Hi!
I'm working with kuka-iiwa14 robot and try to simulate this in Gazebo using MoveIt. For the iiwa I use the package of Salvo Virga: https://github.com/IFL-CAMP/iiwa_stack. Running with Ros kinetic on Ubuntu 16.04
In the package I've removed all links to the iiwa7 files and replaced them with the iiwa14. Using `roslaunch iiwa_moveit moveit_planning_execution.launch` the combination with MoveIt and Gazebo runs. Draging, planning and executing in the MoveIt environment works perfectly.
Now I wrote a script to manipulate the location of the endeffector:
import sys
import copy
import rospy
import random
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_interface', anonymous = True)
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
print "Group names are: %s" % "," .join(robot.get_group_names()) # Check for groupnames
manipulator = moveit_commander.MoveGroupCommander("manipulator")
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',moveit_msgs.msg.DisplayTrajectory, queue_size = 1)
pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 0.11
pose_target.position.x = 0.3
pose_target.position.y = 0.15
pose_target.position.z = 0.8
manipulator.set_pose_target(pose_target)
plan = manipulator.plan() #planning trajectory
manipulator.go(wait = True)
moveit_commander.roscpp_shutdown()
The group name "manipulator" corresponds with the name in de iiwa14.srdf file. However I got the following error, but don't know how to fix this.
orion@orion-desktop:~/catkin_ws/src/iiwa_stack-master/src$ python move_by_end_position.py
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1558494320.348058400, 438.486000000]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1558494320.348590590, 438.486000000]: Loading robot model 'iiwa14'...
[ INFO] [1558494320.349741328, 438.487000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
Group names are:
[FATAL] [1558494320.730383206, 438.623000000]: Group 'manipulator' was not found.
Traceback (most recent call last):
File "move_by_end_position.py", line 16, in
manipulator = moveit_commander.MoveGroupCommander("manipulator")
File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 52, in __init__
self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns)
RuntimeError: Group 'manipulator' was not found.
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