Comments (11)
There seems to be a couple of issues:
- As the readme explains, the moveit server does not start automatically with the simulator anymore, and you should start it manually using
roslaunch panda_sim_moveit sim_move_group.launch
if you want to use moveit. Launch the simulator and moveit server. Then run moveit demos. - Also, it looks like you may be missing rviz-visual-tools package. Try installing it with
sudo apt install ros-melodic-rviz-visual-tools
.
Closing this issue because it is not related to this repo. Please open an issue for panda_simulator if you find further difficulties.
from franka_ros_interface.
By the way, catkin_make is fine, everything else is ok.
from franka_ros_interface.
Are you able to run franka-ros example codes? If you are, then franka_ros_interface should work as well.
If not, then your connection/configuration may be the issue.
from franka_ros_interface.
But i cannot run franka_ros examples without a robot_ip, can I?
I only work in simulation for now
from franka_ros_interface.
Oh! You didn't mention working in simulation. If you are using panda_simulator
, you don't need to launch franka_inteface interface.launch
; everything is already running in the simulation, and you can directly access everything using franka_ros_interface and its API.
from franka_ros_interface.
Ok, so i have to
./franka.sh sim
And then run something from panda_simulator?
Because i don't understand why there is a ./franka.sh sim if we don't use it
from franka_ros_interface.
As described in the readme and franka.sh file, you don't need to run franka.sh sim
for simulation anymore. It's just left there for backward compatibility.
Yes, if you are running the simulation, you can control it using franka_ros_interface.
from franka_ros_interface.
Ok
I still don't understand how to control it usinf franka_ros_interface. each launch want me to put a robot_ip in arg
from franka_ros_interface.
You don't have to launch anything from the franka_ros_interface package. Please look at the examples in panda_simulator repo (follow the instructions in the README).
from franka_ros_interface.
Follow the instructions in the Usage and Demos section here, and try running the demos. The demo_task_space_control
example uses franka_ros_interface for controlling the robot.
from franka_ros_interface.
Ok, go it
So i tried to panda_world.launch
and then demo_moveit.launch
.
panda_world (gazebo) is quite ok, with just one error
Controller 'panda_simulator/position_joint_position_controller' is already running
but demo_moveit gives me :
PluginlibFactory: The plugin for class 'rviz_visual_tools/KeyTool' failed to load. Error: According to the loaded plugin descriptions the class rviz_visual_tools/KeyTool with base class type rviz::Tool does not exist. Declared types are rviz/FocusCamera rviz/Interact rviz/Measure rviz/MoveCamera rviz/PublishPoint rviz/Select rviz/SetGoal rviz/SetInitialPose rviz_plugin_tutorials/PlantFlag
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
[librospack]: error while executing command
[ERROR] [1613067725.166616271, 376.413000000]: PluginlibFactory: The plugin for class 'rviz_visual_tools/RvizVisualToolsGui' failed to load. Error: According to the loaded plugin descriptions the class rviz_visual_tools/RvizVisualToolsGui with base class type rviz::Panel does not exist. Declared types are rviz_plugin_tutorials/Teleop
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
And
[ INFO] [1613067726.290805443, 376.586000000]: Starting planning scene monitor
[ INFO] [1613067726.299866968, 376.587000000]: Listening to '/planning_scene'
[ INFO] [1613067731.652373223, 377.773000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1613067731.654274018, 377.773000000]: Starting planning scene monitor
[ INFO] [1613067731.667393903, 377.775000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1613067731.715750761, 377.781000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1613067736.666445461, 378.944000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1613067736.666738749, 378.944000000]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[ INFO] [1613067736.740122925, 378.955000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
So the starting test fail :
Unable to connect to move_group action server 'move_group' within allotted time (30s)
demo_task_space_control gives me some problems also.
from franka_ros_interface.
Related Issues (20)
- I got a Problem with the arm controller HOT 3
- [franka_control-2] has died! please help HOT 3
- Switch Controller Failed HOT 5
- Strange noises and barely noticable jerky movement when using test_controller.py HOT 2
- catkin build issue HOT 11
- Fix shebang for python2 and python3 compatibility HOT 4
- ArmInterface() seems to get stuck moveit '/get_planning_scene' HOT 1
- com
- about control frequency HOT 4
- use franka_ros_interface with two panda arm simultaneously HOT 3
- Values of width and force in grasp HOT 1
- Error occurs with libfranka 0.8 and no real time kernel HOT 1
- REQUIRED process [franka_control-3] has died error when running driver node HOT 3
- Lacks dependencies about quaternion HOT 1
- Maybe it could not be run in zsh HOT 1
- Any control interface for cartesian velocity control? HOT 1
- load_gripper:=false doesn't work HOT 1
- 【cartesian_impedance mode】Has anyone tried cartesian_impedance with franka ros interface? HOT 1
- Issue when controlling and moving the robot HOT 1
- Build Error: Cannot locate message [Errors] in package [franka_core_msgs] HOT 1
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