moveit / moveit_pr2 Goto Github PK

When using pr2_moveit_sensor_manager/Pr2MoveItSensorManager, I'm gettig this:

...
[ INFO] [1488972345.413291806]: The cost of the trajectory is 0.769878, which is above the maximum safe cost of 0.010000. Attempt 2 (of at most 3) at looking around.
[ WARN] [1488972350.414088257]: Head moving action is done with state PREEMPTED: 
[ WARN] [1488972350.414169845]: Looking around seems to have failed. Attempting to recompute a motion plan anyway.
[New Thread 0x7fffb2572700 (LWP 5990)]
[ INFO] [1488972350.418757730]: Planner configuration 'left_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1488972350.419652785]: left_arm[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[Thread 0x7fffb2572700 (LWP 5990) exited]
[ INFO] [1488972350.437487359]: left_arm[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1488972350.437558891]: Solution found in 0.018639 seconds
[ INFO] [1488972350.439421806]: SimpleSetup: Path simplification took 0.001790 seconds and changed from 4 to 2 states
[ INFO] [1488972350.575553662]: The cost of the trajectory is 0.768883, which is above the maximum safe cost of 0.010000. Attempt 3 (of at most 3) at looking around.
[ INFO] [1488972350.858682712]: Sensor was succesfully actuated. Attempting to recompute a motion plan.
[New Thread 0x7fffb2572700 (LWP 6002)]
[ INFO] [1488972350.864043927]: Planner configuration 'left_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1488972350.865438876]: left_arm[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[Thread 0x7fffb2572700 (LWP 6002) exited]
[ INFO] [1488972350.882566491]: left_arm[RRTConnectkConfigDefault]: Created 5 states (3 start + 2 goal)
[ INFO] [1488972350.882626636]: Solution found in 0.018348 seconds
[ INFO] [1488972350.885015599]: SimpleSetup: Path simplification took 0.002258 seconds and changed from 4 to 2 states
[ INFO] [1488972353.036064725]: Planning attempt 5 of at most 5
[New Thread 0x7fffb2572700 (LWP 6048)]
[ INFO] [1488972353.041141323]: Planner configuration 'left_arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1488972353.043620554]: left_arm[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1488972353.060479064]: left_arm[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1488972353.060564317]: Solution found in 0.019024 seconds
[Thread 0x7fffb2572700 (LWP 6048) exited]
[ INFO] [1488972353.066723604]: SimpleSetup: Path simplification took 0.004564 seconds and changed from 4 to 2 states
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

Program received signal SIGABRT, Aborted.

Moveit backtrace:

