Not understand MoveItGroupInterface #525
Description
Description
I've downloaded Universalrobots driver and followed the procedure to use moveIt!2, it actually works what showed in the README and i use "ur_manipulator" in Rviz to move my arm. But my interest is to use moveit2_tutorials to send pose and design a pick and place application with MoveItGriuoInterface.
What i have designed is:
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <moveit/move_group_interface/move_group_interface.h>
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
auto const node = std::make_shared<rclcpp::Node>(
"hello_moveit",
rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
);
auto const logger = rclcpp::get_logger("ur_manipulator");
// Create the MoveIt MoveGroup Interface
using moveit::planning_interface::MoveGroupInterface;
auto move_group_interface = MoveGroupInterface(node, "ur_manipulator");
printf("picvkandplace");
// Set a target Pose
auto const target_pose = []{
geometry_msgs::msg::Pose msg;
msg.orientation.w = 1.0;
msg.position.x = 0.28;
msg.position.y = -0.2;
msg.position.z = 0.5;
return msg;
}();
move_group_interface.setPoseTarget(target_pose);
// Create a plan to that target pose
auto const [success, plan] = [&move_group_interface]{
moveit::planning_interface::MoveGroupInterface::Plan msg;
auto const ok = static_cast<bool>(move_group_interface.plan(msg));
return std::make_pair(ok, msg);
}();
// Execute the plan
if(success) {
move_group_interface.execute(plan);
} else {
RCLCPP_ERROR(logger, "Planing failed!");
}
// Shutdown ROS
rclcpp::shutdown();
return 0;
}
i launch ros2 run hello_moveit hello_moveit as in the tutorial but i get:
[ERROR] [1664871447.339399807] [hello_moveit]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
at line 715 in ./src/model.cpp
[ERROR] [1664871447.342434566] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[FATAL] [1664871447.342740966] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
what(): Unable to construct robot model. Please make sure all needed information is on the parameter server.
[ros2run]: Aborted
I can't understand what should i look for also because in that everything is set to use moveit, robot_description_semantic included.
Hope someone could help to this endless problem!
Enrico