Cannot find end-effector

[郭佳文]

I've followed the Setup Assistant from MoveIt official tutorial and set things up with PR2.
When I tried to launch the demo.launch, I got:
[ INFO] [1377699350.979543398, 416.061000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1377699350.980468041, 416.061000000]: No active joints or end effectors found for group 'right_arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1377699351.117153529, 416.142000000]: No active joints or end effectors found for group 'right_arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1377699351.183484368, 416.187000000]: Constructing new MoveGroup connection for group 'right_arm'

I just followed the procedure in the setup assistant tutorial. One of the step is setting the end effector and I've done that.
To make sure, I went back and checked the config/pr2.srdf in the package generated by the assistant. I think this line should set the end effector correctly:
<end_effector name="right_eef" parent_link="r_wrist_roll_link" group="right_gripper" parent_group="right_arm" />

When I tried to play around with the rviz GUI, I couldn't find the interactive markers around the end-effector to drag the arm.
I could only set the start and goal states using "random" and it can plan a trajectory correctly.

When I tried to write a simple program using setPositionTarget function from moveit::planning_interface::MoveGroup to move the arm, I got the following error:
[ INFO] [1377700403.473149069, 1245.442000000]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1377700403.473345786, 1245.442000000]: Move to : x=0.500000, y=-0.200000, z=0.500000
[ERROR] [1377700403.473400750, 1245.442000000]: No end-effector to set the pose for
[ INFO] [1377700403.473452222, 1245.442000000]: Set eef wrong
[ INFO] [1377700403.498034983, 1245.455000000]: ABORTED: Invalid goal constraints

This seemed to be the some problem with setting the end effector of the arm.
However, I've checked the procedure and make sure that I've followed the procedure on the tutorial completely, but still failed with the same problem.
I tried the same procedure on other computers, one got the same problem while the other two worked fine!

My computer is Ubuntu 12.10, Groovy. The one that got the same problem is running Ubuntu 12.10, Groovy, too.
One of the computer that succeeded was Ubuntu 12.04, Groovy and another one  is Ubuntu 12.10, Groovy.

[Ioan Sucan]

Hello,

This sounds very weird. From one of the error messages it seems you have an empty name for a group. Are you absolutely sure your SRDF is the  same on all machines and that you started rviz the same way? (With the moveit_rviz.launch launch file or demo.launch launch file).

Can you send me a SRDF that is not working? ( And the URDF  + meshes as well)

Ioan

[郭佳文]

I guess the SRDF files should be the same because I just followed the tutorial and use the PR2 model from the same ROS distribution(Groovy). If they got something different, then it must be the change on the PR2 model.

The attachments are the SRDF and the URDF. I don't know where to find the meshes, but I use :

rosrun xacro xacro.py /opt/ros/groovy/stacks/pr2_common/pr2_description/robots/pr2.urdf.xacro > pr2.urdf

to generate the URDF. Can you show where to find the correct meshes and I can post it up here later.

Ioan Alexandru Sucan於 2013年8月29日星期四UTC+8下午5時17分22秒寫道：

[郭佳文]

Sorry for the misleading information!
I just checked the SRDF between the one that works and not. They are not the same.
I attach the two here.
The pr2.urdf are the same.

I tried to run the assistant again on the computer that works.
Something changed is that at the "Planning Groups" step, there are additional joints for the right_arm planning group.
They are r_forearm_cam_frame_joint and r_forearm_cam_optical_frame_joint.
Also, the order of the r_gripper links are not the same.(The links are the same, just the order changed.)
After generating the new configuration package, I tried to launch the demo.launch again.
Unfortunately, I got into the same trouble this time as described in the first post.
If I change it back to the old packages, it still works.
If I replace the new pr2.srdf with the old one, and launch the demo.launch in the new package, it still can't work.

I then run the assistant again and at the "Planning Groups" step, I add only the joints that work before for the right_arm.
However, when I roslaunch demo.launch, it still doesn't work.
This time, I can neither drag the arm around to set the pose, nor view the orange goal state and the green start state.
It got worse.......

That is very strange
Since I run the assistant with the same URDF, can't I suppose that the config result should be the same?

Ioan Alexandru Sucan於 2013年8月29日星期四UTC+8下午5時17分22秒寫道：