#0  0x00007ffff57b7cc9 in __GI_raise (sig=sig@entry=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:56
#1  0x00007ffff57bb0d8 in __GI_abort () at abort.c:89
#2  0x00007ffff5dc6c9d in __gnu_cxx::__verbose_terminate_handler() ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff5dc4ce6 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff5dc4d31 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff5dc4f48 in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff5dc544c in operator new(unsigned long) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#7  0x00007ffff5e1d569 in std::string::_Rep::_S_create(unsigned long, unsigned long, std::allocator<char> const&)
    () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#8  0x00007ffff5e1e34b in std::string::_Rep::_M_clone(std::allocator<char> const&, unsigned long) ()
   from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#9  0x00007ffff5e1ea84 in std::string::assign(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#10 0x00007ffff3bd4468 in collision_detection::getCostMarkers(visualization_msgs::MarkerArray_<std::allocator<void> >&, std::string const&, std::set<collision_detection::CostSource, std::less<collision_detection::CostSource>, std::allocator<collision_detection::CostSource> >&, std_msgs::ColorRGBA_<std::allocator<void> > const&, ros::Duration const&) () from /opt/ros/indigo/lib/libmoveit_collision_detection.so
#11 0x00007ffff3bd4ba8 in collision_detection::getCostMarkers(visualization_msgs::MarkerArray_<std::allocator<void> >&, std::string const&, std::set<collision_detection::CostSource, std::less<collision_detection::CostSource>, std::allocator<collision_detection::CostSource> >&) () from /opt/ros/indigo/lib/libmoveit_collision_detection.so
#12 0x00007ffff506db5a in plan_execution::PlanWithSensing::computePlan(plan_execution::ExecutableMotionPlan&, boost::function<bool (plan_execution::ExecutableMotionPlan&)> const&, unsigned int, double) ()
   from /opt/ros/indigo/lib/libmoveit_plan_execution.so
#13 0x00007ffff508ee64 in plan_execution::PlanExecution::planAndExecuteHelper(plan_execution::ExecutableMotionPlan&, plan_execution::PlanExecution::Options const&) () from /opt/ros/indigo/lib/libmoveit_plan_execution.so
#14 0x00007ffff508fa4e in plan_execution::PlanExecution::planAndExecute(plan_execution::ExecutableMotionPlan&, moveit_msgs::PlanningScene_<std::allocator<void> > const&, plan_execution::PlanExecution::Options const&) ()
   from /opt/ros/indigo/lib/libmoveit_plan_execution.so
#15 0x00007fffc033dde8 in move_group::MoveGroupMoveAction::executeMoveCallback_PlanAndExecute(boost::shared_ptr<moveit_msgs::MoveGroupGoal_<std::allocator<void> > const> const&, moveit_msgs::MoveGroupResult_<std::allocator<void> >---Type <return> to continue, or q <return> to quit---
&) () from /opt/ros/indigo/lib/libmoveit_move_group_default_capabilities.so
#16 0x00007fffc033e986 in move_group::MoveGroupMoveAction::executeMoveCallback(boost::shared_ptr<moveit_msgs::MoveGroupGoal_<std::allocator<void> > const> const&) ()
   from /opt/ros/indigo/lib/libmoveit_move_group_default_capabilities.so
#17 0x00007fffc0350b63 in actionlib::SimpleActionServer<moveit_msgs::MoveGroupAction_<std::allocator<void> > >::executeLoop() () from /opt/ros/indigo/lib/libmoveit_move_group_default_capabilities.so
#18 0x00007ffff28d0a4a in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0
#19 0x00007ffff627d182 in start_thread (arg=0x7fffb3fff700) at pthread_create.c:312
#20 0x00007ffff587b47d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

It does not happen if moveit_sensor_manager parameter is not set. Maybe important to note - I'm using two sensors to update octomap (PR2´s kinect + one external).

Any idea what might be wrong? Thanks!

Hi there,
I wasn't able to open the gripper of pr2 with your code. I tried thatstuff but it didn't work either.(i just added the effort) Do you have any idea what should i do to open the gripper with moveit?
Thank you in advance

`   g.pre_grasp_posture.joint_names.resize(1, "r_gripper_joint");
    g.pre_grasp_posture.points.resize(1);
    g.pre_grasp_posture.points[0].positions.resize(1);
    g.pre_grasp_posture.points[0].positions[0] = 1;
    g.pre_grasp_posture.points[0].effort.resize(1);
    g.pre_grasp_posture.points[0].effort[0]=1;`

We dropped Jade release #71
pr2_moveit_config is depended by moveit/moveit_tutorials#65
Is there a plan to make a release into K? If so what has to be done?

I can take care of bloom stuff if desired.

On a freshly built : Groovy on Ubuntu 12.04.2
following the tutorial: Groovy/PR2/Rviz Plugin/Quick Start, after following the steps in:
Groovy/PR2/Setup Assistant/Quick Start. The : Choose kdl_kinematics_plugin/KDLKinematicsPlugin as the kinematics solver.
step was followed as per the tutorial.
running: roslaunch pr2_moveit_config demo.launch
errors for both the left and right arms : [ERROR] [1368942623.760077511]: The kinematics plugin (left_arm) failed to load. Error: According to the loaded plugin descriptions the class pr2_arm_kinematics/PR2ArmKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin

I think this causes in RVIZ the "Interact" to not function.

