PR2 configuration problme

[Jaeseok Kim]

Hi all,

I have some problem.
After finishing intalling by the setup_assistant.launch, I generated some config and launch file.

When I run the launch file below:
'roslaunch pr2_moveit_generated moveit_planning_execution.launch'

I can see the error below:

[ERROR] [1417799088.896646158, 411.873000000]: Group 'right_arm' is not a chain
[ERROR] [1417799088.896724765, 411.873000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_arm'
[ERROR] [1417799088.898088017, 411.873000000]: Kinematics solver could not be instantiated for joint group right_arm.
[ INFO] [1417799088.936260782, 411.877000000]: Loading robot model 'pr2'...
[ERROR] [1417799090.238966338, 412.130000000]: Group 'left_arm' is not a chain
[ERROR] [1417799090.239042241, 412.130000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_arm'
[ERROR] [1417799090.239995866, 412.130000000]: Kinematics solver could not be instantiated for joint group left_arm.


Except the error, every thing is working well..
Did I make a mistake when I configure the pr2 robot??
Let me know your opinion.
Thank you.

Best Regards,
Jaeseok

[Adolfo Rodríguez Tsouroukdissian]

On Dec 5, 2014 6:12 PM, "Jaeseok Kim" <kjs212...@gmail.com> wrote:
>
> Hi all,
>
> I have some problem.
> After finishing intalling by the setup_assistant.launch, I generated some config and launch file.
>
> When I run the launch file below:
> 'roslaunch pr2_moveit_generated moveit_planning_execution.launch'
>
> I can see the error below:
>
> [ERROR] [1417799088.896646158, 411.873000000]: Group 'right_arm' is not a chain

Is this statement true for your group?

What joints does right_arm contain?. The kdl ik plugin only works for chains, so if you specified a group spanning also say the gripper joints, it would be a tree.

Best,

Adolfo

[Adolfo Rodríguez Tsouroukdissian]

Putting moveit-users backin the loop. For the record, the answer below was exchanged privately and solved the problem.

On Tue, Dec 9, 2014 at 1:34 PM, Adolfo Rodríguez Tsouroukdissian <adolfo.r...@pal-robotics.com> wrote:

On Tue, Dec 9, 2014 at 9:37 AM, Jaeseok Kim <kjs212...@gmail.com> wrote:

Hi Adolfo,

Thank you for answering my question.

I checked the file 'pr2.srdf' described below:

<group name="right_arm">
        <joint name="r_shoulder_pan_joint" />
        <joint name="r_shoulder_lift_joint" />
        <joint name="r_upper_arm_roll_joint" />
        <joint name="r_upper_arm_joint" />
        <joint name="r_elbow_flex_joint" />
        <joint name="r_forearm_roll_joint" />
        <joint name="r_forearm_cam_frame_joint" />
        <joint name="r_forearm_cam_optical_frame_joint" />

The two camera joints above make the group a tree. I don't think they're relevant for a MoveIt! planning group, so it should be OK to remove them. Ditto for the left arm.

Adolfo.

 

        <joint name="r_forearm_joint" />
        <joint name="r_wrist_flex_joint" />
        <joint name="r_wrist_roll_joint" />
    </group>
    <group name="left_arm">
        <joint name="l_shoulder_pan_joint" />
        <joint name="l_shoulder_lift_joint" />
        <joint name="l_upper_arm_roll_joint" />
        <joint name="l_upper_arm_joint" />
        <joint name="l_elbow_flex_joint" />
        <joint name="l_forearm_roll_joint" />
        <joint name="l_forearm_cam_frame_joint" />
        <joint name="l_forearm_cam_optical_frame_joint" />
        <joint name="l_forearm_joint" />
        <joint name="l_wrist_flex_joint" />
        <joint name="l_wrist_roll_joint" />
    </group>
    <group name="right_gripper">
        <link name="r_gripper_palm_link" />
        <link name="r_gripper_l_finger_link" />
        <link name="r_gripper_l_finger_tip_link" />
        <link name="r_gripper_led_frame" />
        <link name="r_gripper_motor_accelerometer_link" />
        <link name="r_gripper_motor_slider_link" />
        <link name="r_gripper_motor_screw_link" />
        <link name="r_gripper_r_finger_link" />
        <link name="r_gripper_r_finger_tip_link" />
        <link name="r_gripper_l_finger_tip_frame" />
    </group>
    <group name="left_gripper">
        <link name="l_gripper_palm_link" />
        <link name="l_gripper_l_finger_link" />
        <link name="l_gripper_l_finger_tip_link" />
        <link name="l_gripper_led_frame" />
        <link name="l_gripper_motor_accelerometer_link" />
        <link name="l_gripper_motor_slider_link" />
        <link name="l_gripper_motor_screw_link" />
        <link name="l_gripper_r_finger_link" />
        <link name="l_gripper_r_finger_tip_link" />
        <link name="l_gripper_l_finger_tip_frame" />
    </group>

I think that it is right way... I continue to show the only problem about arms..

Best Regards,
Jaeseok

--

Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
adolfo.r...@pal-robotics.com
http://www.pal-robotics.com

PAL ROBOTICS S.L
c/ Pujades 77-79, 4º4ª
08005 Barcelona, Spain.
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
Skype: adolfo.pal-robotics
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--

Adolfo Rodríguez Tsouroukdissian
Senior robotics engineer
adolfo.r...@pal-robotics.com
http://www.pal-robotics.com

PAL ROBOTICS S.L
c/ Pujades 77-79, 4º4ª
08005 Barcelona, Spain.
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
Skype: adolfo.pal-robotics
Facebook - Twitter - PAL Robotics YouTube Channel

AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario. Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida.

CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed.  If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited.  If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.