MoveItConfigsBuilder with UR robot is not working #2483

ravijo · 2023-10-25T04:23:33Z

Description

I am trying to adapt MoveItConfigsBuilder to UR3e robot while using Pilz Industrial Motion Planner. The MoveItConfigsBuilder expects certain files inside the config folder of robot_moveit_config package. Unfortunately, the package structure is different in the case of UR robot. Below are the two important packages inside /opt/ros/humble/share folder:

├── ur_description
│   ├── cmake
│   ├── config
│   │   ├── initial_positions.yaml
│   │   └── ur3e
│   │       ├── default_kinematics.yaml
│   │       ├── joint_limits.yaml
│   │       ├── physical_parameters.yaml
│   │       └── visual_parameters.yaml
│   ├── environment
│   ├── launch
│   ├── meshes
│   ├── rviz
│   └── urdf
│       ├── inc
│       │   ├── ur_common.xacro
│       │   └── ur_transmissions.xacro
│       ├── ur_macro.xacro
│       ├── ur.ros2_control.xacro
│       └── ur.urdf.xacro
├── ur_moveit_config
│   ├── cmake
│   ├── config
│   │   ├── controllers.yaml
│   │   ├── kinematics.yaml
│   │   ├── ompl_planning.yaml
│   │   └── ur_servo.yaml
│   ├── environment
│   ├── launch
│   │   └── ur_moveit.launch.py
│   ├── local_setup.bash
│   ├── package.xml
│   ├── rviz
│   │   └── view_robot.rviz
│   └── srdf
│       ├── ur_macro.srdf.xacro
│       └── ur.srdf.xacro

Below is a snippet from my launch file (ur_moveit.launch.py):

    robot_name = "ur3e"
    moveit_config = (
        MoveItConfigsBuilder(robot_name="ur3e")
        .robot_description(file_path=get_package_share_directory("ur_description") + "/urdf/ur.urdf.xacro", mappings={"name": robot_name, "ur_type": robot_name})
        .robot_description_semantic(file_path=get_package_share_directory("ur_moveit_config") + "/srdf/ur.srdf.xacro", mappings={"name": robot_name})
        .trajectory_execution(file_path=get_package_share_directory("ur_moveit_config") + "/config/controllers.yaml")
        .planning_pipelines(pipelines=["pilz_industrial_motion_planner"])
        .to_moveit_configs()
    )

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Source or Binary build: Source (humble branch)

Steps to reproduce

$ ros2 launch ur_robot_driver ur3e.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=scaled_joint_trajectory_controller
$ ros2 launch hello_moveit ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true

Actual behaviour

Upon running my ur_moveit.launch.py, it can not find the package as shown below:

$ ros2 launch hello_moveit ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-10-25-12-29-06-950816-dell-127409
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: "package 'ur3e_moveit_config' not found, searching: ['/home/user/ws_moveit2_humble/install/pilz_industrial_motion_planner_testutils', '/home/user/ws_moveit2_humble/install/moveit_runtime', '/home/user/ws_moveit2_humble/install/moveit2_tutorials', '/home/user/ws_moveit2_humble/install/moveit', '/home/user/ws_moveit2_humble/install/moveit_planners', '/home/user/ws_moveit2_humble/install/pilz_industrial_motion_planner', '/home/user/ws_moveit2_humble/install/hello_moveit', '/home/user/ws_moveit2_humble/install/moveit_visual_tools', ... ... ...
'/home/user/ws_moveit2_humble/install/moveit_resources_prbt_support', '/home/user/ws_moveit2_humble/install/moveit_resources', '/home/user/ws_moveit2_humble/install/moveit_resources_pr2_description', '/home/user/ws_moveit2_humble/install/moveit_resources_panda_moveit_config', '/home/user/ws_moveit2_humble/install/moveit_resources_panda_description', '/home/user/ws_moveit2_humble/install/moveit_resources_fanuc_moveit_config', '/home/user/ws_moveit2_humble/install/moveit_resources_fanuc_description', '/home/user/ws_moveit2_humble/install/moveit_common', '/home/user/ws_moveit2_humble/install/launch_param_builder', '/opt/ros/humble']"

