Currently, I can use moveit and baxter_python_interfacde to control the baxter. However, after I use moveit, I can not use baxter_python_interface to control baxter any more. The moveit tries to keep the current joint angle. So baxter_python_interface can not move the joint angle. If I use hand to control the baxter endeffector. The moveit will lose the control. Can you tell me how to let moveit lose control in python code. Thank you

I've noticed that there are several *_moveit_config packages being built on the ROS buildfarm, but none of the packages from moveit_robots are present:
http://www.ros.org/debbuild/indigo.html?q=_moveit_config

I realize moveit_robots is a rather atypical set of packages, mostly consisting of launchfiles. That said, are there any plans to bloom this repo and push it up to the buildfarm?

Hello! I am facing a problem that I can't use moveit (it is installed by source)to execute trajectory.
I using Ubuntu 16.0.4 and ROS kinetic. Moveit is installed by source and add ompl by myself. Hardware is Baxter. SDK is 1.2.0.57. I can enable the baxter.
While I used the command
$ roslaunch baxter_moveit_config baxter_grippers.launch
It can success open the RVZI.
While I tried to plan and execute
the message got
[ INFO] [1601197242.842272121, 1744.011000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1601197242.842429842, 1744.011000000]: Planning attempt 1 of at most 1
[ INFO] [1601197242.842555490, 1744.011000000]: Starting state is just outside bounds (joint 'left_s1'). Assuming within bounds.
[ INFO] [1601197242.842594284, 1744.011000000]: Starting state is just outside bounds (joint 'right_s1'). Assuming within bounds.
[ INFO] [1601197242.843882547, 1744.011000000]: Planner configuration 'both_arms[FMTConfigDefault]' will use planner 'geometric::FMT'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1601197242.844043188, 1744.011000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197242.847276200, 1744.011000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197242.847362783, 1744.011000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197242.847422588, 1744.011000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197242.847638186, 1744.011000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197243.752459800, 1744.450000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197243.888472726, 1744.510000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197243.907562343, 1744.518000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197244.089129850, 1744.584000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197250.303084275, 1747.833000000]: ParallelPlan::solve(): Solution found by one or more threads in 7.455368 seconds
[ INFO] [1601197250.305758720, 1747.833000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197250.305938469, 1747.833000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197250.306014919, 1747.833000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197250.306079748, 1747.833000000]: both_arms[FMTConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1601197250.957415368, 1748.221000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197250.967215392, 1748.223000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197251.085140537, 1748.295000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197251.379450178, 1748.389000000]: both_arms[FMTConfigDefault]: Starting planning with 1011 states already in datastructure
[ INFO] [1601197253.522197879, 1749.570000000]: ParallelPlan::solve(): Solution found by one or more threads in 3.216053 seconds
[ INFO] [1601197253.522353487, 1749.570000000]: SimpleSetup: Path simplification took 0.000002 seconds and changed from 2 to 2 states
[ INFO] [1601197253.523286984, 1749.570000000]: Planning adapters have added states at index positions: [ 0 ]
[ERROR] [1601197253.525215903, 1749.570000000]: Unable to identify any set of controllers that can actuate the specified joints: [ left_e0 left_e1 left_s0 left_s1 left_w0 left_w1 left_w2 right_e0 right_e1 right_s0 right_s1 right_w0 right_w1 right_w2 ]
[ERROR] [1601197253.525276972, 1749.570000000]: Known controllers and their joints:

[ERROR] [1601197253.525308467, 1749.570000000]: Apparently trajectory initialization failed
[ INFO] [1601197253.638433315, 1749.653000000]: ABORTED: Solution found but controller failed during execution

I think maybe moveit can't find baxter. If anybody met it problem before ？ Please help me thank you !

hi, I generated the IKFAST for Baxter by following the official website step by step(https://sdk.rethinkrobotics.com/wiki/Custom_IKFast_for_your_Baxter).

But it seems that the generated IKFAST solver doesn't work anymore (it always outputs:ABORTED: No motion plan found. No execution attempted.)while the default KDL solver can generate motion normally. What is the problem with it? ABORTED: No motion plan found. No execution attempted. Is it that IKFAST is far less effective than KDL?