Hi,
I cannot get move group to open gripper of pr2 evethough I can successfully move the head torso and other parts of pr2 using the MoveGroupCommander. See the code below with two basic functions: move_head and open_gripper. This does not work when I try to open the gripper's hand.
Note that the gripper's hand closes when it is opened and I set all the joint values to zero. But I can't get it to open when the gripper's hands are closed.

#!/usr/bin/python
# coding: utf-8
import sys

import moveit_commander
import rospy
import roscpp


def home_head():
    mgc = moveit_commander.MoveGroupCommander("head")
    jv = mgc.get_current_joint_values()
    jv[0] = 0.0
    jv[1] = 0.5
    mgc.set_joint_value_target(jv)
    p = mgc.plan()
    mgc.execute(p)    


def open_right_hand():
    mgc = moveit_commander.MoveGroupCommander("right_gripper")
    jv = mgc.get_current_joint_values()    
    jv = [1.0, 1.0, 0.477, 0.477, 0.477, 0.477, 0.04]
    mgc.set_joint_value_target(jv)
    p = mgc.plan()
    mgc.execute(p)

if __name__ == "__main__":
    
    node_name = "ready_pr2"

    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node(node_name)
    rospy.loginfo(node_name + ": is initialized")

    rc = moveit_commander.RobotCommander()
    rospy.loginfo("robot commander is initialized")

    home_head()
    rospy.loginfo("head homed")  

    open_right_hand()
    rospy.loginfo("right_gripper opened")  
      
    moveit_commander.roscpp_shutdown()

For example, in pr2_moveit_apps, move_group.launch tries to launch the move group node with "pkg="move_group"". But that is now part of one big moveit_ros_planning package.

#98 moved moveit_full_pr2 pkg from another repo to this repo. moveit_pr2 needs to be released in order to reflect that.

• Have ros/rosdistro#19343 merged. Without this merged in, bloom fails as following:

  $ bloom-release --rosdistro indigo --track indigo moveit_pr2
  :
   * [new tag]         rpm/ros-indigo-pr2-moveit-plugins-0.7.15-0_21 -> rpm/ros-indigo-pr2-moveit-plugins-0.7.15-0_21
   * [new tag]         rpm/ros-indigo-pr2-moveit-plugins-0.7.15-0_heisenbug -> rpm/ros-indigo-pr2-moveit-plugins-0.7.15-0_heisenbug
   * [new tag]         upstream/0.7.15 -> upstream/0.7.15
  <== Pushed tags successfully
  ==> Generating pull request to distro file located at 'https://raw.githubusercontent.com/ros/rosdistro/7806188021ca257f0f035468c4f1b4698a453ad2/indigo/distribution.yaml'
  Explicitly ignoring package 'pr2_jacobian_tests' because it is in the `indigo.ignored` file.
  Explicitly ignoring package 'pr2_moveit_tests' because it is in the `indigo.ignored` file.
  Failed to open pull request: AssertionError - Duplicate package name 'moveit_full_pr2' exists in repository 'moveit_pr2' as well as in repository 'moveit'
  

• Run bloom. (Artifact is already pushed as above output, so the next time anyone with write access to moveit_pr2-release repo can run simply the following:

  bloom-release --rosdistro indigo --track indigo moveit_pr2 -p
  

Many robots don't need dynamic ControllerManager functions (dynamic load/unload, multi-controller support, etc.). But the MoveIt Setup Assistant seems to suggest that a ControllerManager is required. As a workaround, I am using the pr2_controller_manager with the use_controller_manager flag set to false. Initially, this worked, but has recently broken.

