Unable to construct goal representation #4
Description
I am initiating all the modules as described in
https://github.com/hsr-project/hsrb_wrs_gazebo_launch/blob/master/launch/include/wrs_common.xml#L92
I set the pose to a feasible point using the following code.
end_effector_value = groupArm.get_current_pose().pose
print(end_effector_value)
end_effector_value.position.x = end_effector_value.position.x
end_effector_value.position.y = end_effector_value.position.y
end_effector_value.position.z = end_effector_value.position.z
end_effector_value.orientation.x = end_effector_value.orientation.x
end_effector_value.orientation.y = end_effector_value.orientation.y
end_effector_value.orientation.z = end_effector_value.orientation.z
end_effector_value.orientation.w = end_effector_value.orientation.w
groupArm.clear_pose_targets()
groupArm.set_pose_target(end_effector_value)
plan= groupArm.plan()
groupArm.execute(plan,wait=True)
groupArm.clear_pose_targets()
However I get the following error
[ERROR] [1615996093.753071226, 792.882000000]: Unable to construct goal representation
The complete terminal output
... logging to /home/developer/.ros/log/2b4ff828-8727-11eb-a110-0242ac120003/roslaunch-ae8a6f2fa715-77806.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ae8a6f2fa715:33753/
SUMMARY
PARAMETERS
- /move_group/allow_trajectory_execution: True
- /move_group/arm/planner_configs: ['SBLkConfigDefau...
- /move_group/base/planner_configs: ['SBLkConfigDefau...
- /move_group/capabilities: move_group/MoveGr...
- /move_group/controller_list: [{'default': True...
- /move_group/default_workspace_bounds: 2.0
- /move_group/gripper/planner_configs: ['SBLkConfigDefau...
- /move_group/head/longest_valid_segment_fraction: 0.05
- /move_group/head/planner_configs: ['SBLkConfigDefau...
- /move_group/head/projection_evaluator: joints(head_pan_j...
- /move_group/head_pointing_frame: /hsrb/head_depth_...
- /move_group/jiggle_fraction: 0.05
- /move_group/max_range: 5.0
- /move_group/max_safe_path_cost: 1
- /move_group/moveit_controller_manager: moveit_simple_con...
- /move_group/moveit_manage_controllers: True
- /move_group/octomap_frame: odom
- /move_group/octomap_resolution: 0.025
- /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
- /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
- /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/ESTkConfigDefault/range: 0.0
- /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
- /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
- /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
- /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
- /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
- /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
- /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
- /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
- /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
- /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
- /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
- /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/RRTkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
- /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
- /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
- /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
- /move_group/planner_configs/SBLkConfigDefault/range: 0.0
- /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
- /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
- /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
- /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
- /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
- /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
- /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
- /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
- /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
- /move_group/planning_plugin: ompl_interface/OM...
- /move_group/planning_scene_monitor/publish_geometry_updates: True
- /move_group/planning_scene_monitor/publish_planning_scene: True
- /move_group/planning_scene_monitor/publish_state_updates: True
- /move_group/planning_scene_monitor/publish_transforms_updates: True
- /move_group/request_adapters: default_planner_r...
- /move_group/sensors: [{'point_subsampl...
- /move_group/start_state_max_bounds_error: 0.1
- /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
- /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
- /move_group/trajectory_execution/allowed_start_tolerance: 0
- /move_group/trajectory_execution/execution_duration_monitoring: False
- /move_group/whole_body/planner_configs: ['SBLkConfigDefau...
- /move_group/whole_body_weighted/planner_configs: ['SBLkConfigDefau...
- /robot_description_kinematics/arm/kinematics_solver: bio_ik/BioIKKinem...
- /robot_description_kinematics/arm/kinematics_solver_attempts: 3
- /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
- /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
- /robot_description_kinematics/arm/minimal_displacement_weight: 1.0
- /robot_description_kinematics/robot_name: hsrb
- /robot_description_kinematics/whole_body/kinematics_solver: bio_ik/BioIKKinem...
- /robot_description_kinematics/whole_body/kinematics_solver_attempts: 3
- /robot_description_kinematics/whole_body/kinematics_solver_search_resolution: 0.005
- /robot_description_kinematics/whole_body/kinematics_solver_timeout: 0.005
- /robot_description_kinematics/whole_body/minimal_displacement_weight: 1.0
- /robot_description_kinematics/whole_body_light/kinematics_solver: bio_ik/BioIKKinem...
- /robot_description_kinematics/whole_body_light/kinematics_solver_attempts: 3
- /robot_description_kinematics/whole_body_light/kinematics_solver_search_resolution: 0.005
- /robot_description_kinematics/whole_body_light/kinematics_solver_timeout: 0.005
- /robot_description_kinematics/whole_body_light/minimal_displacement_weight: 1.0
- /robot_description_kinematics/whole_body_weighted/kinematics_solver: bio_ik/BioIKKinem...
- /robot_description_kinematics/whole_body_weighted/kinematics_solver_attempts: 3
- /robot_description_kinematics/whole_body_weighted/kinematics_solver_search_resolution: 0.005
- /robot_description_kinematics/whole_body_weighted/kinematics_solver_timeout: 0.005
- /robot_description_kinematics/whole_body_weighted/minimal_displacement_weight: 1.0
- /robot_description_planning/joint_limits/arm_flex_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/arm_flex_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/arm_flex_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/arm_flex_joint/max_velocity: 1.2
- /robot_description_planning/joint_limits/arm_lift_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/arm_lift_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/arm_lift_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/arm_lift_joint/max_velocity: 0.2
- /robot_description_planning/joint_limits/arm_roll_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/arm_roll_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/arm_roll_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/arm_roll_joint/max_velocity: 2
- /robot_description_planning/joint_limits/hand_motor_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/hand_motor_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/hand_motor_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/hand_motor_joint/max_velocity: 1
- /robot_description_planning/joint_limits/head_pan_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/head_pan_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/head_pan_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/head_pan_joint/max_velocity: 1
- /robot_description_planning/joint_limits/head_tilt_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/head_tilt_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/head_tilt_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/head_tilt_joint/max_velocity: 1
- /robot_description_planning/joint_limits/odom_r/has_acceleration_limits: False
- /robot_description_planning/joint_limits/odom_r/has_velocity_limits: True
- /robot_description_planning/joint_limits/odom_r/max_acceleration: 0.0
- /robot_description_planning/joint_limits/odom_r/max_velocity: 1.0
- /robot_description_planning/joint_limits/odom_x/has_acceleration_limits: True
- /robot_description_planning/joint_limits/odom_x/has_velocity_limits: True
- /robot_description_planning/joint_limits/odom_x/max_acceleration: 0.05
- /robot_description_planning/joint_limits/odom_x/max_velocity: 0.2
- /robot_description_planning/joint_limits/odom_y/has_acceleration_limits: True
- /robot_description_planning/joint_limits/odom_y/has_velocity_limits: True
- /robot_description_planning/joint_limits/odom_y/max_acceleration: 0.05
- /robot_description_planning/joint_limits/odom_y/max_velocity: 0.2
- /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 1.5
- /robot_description_planning/joint_limits/wrist_roll_joint/has_acceleration_limits: False
- /robot_description_planning/joint_limits/wrist_roll_joint/has_velocity_limits: True
- /robot_description_planning/joint_limits/wrist_roll_joint/max_acceleration: 0
- /robot_description_planning/joint_limits/wrist_roll_joint/max_velocity: 1.5
- /robot_description_semantic: <?xml version="1....
- /rosdistro: melodic
- /rosversion: 1.14.10
NODES
/
Init (manipulation/tools.py)
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://simulator:11311/
process[move_group-1]: started with pid [77864]
process[Init-2]: started with pid [77865]
[ERROR] [1615996077.837591985]: Joint 'odom_x' declared as part of group 'base' is not known to the URDF
[ERROR] [1615996077.839337950]: Joint 'odom_y' declared as part of group 'base' is not known to the URDF
[ERROR] [1615996077.839365039]: Joint 'odom_r' declared as part of group 'base' is not known to the URDF
[ WARN] [1615996077.839379053]: Group 'base' is empty.
[ INFO] [1615996077.840047567]: Loading robot model 'hsrb'...
[ WARN] [1615996078.241477890, 791.073000000]: Group 'base' must have at least one valid joint
[ WARN] [1615996078.241657452, 791.073000000]: Failed to add group 'base'
[ WARN] [1615996078.242344504, 791.073000000]: Could not process group 'whole_body' due to unmet subgroup dependencies
[ WARN] [1615996078.242528598, 791.073000000]: Could not process group 'whole_body_weighted' due to unmet subgroup dependencies
[ WARN] [1615996078.242621601, 791.073000000]: Could not process group 'whole_body_light' due to unmet subgroup dependencies
[ WARN] [1615996079.200747702, 791.205000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ERROR] [1615996079.511457922, 791.223000000]: The kinematics plugin (arm) failed to load. Error: Failed to load library /opt/ros/melodic/lib//libbio_ik.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_rdf_loader.so.1.0.6: cannot open shared object file: No such file or directory)
[ERROR] [1615996079.513901143, 791.223000000]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1615996079.840813552, 791.244000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1615996079.864380443, 791.244000000]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1615996079.864491423, 791.244000000]: Starting planning scene monitor
[ INFO] [1615996079.914111444, 791.247000000]: Listening to '/planning_scene'
[ INFO] [1615996079.914186705, 791.247000000]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1615996079.963102331, 791.247000000]: Listening to '/collision_object'
[ INFO] [1615996079.999843876, 791.247000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1615996080.173781446, 791.265000000]: Listening to '/hsrb/head_depth_camera/depth_registered/rectified_points' using message filter with target frame 'odom '
[ WARN] [1615996080.186157787, 791.265000000]: Unable to update multi-DOF joint 'world_joint': Failure to lookup transform between 'odom' and 'base_footprint' with TF exception: "odom" passed to lookupTransform argument target_frame does not exist.