I have calculated Geometric Jacobian for UR5 using DH parameters. But Jacobian given by MoveIt has different values for the same robot state. Do MoveIt use different way of calculating Jacobian ?

I am trying to control the Baxter's arm using Moveit, but when I give the command to move, the arm does not move.

First, I launch:
rosrun baxter_interface joint_trajectory_action_server.py
roslaunch baxter_moveit_config baxter_grippers.launch

Then I run this script:

from moveit_python import PlanningSceneInterface, MoveGroupInterface
import baxter_interface
from baxter_interface import CHECK_VERSION

limb = 'left'

rospy.init_node("joint_trajectory_client_%s" % (limb,))
rs = baxter_interface.RobotEnable(CHECK_VERSION)
rs.enable()

# Creating moveit client to control arm
arm_moveit_group = MoveGroupInterface(limb + "_arm", "base")

left_joints = [limb + '_' + joint for joint in ['s0', 's1', 'e0', 'e1', 'w0', 'w1', 'w2']]
point = [-0.11, -0.9, -1.15, 1.32,  0.80, 1.27,  2.39]
arm_moveit_group.moveToJointPosition(left_joints, point, plan_only=False)

But, the arm does not move and I get this error:

[ WARN] [1639586507.175056859]: Failed to fetch current robot state.
[ INFO] [1639586507.177714377]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1639586507.178016348]: Planning attempt 1 of at most 1
[ INFO] [1639586507.181376688]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1639586507.182098601]: No planner specified. Using default.
[ INFO] [1639586507.182629216]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1639586507.184929315]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1639586507.353944834]: LBKPIECE1: Created 109 (59 start + 50 goal) states in 98 cells (57 start (57 on boundary) + 41 goal (41 on boundary))
[ INFO] [1639586507.354103939]: Solution found in 0.170914 seconds
[ INFO] [1639586507.355183473]: SimpleSetup: Path simplification took 0.000759 seconds and changed from 54 to 2 states
[ WARN] [1639586508.361310292]: Failed to validate trajectory: couldn't receive full current joint state within 1s

I have tried the solution here: moveit/moveit#1187 (comment), but that did not work.

Could you please help?

all isnan should be std::isnan except for the #define and #ifndef

Currently, I can use moveit and baxter_python_interfacde to control the baxter. However, after I use moveit, I can not use baxter_python_interface to control baxter any more. The moveit tries to keep the current joint angle. So baxter_python_interface can not move the joint angle. If I use hand to control the baxter endeffector. The moveit will lose the control. Can you tell me how to let moveit lose

This doesn't compile on melodic.

• #68 this PR from @v4hn fixes it.

Hi all! I'm fighting to create a polar robot configuration with Move It.

The polar robot has 3 joints: rotational, rotational and prismatic.

I have model it in a xacro file and can move it with problems in Rviz with fake controllers.

Rviz simulation YouTube

Here is the xacro file of the robot (be care to uncomment the lines for the joint with the world) link

And for launch it, this is the command:

roslaunch arm_description rviz.launch

Then I follow the MoveIt! tutorial for a custom robot (link) and generate all the files correctly, but as you can see in the next video, it only moves the first joint (rotational) and the third joint (prismatic), but not the second one (rotational). Video

This is the workspace for all the project.

And for launch it, this is the command:

roslaunch rrp_moveit demo.launch

I would apreciate some help in trying to fix this problem.

Kinds regards,
Jorge

I am using Moveit in Indigo and ubuntu 14.04. I am getting following errors
[ERROR] [1492050356.981666496]: Transform error: Lookup would require extrapolation into the future. Requested time 1492050356.311039301 but the latest data is at time 1492050308.434982148, when looking up transform from frame [head] to frame [camera_rgb_optical_frame] [ERROR] [1492050356.981708685]: Transform cache was not updated. Self-filtering may fail.
I manually checked for the commits mentioned on this thread. All the changes are there in the moveit version I am using.
I am trying to use realsense_camera with the baxter_gripper.launch file. My yaml file is here and my baxter_moveit_sensor_manager.xml is here

@YoheiKakiuchi have this configuration file, could you send pull request?