Workaround

I copied pilz_industrial_motion_planner_planning.yaml and placed inside ur_moveit_config. Later, I modified my launch file with the following content:

    pilz_planning_pipeline_config = {
        "move_group": {
            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed""",
            "capabilities" : "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
        }
    }
    pilz_planning_yaml = load_yaml("ur_moveit_config", "config/pilz_industrial_motion_planner_planning.yaml")
    pilz_planning_pipeline_config["move_group"].update(pilz_planning_yaml)

Unfortunately, this didn't work either and showed the following error:

[rviz2-2] [INFO] [1698204681.211248409] [move_group_interface]: Planning request accepted
[move_group-1] [INFO] [1698204681.211253101] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1698204681.218459214] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1698204681.218480233] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [ERROR] [1698204681.218741296] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[rviz2-2] [INFO] [1698204681.219526289] [move_group_interface]: Planning request aborted

Complete logs can be seen here

$ ros2 launch hello_moveit ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-10-25-12-31-03-079419-dell-136352
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [136359]
[INFO] [rviz2-2]: process started with pid [136361]
[INFO] [servo_node_main-3]: process started with pid [136363]
[rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[move_group-1] [WARN] [1698204663.740232331] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1698204663.743813478] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00346763 seconds
[move_group-1] [INFO] [1698204663.743837428] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1698204663.743846343] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1698204663.753605354] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[servo_node_main-3] [INFO] [1698204663.776117685] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00596751 seconds
[servo_node_main-3] [INFO] [1698204663.776157167] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1698204663.776168789] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1698204663.787195558] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[move_group-1] [INFO] [1698204663.807739843] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1698204663.807909254] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1698204663.808425356] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1698204663.808649697] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1698204663.808660021] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1698204663.808798033] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1698204663.808804789] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1698204663.808959016] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1698204663.809110476] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1698204663.809811016] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1698204663.809823301] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1698204663.811767781] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1698204663.814858862] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [ERROR] [1698204663.816548953] [move_group]: Parameter 'robot_description_planning.cartesian_limits.max_trans_vel', is not set in the config file.
[move_group-1] [ERROR] [1698204663.816618548] [move_group]: Parameter 'robot_description_planning.cartesian_limits.max_trans_acc', is not set in the config file.
[move_group-1] [ERROR] [1698204663.816654111] [move_group]: Parameter 'robot_description_planning.cartesian_limits.max_trans_dec', is not set in the config file.
[move_group-1] [ERROR] [1698204663.816683910] [move_group]: Parameter 'robot_description_planning.cartesian_limits.max_rot_vel', is not set in the config file.
[move_group-1] [INFO] [1698204663.817202099] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1698204663.817209456] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1698204663.818030357] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1698204663.818041642] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1698204663.818573317] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1698204663.818580970] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1698204663.819023261] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1698204663.819038478] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1698204663.821985780] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1698204663.822014309] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-1] [INFO] [1698204663.822018407] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1698204663.822026150] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1698204663.822029953] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1698204663.822038398] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1698204663.822049617] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1698204663.822054397] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1698204663.822057401] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1698204663.822070078] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[servo_node_main-3] [INFO] [1698204663.818700110] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-3] [INFO] [1698204663.821595328] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1698204663.821606916] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-3] [INFO] [1698204663.822387639] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-3] [INFO] [1698204663.822762995] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[servo_node_main-3] [WARN] [1698204663.835622844] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1698204663.835653766] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[move_group-1] [INFO] [1698204663.836766528] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1698204663.837786098] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1698204663.837897433] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1698204663.837925654] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1698204663.838160261] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1698204663.838172099] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1698204663.850412074] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1698204663.850452176] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1698204663.850458386] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] [INFO] [1698204663.875346959] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1698204663.875428556] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-2] [INFO] [1698204663.917206181] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1698204666.998360006] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1698204667.026269812] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1698204667.189951918] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00340269 seconds
[rviz2-2] [INFO] [1698204667.189995775] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1698204667.190007204] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1698204667.273724023] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1698204667.274830555] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1698204667.427771240] [interactive_marker_display_94235211110048]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1698204667.431146817] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1698204667.431161566] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1698204667.438411466] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1698204667.531768184] [interactive_marker_display_94235211110048]: Sending request for interactive markers
[rviz2-2] [INFO] [1698204667.587595934] [interactive_marker_display_94235211110048]: Service response received for initialization
[rviz2-2] [INFO] [1698204681.210314494] [move_group_interface]: MoveGroup action client/server ready
[move_group-1] [INFO] [1698204681.211076149] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-2] [INFO] [1698204681.211248409] [move_group_interface]: Planning request accepted
[move_group-1] [INFO] [1698204681.211253101] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1698204681.218459214] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1698204681.218480233] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [ERROR] [1698204681.218741296] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218777529] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State In Collision': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218800666] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218813987] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Bounds': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218965970] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218979932] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State In Collision': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.218996604] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219007457] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Workspace Bounds': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219032644] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219043489] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State In Collision': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219060317] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219071948] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Bounds': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219091423] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219101670] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State In Collision': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219117791] [moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State Path Constraints': acceleration limit not set for group ur_manipulator
[move_group-1] Skipping adapter instead.
[move_group-1] [ERROR] [1698204681.219136202] [moveit.ros_planning.planning_pipeline]: Exception caught: 'acceleration limit not set for group ur_manipulator'
[move_group-1] [INFO] [1698204681.219164403] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[rviz2-2] [INFO] [1698204681.219526289] [move_group_interface]: Planning request aborted
[rviz2-2] [ERROR] [1698204681.220494998] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached

Question

I want to know how to incorporate MoveItConfigsBuilder to UR3e robot while using Pilz Industrial Motion Planner.

The text was updated successfully, but these errors were encountered:

ravijo · 2023-10-25T04:25:35Z

@peterdavidfagan

Sorry for tagging you here. But it seems related to one of your posts. I am following your suggestions from this post but got stuck in between.

ravijo · 2023-10-25T05:36:38Z

I should have mentioned that together with pilz_industrial_motion_planner_planning.yaml, I also copied joint_limits.yaml file. For every joint, I have set the following attributes:

has_acceleration_limits: true
max_acceleration: 0.1

But somehow, these values are not read as indicated by the command below:

$ ros2 param get move_group robot_description_planning.joint_limits.elbow_joint.max_acceleration
Double value is: nan

Anyways, how to use MoveItConfigsBuilder with UR3e robot while using Pilz Industrial Motion Planner?

TZECHIN6 · 2023-10-25T06:03:52Z

Sorry, but why you choose to use this? UR provides a moveit config launch in their offical ros2 repo. I can run moveit application with that.

ravijo · 2023-10-25T06:49:34Z

@TZECHIN6

Thank you very much for the quick response.

Sorry, but why you choose to use this? UR provides a moveit config launch in their offical ros2 repo. I can run moveit application with that.

I can run MoveIt but I want to use Pilz Industrial Motion Planner. This is why, I made a copy of ur_moveit.launch.py with the following change:

    pilz_planning_pipeline_config = {
        "move_group": {
            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed""",
            "capabilities" : "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
        }
    }
    pilz_planning_yaml = load_yaml("ur_moveit_config", "config/pilz_industrial_motion_planner_planning.yaml")
    pilz_planning_pipeline_config["move_group"].update(pilz_planning_yaml)

With this change, I get the error acceleration limit not set for group ur_manipulator.

peterdavidfagan · 2023-10-25T08:47:47Z

Hi @ravijo,

Using the ROS 2 UR moveit config you want to add a planning config file for the PILZ planner, an example can be found here.

One you have your config within this package, you will want to instantiate the MoveItConfigsBuilder with this package in order to read this planning config.

To help speed up the specification of plan request parameters, you may also want to add a namespace for the request parameters for various PILZ configs, an example is provided here.

ravijo · 2023-10-25T08:53:39Z

@peterdavidfagan

Thank you for sharing a reference to panda_moveit_config. Actually, I have seen it already. Based on this reference, I copied joint_limits.yaml, pilz_industrial_motion_planner_planning.yaml, and pilz_cartesian_limits.yaml to ur_moveit_config. Lastly, I used MoveItConfigsBuilder as said before. But there was "package 'ur3e_moveit_config' not found error.

