Forums Niryo One Troubleshooting Problems using rviz / missing link transformations

Viewing 9 posts - 1 through 9 (of 9 total)
  • Author
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  • jd
    Participant
    Post count: 5

    Hi,

    when I try to follow your instructions on https://github.com/NiryoRobotics/niryo_one_ros to work with Niryo in simulation mode I run into the following rviz-simulation which shows a Niryo with missing link transforms.

    https://github.com/jdunker/NiryoTroubleshooting/blob/master/ScreenshotNiryo.png

    It’s puzzling that the simpler rviz visualization in display mode started by

    roslaunch niryo_one_description display.launch works perfectly.
    Before that I also checked the ROS-URDF-Tutorial working with the robot models there and made
    sure that the rviz visualization works. I did not have any problems there.  
    Could you please check the following logfile?
    https://github.com/jdunker/NiryoTroubleshooting/blob/master/log.txt
    
    Best regards 
    JD
     
    
    Edouard Renard
    Keymaster
    Post count: 192

    Hi JD,

    I’ve checked your log file and found this:

    “Failed to import pyassimp”

    This is the reason why TF is not working, and thus no joint state or robot pose is being published –> and you have this bug on Rviz.

    See this issue on Github speaking about the pyassimp problem with ROS. What you have to do is to correctly install pyassimp and everything will work well.

    jd
    Participant
    Post count: 5

    Hi Edouard,

    thank you for your help. I followed your Github link and tried to fix the pyassimp-problem installing the package via
    pip install –user pyassimp
    which worked.
    Nevertheless rviz showed up with the same puzzling view of the robot and TF-error messages. For simplicity I paste
    the log in this post.

    Thanks JD

    niryosimulator@janosch-HP-250-G5-Notebook-PC:~$ roslaunch niryo_one_bringup desktop_rviz_simulation.launch
    … logging to /home/niryosimulator/.ros/log/439c5c56-3e76-11e9-95a3-84ef1873d5e3/roslaunch-janosch-HP-250-G5-Notebook-PC-11046.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server http://janosch-HP-250-G5-Notebook-PC:43383/