@davetcoleman 's latest pull-request broke wstool update:

[moveit_robots] Updating /home/v4hn/ros/indigo/moveit/src/moveit_robots
WARNING [vcstools] Command failed: 'git submodule update --init --recursive'
 run at: '/home/v4hn/ros/indigo/moveit/src/moveit_robots'
 errcode: 128:
fatal: No url found for submodule path '.moveit_ci' in .gitmodules

apparently he added a broken submodule ".moveit_ci"...

I am trying to use chomp planner for baxter. I change the following line in move_group.py
<arg name="planner" default="ompl" /> to <arg name="planner" default="chomp" />

It gives me error
[ERROR] [1561156848.404331657]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are ompl_interface/OMPLPlanner Available plugins: ompl_interface/OMPLPlanner

Do I need to change some other part of code?

I have trouble on compiling baxter_ikfast_right_arm_plugin

[baxter_ikfast_right_arm_plugin] -- catkin 0.5.90                                                                                                           
[baxter_ikfast_right_arm_plugin] -- Using these message generators: gencpp;geneus;genlisp;genpy                                                             
[baxter_ikfast_right_arm_plugin] -- Eigen found (include: /usr/include/eigen3)                                                                              
[baxter_ikfast_right_arm_plugin] -- A library with BLAS API found.                                                                                          
[baxter_ikfast_right_arm_plugin] CMake Error at /usr/share/cmake-2.8/Modules/FindLAPACK.cmake:295 (message):                                                
[baxter_ikfast_right_arm_plugin]   A required library with LAPACK API not found.  Please specify library                                                    
[baxter_ikfast_right_arm_plugin]   location.                                                                                                                
[baxter_ikfast_right_arm_plugin] Call Stack (most recent call first):                                                                                       
[baxter_ikfast_right_arm_plugin]   CMakeLists.txt:31 (find_package)                                                                                         
[baxter_ikfast_right_arm_plugin]                                                                                                                            
[baxter_ikfast_right_arm_plugin]                                                                                                                            
[baxter_ikfast_right_arm_plugin] -- Configuring incomplete, errors occurred!                                                                                
[baxter_ikfast_right_arm_plugin] make: *** [cmake_check_build_system] Error 1  

solutions we found are either remove find_package(LAPACK) from CMakeList.txt or add set(LAPACK_lapack_WORKS TRUE) before find_package lapack. not sure which is better.

Dear all
I met a catkin_make error when I use Moveit! on Baxter and Ubuntu 16.04 (ROS Kinetic). Detailed information is provided as follow:

[ 91%] Built target control_toolbox_generate_messages_eus
[ 91%] Built target control_toolbox_gencfg
[ 91%] Built target control_toolbox_generate_messages_py
[ 93%] Built target baxter_sim_controllers
[ 93%] Built target gazebo_msgs_generate_messages_py
[ 93%] Built target actionlib_generate_messages_py
[ 93%] Built target actionlib_generate_messages_cpp
[ 93%] Built target actionlib_generate_messages_eus
[ 93%] Built target actionlib_generate_messages_lisp
[ 93%] Built target actionlib_generate_messages_nodejs
[ 93%] Built target controller_manager_msgs_generate_messages_py
[ 93%] Built target controller_manager_msgs_generate_messages_eus
[ 93%] Built target tf_generate_messages_nodejs
[ 93%] Built target tf_generate_messages_cpp
[ 93%] Built target std_srvs_generate_messages_nodejs
[ 93%] Built target gazebo_ros_gencfg
[ 93%] Built target controller_manager_msgs_generate_messages_nodejs
[ 93%] Built target tf_generate_messages_eus
[ 93%] Built target std_srvs_generate_messages_cpp
[ 93%] Built target std_srvs_generate_messages_py
[ 93%] Built target gazebo_msgs_generate_messages_nodejs
[ 93%] Built target std_srvs_generate_messages_eus
[ 93%] Built target std_srvs_generate_messages_lisp
[ 93%] Built target tf_generate_messages_py
[ 93%] Built target tf2_msgs_generate_messages_cpp
[ 93%] Built target gazebo_msgs_generate_messages_cpp
[ 93%] Built target tf2_msgs_generate_messages_lisp
[ 93%] Built target tf_generate_messages_lisp
[ 93%] Built target tf2_msgs_generate_messages_nodejs
[ 93%] Built target controller_manager_msgs_generate_messages_cpp
[ 93%] Built target tf2_msgs_generate_messages_eus
[ 93%] Built target tf2_msgs_generate_messages_py
[ 93%] Built target gazebo_msgs_generate_messages_lisp
[ 93%] Built target controller_manager_msgs_generate_messages_lisp
[ 93%] Built target gazebo_msgs_generate_messages_eus
[ 94%] Built target baxter_gazebo_ros_control
[ 95%] Built target baxter_sim_kinematics
[ 96%] Built target kinematics
[ 97%] Built target baxter_emulator
[ 98%] Building CXX object moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/src/baxter_left_arm_ikfast_moveit_plugin.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-5/README.Bugs for instructions.
moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/build.make:62: recipe for target 'moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/src/baxter_left_arm_ikfast_moveit_plugin.cpp.o' failed
make[2]: *** [moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/src/baxter_left_arm_ikfast_moveit_plugin.cpp.o] Error 4
CMakeFiles/Makefile2:6799: recipe for target 'moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/all' failed
make[1]: *** [moveit_robots/baxter/baxter_ikfast_left_arm_plugin/CMakeFiles/baxter_left_arm_moveit_ikfast_plugin.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed

Does Moveit! support Baxter on Kinetic? Or is anything wrong with my ROS?
I followed the procedure of the Moveit! Tutorial on this link to install Moveit!:
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/getting_started/getting_started.html
and followed the procedure on this link to install Baxter's Moveit!:
http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial

Installing baxter_moveit_config deb fails since its dependency baxter-ikfast-{left, right}-arm-plugin both tries to install /opt/ros/indigo/include/ikfast.h and apt seems to not be able to handle it.

$ sudo apt-get install ros-indigo-baxter-ikfast-right-arm-plugin 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed:
  ros-indigo-baxter-ikfast-right-arm-plugin
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/299 kB of archives.
After this operation, 1,359 kB of additional disk space will be used.
(Reading database ... 550155 files and directories currently installed.)
Preparing to unpack .../ros-indigo-baxter-ikfast-right-arm-plugin_1.0.2-0trusty-20150922-1144-+0000_amd64.deb ...
Unpacking ros-indigo-baxter-ikfast-right-arm-plugin (1.0.2-0trusty-20150922-1144-+0000) ...
Setting up ros-indigo-baxter-ikfast-right-arm-plugin (1.0.2-0trusty-20150922-1144-+0000) ...
$ sudo apt-get install ros-indigo-baxter-ikfast-left-arm-plugin 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed:
  ros-indigo-baxter-ikfast-left-arm-plugin
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B/299 kB of archives.
After this operation, 1,359 kB of additional disk space will be used.
Selecting previously unselected package ros-indigo-baxter-ikfast-left-arm-plugin.
(Reading database ... 550166 files and directories currently installed.)
Preparing to unpack .../ros-indigo-baxter-ikfast-left-arm-plugin_1.0.2-0trusty-20150922-1144-+0000_amd64.deb ...
Unpacking ros-indigo-baxter-ikfast-left-arm-plugin (1.0.2-0trusty-20150922-1144-+0000) ...
dpkg: error processing archive /var/cache/apt/archives/ros-indigo-baxter-ikfast-left-arm-plugin_1.0.2-0trusty-20150922-1144-+0000_amd64.deb (--unpack):
 trying to overwrite '/opt/ros/indigo/include/ikfast.h', which is also in package ros-indigo-baxter-ikfast-right-arm-plugin 1.0.2-0trusty-20150922-1144-+0000
dpkg-deb: error: subprocess paste was killed by signal (Broken pipe)
Errors were encountered while processing:
 /var/cache/apt/archives/ros-indigo-baxter-ikfast-left-arm-plugin_1.0.2-0trusty-20150922-1144-+0000_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

With catkin_make install, this isn't an issue since I assume either package just overwrites the .h file that's installed by the other?

I don't know what's the best solution for this. Apparently we can extract the shared portion as a common package but that may sound a bit overkill.