To reproduce:

• take an existing MoveIt configuration (e.g. irb_2400_moveit_config)
• modify launch file to set use_controller_manager = false
• launch planning environment for that config
• Plan a path
• Try to execute the path

What happens:

• the robot doesn't actually move
• the following sequence of messages is logged (with no delay between):
  1. move_group INFO:
     • Received new trajectory execution service request...
     • move_group.cpp:MoveGroupServer::executeTrajectoryService:615
  2. move_group WARNING:
     • Cannot load controller without using the controller manager
     • pr2_moveit_controller_manager.cpp:Pr2MoveItControllerManager::loadController:453
  3. move_group INFO:
     • Execution completed: SUCCEEDED
     • move_group.cpp:MoveGroupServer::executeTrajectoryService:643
• no move commands are actually sent on the move_group/goal or joint_trajectory_action/goal topics
• move_group/result shows a valid trajectory after the "plan" step, but no messages after the "execute" step

What should happen:

• the robot should move to follow the planned trajectory
• messages should be published on the goal topics
• the "Execution completed" message should not be posted until motion is completed

For reference, I'm using the ubuntu binary packages with the following versions:

• ros-groovy-moveit-ros-move-group v0.3.21 (20130305-1104)
• ros-groovy-pr2-moveit-plugins v0.3.7 (20130228-2321)

When running

roslaunch pr2_moveit_config demo.launch

as suggested for beginners on the installation page, the launch file Rviz is not loaded with a config file. This is hard for beginners.

Also, on my system I'm getting the following error output:
https://gist.github.com/4256083

Hello,

I had a problem regarding Rviz when launching most of launch files provided in this package. For example,

$ roslaunch pr2_moveit_tutorials interactivity_tutorial.launch
The command above will give many repeated error messages regarding to URDF, such as:
[ERROR] [1468007825.024644293]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.024656721]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.307693203]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.307758054]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.307775120]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.307810335]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1468007825.309565557]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
...

I ignored them at current stage since they are about collisions. These error messages shown up even when I launch "pr2_moveit_tutorial" came along with full ROS installation. 

Some additional messages are listed below:

TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.

[ INFO] [1468007240.357823223]: Loading robot model 'pr2'...
[ INFO] [1468007240.393144094]: #####################################################
[ INFO] [1468007240.393176446]: RVIZ SETUP
[ INFO] [1468007240.393185744]: ----------
[ INFO] [1468007240.393212335]:   Global options:
[ INFO] [1468007240.393222553]:     FixedFrame = /base_footprint
[ INFO] [1468007240.393254685]:   Add a RobotState display:
[ INFO] [1468007240.393264359]:     RobotDescription = robot_description
[ INFO] [1468007240.393273815]:     RobotStateTopic  = interactive_robot_state
[ INFO] [1468007240.393283255]:   Add a Marker display:
[ INFO] [1468007240.393293500]:     MarkerTopic = interactive_robot_markers
[ INFO] [1468007240.393302738]:   Add an InteractiveMarker display:
[ INFO] [1468007240.393312159]:     UpdateTopic = interactive_robot_imarkers/update
[ INFO] [1468007240.393337821]:   Add a MarkerArray display:
[ INFO] [1468007240.393364219]:     MarkerTopic = interactive_robot_marray
[ INFO] [1468007240.393377627]: #####################################################
[ INFO] [1468007240.394225757]: Not colliding
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.

[ INFO] [1468007826.403953147]: Robot position: p(  0.585,  -0.188,   1.250) q(  0.000,  -0.888,   0.000,   0.460)

However, on the side of Rviz, the frame "base_footprint" looks like it does not exist:
Global Status/Fixed Frame No tf data. Actual error: Fixed Frame [base_footprint] does not exist
Except "Add a RobotState display" gives a "dead" PR2 robot, nothing happens in Rviz.

I am running Ubuntu 14.04, ROS indigo. The code is cloned to "~/catkin/src/", and I was trying under "indigo-devel" branch. However, the "pr2_moveit_tutorial" coming along with ROS installation works fine even with "collision error message":
$ roslaunch pr2_moveit_tutorials move_group_interface_tutorial.launch

Can someone help me out with this problem. I would be glad to provide extra information if needed.