    SUMMARY
    ========

    PARAMETERS
    * /hardware_control_loop/loop_hz: 25
    * /joint_state_controller/publish_rate: 10
    * /joint_state_controller/type: joint_state_contr…
    * /joy_node/coalesce_interval: 0.1
    * /joy_node/deadzone: 0.2
    * /move_group/allow_trajectory_execution: True
    * /move_group/arm/longest_valid_segment_fraction: 0.005
    * /move_group/arm/planner_configs: [‘SBLkConfigDefau…
    * /move_group/arm/projection_evaluator: joints(joint_1,jo…
    * /move_group/controller_list: [{‘default’: True…
    * /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_resolution: 0.025
    * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
    * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
    * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
    * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
    * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
    * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
    * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
    * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
    * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
    * /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/BiESTkConfigDefault/range: 0.0
    * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
    * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
    * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
    * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
    * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
    * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
    * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
    * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
    * /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/FMTkConfigDefault/cache_cc: 1
    * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
    * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
    * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
    * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
    * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
    * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
    * /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/LBTRRTkConfigDefault/epsilon: 0.4
    * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
    * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
    * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
    * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
    * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
    * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR…
    * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
    * /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/ProjESTkConfigDefault/goal_bias: 0.05
    * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
    * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
    * /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/SPARSkConfigDefault/dense_delta_fraction: 0.001
    * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
    * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
    * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
    * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
    * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
    * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
    * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
    * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
    * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
    * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
    * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
    * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
    * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
    * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
    * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
    * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
    * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
    * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
    * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
    * /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/start_state_max_bounds_error: 0.3
    * /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: 0.0
    * /move_group/trajectory_execution/execution_duration_monitoring: False
    * /niryo_one/hardware_version: 2
    * /niryo_one/info/niryo_one_one_robot_type: NIRYO_ONE
    * /niryo_one/info/ros_version: 2.1.0
    * /niryo_one/motors/can_required_motors: [1, 2, 3]
    * /niryo_one/motors/dxl_authorized_motors: [2, 3, 6, 11, 12,…
    * /niryo_one/motors/dxl_required_motors: [2, 3, 6]
    * /niryo_one/motors/stepper_1_direction: -1.0
    * /niryo_one/motors/stepper_1_gear_ratio: 6.0625
    * /niryo_one/motors/stepper_1_home_position: 0.0
    * /niryo_one/motors/stepper_1_max_effort: 90
    * /niryo_one/motors/stepper_1_offset_position: 3.05433
    * /niryo_one/motors/stepper_2_direction: -1.0
    * /niryo_one/motors/stepper_2_gear_ratio: 8.3125
    * /niryo_one/motors/stepper_2_home_position: 0.640187
    * /niryo_one/motors/stepper_2_max_effort: 130
    * /niryo_one/motors/stepper_2_offset_position: 0.640187
    * /niryo_one/motors/stepper_3_direction: 1.0
    * /niryo_one/motors/stepper_3_gear_ratio: 7.875
    * /niryo_one/motors/stepper_3_home_position: -1.397485
    * /niryo_one/motors/stepper_3_max_effort: 120
    * /niryo_one/motors/stepper_3_offset_position: -1.397485
    * /niryo_one/motors/stepper_4_direction: -1.0
    * /niryo_one/motors/stepper_4_gear_ratio: 5.0
    * /niryo_one/motors/stepper_4_home_position: 0.0
    * /niryo_one/motors/stepper_4_max_effort: 90
    * /niryo_one/motors/stepper_4_offset_position: 2.791
    * /niryo_one/python_api/action_connection_timeout: 2
    * /niryo_one/python_api/action_execute_timeout: 15
    * /niryo_one/python_api/action_preempt_timeout: 3
    * /niryo_one/python_api/service_timeout: 2
    * /niryo_one/reboot_when_auto_change_version: True
    * /niryo_one/robot_command_validation/joint_limits/j1/max: 3.05433
    * /niryo_one/robot_command_validation/joint_limits/j1/min: -3.05433
    * /niryo_one/robot_command_validation/joint_limits/j2/max: 0.640187
    * /niryo_one/robot_command_validation/joint_limits/j2/min: -1.91986
    * /niryo_one/robot_command_validation/joint_limits/j3/max: 1.570796
    * /niryo_one/robot_command_validation/joint_limits/j3/min: -1.397485
    * /niryo_one/robot_command_validation/joint_limits/j4/max: 3.05433
    * /niryo_one/robot_command_validation/joint_limits/j4/min: -3.05433
    * /niryo_one/robot_command_validation/joint_limits/j5/max: 1.91986
    * /niryo_one/robot_command_validation/joint_limits/j5/min: -1.74533
    * /niryo_one/robot_command_validation/joint_limits/j6/max: 2.57436
    * /niryo_one/robot_command_validation/joint_limits/j6/min: -2.57436
