Problems using Move Group Commands about iiwa_stack HOT 8 CLOSED

Hi @mat-l,

probably that is because we nested the whole MoveIt nodes, topics and parameters into a namespace (by default "/iiwa") to make it possible to start multiple instances under a single roscore.

You do not need to modify the launch file (your iiwa_launch.docx). You can just use our moveit_planning_execution.launch, which resides into iiwa_moveit. Then you can use your C++ script unmodified (you will have to start it in the "/iiwa" namespace, though).

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Thank you for your answer.
Could you explain to me what I have to do with a little more details?
I started the simulation with your moveit_planning_execution.launch command and afterwards used rosrun to start my cpp script. From that I get an Error message because "manipulator" could not be found.
I suspect that is because I don't start my script in the /iiwa namespace properly. How do I start the script in this specific namespace?
To use a Terminal in which the iiwa workspace is sourced seems to be not enough.

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Did you manage to solve this? You should just start your node within the right namespace (iiwa), from a roslaunch file it's pretty easy. Check the ns attribute here.

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Hey
thanks to your comment I now understand a little more about roslaunch and I was able to solve the communication problem. For now all I could do is to add something like a table into the scene and create error messages for planning.

[ERROR] [1476274928.891292938, 42.126000000]: RRTConnect: Unable to sample any valid states for goal tree
and

[ERROR] [1476274918.882453812, 32.138000000]: Unable to transform from frame 'base_link' to frame '/world'. Returning identity.

I remember a similar problem that has been solved by adding a fixed joint between base_link and the world frame but I didn't had a chance to look into it yet.

Edit:
By adding a static_transform_publisher from world link to base link I could get rid of the second error but he first one remains and I still can't get a plan ready.
Edit2:
The first error vanished. Maybe my coordinates where out of the robots reach after all.
But it still doesn't move in simulation.
I am using the same planner as for ur5 with which everything works fine. Is it possible that I should change the planner? And if so could you recommend one?

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Hi @mat-l,

sorry for the long absence. Did you make any progress with this?

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I'm closing this since we had no further feedback. Feel free to open it again if you need more help.

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I have the same error.

[ERROR] [1642615719.527758477]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
[ INFO] [1642615719.529822789]: Loading robot model 'iiwa7'...
[ INFO] [1642615719.530232672]: No root/virtual joint specified in SRDF. Assuming fixed joint
[FATAL] [1642615719.784914838, 186.460000000]: Group 'manipulator' was not found.
Traceback (most recent call last):
File "/home/user/catkin_stackiiwa/src/iiwa_stack/iiwa_ros/scripts/pythonmove.py", line 132, in
MoveItCartesianDemo()
File "/home/user/catkin_stackiiwa/src/iiwa_stack/iiwa_ros/scripts/pythonmove.py", line 20, in init
arm = MoveGroupCommander('manipulator')
File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 66, in init
name, robot_description, ns, wait_for_servers
RuntimeError: Group 'manipulator' was not found.

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Hi @mf093087, did you ever fix this? I am getting the same error. Many thanks, Sam.

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