Hi,
I'm trying to benchmark the pr2 robot with some motion planning algorithms, but i get an error trying to run the db. I typed:

roslaunch pr2_moveit_config default_warehouse_db.launch

but i get the error:

OSError: [Errno 13] Permission denied: '/opt/ros/groovy/share/pr2_moveit_config/default_warehouse_mongo_db'
[mongo_wrapper_ros_ale_N51Vf_10534_1696917966-1] process has died [pid 10552, exit code 1, cmd /opt/ros/groovy/lib/warehouse_ros/mongo_wrapper_ros.py __name:=mongo_wrapper_ros_ale_N51Vf_10534_1696917966 __log:=/home/ale/.ros/log/01d548c4-14a0-11e3-9d5a-0022fa00f616/mongo_wrapper_ros_ale_N51Vf_10534_1696917966-1.log].
log file: /home/ale/.ros/log/01d548c4-14a0-11e3-9d5a-0022fa00f616/mongo_wrapper_ros_ale_N51Vf_10534_1696917966-1*.log

Anyone could help me?
Thank you

Ale

planning_context.launch always loads the robot description, which is not necessary on a real robot and increases "launch" time quite a bit.
There should be a launch arg that makes this optional.
move_group.launch will also need that launch arg, since it calls planning_context.launch

Is this a general issue with the setup_assistant?

I'm getting a conflict when installing debs of 0.3.7. Even though there have been changes which seem to remove pr2_controllers_msgs from this package, they still seem to be getting installed.

This causes a conflict when you install the real pr2_controllers_msgs package.

hersh@spf$ dpkg -L ros-groovy-pr2-moveit-plugins
/.
/usr
/usr/share
/usr/share/doc
/usr/share/doc/ros-groovy-pr2-moveit-plugins
/usr/share/doc/ros-groovy-pr2-moveit-plugins/changelog.Debian.gz
/opt
/opt/ros
/opt/ros/groovy
/opt/ros/groovy/include
/opt/ros/groovy/include/pr2_controllers_msgs
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadGoal.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandActionGoal.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadFeedback.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandAction.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandResult.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadActionGoal.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadAction.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadActionFeedback.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandGoal.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandActionResult.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandActionFeedback.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadActionResult.h
/opt/ros/groovy/include/pr2_controllers_msgs/PointHeadResult.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommandFeedback.h
/opt/ros/groovy/include/pr2_controllers_msgs/Pr2GripperCommand.h
/opt/ros/groovy/share
/opt/ros/groovy/share/pr2_moveit_plugins
/opt/ros/groovy/share/pr2_moveit_plugins/pr2_moveit_controller_manager_plugin_description.xml
/opt/ros/groovy/share/pr2_moveit_plugins/pr2_moveit_sensor_manager_plugin_description.xml
/opt/ros/groovy/share/pr2_moveit_plugins/cmake
/opt/ros/groovy/share/pr2_moveit_plugins/cmake/pr2_moveit_pluginsConfig-version.cmake
/opt/ros/groovy/share/pr2_moveit_plugins/cmake/pr2_moveit_pluginsConfig.cmake
/opt/ros/groovy/share/pr2_moveit_plugins/package.xml
/opt/ros/groovy/share/pr2_moveit_plugins/pr2_moveit_kinematics_plugin_description.xml
/opt/ros/groovy/lib
/opt/ros/groovy/lib/libpr2_moveit_arm_kinematics.so
/opt/ros/groovy/lib/libpr2_moveit_controller_manager.so
/opt/ros/groovy/lib/pkgconfig
/opt/ros/groovy/lib/pkgconfig/pr2_moveit_plugins.pc
/opt/ros/groovy/lib/libpr2_moveit_sensor_manager.so
=====[ dir ~/groovy/src ]=====
hersh@spf$ grep version /opt/ros/groovy/share/pr2_moveit_plugins/package.xml
  <version>0.3.7</version>
...
=====[ dir ~/groovy/src ]=====

Tutorials for Adding/Removing Objects, and Dual-arm pose goals are incomplete/missing in moveit_pr2/pr2_moveit_tutorials/planning/scripts/move_group_interface_tutorial.py .

