Unable to connect to move_group action server

[Diogo Almeida]

Hello everyone,

I am unable to run the demo.launch file from the moveit tutorial with a PR2 robot. When using the right arm as the planning group, for instance, I get

[ INFO] [1436783762.544436044]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''

[ERROR] [1436783792.878207772]: Unable to connect to move_group action server within allotted time (2)

and rviz displays "NO PLANNING LIBRARY LOADED". Since I can run the demo when not connected to PR2, and perform a successful plan, I assume there is something in the way I setup the connection. I defined the hosts in my machine for PR2 base station and both computers. In my local bashrc I have added the lines

export ROS_MASTER_URI=http://pr2-c1:11311

export ROS_HOSTNAME=localhost

and the topics published by PR2 are visible on my laptop, and the robot state seems to be correctly interpreted in RVIZ.

Any suggestion on what I may be doing wrong?

Thank you

[Karel Vanhoorebeeck]

Have you tried setting ROS_IP?

export ROS_IP=<your_IP>

[Diogo Almeida]

Hi,

Yes! I was using ROS_HOSTNAME as an alternative, but it apparently made no difference. I am able to use moveit_commander to go to send a move group to random configurations. When I try to load the demo, I get the following output:

diogo@diogo-XPS-13-9343:~$ roslaunch pr2_ft_moveit_config demo.launch 

... logging to /home/diogo/.ros/log/1c793d92-29f3-11e5-aeb3-a0369f0358ad/roslaunch-diogo-XPS-13-9343-5121.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.68.0.107:40014/

