I've installed ROS2 Jazzy and the UR_driver package to be able to program an UR10 robot motion through python. If I launch ur_moveit, I can plan and execute a movement on the UR10 robot through RVIZ, so I know that part is working
I created my own package in a ros2 workspace and added scripts that are supposed to use the Moveit2 python API to plan and move the robot. The workspace build successfully and the scripts can be run using e.g. ros2 run ur10_py_demo ur_move
First I wrote my own scripts based on the moveit2 documentation https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html
Next I tried this script: https://github.com/Mennosytsma/moveit2_tutorials/blob/moveitpy_ur/doc/examples/motion_planning_python_api/scripts/motion_planning_python_api_tutorial_ur.py.
Both scripts were very similar
To run this, I first start the UR driver, then put the robot in external control mode, launch the ur_moveit config with RVIZ and then run the script with the command above.
Whatever I try I get the same response of something in the script not functioning right. Here is the error, the error is the same for my own script and the one on the link above:
[INFO] [1763202021.431304753] [moveit_2494055039.moveit.py.cpp_initializer]: Initialize rclcpp
[INFO] [1763202021.431405486] [moveit_2494055039.moveit.py.cpp_initializer]: Initialize node parameters
[INFO] [1763202021.431418136] [moveit_2494055039.moveit.py.cpp_initializer]: Initialize node and executor
[INFO] [1763202021.434770427] [moveit_2494055039.moveit.py.cpp_initializer]: Spin separate thread
[INFO] [1763202022.363390638] [moveit_2494055039.moveit.ros.rdf_loader]: Loaded robot model in 0.928389 seconds
[INFO] [1763202022.363456009] [moveit_2494055039.moveit.core.robot_model]: Loading robot model 'ur10'...
[INFO] [1763202022.363469079] [moveit_2494055039.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[WARN] [1763202022.370963841] [moveit_2494055039.moveit.ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[INFO] [1763202022.408261757] [moveit_2494055039.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[INFO] [1763202022.411506940] [moveit_2494055039.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[INFO] [1763202022.415256510] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[INFO] [1763202022.417648619] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[INFO] [1763202022.417819833] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[INFO] [1763202022.418504381] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[INFO] [1763202022.418530732] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[INFO] [1763202022.419186837] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[INFO] [1763202022.419784437] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[WARN] [1763202022.419884436] [moveit_2494055039.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1763202022.419916067] [moveit_2494055039.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[ERROR] [1763202022.422918297] [moveit_2494055039.moveit.ros.moveit_cpp]: Failed to load any planning pipelines.
[FATAL] [1763202022.422985432] [moveit_2494055039.moveit.ros.moveit_cpp]: Failed to load planning pipelines from parameter server
[INFO] [1763202022.423210446] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[INFO] [1763202022.423249829] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor
[INFO] [1763202022.423277491] [moveit_2494055039.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
Traceback (most recent call last):
File "/home/ur10/ros2_ws/install/ur10_py_demo/lib/ur10_py_demo/ur_move", line 33, in <module>
sys.exit(load_entry_point('ur10-py-demo', 'console_scripts', 'ur_move')())
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/ur10/ros2_ws/build/ur10_py_demo/scripts/ur_move.py", line 62, in main
ur = MoveItPy(node_name="moveit_py")
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Failed to load planning pipelines from parameter server
[ros2run]: Process exited with failure 1
What Am I doing wrong?