    * /niryo_one/robot_command_validation/position_limits/x/max: 0.5
    * /niryo_one/robot_command_validation/position_limits/x/min: -0.5
    * /niryo_one/robot_command_validation/position_limits/y/max: 0.5
    * /niryo_one/robot_command_validation/position_limits/y/min: -0.5
    * /niryo_one/robot_command_validation/position_limits/z/max: 0.65
    * /niryo_one/robot_command_validation/position_limits/z/min: -0.15
    * /niryo_one/robot_command_validation/rpy_limits/pitch/max: 3.14159
    * /niryo_one/robot_command_validation/rpy_limits/pitch/min: -3.14159
    * /niryo_one/robot_command_validation/rpy_limits/roll/max: 3.14159
    * /niryo_one/robot_command_validation/rpy_limits/roll/min: -3.14159
    * /niryo_one/robot_command_validation/rpy_limits/yaw/max: 3.14159
    * /niryo_one/robot_command_validation/rpy_limits/yaw/min: -3.14159
    * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/max: 1023
    * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/min: 0
    * /niryo_one/robot_command_validation/tool_limits/gripper_open_speed/max: 1023
    * /niryo_one/robot_command_validation/tool_limits/gripper_open_speed/min: 0
    * /niryo_one/robot_state/rate_publish_state: 5.0
    * /niryo_one/robot_state/rate_tf_listener: 5.0
    * /niryo_one_commander/allow_replanning: True
    * /niryo_one_commander/goal_joint_tolerance: 0.0001
    * /niryo_one_commander/goal_orientation_tolerance: 0.001
    * /niryo_one_commander/goal_position_tolerance: 0.0001
    * /niryo_one_commander/move_group_commander_name: arm
    * /niryo_one_commander/positions_dir: ~/niryo_one_posit…
    * /niryo_one_commander/reference_frame: ground_link
    * /niryo_one_commander/trajectories_dir: ~/niryo_one_traje…
    * /niryo_one_driver/calibration_timeout: 40
    * /niryo_one_driver/can_enabled: True
    * /niryo_one_driver/can_hardware_control_loop_frequency: 1500.0
    * /niryo_one_driver/can_hw_check_connection_frequency: 3.0
    * /niryo_one_driver/can_hw_write_frequency: 50.0
    * /niryo_one_driver/dxl_baudrate: 1000000
    * /niryo_one_driver/dxl_enabled: True
    * /niryo_one_driver/dxl_hardware_control_loop_frequency: 100.0
    * /niryo_one_driver/dxl_hw_data_read_frequency: 15.0
    * /niryo_one_driver/dxl_hw_status_read_frequency: 0.5
    * /niryo_one_driver/dxl_hw_write_frequency: 50.0
    * /niryo_one_driver/dxl_uart_device_name: /dev/serial0
    * /niryo_one_driver/fake_communication: True
    * /niryo_one_driver/gpio_can_interrupt: 25
    * /niryo_one_driver/niryo_one_hw_check_connection_frequency: 2.0
    * /niryo_one_driver/publish_hw_status_frequency: 2.0
    * /niryo_one_driver/publish_learning_mode_frequency: 2.0
    * /niryo_one_driver/publish_software_version_frequency: 2.0
    * /niryo_one_driver/read_rpi_diagnostics_frequency: 0.25
    * /niryo_one_driver/ros_control_loop_frequency: 100.0
    * /niryo_one_driver/spi_baudrate: 1000000
    * /niryo_one_driver/spi_channel: 0
    * /niryo_one_follow_joint_trajectory_controller/constraints/goal_time: 1.0
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_1/goal: 0.1
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_1/trajectory: 0.5
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_2/goal: 0.1
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_2/trajectory: 0.5
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_3/goal: 0.1
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_3/trajectory: 0.5
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_4/goal: 0.1
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_4/trajectory: 0.5
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_5/goal: 0.3
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_5/trajectory: 1.0
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_6/goal: 0.3
    * /niryo_one_follow_joint_trajectory_controller/constraints/joint_6/trajectory: 1.0
    * /niryo_one_follow_joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
    * /niryo_one_follow_joint_trajectory_controller/joints: [‘joint_1’, ‘join…
    * /niryo_one_follow_joint_trajectory_controller/state_publish_rate: 20
    * /niryo_one_follow_joint_trajectory_controller/stop_trajectory_duration: 1.0
    * /niryo_one_follow_joint_trajectory_controller/type: position_controll…
    * /niryo_one_tools/command_list/activate_digital_io: 21
    * /niryo_one_tools/command_list/close_gripper: 2
    * /niryo_one_tools/command_list/deactivate_digital_io: 22
    * /niryo_one_tools/command_list/open_gripper: 1
    * /niryo_one_tools/command_list/pull_air_vacuum_pump: 10
    * /niryo_one_tools/command_list/push_air_vacuum_pump: 11
    * /niryo_one_tools/command_list/setup_digital_io: 20
    * /niryo_one_tools/tool_list: [{‘id’: 11, ‘type…
    * /robot_description: <?xml version=”1….
    * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl…
    * /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_planning/joint_limits/joint_1/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_1/max_velocity: 2
    * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_2/max_velocity: 2
    * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_3/max_velocity: 2
    * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_4/max_velocity: 2
    * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_5/max_velocity: 2
    * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
    * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
    * /robot_description_planning/joint_limits/joint_6/max_acceleration: 0.0
    * /robot_description_planning/joint_limits/joint_6/max_velocity: 2
    * /robot_description_semantic: <?xml version=”1….
    * /robot_description_tf2: <?xml version=”1….
    * /rosapi/params_glob: [*]
    * /rosapi/services_glob: [*]
    * /rosapi/topics_glob: [*]
    * /rosbridge_websocket/address:
    * /rosbridge_websocket/authenticate: False
    * /rosbridge_websocket/bson_only_mode: False
    * /rosbridge_websocket/delay_between_messages: 0
    * /rosbridge_websocket/fragment_timeout: 600
    * /rosbridge_websocket/max_message_size: None
    * /rosbridge_websocket/params_glob: [*]
    * /rosbridge_websocket/port: 9090
    * /rosbridge_websocket/retry_startup_delay: 5
    * /rosbridge_websocket/services_glob: [*]
    * /rosbridge_websocket/topics_glob: [*]
    * /rosbridge_websocket/unregister_timeout: 10
    * /rosbridge_websocket/use_compression: False
    * /rosdistro: kinetic
    * /rosversion: 1.12.14
    * /urdf_without_meshes: False
    * /user_interface/joystick_timer_rate_sec: 0.15
    * /user_interface/niryo_one_blockly_path: /home/niryosimula…
    * /user_interface/niryo_one_blockly_tcp_port: 1337
    * /user_interface/sequence_autorun_status_file: ~/sequence_autoru…
    * /user_interface/sequence_code_to_execute_path: /home/niryosimula…
    * /user_interface/sequences_dir: ~/niryo_one_seque…