SUMMARY

========

PARAMETERS

 * /joint_state_publisher/use_gui

 * /left_eef/approach_direction

 * /left_eef/database_id

 * /move_group/allow_trajectory_execution

 * /move_group/arms/longest_valid_segment_fraction

 * /move_group/arms/planner_configs

 * /move_group/arms/projection_evaluator

 * /move_group/capabilities

 * /move_group/constraint_approximations_path

 * /move_group/controller_list

 * /move_group/head_pointing_frame

 * /move_group/jiggle_fraction

 * /move_group/left_arm/kinematics_solver

 * /move_group/left_arm/kinematics_solver_attempts

 * /move_group/left_arm/kinematics_solver_search_resolution

 * /move_group/left_arm/kinematics_solver_timeout

 * /move_group/left_arm/longest_valid_segment_fraction

 * /move_group/left_arm/planner_configs

 * /move_group/left_arm/projection_evaluator

 * /move_group/left_arm_and_torso/kinematics_solver

 * /move_group/left_arm_and_torso/kinematics_solver_attempts

 * /move_group/left_arm_and_torso/kinematics_solver_search_resolution

 * /move_group/left_arm_and_torso/kinematics_solver_timeout

 * /move_group/left_arm_and_torso/longest_valid_segment_fraction

 * /move_group/left_arm_and_torso/planner_configs

 * /move_group/left_arm_and_torso/projection_evaluator

 * /move_group/max_range

 * /move_group/max_safe_path_cost

 * /move_group/moveit_controller_manager

 * /move_group/moveit_manage_controllers

 * /move_group/octomap_frame

 * /move_group/octomap_resolution

 * /move_group/planner_configs/BKPIECEkConfigDefault/range

 * /move_group/planner_configs/BKPIECEkConfigDefault/type

 * /move_group/planner_configs/ESTkConfigDefault/range

 * /move_group/planner_configs/ESTkConfigDefault/type

 * /move_group/planner_configs/KPIECEkConfigDefault/range

 * /move_group/planner_configs/KPIECEkConfigDefault/type

 * /move_group/planner_configs/LBKPIECEkConfigDefault/range

 * /move_group/planner_configs/LBKPIECEkConfigDefault/type

 * /move_group/planner_configs/LazyRRTkConfigDefault/type

 * /move_group/planner_configs/PRMkConfigDefault/type

 * /move_group/planner_configs/RRTConnectkConfigDefault/range

 * /move_group/planner_configs/RRTConnectkConfigDefault/type

 * /move_group/planner_configs/RRTStarkConfigDefault/type

 * /move_group/planner_configs/RRTkConfigDefault/range

 * /move_group/planner_configs/RRTkConfigDefault/type

 * /move_group/planner_configs/SBLkConfigDefault/range

 * /move_group/planner_configs/SBLkConfigDefault/type

 * /move_group/planner_configs/TRRTkConfigDefault/type

 * /move_group/planning_plugin

 * /move_group/planning_scene_monitor/publish_geometry_updates

 * /move_group/planning_scene_monitor/publish_planning_scene

 * /move_group/planning_scene_monitor/publish_state_updates

 * /move_group/planning_scene_monitor/publish_transforms_updates

 * /move_group/request_adapters

 * /move_group/right_arm/kinematics_solver

 * /move_group/right_arm/kinematics_solver_attempts

 * /move_group/right_arm/kinematics_solver_search_resolution

 * /move_group/right_arm/kinematics_solver_timeout

 * /move_group/right_arm/longest_valid_segment_fraction

 * /move_group/right_arm/planner_configs

 * /move_group/right_arm/projection_evaluator

 * /move_group/right_arm_and_torso/kinematics_solver

 * /move_group/right_arm_and_torso/kinematics_solver_attempts

 * /move_group/right_arm_and_torso/kinematics_solver_search_resolution

 * /move_group/right_arm_and_torso/kinematics_solver_timeout

 * /move_group/right_arm_and_torso/longest_valid_segment_fraction

 * /move_group/right_arm_and_torso/planner_configs

 * /move_group/right_arm_and_torso/projection_evaluator

 * /move_group/sensors

 * /move_group/start_state_max_bounds_error

 * /move_group/whole_body/longest_valid_segment_fraction

 * /move_group/whole_body/planner_configs

 * /move_group/whole_body/projection_evaluator

 * /right_eef/approach_direction

 * /right_eef/database_id

 * /robot_description

 * /robot_description_kinematics/left_arm/kinematics_solver

 * /robot_description_kinematics/left_arm/kinematics_solver_attempts

 * /robot_description_kinematics/left_arm/kinematics_solver_search_resolution

 * /robot_description_kinematics/left_arm/kinematics_solver_timeout

 * /robot_description_kinematics/left_arm_and_torso/kinematics_solver

 * /robot_description_kinematics/left_arm_and_torso/kinematics_solver_attempts

 * /robot_description_kinematics/left_arm_and_torso/kinematics_solver_search_resolution

 * /robot_description_kinematics/left_arm_and_torso/kinematics_solver_timeout

 * /robot_description_kinematics/right_arm/kinematics_solver

 * /robot_description_kinematics/right_arm/kinematics_solver_attempts

 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution

 * /robot_description_kinematics/right_arm/kinematics_solver_timeout

 * /robot_description_kinematics/right_arm_and_torso/kinematics_solver

 * /robot_description_kinematics/right_arm_and_torso/kinematics_solver_attempts

 * /robot_description_kinematics/right_arm_and_torso/kinematics_solver_search_resolution

 * /robot_description_kinematics/right_arm_and_torso/kinematics_solver_timeout

 * /robot_description_planning/joint_limits/l_elbow_flex_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_elbow_flex_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_elbow_flex_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_elbow_flex_joint/max_velocity

 * /robot_description_planning/joint_limits/l_forearm_roll_joint/angle_wraparound

 * /robot_description_planning/joint_limits/l_forearm_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_forearm_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_forearm_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_forearm_roll_joint/max_velocity

 * /robot_description_planning/joint_limits/l_shoulder_lift_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_shoulder_lift_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_shoulder_lift_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_shoulder_lift_joint/max_velocity

 * /robot_description_planning/joint_limits/l_shoulder_pan_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_shoulder_pan_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_shoulder_pan_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_shoulder_pan_joint/max_velocity

 * /robot_description_planning/joint_limits/l_upper_arm_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_upper_arm_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_upper_arm_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_upper_arm_roll_joint/max_velocity

 * /robot_description_planning/joint_limits/l_wrist_flex_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_wrist_flex_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_wrist_flex_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_wrist_flex_joint/max_velocity

 * /robot_description_planning/joint_limits/l_wrist_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/l_wrist_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/l_wrist_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/l_wrist_roll_joint/max_velocity

