Joint Trajectroy Action Not Connected MoveIt

[Joe Spanier]

Hey Guys,

I am working on a moveit package for a fanuc robot on in our facility and I am running into some issues with the moveit package. When i plan a move everything works great, no issues. But when the execution comes into play I get this error:

[ INFO] [1376685245.138250866]: Path simplification took 0.006454 seconds

[ INFO] [1376685250.206215602]: Waiting for /joint_trajectory_action to come up

[ INFO] [1376685255.206440524]: Waiting for /joint_trajectory_action to come up

[ERROR] [1376685260.206640714]: Action client not connected: /joint_trajectory_action

[ERROR] [1376685260.221810398]: No controller handle for controller ''. Aborting.

[ INFO] [1376685260.428488089]: ABORTED: Solution found but controller failed during execution

[ INFO] [1376685274.802917226]: Stopping scene monitor

This is an issue across multiple cells including cells that are functioning with no issues on other PC's so Im fairly positive the issue is either a hardware or a ROS Software issue. I am planning to purge and re-install the full ros package tonight but would like some input if any of you have any.

As far as the software Im running:

Ubuntu 12.10 and ROS Groovy from the binaries

Hardware:

Chromebook Pixel running native Ubuntu 

I found some info on people having similar messages when attempting to run multi-armed setups but this are simple run of the mill 6 DOF cells.

Thanks guys,

Joe 

[Shaun Edwards]

Joe,

Did you set up moveit for working with a real robot (by default it only works in simulation)?

See here: http://ros.org/wiki/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot#Plan_and_Execute_on_a_Real_Robot

It looks like the fanuc drivers aren't running.  These are low level nodes that communicate with the robot.

For example the fanuc m16 is launched using this file: https://github.com/ros-industrial/fanuc/blob/groovy-devel/fanuc_m16ib_support/launch/robot_interface_streaming_m16ib20.launch

Shaun

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[Joe Spanier]

Shaun, 

At this point all I am doing is simulating. Even just going to the planning tab in rviz and dragging and clicking plan and execute I get the failure. This is happening with my Fanuc Package I built and some example Motoman Packages we have from a class we had with SWRI. Both of these packages work fine on colleagues computers, with the same commands, thats the really puzzling part.

[Farnsworth, Michael]

Hi Joe,

There are some Fanuc MoveIt! packages available within the fanuc_experimental repository:

https://github.com/ros-industrial/fanuc_experimental

I don't know whether they will be of use, but the m10ia fanuc arm definitely loads up using the demo.launch and you can plan and execute within moveit / rviz

Regards

Cdrwolfe
________________________________
From: swri-ros...@googlegroups.com [swri-ros...@googlegroups.com] on behalf of Joe Spanier [prcds...@gmail.com]
Sent: 16 August 2013 22:28
To: swri-ros...@googlegroups.com
Subject: Re: [swri-ros-pkg-dev] Joint Trajectroy Action Not Connected MoveIt

Shaun,
At this point all I am doing is simulating. Even just going to the planning tab in rviz and dragging and clicking plan and execute I get the failure. This is happening with my Fanuc Package I built and some example Motoman Packages we have from a class we had with SWRI. Both of these packages work fine on colleagues computers, with the same commands, thats the really puzzling part.


On Friday, August 16, 2013 3:56:28 PM UTC-5, Shaun Edwards wrote:
Joe,

Did you set up moveit for working with a real robot (by default it only works in simulation)?

See here: http://ros.org/wiki/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot#Plan_and_Execute_on_a_Real_Robot

It looks like the fanuc drivers aren't running. These are low level nodes that communicate with the robot.

For example the fanuc m16 is launched using this file: https://github.com/ros-industrial/fanuc/blob/groovy-devel/fanuc_m16ib_support/launch/robot_interface_streaming_m16ib20.launch

Shaun

On Fri, Aug 16, 2013 at 3:40 PM, Joe Spanier <prcds...@gmail.com<UrlBlockedError.aspx>> wrote:
Hey Guys,
I am working on a moveit package for a fanuc robot on in our facility and I am running into some issues with the moveit package. When i plan a move everything works great, no issues. But when the execution comes into play I get this error:

[ INFO] [1376685245.138250866]: Path simplification took 0.006454 seconds
[ INFO] [1376685250.206215602]: Waiting for /joint_trajectory_action to come up
[ INFO] [1376685255.206440524]: Waiting for /joint_trajectory_action to come up
[ERROR] [1376685260.206640714]: Action client not connected: /joint_trajectory_action
[ERROR] [1376685260.221810398]: No controller handle for controller ''. Aborting.
[ INFO] [1376685260.428488089]: ABORTED: Solution found but controller failed during execution
[ INFO] [1376685274.802917226]: Stopping scene monitor

This is an issue across multiple cells including cells that are functioning with no issues on other PC's so Im fairly positive the issue is either a hardware or a ROS Software issue. I am planning to purge and re-install the full ros package tonight but would like some input if any of you have any.

As far as the software Im running:
Ubuntu 12.10 and ROS Groovy from the binaries

Hardware:
Chromebook Pixel running native Ubuntu


I found some info on people having similar messages when attempting to run multi-armed setups but this are simple run of the mill 6 DOF cells.