Please note that the package structure is different in the case of UR robot.

Mennosytsma · 2023-10-25T19:16:53Z

Hi @ravijo,

I am running into a similar problem, my goal is to control my UR5 using the moveit python bindings as also tried in #2014, but even with all the valuable hints I did not succeed yet as I don't succeed to create my own my_ur_moveit_config package which has my own my_ur.urdf.xacro in which I added some links like a table on which the robot stands and then links to ur_description and is based on ur_moveit_config.

As far as I understand from the comment by @peterdavidfagan we should do the same, create a different package my_ur_moveit_config that has the specific format that MoveItConfigsBuilder requires. In your case you are giving ur3e as robot name argument, which is why MoveItConfigsBuilder will look for theur3e_moveit_config package.

This is also the point where it gets confusing to me, because after creating the my_ur_moveit_config pacakge in the way described above it does not have a robot_name.urdf and robot_name.srdf but only the xacro files. which makes that MoveItConfigsBuilder does not accept it.

gavanderhoorn · 2023-10-25T19:31:20Z

It might not necessarily be any easier if this is your first attempt at using MoveIt, but perhaps the approach described by @tylerjw in ROSCON 2023 - Retro ROS 2 Launch would be worth checking out.

Package sources can be found here: xml_launch/easy_launch_demo.

We've discussed it a bit in ros2/launch#729 as well.

ravijo · 2023-10-26T09:37:33Z

@Mennosytsma

create a different package my_ur_moveit_config that has the specific format that MoveItConfigsBuilder requires

Thank you very much. I appreciate your suggestion but it seems a lot of work just to start the MoveIt!

@gavanderhoorn

Package sources can be found here: xml_launch/easy_launch_demo.

Thank you for supporting us from a decade! Thanks for sharing this package. After looking carefully into it, I realized that the joint limits must be available inside robot_description_planning namespace. I added it to my launch file and it worked like a charm. Below is a summery of my work:

In joint_limits.yaml file, enabled has_acceleration_limits and set max_acceleration. This file is copied from here and kept inside the config subdirectory of my package.
Kept pilz_industrial_motion_planner_planning.yaml and pilz_cartesian_limits.yaml inside the config subdirectory of my package.
Modified ur_moveit.launch.py to read the edited joint_limits.yaml file, as show here
Read the edited joint_limits.yaml file, as shown here
Read pilz planning configuration files from the the config subdirectory of my package, as shown here

Finally, I uploaded this package to GitHub. Maybe @Mennosytsma can give it a try!

Mennosytsma · 2023-10-27T08:38:21Z

@ravijo Thank you for providing your working example. I realized that you managed to find a workaround for your issue that I cannot directly apply for my issue now as far as I can see, but it will definitely help in the later steps to customize my setup with the UR.

ravijo · 2023-10-27T08:41:10Z

@Mennosytsma

... I cannot directly apply for my issue ...

Would you mind elaborating on it a bit more? I plan to improve the package to cover as many cases as possible.

Thanks

Mennosytsma · 2023-10-27T09:04:44Z

@ravijo
I have opened a new issue #2493, to follow up on the discussions in #2014 on trying to get the python api tutorial to work for a UR robot.
One of the proposed solutions in #2014 was to create a single dictionary of the parameters using MoveItConfigsBuilder, where I faced exactly the same struggles as you had.

ravijo · 2023-10-27T09:17:54Z

@Mennosytsma

Thank you very much.

As you said, we should create a new package named my_ur_moveit_config with the specific format that MoveItConfigsBuilder requires.

However, in the case of UR robots, there are many variations, such as UR3, UR3e, UR5, UR5e, etc. I don't think creating my_ur3_moveit_config, my_ur3e_moveit_config, my_ur5_moveit_config, my_ur5e_moveit_config and so on is a good idea. This is why I preferred directly reading the files from the original ur_moveit_config package.