 * /robot_description_planning/joint_limits/r_elbow_flex_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_elbow_flex_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_elbow_flex_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_elbow_flex_joint/max_velocity

 * /robot_description_planning/joint_limits/r_forearm_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_forearm_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_forearm_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_forearm_roll_joint/max_velocity

 * /robot_description_planning/joint_limits/r_shoulder_lift_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_shoulder_lift_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_shoulder_lift_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_shoulder_lift_joint/max_velocity

 * /robot_description_planning/joint_limits/r_shoulder_pan_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_shoulder_pan_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_shoulder_pan_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_shoulder_pan_joint/max_velocity

 * /robot_description_planning/joint_limits/r_upper_arm_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_upper_arm_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_upper_arm_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_upper_arm_roll_joint/max_velocity

 * /robot_description_planning/joint_limits/r_wrist_flex_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_wrist_flex_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_wrist_flex_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_wrist_flex_joint/max_velocity

 * /robot_description_planning/joint_limits/r_wrist_roll_joint/has_acceleration_limits

 * /robot_description_planning/joint_limits/r_wrist_roll_joint/has_velocity_limits

 * /robot_description_planning/joint_limits/r_wrist_roll_joint/max_acceleration

 * /robot_description_planning/joint_limits/r_wrist_roll_joint/max_velocity

 * /robot_description_semantic

 * /rosdistro

 * /rosversion

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm/kinematics_solver

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm/kinematics_solver_attempts

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm/kinematics_solver_search_resolution

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm/kinematics_solver_timeout

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm_and_torso/kinematics_solver

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm_and_torso/kinematics_solver_attempts

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm_and_torso/kinematics_solver_search_resolution

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/left_arm_and_torso/kinematics_solver_timeout

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm/kinematics_solver

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm/kinematics_solver_attempts

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm/kinematics_solver_search_resolution

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm/kinematics_solver_timeout

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm_and_torso/kinematics_solver

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm_and_torso/kinematics_solver_attempts

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm_and_torso/kinematics_solver_search_resolution

 * /rviz_diogo_XPS_13_9343_5121_6832088080402144725/right_arm_and_torso/kinematics_solver_timeout

 * /source_list

NODES

  /

    joint_state_publisher (joint_state_publisher/joint_state_publisher)

    move_group (moveit_ros_move_group/move_group)

    robot_state_publisher (robot_state_publisher/robot_state_publisher)

    rviz_diogo_XPS_13_9343_5121_6832088080402144725 (rviz/rviz)

    virtual_joint_broadcaster_0 (tf/static_transform_publisher)

ROS_MASTER_URI=http://pr2-c1:11311

core service [/rosout] found

process[virtual_joint_broadcaster_0-1]: started with pid [5130]

process[joint_state_publisher-2]: started with pid [5135]

process[robot_state_publisher-3]: started with pid [5136]

process[move_group-4]: started with pid [5142]

/opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher

process[rviz_diogo_XPS_13_9343_5121_6832088080402144725-5]: started with pid [5147]

/usr/share/themes/Adwaita/gtk-2.0/gtkrc:982: error: unexpected identifier `direction', expected character `}'

[ INFO] [1436857494.053262296]: rviz version 1.10.19

[ INFO] [1436857494.053404526]: compiled against OGRE version 1.7.4 (Cthugha)

[ WARN] [1436857494.293161360]: 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] [1436857495.857958405]: Stereo is NOT SUPPORTED

[ INFO] [1436857495.858439657]: OpenGl version: 3 (GLSL 1.3).

[ INFO] [1436857497.684791743]: Loading robot model 'pr2'...

[ INFO] [1436857556.886783627]: Loading robot model 'pr2'...

Thanks for the help!

On Monday, 13 July 2015 17:00:56 UTC+2, Karel Vanhoorebeeck wrote:

Have you tried setting ROS_IP?

oo 

[Diogo Almeida]

PS: After a long while, this shows up:

[ INFO] [1436864522.376352056]: Constructing new MoveGroup connection for group 'arms' in namespace ''

[ERROR] [1436864552.474962284]: Unable to connect to move_group action server within allotted time (2)