Thanks guys,
Joe


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[Zoss, Jeremy K.]

Joe,

 

The standard ROS-I setup uses a moveit_planning_execution.launch file, as specified here.  I’m assuming you’re using a version of this file.  When running this launch file in “simulation” mode (the default), it runs the robot_interface_simulator.launch file in the industrial_robot_simulator package.  If you read through this launch file, you see that it, in turn loads the “joint_trajectory_action” node in the “industrial_robot_client” package.  The error messages you’re seeing indicate that this node was either not started, or is running in a different namespace than expected by the other nodes.  I’m betting the former is your issue, since you probably haven’t changed the default configuration.

 

Check to see what nodes are running using “rosnode list”.  This list should include “joint_trajectory_action”.  Make sure and look through the messages printed when the moveit_planning_execution.launch file is run.  I expect that there’s an error in there somewhere.

 

One common problem I’ve seen is that people try to run the moveit_planning_execution.launch file without compiling the joint_trajectory_action node first.  Most of the rest of the packages contain either pre-built binaries (installed using apt-get), python nodes (no compilation needed), or configuration/launch/urdf data only (no compilation needed).  If you download the ROS-I packages from source, you may not have compiled the joint_trajectory_action node.  Try running “rosmake industrial_robot_client” (or catkin_make industrial_robot_client) to build this package first.  Note that if your dependencies are set right, you can run “catkin_make my_robot_moveit_package” and it will automatically build any dependencies that need it.

 

If you’re still having troubles, try posting the full message log you get when running moveit_planning_execution.launch.  Also, it may help to post the contents of the launch file you’re running, so we can double-check that.

 

I don’t think you should need to re-install things from scratch.

 

Good luck!

  Jeremy Zoss

  Southwest Research Institute

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[Joe Spanier]

Hey Jeremy,

Looks like it was a combination of things. 

1. I didnt have the fanuc drivers installed from the google code page. (Shaun, I misunderstood what you meant. I thought you were thinking I was on the physical robot already. So here you were correct! Thanks for the help!)

2. My package path was screwy. I have the training files loaded and they were super-ceding the ROS files, and messing with my industrial_robot_client files and ros couldnt find the industrial_robot_simulator.

3. I did end up running rosmake on industrial_robot_client, Im not sure if that or the package path had the bigger impact. But at the moment its working.

my actually simulated paths are running extremely slow though. Is there a way to speed these up? Ive even tried moving to my 8core 16gig of ram workstation and simple paths are very slow. The frame rate for planning is much nicer though. 

thanks for the help guys!

Joe

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Thanks,

Joe Spanier

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[Shaun Edwards]

Joe,

Can describe what you mean by slow?  Is it slow/choppy graphics?  Are the actual trajectories too long (listen to the trajectory command: "rostopic echo /joint_path_command" and look for the last "time_from_start" value)?  Something else?

Shaun

[Joe Spanier]

choppy graphics is one thing, But its more that when I plan a path it happens relatively fast, within a couple seconds. But when I execute, it can be minutes. Im assuming this is partly a hardware limitation, But Ive tried this on a few fairly powerful PCs not just my pixel with similar results. So I'm wondering if I have an IK solution set or something thats looking for really fine resolution or something of that sort. Just spit balling here. 

It could be that it just takes a while sometimes and thats fine too, more curiousity then anything.

[Zoss, Jeremy K.]

The display you see when planning a motion (in MoveIt) is executed at faster than realtime.  It is intended to help you preview the planned motion path, but not the velocity / acceleration speeds.  The “secondary” display shows the current state of the industrial_robot_simulator as it executes the motion at the commanded speeds.  If these execution speeds look slower than expected, it’s likely that the commanded trajectory also includes slow speeds.

 

As Shaun suggested, you can look at the commanded trajectory by inspecting the messages published on the joint_path_command topic.  Both the time_from_start and velocity fields should match the slow execution speeds you’re seeing.  If not, then there’s something funny going on.

 

If things do appear to be consistent, but slower than you’d like, then the next place to look is at the MoveIt package configuration parameters.  By default, MoveIt tries to plan motions at maximum joint speed and accelerations.  These speeds are generated by a Trajectory Filter that uses a configuration file to specify the maximum joint velocity/acceleration limits to use during planning.  Note that this configuration data is separate from the values specified in the URDF (even some of these limits are also specified there).

 

The MoveIt packages generated by the Setup Assistant load this Trajectory Filter data from a configuration file located at: <robot_moveit_config>/config/joint_limits.yaml.  The units in this file are typically rad/sec.  For a long time, these values were initially set to 1 rad/sec (and 1 rad/sec^2), which is relatively tame.  I believe that more recent versions of the Setup Assistant try to use limits from the URDF file.  To adjust the speed of the planned motions, set these limits to something closer to the actual limits of your robot.  Note that if you set these limits to the “true” velocity/accel limits, MoveIt will try to plan motions at 100% of robot speed, which is probably not what you’re looking for.

 

Hope this helps!

  - Jeremy