The same tasks are shown in the cpp tutorial

Hi, looking the pr2 package i believe the correct launch file is motion_planning_api_tutorial.launch instead of motion_planning_interface_tutorial.launch as reported on the tutorial.

link to the tutorial:
http://docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/motion_planning_api_tutorial.html

When I roslaunch pr2_moveit_config move_group.launch, I see the following error:

[ INFO] [1495318280.790392841, 304.685000000]: Loading robot model 'pr2'...
[ERROR] [1495318280.802518894, 304.697000000]: Group 'right_gripper' is not a chain
[ERROR] [1495318280.802567085, 304.697000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_gripper'
[ERROR] [1495318280.803114361, 304.698000000]: Kinematics solver could not be instantiated for joint group right_gripper.
[ INFO] [1495318280.820597241, 304.715000000]: Loading robot model 'pr2'...
[ERROR] [1495318280.832577815, 304.727000000]: Group 'left_gripper' is not a chain
[ERROR] [1495318280.832609523, 304.727000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_gripper'
[ERROR] [1495318280.833154913, 304.727000000]: Kinematics solver could not be instantiated for joint group left_gripper.

I also tried using the moveit setup assistant to generate new pr2.srdf and the issue still persists.
Note: The issue occurs both in simulation and the real robot.

Required by moveit/moveit_metapackages#6

Currently blocked at PR2/pr2_kinematics#6, which is also confirmed as follows:

$ wget https://raw.githubusercontent.com/ros/rosdistro/master/scripts/check_blocking_repos.py && chmod 755 check_blocking_repos.py
$ python ./check_blocking_repos.py --rosdistro jade --repositories moveit_pr2 --depth 1
The following repos cannot be released because of unreleased dependencies:
        moveit_pr2:
                pr2_kinematics

Hi,
I have a lot of problems trying to do a benchmark for pr2, but I don't think I really need to build a benchmark!
I want to get only the path length, using 5 different algorithms on the same configuration of pr2 but the only way to get it seems to be the .log file resulting from a benchmark.
Do you know if there is a easier way to get it? For example publishing the resulting path length on /rosout like the computational time needed?

Thank you in advance

Ale

Is there a MoveIt package available for ROS Noetic for the PR2?

Thank you

Dear Isaac,
is there a special reason that you released moveit_pr2 into Indigo as 0.7.15, although the 0.7.x is reserved for Kinetic and the next Indigo release should have been 0.6.7?

When running catkin_make run_tests the pr2_moveit_tests throw the following errors:

/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp: In member function ‘bool MyTest::initialize()’:
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:71:77: warning: ‘T* pluginlib::ClassLoader<T>::createClassInstance(const string&, bool) [with T = kinematics::KinematicsBase, std::string = std::basic_string<char>]’ is deprecated (declared at /opt/ros/hydro/include/pluginlib/class_loader_imp.h:96) [-Wdeprecated-declarations]
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp: In member function ‘virtual void ArmIKPlugin_getFK_Test::TestBody()’:
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:179:3: error: ‘JointStateGroup’ is not a member of ‘robot_state’
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:179:33: error: ‘joint_state_group’ was not declared in this scope
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:179:69: error: ‘class moveit::core::RobotState’ has no member named ‘getJointStateGroup’
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp: In member function ‘virtual void ArmIKPlugin_searchIK_Test::TestBody()’:
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:219:3: error: ‘JointStateGroup’ is not a member of ‘robot_state’
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:219:33: error: ‘joint_state_group’ was not declared in this scope
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:219:69: error: ‘class moveit::core::RobotState’ has no member named ‘getJointStateGroup’
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp: In member function ‘virtual void ArmIKPlugin_searchIKWithCallbacks_Test::TestBody()’:
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:288:3: error: ‘JointStateGroup’ is not a member of ‘robot_state’
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:288:33: error: ‘joint_state_group’ was not declared in this scope
/home/travis/ros/ws_moveit/src/moveit_pr2/pr2_moveit_tests/kinematics/src/test_kinematics_as_plugin.cpp:288:69: error: ‘class moveit::core::RobotState’ has no member named ‘getJointStateGroup’

As uncovered by Travis here

Hi ,
I have been working with the Kinematics part of the pr2 tutorials(ros_api_tutorial). I am able to move the arm to a desired x,y,z as per the tutorial. I need to set up a constraint where I can move the arm along a circular path. For example If I want it to move from x,y,z to x1,y1,z1 it should be done in a parabolic path than a straight line. Any thoughts?
Thanks,
Karthik

Hello,

I am working though the MoveIt! RViz Plugin Tutorial and noticed an error in the launching of the demo file.