    NODES
    /
    controller_spawner (controller_manager/spawner)
    joy_node (joy/joy_node)
    move_group (moveit_ros_move_group/move_group)
    niryo_one_commander (niryo_one_commander/niryo_one_commander_node.py)
    niryo_one_driver (niryo_one_driver/niryo_one_driver)
    niryo_one_tools (niryo_one_tools/tool_controller.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rosapi (rosapi/rosapi_node)
    rosbridge_websocket (rosbridge_server/rosbridge_websocket)
    rviz (rviz/rviz)
    tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)
    user_interface (niryo_one_user_interface/user_interface.py)

    auto-starting new master
    process[master]: started with pid [11063]
    ROS_MASTER_URI=http://localhost:11311

    setting /run_id to 439c5c56-3e76-11e9-95a3-84ef1873d5e3
    process[rosout-1]: started with pid [11076]
    started core service [/rosout]
    process[niryo_one_driver-2]: started with pid [11093]
    process[niryo_one_tools-3]: started with pid [11094]
    process[controller_spawner-4]: started with pid [11095]
    process[robot_state_publisher-5]: started with pid [11103]
    process[move_group-6]: started with pid [11115]
    process[niryo_one_commander-7]: started with pid [11121]
    process[joy_node-8]: started with pid [11130]
    [ INFO] [1551701329.781139156]: Starting niryo_one driver thread (frequency : 100.000000)
    [ INFO] [1551701329.781219953]: Starting Fake Communication… It will just echo cmd into current position
    [ INFO] [1551701329.793706014]: NiryoOne communication has been successfully started
    [ERROR] [1551701329.854695885]: Couldn’t open joystick /dev/input/js0. Will retry every second.
    [ INFO] [1551701329.893901371]: Start hardware control loop
    [ INFO] [1551701329.900394201]: Loading robot model ‘niryo_one’…
    process[user_interface-9]: started with pid [11210]
    process[tf2_web_republisher-10]: started with pid [11211]
    process[rosbridge_websocket-11]: started with pid [11212]
    process[rosapi-12]: started with pid [11213]
    process[rviz-13]: started with pid [11240]
    [ INFO] [1551701330.174500375]: Loading robot model ‘niryo_one’…
    [WARN] [1551701330.203726]: DEPRECATION warning: –shutdown-timeout has no effect.
    [INFO] [1551701330.204121]: Controller Spawner: Waiting for service controller_manager/load_controller
    [ INFO] [1551701330.313230004]: Publishing maintained planning scene on ‘monitored_planning_scene’
    [ INFO] [1551701330.341858866]: MoveGroup debug mode is OFF
    Starting context monitors…
    [ INFO] [1551701330.341920341]: Starting scene monitor
    [ INFO] [1551701330.366259293]: Listening to ‘/planning_scene’
    [ INFO] [1551701330.366308969]: Starting world geometry monitor
    [ INFO] [1551701330.394143232]: Start hardware interface
    [ INFO] [1551701330.394324984]: Starting NiryoOne Hardware Interface…
    [ INFO] [1551701330.394557810]: Interfaces registered.
    [ INFO] [1551701330.394603866]: Create controller manager
    [ INFO] [1551701330.395205196]: Listening to ‘/collision_object’ using message notifier with target frame ‘/ground_link ‘
    [ INFO] [1551701330.415505948]: Listening to ‘/planning_scene_world’ for planning scene world geometry
    [ INFO] [1551701330.481723659]: Listening to ‘/attached_collision_object’ for attached collision objects
    Context monitors started.
    [ INFO] [1551701330.544785034]: Initializing OMPL interface using ROS parameters
    registered capabilities (classes):
    – rosbridge_library.capabilities.call_service.CallService
    – rosbridge_library.capabilities.advertise.Advertise
    – rosbridge_library.capabilities.publish.Publish
    – rosbridge_library.capabilities.subscribe.Subscribe
    – <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
    – rosbridge_library.capabilities.advertise_service.AdvertiseService
    – rosbridge_library.capabilities.service_response.ServiceResponse
    – rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
    [INFO] [1551701330.682865]: Disable joystick
    [ INFO] [1551701330.718044758]: Starting ros control thread…
    [ INFO] [1551701330.718150051]: Start Rpi Diagnostics…
    [ INFO] [1551701330.718289535]: Starting ROS interface…
    [ INFO] [1551701330.733766464]: Ros interface started.
    [INFO] [1551701330.771240]: Blockly code generator started
    [ INFO] [1551701330.821436590]: Activate learning mode : 1
    [INFO] [1551701330.826835]: Controller Spawner: Waiting for service controller_manager/switch_controller
    [INFO] [1551701330.831860]: Controller Spawner: Waiting for service controller_manager/unload_controller
    [INFO] [1551701330.836666]: Loading controller: joint_state_controller
    [ INFO] [1551701330.840403125]: Using planning interface ‘OMPL’
    [ INFO] [1551701330.854476985]: Param ‘default_workspace_bounds’ was not set. Using default value: 10
    [ INFO] [1551701330.856041451]: Param ‘start_state_max_bounds_error’ was set to 0.3
    [ INFO] [1551701330.857755703]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
    [ INFO] [1551701330.859000104]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
    [ INFO] [1551701330.861241626]: Param ‘jiggle_fraction’ was set to 0.05
    [INFO] [1551701330.861997]: Action Server started (Sequence Action)
    [ INFO] [1551701330.864040505]: Param ‘max_sampling_attempts’ was not set. Using default value: 100
    [ INFO] [1551701330.864264761]: Using planning request adapter ‘Add Time Parameterization’
    [ INFO] [1551701330.864378581]: Using planning request adapter ‘Fix Workspace Bounds’
    [ INFO] [1551701330.864475757]: Using planning request adapter ‘Fix Start State Bounds’
    [ INFO] [1551701330.864576326]: Using planning request adapter ‘Fix Start State In Collision’
    [ INFO] [1551701330.864667836]: Using planning request adapter ‘Fix Start State Path Constraints’
    [INFO] [1551701330.883396]: Loading controller: niryo_one_follow_joint_trajectory_controller
    [INFO] [1551701330.955388]: Interface between Tools Controller and Ros Control has been started.
    [INFO] [1551701330.978503]: Detected tools : (id + available commands)
    [INFO] [1551701330.978938]: 11 : [1, 2]
    [INFO] [1551701330.979486]: 12 : [1, 2]
    [INFO] [1551701330.980011]: 13 : [1, 2]
    [INFO] [1551701330.980447]: 30 : [21, 22, 20]
    [INFO] [1551701330.980846]: 31 : [10, 11]
    [INFO] [1551701330.999603]: Init Sequence autorun OK
    [INFO] [1551701331.014376]: …………..Matlab OK……………..
    [INFO] [1551701331.017955]: Action server started (ToolController)
    [INFO] [1551701331.072197]: Controller Spawner: Loaded controllers: joint_state_controller, niryo_one_follow_joint_trajectory_controller
    [INFO] [1551701331.078766]: Started controllers: joint_state_controller, niryo_one_follow_joint_trajectory_controller
    [ INFO] [1551701331.206952575]: Added FollowJointTrajectory controller for niryo_one_follow_joint_trajectory_controller
    [ INFO] [1551701331.207071787]: Returned 1 controllers in list
    [ INFO] [1551701331.247569568]: 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’…
    [INFO] [1551701331.399110]: Rosbridge WebSocket server started on port 9090
    [ INFO] [1551701331.406575873]: Activate learning mode : 1
    Loading ‘move_group/MoveGroupPickPlaceAction’…
    Loading ‘move_group/MoveGroupPlanService’…
    Loading ‘move_group/MoveGroupQueryPlannersService’…
    Loading ‘move_group/MoveGroupStateValidationService’…
    [ INFO] [1551701331.492124386]:

    ********************************************************
    * MoveGroup using:
    * – ApplyPlanningSceneService
    * – ClearOctomapService
    * – CartesianPathService
    * – ExecuteTrajectoryAction
    * – GetPlanningSceneService
    * – KinematicsService
    * – MoveAction
    * – PickPlaceAction
    * – MotionPlanService
    * – QueryPlannersService
    * – StateValidationService
    ********************************************************

    [ INFO] [1551701331.492206838]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
    [ INFO] [1551701331.492234042]: MoveGroup context initialization complete

    You can start planning now!

    [INFO] [1551701331.532187]: Started Niryo One robot state publisher
    [INFO] [1551701331.535962]: service manage position created
    [INFO] [1551701331.540026]: get list position created
    [INFO] [1551701331.552829]: /niryo_one/trajectory/manage_trajectory service has been created
    [INFO] [1551701331.555028]: /niryo_one/trajectory/get_trajectory_list
    [INFO] [1551701331.583535]: Trying to get ‘arm’ group from moveit…
    [ INFO] [1551701331.600585420]: Loading robot model ‘niryo_one’…
    [ INFO] [1551701331.805055938]: Loading robot model ‘niryo_one’…
    [ INFO] [1551701332.877320297]: Ready to take commands for planning group arm.
    [ INFO] [1551701332.877409480]: Replanning: yes
    [INFO] [1551701332.879045]: TF fail
    [INFO] [1551701332.879602]: TF fail
    [INFO] [1551701332.880524]: Successfully connected to move_group.
    Started group : arm
    Planning_frame : /ground_link
    Reference frame : ground_link
    End effector link : tool_link
    [INFO] [1551701332.881337]: Arm Moveit Commander has been started
    [INFO] [1551701332.918798]: Waiting for action server : niryo_one/tool_action…
    [INFO] [1551701332.949517]: Found action server : niryo_one/tool_action
    [INFO] [1551701332.949782]: Tool Commander has been started
    [INFO] [1551701333.007720]: Action Server started (Robot Commander)
    [INFO] [1551701333.079995]: TF fail
    [INFO] [1551701333.279945]: TF fail
    [INFO] [1551701333.328775]: Send STOP to arm
    [ INFO] [1551701333.329346833]: Received event ‘stop’
    [INFO] [1551701333.480588]: TF fail
    [INFO] [1551701333.679887]: TF fail
    [INFO] [1551701333.880403]: TF fail
    [INFO] [1551701334.080195]: TF fail
    [INFO] [1551701334.280779]: TF fail
    [INFO] [1551701334.480033]: TF fail
    [INFO] [1551701334.680027]: TF fail
    [INFO] [1551701334.879983]: TF fail
    [INFO] [1551701335.080102]: TF fail
    [INFO] [1551701335.280228]: TF fail
    [INFO] [1551701335.480105]: TF fail
    [INFO] [1551701335.679994]: TF fail
    [INFO] [1551701335.880074]: TF fail
    [INFO] [1551701336.080164]: TF fail
    [INFO] [1551701336.280166]: TF fail
    ^C[rviz-13] killing on exit
    [rosapi-12] killing on exit
    [rosbridge_websocket-11] killing on exit
    [tf2_web_republisher-10] killing on exit
    [user_interface-9] killing on exit
    [joy_node-8] killing on exit
    [niryo_one_commander-7] killing on exit
    [move_group-6] killing on exit
    [robot_state_publisher-5] killing on exit
    [controller_spawner-4] killing on exit
    [INFO] [1551701336.419751]: Shutdown blockly code generator : Kill PID : 11566
    [INFO] [1551701336.450177]: Shutting down spawner. Stopping and unloading controllers…
    [INFO] [1551701336.450637]: Stopping all controllers…
    [INFO] [1551701336.470534]: Unloading all loaded controllers…
    [INFO] [1551701336.471462]: Trying to unload niryo_one_follow_joint_trajectory_controller
    [INFO] [1551701336.480817]: TF fail
    [INFO] [1551701336.512874]: Succeeded in unloading niryo_one_follow_joint_trajectory_controller
    [INFO] [1551701336.513359]: Trying to unload joint_state_controller
    [INFO] [1551701336.532522]: Succeeded in unloading joint_state_controller
    [niryo_one_tools-3] killing on exit
    [INFO] [1551701336.680217]: TF fail
    Unhandled exception in thread started by
    sys.excepthook is missing
    lost sys.stderr
    [niryo_one_driver-2] killing on exit
    terminate called without an active exception
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor…
    … shutting down processing monitor complete
    done
    niryosimulator@janosch-HP-250-G5-Notebook-PC:~$

    Edouard Renard
    Keymaster
    Post count: 192

    I guess there’s something missing in the installation or the configuration.

    Could you make sure you’ve installed everything stated here on this tutorial?

    Also, what is your computer configuration? (OS, etc)

    raewynd
    Participant
    Post count: 1

    I get this error when ros closed badly in the past – have you checked that you don’t have any roscore processes running? I would try killall -9 on roscore, rosmaster, and rosout.

    jd
    Participant
    Post count: 5

    Thanks for your suggestions. After rebooting Ubuntu no ROS-process is running. Nevertheless running
    roslaunch niryo_one_bringup desktop_rviz_simulation.launch
    directly afterwards leads to this
    https://github.com/jdunker/NiryoTroubleshooting/blob/master/ScreenshotNiryo.png
    broken Niryo-View.

    Yes, I think that I exactly followed this tutorial:
    https://github.com/NiryoRobotics/niryo_one_ros
    and at least this rviz-visualization works as it should:
    roslaunch niryo_one_description display.launch

    System:
    Ubuntu 16.04 LTS

    JD

    jd
    Participant
    Post count: 5

    Using rqt_console I figured out that after calling
    roslaunch niryo_one_bringup desktop_rviz_simulation.launch
    I run into the following warning (although it may be that this is nevertheless ok):
    Node: /rviz
    Time: 14:13:22.999442236 (2019-03-08)
    Severity: Warn
    Published Topics: /goal, /initialpose, /rosout

    The STL file ‘package://niryo_one_description/meshes/v2/stl/arm_link.stl’ is malformed. It starts with the word ‘solid’, indicating that it’s an ASCII STL file, but it does not contain the word ‘endsolid’ so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.

    Location:
    /tmp/binarydeb/ros-kinetic-rviz-1.12.16/src/rviz/ogre_helpers/stl_loader.cpp:STLLoader::load:119

    —————————————————————————————————-

    The first TF-fail comes from the niryo_one_commander-node:

    Node: /niryo_one_commander
    Time: 14:13:24.310715913 (2019-03-08)
    Severity: Info
    Published Topics: /niryo_one/commander/robot_action/cancel, /niryo_one/commander/robot_action/feedback, /niryo_one/commander/robot_action/goal, /niryo_one/commander/robot_action/result, /niryo_one/commander/robot_action/status, /niryo_one/hardware_status, /niryo_one/joystick_interface/is_enabled, /niryo_one/learning_mode, /niryo_one/max_velocity_scaling_factor, /niryo_one/robot_state, /niryo_one/steppers_reset_controller, /niryo_one/tool_action/cancel, /niryo_one/tool_action/feedback, /niryo_one/tool_action/goal, /niryo_one/tool_action/result, /niryo_one/tool_action/status, /niryo_one_follow_joint_trajectory_controller/command, /niryo_one_follow_joint_trajectory_controller/follow_joint_trajectory/goal, /niryo_one_follow_joint_trajectory_controller/follow_joint_trajectory/result, /rosout, /tf, /tf_static

    TF fail

    Location:
    niryo_one_robot_state_publisher.py:get_robot_pose:48

    —————————————————————————————————-

    Edouard Renard
    Keymaster
    Post count: 192

    Could you try on another computer with a fresh install? The guide on the GitHub repository has already correctly worked for many people, so I’m quite confident that you have a configuration issue there.

    Marcok
    Participant
    Post count: 1

    I have the same problem on a fresh install pc.

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