No plan execution about ros2_robotsimulation HOT 2 CLOSED

Hi @mrayh001,

Thank you very much for contacting us.

Unfortunately, ros2_RobotSimulation only supports the ROS2 Robot Triggers defined in ros2_data and ros2_actions packages. These actions use a very simple move_group node, which uses OMPL planning to plan and execute the robot movements (you can find this in any robot_interface.launch.py file, in the move_group node definition).

Thus, moveit2 will complain about some missing information (e.g., joint limits) if you want to execute any complex movement or planner, such as time parametrization (which I can see you are using) or the Pilz Industrial Motion Planner.

However, there is a way to define the joint limits that your execution is complaining about. I cannot guarantee that this will 100% solve your problem, but it will define the acceleration limits for your joints. You need to follow these steps:

1. Create a joint_limits.yaml file and include the following inside:

joint_limits:
  shoulder_pan_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 10.0
  shoulder_lift_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 10.0
  elbow_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 10.0
  wrist_1_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 10.0
  wrist_2_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 10.0
  wrist_3_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 10.0

• max_velocity: Values obtained from the URDF file (should check just in case).
• max_acceleration: The higher the acceleration limits, the quicker the robot will move in Gazebo.

2. Add the following to the ur5_interface.launch.py file (above the move_group node definition):

# joint_limits.yaml file:
joint_limits_yaml = load_yaml(
    "ur5_ros2_moveit2", "config/joint_limits.yaml"
)
joint_limits = {'robot_description_planning': joint_limits_yaml}

3. Modify the move_group node definition (add joint_limits):

# move_group node:
run_move_group_node = Node(
    package="moveit_ros_move_group",
    executable="move_group",
    output="screen",
    parameters=[
        robot_description,
        robot_description_semantic,
        kinematics_yaml,
        joint_limits, 
        ompl_planning_pipeline_config,
        trajectory_execution,
        moveit_controllers,
        planning_scene_monitor_parameters,
        {"use_sim_time": True}, 
    ],
)

This will allow you to add information about the joint acceleration limits into the move_group node.

Regards,
Mikel Bueno
IFRA Research Group
Cranfield University

from ros2_robotsimulation.

Hey @mrayh001,
In my case, I have solved it by reinstalling ROS2 Humble, and it shows well now.

from ros2_robotsimulation.