When executing: roslaunch pr2_moveit_config demo.launch, I noticed the following Error:

Why should I be or not be worried by this?

The parameter names shape_padding and shape_scale in moveit_pr2 / pr2_moveit_config / config / sensors_kinect.yaml should be changed to padding_offset and padding_scale after the recent changes in perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp

Hello ,Is it possible to move the base of Pr2 using moveit? It seems that we can only move the arm using moveit. I would like to test my planning algorithms with mobile ground robot.

I was following the tutorials on
http://moveit.ros.org/wiki/Installation
and
http://moveit.ros.org/wiki/Quick_Start

and when I got to execute the demo of the planning plugin I didn't get it to work.
First, the .debs seem to be outdated, and compiling from sources I have this problem where the robot model spawns many times but hanging on the floor or flying around. The interactive markers blink and it's not usable. Also it crashes on many starts.

I've posted in the moveit-users google group with detailed data of my problem:
https://groups.google.com/forum/#!topic/moveit-users/D1a_63tw7PM

Could someone give it a look please?
Thanks :)

Here is a detailed information linking to ROS answer.
http://answers.ros.org/question/247687/moveit_setup_assistant-cannot-load-pr2urdfxacro/?answer=247695
Thanks for your help!

I am adding new planner and state space to source ompl and trying to do simulation on pr2 robot. About my modification to moveit and ompl, for ompl, I just directly added header and cpp files of new planner and state space into ompl source code and built it up. For moveit, I changed planning_context_manager.cpp file in ompl to include my planner and state space for pr2. And in planning_request_adapter.cpp file, I let my planner to use state space I wrote. The above is basically what I did to introduce new planner. Actually I am not sure whether I am missing some steps somewhere.
Then I compiled all codes out but somethings wrong happened when simulation. Every other planner works find but for my planner, process will always crash. I found when I choose other planner to plan a path for robot, it will directly start planning but for my planner, it seems try to reload pr2 robot model and eventually it shows up "SEVERE WARNING!!! Attempting to unload library while objects created by this loader exists in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded" and then process will crash. I am not sure whether the about is the reason why my process crashes. I am not familiar with the order of moveit solving motion planning problem. Hence I don't know where I should start to debug. Really appreciate it if someone can give suggestion.
Here is the output when my process crashes:
[ INFO] [1497899368.117001606]: Loading robot model 'pr2'... [ WARN] [1497899368.135801603]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1497899368.189987252]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1497899368.219836276]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.219915319]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.219936382]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.219959715]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220056698]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220078636]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220104077]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220122574]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220229304]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220253929]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220272559]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220290697]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220347641]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220365842]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220383068]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220400090]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220487693]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220508043]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220526174]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220544129]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220690069]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220712522]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220730112]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220748265]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220821778]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220841200]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220859438]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220876878]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220973242]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.220994061]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221012750]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221031930]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221166296]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221192153]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221211757]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221231545]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221311855]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221330873]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221348801]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221367709]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221452893]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221476088]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221499876]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221517753]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221582881]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221605406]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221628522]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221646322]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221710233]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221733293]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221756212]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221773677]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221827455]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221850652]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.221976619]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222010183]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222073109]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222097250]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222119951]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222142440]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222200529]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222223990]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222250508]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222268687]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222379584]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222403924]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222427583]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222445119]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222462890]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222486469]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222525930]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222549417]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222569023]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222590655]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222608157]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222631480]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222648847]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222672151]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222689523]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222707344]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222724160]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222741308]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222758496]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222776202]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222794739]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222818803]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222836339]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222853900]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222876995]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222898598]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222915403]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222933089]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222950007]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222967031]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.222985362]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223003853]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223028585]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223050510]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223068105]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223085363]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223103733]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223129279]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223147136]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223164337]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223185944]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223208076]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223225585]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223248047]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223270130]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223287624]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223309620]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223331612]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223349440]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223373657]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223391050]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223412880]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223435014]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223452407]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223469681]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223488873]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223521971]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223539798]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223560626]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223583414]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223600835]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223621694]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223644066]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223661793]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223684696]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223706793]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223724451]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223749500]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223767368]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223786335]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223806785]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223824391]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223841764]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223859033]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223877339]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223909874]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223933287]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223951086]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223968876]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.223988272]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224014315]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224031735]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224049305]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224073253]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224091132]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224111755]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224130730]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224153557]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224175796]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224192660]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224211260]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224230139]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224253683]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224276225]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224293213]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224310931]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224330727]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224353489]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224370658]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224388649]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224409516]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224426747]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224444145]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224461193]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224478938]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224495583]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224512688]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224529598]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224546427]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224563396]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224580355]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224597215]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224681423]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224704280]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224734286]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224754503]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224771923]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224789890]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224807038]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224824496]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224841784]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224867292]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224889745]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224907527]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224924663]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224941778]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224958613]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224975940]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.224992917]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225010867]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225027642]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225044665]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225061291]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225078185]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225094970]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225112503]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225129291]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225146410]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225163492]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225180724]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225197702]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225214942]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225233387]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225251973]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225270452]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225288597]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.225307092]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.228985279]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.229095130]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ WARN] [1497899368.229186676]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons. [ INFO] [1497899368.231695776]: Loading robot model 'pr2'... [ WARN] [1497899368.251364029]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ INFO] [1497899368.257786618]: Model frame: /odom_combined [ WARN] [1497899368.257959461]: 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. [ WARN] [1497899368.257984387]: 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. [move_group-5] process has died [pid 17194, exit code -11, cmd /home/ruinianxu/ws_moveit/devel/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/ruinianxu/.ros/log/39e934c0-5522-11e7-b786-1c6f6540c1be/move_group-5.log]. log file: /home/ruinianxu/.ros/log/39e934c0-5522-11e7-b

