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The MoveIt Motion Planning Framework for ROS. For the ROS 2 repository see MoveIt 2. For the commercially supported version see MoveIt Pro.

Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.

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  • We develop latest features on master.
  • The *-devel branches correspond to released and stable versions of MoveIt for specific distributions of ROS. noetic-devel is synced to master currently.
  • Bug fixes occasionally get backported to these released versions of MoveIt.
  • To facilitate compile-time switching, the patch version of MOVEIT_VERSION of a development branch will be incremented by 1 w.r.t. the package.xml's version number.

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moveit2_tutorials's Issues

Quickstart_in_rivz problem

Description

im learning moveit2 in ros2-foxy.when i run ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true by following https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst, an error happend.
I would be very thankful for your help!!

Your environment

  • ROS Distro: |Foxy|
  • OS Version: e.g. Ubuntu 20.04
  • maybe source?

Steps to reproduce

demo and files in https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst

Expected behaviour

when i run ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true by following https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst, an error happend.

Backtrace or Console output

lee@lee-VirtualBox:~/ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
[INFO] [launch]: All log files can be found below /home/lee/.ros/log/2021-04-10-18-23-32-079928-lee-VirtualBox-17769
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:271> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "/home/lee/ws_moveit2/install/moveit2_tutorials/share/moveit2_tutorials/launch/demo.launch.py", line 71, in generate_launch_description
run_move_group_node = Node(package='moveit_ros_move_group',
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 196, in init
normalized_params = normalize_parameters(parameters)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/normalize_parameters.py", line 181, in normalize_parameters
normalized_params.append(normalize_parameter_dict(param))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/normalize_parameters.py", line 162, in normalize_parameter_dict
raise TypeError('Unexpected type for parameter value {}'.format(repr(value)))
TypeError: Unexpected type for parameter value None

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 273, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 293, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 125, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: Unexpected type for parameter value None

Build Locally fails to generate html pages

Description

When I attempt to build the html pages locally my machine fails to run ./build_locally.sh with the following error:

Theme error:
An error happened in rendering the page doc/benchmarking/benchmarking_tutorial.
Reason: UndefinedError("'dict object' has no attribute 'viewkeys'")

I have tried generating the html pages through ROS1 and a custom port of rosdoc_lite and genmsg for ROS2 but receive the same error.

To verify that my machine is setup properly I pulled moveit_tutorials from source and ran ./build_locally.sh for ROS1 Noetic which succeeded and opens my local copy in my browser.

Your environment

  • ROS Distro: [noetic/foxy]
  • OS Version: Ubuntu 20.04
  • Source build

Console output

~/moveit2_tutorials_ws/src/moveit2_tutorials$ ./build_locally.sh
Documenting a catkin package
Documenting moveit2_tutorials located here: /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials
{'sphinx': {'builder': 'sphinx', 'sphinx_root_dir': '.'}}
Catkin package, no need to generate python paths
Sphinx python path is: /opt/ros/noetic/lib/python3/dist-packages
sphinx-building moveit2_tutorials [sphinx-build -a -E -b html . /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/build/html/.]
  cwd is /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials

Theme error:
An error happened in rendering the page doc/benchmarking/benchmarking_tutorial.
Reason: UndefinedError("'dict object' has no attribute 'viewkeys'")
stdout:
b'Running Sphinx v1.8.5\nmaking output directory...\nbuilding [mo]: all of 0 po files\nbuilding [html]: all source files\nupdating environment: 42 added, 0 changed, 0 removed\nreading sources... [  2%] doc/benchmarking/benchmarking_tutorial\nreading sources... [  4%] doc/bullet_collision_checker/bullet_collision_checker\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp\nreading sources... [  7%] doc/chomp_planner/chomp_planner_tutorial\nreading sources... [  9%] doc/controller_configuration/controller_configuration_tutorial\nreading sources... [ 11%] doc/creating_moveit_plugins/plugin_tutorial\nreading sources... [ 14%] doc/custom_constraint_samplers/custom_constraint_samplers_tutorial\nreading sources... [ 16%] doc/getting_started/getting_started\nreading sources... [ 19%] doc/hand_eye_calibration/hand_eye_calibration_tutorial\nreading sources... [ 21%] doc/ikfast/ikfast_tutorial\nreading sources... [ 23%] doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial\nreading sources... [ 26%] doc/kinematics_configuration/kinematics_configuration_tutorial\nreading sources... [ 28%] doc/motion_planning_api/motion_planning_api_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/motion_planning_api/src/motion_planning_api_tutorial.cpp\nreading sources... [ 30%] doc/motion_planning_pipeline/motion_planning_pipeline_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp\nreading sources... [ 33%] doc/move_group_interface/move_group_interface_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/move_group_interface/src/move_group_interface_tutorial.cpp\nreading sources... [ 35%] doc/move_group_python_interface/move_group_python_interface_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py\nreading sources... [ 38%] doc/moveit_commander_scripting/moveit_commander_scripting_tutorial\nreading sources... [ 40%] doc/moveit_cpp/moveitcpp_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/moveit_cpp/src/moveit_cpp_tutorial.cpp\nreading sources... [ 42%] doc/moveit_deep_grasps/moveit_deep_grasps_tutorial\nreading sources... [ 45%] doc/moveit_grasps/moveit_grasps_tutorial\nreading sources... [ 47%] doc/moveit_task_constructor/moveit_task_constructor_tutorial\nreading sources... [ 50%] doc/ompl_interface/ompl_interface_tutorial\nreading sources... [ 52%] doc/perception_pipeline/perception_pipeline_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/perception_pipeline/src/cylinder_segment.cpp\nreading sources... [ 54%] doc/pick_place/pick_place_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/pick_place/src/pick_place_tutorial.cpp\nreading sources... [ 57%] doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner\nreading sources... [ 59%] doc/planning_adapters/planning_adapters_tutorial\nreading sources... [ 61%] doc/planning_scene/planning_scene_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/planning_scene/src/planning_scene_tutorial.cpp\nreading sources... [ 64%] doc/planning_scene_monitor/planning_scene_monitor_tutorial\nreading sources... [ 66%] doc/planning_scene_ros_api/planning_scene_ros_api_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/planning_scene_ros_api/src/planning_scene_ros_api_tutorial.cpp\nreading sources... [ 69%] doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial\nreading sources... [ 71%] doc/quickstart_in_rviz/quickstart_in_rviz_tutorial\nreading sources... [ 73%] doc/realtime_servo/realtime_servo_tutorial\nreading sources... [ 76%] doc/robot_model_and_robot_state/robot_model_and_robot_state_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp\nreading sources... [ 78%] doc/setup_assistant/setup_assistant_tutorial\nreading sources... [ 80%] doc/stomp_planner/stomp_planner_tutorial\nreading sources... [ 83%] doc/subframes/subframes_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/subframes/src/subframes_tutorial.cpp\nreading sources... [ 85%] doc/tests/tests_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/tests/test/tests.cpp\nreading sources... [ 88%] doc/time_parameterization/time_parameterization_tutorial\nreading sources... [ 90%] doc/trac_ik/trac_ik_tutorial\nreading sources... [ 92%] doc/trajopt_planner/trajopt_planner_tutorial\nreading sources... [ 95%] doc/urdf_srdf/urdf_srdf_tutorial\nreading sources... [ 97%] doc/visualizing_collisions/visualizing_collisions_tutorial\ntutorial-formatter running on /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp\nreading sources... [100%] index\n\nlooking for now-outdated files... none found\npickling environment... done\nchecking consistency... done\npreparing documents... done\nwriting output... [  2%] doc/benchmarking/benchmarking_tutorial\n'
stderr
None
[]
[]
[]
copying /opt/ros/noetic/lib/python3/dist-packages/rosdoc_lite/templates/msg-styles.css to build/html/msg-styles.css
Done documenting moveit2_tutorials you can find your documentation here: /home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/build
gio: file:///home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/build/html/index.html: Error when getting information for file “/home/marq/moveit2_tutorials_ws/src/moveit2_tutorials/build/html/index.html”: No such file or directory

run_moveit_cpp demo crash and missing Interactive pointer (Foxy)

Description

run_moveit_cpp demo is missing the Interactive Tool and crashed. possibly an Xsrc WSL2 issue?

Env

  • ROS2 Foxy
  • Ubuntu 20.04/WSL2
  • Binary

Steps to reproduce

run ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
Use the interface according to the tutorial.
Interactive tool is in the toolbar but does not add the positioning gimbal to scene

Backtrace or Console output

[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643662.982975700] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0008076 seconds
[rviz2-3] [INFO] [1619643662.983048100] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1619643663.691225200] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643663.701741400] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0007252 seconds
[rviz2-3] [INFO] [1619643663.701765600] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1619643663.710663600] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [INFO] [1619643663.757818700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1619643663.758408700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'

[ERROR] [rviz2-3]: process has died [pid 18802, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/user/ws_ROS2/moveit2/install/run_moveit_cpp/share/run_moveit_cpp/launch/run_moveit_cpp.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_xbpi4kvw --params-file /tmp/launch_params_cvdjcc3n'].

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-5] [INFO] [1619643780.230165400] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.230225600] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.230528600] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[robot_state_publisher-2] [INFO] [1619643780.230249700] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-1] [INFO] [1619643780.230255400] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.234566300] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[run_moveit_cpp-4] [INFO] [1619643780.235321800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[run_moveit_cpp-4] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[run_moveit_cpp-4]          at line 127 in /tmp/binarydeb/ros-foxy-class-loader-2.0.2/src/class_loader.cpp

Full log https://gist.github.com/newcanopies/26ad2971c65a6e288a849201b0415466

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