avoid using namespace in control_config for ur5e moveit example #837
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Thank you for reporting the issue and directly fixing it! However I believe the other solution you mention is cleaner and more consistent with other launch files of the package. This means we should alternatively add the namespace ur5e to the WebotsController and controller-manager nodes in robot_nodes_launch.py, as it is currently the case in multirobot_launch.py. We should probably also adapt moveit yaml files.
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Are you able to move the robot using moveit and the RViz interface? Although your solution fixes the controller connection, I get the following error when trying to plan and execute a command in RViz: [move_group-2] [INFO] [1690380889.525325156] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-2] [INFO] [1690380889.525469254] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-2] [INFO] [1690380889.525504347] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1690380889.525546350] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[rviz2-1] [INFO] [1690380889.525545001] [move_group_interface]: Execute request accepted
[move_group-2] [INFO] [1690380889.525624710] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1690380889.541297487] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-2] [INFO] [1690380889.541342072] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1690380889.541371971] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1690380889.541429516] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending continuation for the currently executed trajectory to ur_joint_trajectory_controller
[webots_controller_UR5e-7] [INFO] [1690380889.541573779] [ur_joint_trajectory_controller]: Received new action goal
[webots_controller_UR5e-7] [ERROR] [1690380889.541602576] [ur_joint_trajectory_controller]: Time between points 0 and 1 is not strictly increasing, it is 0.000000 and 0.000000 respectively
[move_group-2] [INFO] [1690380889.541742237] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: ur_joint_trajectory_controller started execution
[move_group-2] [WARN] [1690380889.541755083] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request rejected
[move_group-2] [ERROR] [1690380889.541746469] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal was rejected by server
[move_group-2] [ERROR] [1690380889.541833024] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller ur_joint_trajectory_controller
[move_group-2] [INFO] [1690380889.541840882] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-2] [INFO] [1690380889.541877256] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-1] [INFO] [1690380889.542086005] [move_group_interface]: Execute request aborted
[rviz2-1] [ERROR] [1690380889.542640714] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reachedThe goal seems to be rejected because of the timing between each point in the trajectory. Is it the same on your side? Can we fix it in this PR? |
no issue for me, but 1/3 computers had that issue |
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Yes, let's combine both PRs together as they have the same purpose to fix the moveit example. |
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Rolling tests failures are not related to this PR. I have updated the branch to fix the issue using the namespace instead. Can you confirm that it is still working on your side? On my side, the ROS distribution is |
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I tested on humble and it works fine. It seems to be a problem with the iron distribution. Something probably changed. I don't know if it is a bug of moveit or if we should tune something in the parameters. |
thank you for adding the remappings |
omichel
dismissed
ygoumaz’s stale review
@ygoumaz is not working anymore on this project.
Description
bug: launching moveit for ur5e throws error. either adding namespace to every node, or better, creating separate control_config file fixes it.
Affected Packages
List of affected packages: