Hello guys,
I am working on Ubuntu 16.04 LTS and ROS Kinetic. I managed to connect MoveIt! with my real Robotis Manipulator-H and now I can perform path planning using the MoveIt! GUI on RViz. However, after I perform path planning in the GUI (using the "plan and execute"), I always see this message on the terminal where I ran the MoveIt! RViz GUI:
[ INFO] [1524586969.369797363]: Fake execution of trajectory
[ INFO] [1524586969.826177422]: Get Joint Trajectory
[ INFO] [1524586969.826249800]: Send Motion Trajectory
[ INFO] [1524586970.325910473]: End Trajectory
[ INFO] [1524586972.670081887]: Didnt received robot state (joint angles) with recent timestamp within 7.8412e-05 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ WARN] [1524586972.670136939]: Failed to receive current joint state
[ INFO] [1524586972.670190086]: Completed trajectory execution with status SUCCEEDED ...
I was not that much worried about this because I thought my manipulator was going to the correct point. However, after looking with more attention, I figured out that the 5th joint of the manipulator always deviates a bit from the desired orientation that it should have, making the manipulator stay always some centimeters away from the correct position. MoveIt! prints the above messages so it thinks that everything is working correctly but I noticed that the position of the 5th joint in the MoveIt! GUI in RVIZ is slightly different from the real one. I think that this is a hardware problem, am I right?
After that, I tried to execute some code that had previously worked when I was simulating the manipulator in Gazebo. When I ran the node that sends to code, it suddenly shuted down with no specific error, as you can see here:
[ INFO] [1524591470.337832395]: Using solve type Speed
[ INFO] [1524591470.711624508]: Publishing maintained planning scene on ''
[manipulator_h_move_group_interface_tutorial-1] process has died [pid 12991, exit code -11, cmd /home/josebrito/catkin_ws/devel/lib/manipulator_h_path_planning/manipulator_h_move_group_interface_tutorial __name:=manipulator_h_move_group_interface_tutorial __log:=/home/josebrito/.ros/log/2b327d8a-47e6-11e8-86f0-f894c21e0ad7/manipulator_h_move_group_interface_tutorial-1.log].
log file: /home/josebrito/.ros/log/2b327d8a-47e6-11e8-86f0-f894c21e0ad7/manipulator_h_move_group_interface_tutorial-1*.log
Basically, the most important part of the code is this:
// Visualizing plans
// ^^^^^^^^^^^^^^^^^
//
// We can also visualize the plan as a line with markers in Rviz.
ROS_INFO_NAMED("tutorial", "Visualizing plan 1 as trajectory line");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose goal planning", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group->getLinkModel("end_link"), joint_model_group, rvt::LIME_GREEN);
visual_tools.trigger();
// Moving to a pose goal
// ^^^^^^^^^^^^^^^^^^^^^
//
// Moving to a pose goal is similar to the step above
// except we now use the move() function. Note that
// the pose goal we had set earlier is still active
// and so the robot will try to move to that goal. We will
// not use that function in this tutorial since it is
// a blocking function and requires a controller to be active
// and report success on execution of a trajectory.
// Uncomment below line when working with a real robot (or Gazebo simulation)
move_group.execute(my_plan);
// Wait for the user click on the RVizVisualToolsGui or N if he has the 'Key Tool' selected. Also print a specific message in the terminal
visual_tools.prompt("Click 'Next' in the RVizVisualToolsGui or N if you have the 'Key Tool' selected");
And after spending some time trying to figure out where the problem is coming from, I found out that if I commented this line of code:
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group->getLinkModel("end_link"), joint_model_group, rvt::LIME_GREEN);
The error disappears (???? -> second strange error). However, now whenever I run the code I get messages saying that the trajectory was executed but in fact it is not being executed because my manipulator just doesn't move. This are the messages that I get:
The black manipulator is just the trajectory being executed cyclically in RViz and not the arm really moving. This is my third strange error.
I then tried something different. Whenever I was planning using the GUI, I always clicked in the "Plan and Execute" button. I first did this to move the arm to a random position and then I tried to first "Plan" and then "Execute" and I got this error:
7[ INFO] [1524591227.024220794]: Execution request received
[ERROR] [1524591227.034673124]:
Invalid Trajectory: start point deviates from current robot state more than 0.01
joint 'joint5': expected: -0.395714, current: -0.965783
[ INFO] [1524591227.034725420]: Execution completed: ABORTED
So now I really think that something is wrong with the hardware.
My questions are the following:
**1 - ** The problems that I get from the joint 5 being deviated from its correct state are hardware related?
**2 - ** Why did that strange error go away after I commented that line of code?
**3 - ** Why can't I execute trajectories that are being sent from a node? They were being executed normally in Gazebo and the connection with the real robot doesn't seem to be failing, otherwise the manipulator wouldn't be cyclically executing the trajectory in Gazebo...
Sorry for the extensive post and thanks in advance!
Best regards,
José Brito
↧