Rviz Plugin Tutorial demo.launch Fails, No Planning Library Loaded

[Karsten Knese]

Dear all,

I was just following the MoveIt! tutorials given on the homepage today as I ran into the following error on the RVIZ plugin tutorial. When I start 

roslaunch pr2_moveit_config demo.launch

Rviz starts correctly, but with the following error:

[move_group-4] process has died [pid 10996, exit code -4, cmd /opt/ros/hydro/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/student/.ros/logs/be433896-1eb8-11e3-b3e5-1078d2866b45/move_group-4.log].

log file: /home/student/.ros/logs/be433896-1eb8-11e3-b3e5-1078d2866b45/move_group-4*.log

[ERROR] [1379346339.840806636]: Object recognition action: Unable to connect to action server within allotted time

Which results in the end that no planner like OMPL is loaded. Looking at rqt_reconfigure indicates that three components are not loaded:

dynreconf client failed. Connection to node=/move_group/ompl failed

dynreconf client failed. Connection to node=/move_group/pick_place failed

dynreconf client failed. Connection to node=/move_group/planning_scene_monitor failed

It seems that this happens to other people as well as this thread describes exactly the same error:

http://answers.ros.org/question/75769/ros-moveit-pr2-demo-launch-fails/

Best

- Karsten

[Marcus Liebhardt]

Karsten,

What versions are you using (ROS distro? Source or debs?). There was a glitch with RViz, when they introduced a new feature, which forced an update of some plugins, e.g. ORK and MoveIt.

I believe the MotionPlanning RViz plugin fix is only available in the hydro-devel sources (please correct me, if I'm wrong).

Best,

Marcus

--
Marcus Liebhardt 
Control Engineer
Yujin Robot
주소: 대한민국 서울시 금천구 가산동 345-30 남성프라자 #601, 153-023.
Address: Door #601, Namsung-Plaza, 345-30 Gasan-dong, Guemcheon-gu, Seoul, 153-023, Republic of Korea
Website: http://www.yujinrobot.com
Email: marcus.l...@yujinrobot.com
Phone: +82-70-46577073

[Karsten Knese]

Marcus, all, 

You are right. I double checked here on place and it seems that the .deb installation is broken. Installing it from source fixes the problem and the OMPL is loaded correctly!

However, I ran into another problem of RVIZ not displaying the PR2 correctly. It looks like it publishes two robots (one is lying on the ground and constantly clashes a collision with the other one), but I will investigate in that and may file another report by tonight.

- Karsten

[Sam Pfeiffer]

After downloading and compiling from sources ( http://moveit.ros.org/wiki/Installation -> Additional Source Installation Instructions (for developers)) executing:

roslaunch pr2_moveit_config demo.launch

Crashes frequently when launching:

[rviz_slovakia_16285_6462970-6] process has died [pid 16411, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /home/sampfeiffer/workspace_hydro/moveit/src/moveit_pr2/pr2_moveit_config/launch/moveit.rviz

When it doesn't crash we get ("we" as Karsten and me) a Rviz with multiple PR2 models loaded, one is the RobotState one which looks fine and the other ones are "laying in the floor or flying around" and they are part of the MotionPlanning plugin.

At the same time we see the other robot models blink we get:
[ WARN] [1379426220.285321624]: TF to MSG: Quaternion Not Properly Normalized

This message it's continuously said by the Rviz instance.

I've tried using the launchfiles generated with the assistant. And happens the same.

I've tried using the launchfiles generated with the assistant with our robot (REEM) and... the same happens.

Here you have another screenshot with our robot having the same problem.

Even more, if you want to see a video of what we see, robot in the ground, blinking model on and off with the arm markers blinking too... here you have one attached. 

Aaaand... some pastebin of my output of my terminal

For clearness I separated the launch of demo.launch stuff in a launch without the rviz launch (my_demo.launch) and then the rviz launch (moveit_rviz.launch).

my_demo.launch which contains demo.launch with 

<!--   <include file="$(find reem_moveit_generated)/launch/moveit_rviz.launch">

    <arg name="config" value="true"/>

    <arg name="debug" value="$(arg debug)"/>

  </include> -->

commented gives this output:

roslaunch pr2_moveit_config my_demo.launch

http://pastebin.com/3i6xfsKz

Then when launching the moveit_rviz.launch config:=true

roslaunch pr2_moveit_config moveit_rviz.launch config:=true

We get

1) When crashing:

http://pastebin.com/30hNhMFv

2) When not crashing:

http://pastebin.com/Bv8cajii

Setting debug:=true doesn't give me much more info...

Help? :D

[Sam Pfeiffer]

Just in case, as you mentioned (Marcus) there was something new with Rviz I downloaded and compiled the last version of the repos (rviz version 1.10.7) and tried too... and I got the same results.

:(

[Sam Pfeiffer]

Aaaand more news:

I tried to use the groovy MoveIt! from the debs and it works (well, I couldn't find pr2_description in groovy so I just used the one in hydro adding it to my ROS_PACKAGE_PATH... as they are only plain description and mesh files I don't think it's a problem).

I'm proceeding on doing a diff/meld on both versions to see what it's wrong on hydro version.