Mennosytsma · 2023-10-27T10:06:12Z

@ravijo I completely agree on your point that it is not really desired to create all these separate packages for the different variants of the UR robots.
The way that the original ur_moveit.launch is setup also gives us the option to launch any of the above mentioned robots given the argument ur_type.
In practice however I almost always have the real robot on top of some table, which I prefer not to collide with and therefore I would like to include in the robot description, which is why I do create a my_robot_config package, where I place a slightly changed version of ur.urdf.xacro. This includes that table_link and I update ur_macro.srdf.xacro to also include them with collision checking.
@peterdavidfagan As far as I understand arguments like description_package and moveit_config_package in this launch file can then be used to launch the robot in the specific setup, while you can still choose any of the URs (as we have both UR3e, UR5 and UR5e available here). I have no clue if this is a proper/clean way to do this, if you agree on this I would not mind to write this out in some usage guideline/example that can be added to any documentation.

Getting the robot launched that way works quite well for me, but making the next step and also launching a node where I use moveit_py from the launch file in this format and passing it all the needed parameters is a problem for me. As I think that my issue is more related to that I don't understand what type of config moveit_py exactly requires and that drifts quite a bit from this topic I started the new issue #2493

ravijo · 2023-10-27T11:25:03Z

@Mennosytsma

I understand your requirement. In the past, I remember creating a separate package to add my table link and CAD models. Internally, my URDF was pointing to the one given by Universal Robots. On the other hand, I looked up the source code of MoveItConfigsBuilder to understand how it works.

BTW, it seems that you are mixing moveit_py with this issue. I suggest first making sure you can control your robot from RViz using the MoveIt Motion Planning window. Because it confirms that MoveIt configurations are done right. After that, you can start coding in moveit_py.

Mennosytsma · 2023-10-27T11:44:50Z

@ravijo

BTW, it seems that you are mixing moveit_py with this issue. I suggest first making sure you can control your robot from RViz using the MoveIt Motion Planning window. Because it confirms that MoveIt configurations are done right. After that, you can start coding in moveit_py.

As I tried to point out in the other issue #2493 I do have part of the MoveIt configurations configured correctly to control the robot in RViz trough the motion planning window, it it is just that the moveit_py node does not work. As far as I concluded the only thing that could be wrong here is passing the parameters from the launch file to the moveit_py node is going wrong, and it is to me unclear what is exactly required by moveit_py. I have tried using MoveItConfigsBuilder for that, but as we discussed above that function is not easy to use with the UR config packages.

ravijo · 2023-11-02T06:22:34Z

@peterdavidfagan

Looks like there is more work to be done in order to use MoveGroupInterface. I updated planning configuration as shown below (Note that I am able to use MoveIt Motion Planning Plugin in RViz without these updates, but C++ MoveGroupInterface is unhappy):

    # Planning Configuration
    pilz_planning_pipeline_config = {
        "planning_pipelines": ["pilz_industrial_motion_planner"],  # <- Newly added
        "default_planning_pipeline": "pilz_industrial_motion_planner",  # <- Newly added
        "pilz_industrial_motion_planner": {},  # <- Newly added
        "move_group": {},
        "robot_description_planning":{},
    }
    pilz_planning_yaml = load_yaml("ur_pilz_demo", "config/pilz_industrial_motion_planner_planning.yaml")
    pilz_planning_pipeline_config["move_group"].update(pilz_planning_yaml)
    pilz_planning_pipeline_config["pilz_industrial_motion_planner"].update(pilz_planning_yaml)  # <- Newly added

    pilz_cartesian_limits_yaml = load_yaml("ur_pilz_demo", "config/pilz_cartesian_limits.yaml")
    pilz_planning_pipeline_config["robot_description_planning"].update(pilz_cartesian_limits_yaml)

Now, I can use C++ and it works.

Quick Question

The above configuration is duplicating pilz_industrial_motion_planner. Is there any way to make it cleaner? (The complete launch file can be seen here)

This issue has been mentioned moveit/moveit2_tutorials#808

ravijo added the bug Something isn't working label Oct 25, 2023

Mennosytsma mentioned this issue Nov 2, 2023

Motion planning python api tutorial with Universal Robot moveit/moveit2_tutorials#810

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sea-bass closed this as completed Dec 5, 2023

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MoveItConfigsBuilder with UR robot is not working #2483

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MoveItConfigsBuilder with UR robot is not working #2483

MoveItConfigsBuilder with UR robot is not working #2483

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