to come up
[ERROR] [1561381811.094635485]: Action client not connected: mh5/r1/joint_trajectory_action
[ WARN] [1561381816.123840402]: Waiting for mh5/r2/joint_trajectory_action to come up
[ WARN] [1561381822.124058908]: Waiting for mh5/r2/joint_trajectory_action to come up
[ERROR] [1561381828.124273610]: Action client not connected: mh5/r2/joint_trajectory_action
Here is my controllers.yaml :
controller_list:
- name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t, r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t]
- name: mh5/r1
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t]
- name: mh5/r2
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: [r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t]
and motoman_mh5_planning_execution.launch:
↧