[ INFO] [1615996080.198525530, 791.265000000]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1615996080.311956913, 791.280000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1615996080.598509118, 791.298000000]: Using planning interface 'OMPL'
[ INFO] [1615996080.620433207, 791.298000000]: Param 'default_workspace_bounds' was set to 2
[ INFO] [1615996080.622715678, 791.298000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1615996080.623322459, 791.298000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1615996080.623898216, 791.298000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1615996080.624418591, 791.298000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1615996080.626677583, 791.298000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1615996080.626898461, 791.298000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1615996080.627008261, 791.298000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1615996080.627095376, 791.298000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1615996080.627175129, 791.298000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1615996080.627254243, 791.298000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1615996081.065614519, 791.325000000]: Added FollowJointTrajectory controller for hsrb/arm_trajectory_controller
[ INFO] [1615996081.628094118, 791.394000000]: Added FollowJointTrajectory controller for hsrb/omni_trajectory_controller
[ INFO] [1615996082.098170695, 791.421000000]: Added FollowJointTrajectory controller for hsrb/gripper_controller
[ INFO] [1615996082.588544776, 791.490000000]: Added FollowJointTrajectory controller for hsrb/head_trajectory_controller
[ INFO] [1615996082.588882536, 791.490000000]: Returned 4 controllers in list
[ INFO] [1615996082.693487043, 791.493000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1615996083.506341307, 791.568000000]:
- MoveGroup using:
-
- ApplyPlanningSceneService -
- ClearOctomapService -
- CartesianPathService -
- ExecuteTrajectoryAction -
- GetPlanningSceneService -
- KinematicsService -
- MoveAction -
- PickPlaceAction -
- MotionPlanService -
- QueryPlannersService -
- StateValidationService
[ INFO] [1615996083.507789520, 791.568000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1615996083.508011133, 791.568000000]: MoveGroup context initialization complete
You can start planning now!
[ERROR] [1615996087.084147511]: Joint 'odom_x' declared as part of group 'base' is not known to the URDF
[ERROR] [1615996087.094057898]: Joint 'odom_y' declared as part of group 'base' is not known to the URDF
[ERROR] [1615996087.094172532]: Joint 'odom_r' declared as part of group 'base' is not known to the URDF
[ WARN] [1615996087.094247121]: Group 'base' is empty.
[ INFO] [1615996087.094996059]: Loading robot model 'hsrb'...
[ WARN] [1615996087.355907593, 792.060000000]: Group 'base' must have at least one valid joint
[ WARN] [1615996087.356067809, 792.060000000]: Failed to add group 'base'
[ WARN] [1615996087.356164136, 792.060000000]: Could not process group 'whole_body' due to unmet subgroup dependencies
[ WARN] [1615996087.356238533, 792.060000000]: Could not process group 'whole_body_weighted' due to unmet subgroup dependencies
[ WARN] [1615996087.356391185, 792.060000000]: Could not process group 'whole_body_light' due to unmet subgroup dependencies
[ WARN] [1615996088.015859659, 792.156000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ERROR] [1615996088.193350896, 792.183000000]: The kinematics plugin (arm) failed to load. Error: Failed to load library /opt/ros/melodic/lib//libbio_ik.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_rdf_loader.so.1.0.6: cannot open shared object file: No such file or directory)
[ERROR] [1615996088.193472987, 792.183000000]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1615996089.812784625, 792.372000000]: Ready to take commands for planning group gripper.
Connected to commander gripper
[ INFO] [1615996092.740159303, 792.729000000]: Ready to take commands for planning group arm.
Connected to commander arm
[ INFO] [1615996093.741747347, 792.879000000]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ WARN] [1615996093.742131428, 792.879000000]: Failed to fetch current robot state.
[ WARN] [1615996093.742265345, 792.879000000]: Unable to transform object from frame 'head_rgbd_sensor_rgb_frame' to planning frame 'odom' ("odom" passed to lookupTransform argument target_frame does not exist. )
[ WARN] [1615996093.742977170, 792.879000000]: Unable to transform object from frame 'head_l_stereo_camera_frame' to planning frame 'odom' ("odom" passed to lookupTransform argument target_frame does not exist. )
[ WARN] [1615996093.743450940, 792.879000000]: Unable to transform object from frame 'head_r_stereo_camera_frame' to planning frame 'odom' ("odom" passed to lookupTransform argument target_frame does not exist. )
[ WARN] [1615996093.743605091, 792.879000000]: Unable to transform object from frame 'head_rgbd_sensor_depth_frame' to planning frame 'odom' ("odom" passed to lookupTransform argument target_frame does not exist. )
[ INFO] [1615996093.744062765, 792.879000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1615996093.745266289, 792.879000000]: Planning attempt 1 of at most 1
[ERROR] [1615996093.753071226, 792.882000000]: Unable to construct goal representation
[ INFO] [1615996093.760149434, 792.882000000]: ABORTED: Catastrophic failure