I introduced new planner and state space but there is some errors now. After code exit callPlannerInterfaceSolve function in planner_request_adapter file, process just die. I don't know the whole flow of doing motion planning for pr2 robot. Hence, I don't know after code exiting callPlannerInterfaceSolve function, it will come into which file or function. Can anybody tell me the whole flow of doing motion planning in demo.launch of pr2 robot? Or which file it will come into after it exiting callPlannerInterfaceSolve function.

See #98 (comment)

It's the one regression in indigo at the moment. I suspect it was relying on a transitive dependency which was cleaned up so now it's broken.

This is blocking the build of moveit_pr2 and moveit_full_pr2

http://build.ros.org/view/Ibin_uS64/job/Ibin_uS64__pr2_moveit_tutorials__ubuntu_saucy_amd64__binary/10/console

CMakeFiles/pick_place_tutorial.dir/src/pick_place_tutorial.cpp.o -c /tmp/binarydeb/ros-indigo-pr2-moveit-tutorials-0.6.1/pick_place/src/pick_place_tutorial.cpp
00:12:36.857 /tmp/binarydeb/ros-indigo-pr2-moveit-tutorials-0.6.1/pick_place/src/pick_place_tutorial.cpp:42:46: fatal error: shape_tools/solid_primitive_dims.h: No such file or directory
00:12:36.857  #include <shape_tools/solid_primitive_dims.h>
00:12:36.857                     

I'm not sure what is block this from being released, but pr2_moveit_tutorials (where the documentation is generated) is being held back because of it

@rhaschke could you release new version including #101 and run `blooms into melodic? Or if you’re busy please consider set this repository as orphaned as other pr2 repository (https://github.com/PR2/pr2_common) so that @v4hn and @k-okada can release this?