Unable to Add pose in moveit

[francis xavier]

Hi Patrick and everyone of ROS users,

I have been following your book Vol 2 on hydro. On page 263 using the Moveit Setup I am able to launch it and follow the steps till page 267. After when I selected the base link and tip link, and clicked safe, the final screen remains the same. It does not show the arm highlighted in red as what is shown in the book on page 268. I continued following the steps till page 271. However when I clicked Add pose, it shows an error saying that "Unable to find joint model group for group": right_gripper as well as right arm.

I am unable to continue with the pose as it is unable to find the joint model even though I have created the model in the previous pages. Need some assistance :)

Francis

[Patrick Goebel]

Hi Francis,

After the "Save" operation on page 268, it looks like the arm doesn't turn red until you click on the chain on the left panel like this:


  
However, this does not affect the creation of the planning group--it's just a way to see what links are part of the group.

As for the error you are getting when trying to add a pose, I do not get that error on my Ubuntu 12.04 setup with the latest ROS Hydro Debian packages.  As you know, some of the MoveIt packages had to be installed from source in the book due to a bug in the Debian packages.  The fixed Debian packages were released just today, so you can try the Debian version of the MoveIt packages instead of the source build.  To install the new packages, run the commands:

$ sudo apt-get update
$ sudo apt-get install ros-hydro-moveit-core ros-hydro-moveit-ros ros-hydro-moveit-setup-assistant

Then to remove the source build, follow these steps:

$ cd ~/catkin_ws/src
$ \rm -rf moveit_core moveit_ros moveit_setup_assistant
$ cd ~/catkin_ws
$ catkin_make

Finally, run:

$ rospack profile

Now try running the MoveIt Setup Assistant again.

--patrick

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[francis xavier]

Hi Patrick,

Thank you for the detail step suggestion. However even after updating fixed Debian packages I am still getting the same error. It will not show red even if I click the chain on the left panel. And when adding pose, it still shows the same error "Unable to find joint model group...." I am attaching some screenshots. I tried checking for solution through various forums but have not found anyone who have encountered this before..

Francis

[Peter Heim]

Try selecting the joints instead of the chain that worked for me


Peter

[Patrick Goebel]

Hi Francis,

I'm afraid I am drawing a blank since I have nearly the same setup as you--including both Groovy and Hydro on the same Ubuntu 12.04 machine--and I do not get this problem.  Did you try Peter's suggestion to use joints instead of a chain to define the right_arm Planning Group?  If that does not work, perhaps you can find an answer on moveit...@googlegroups.com.

--patrick

[francis xavier]

Hi Patrick,

Thank you for your response. I am afraid Peter's suggestion does not work either. I will try to use the moveit google groups to try to find some answer. Thank you for your response and help. Appreciate it.

Francis

[francis xavier]

Hi Peter,

Thank you for your response and suggestion. I am afraid selecting the joints still comes up with the same error as when I select chain. Am not sure why..

Francis