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Hello everyone, For the control of both robots I want a move_group node for each robot in a respective namespace e.g. ( For this I have modified xy_start.launch.py by passing The node Customised Click to expandimport os
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
import xacro
def generate_launch_description():
# =======================================================================
# NameSpace configuration
robot_name_space = "/moto_mini"
name_space_moveit = "/moto_mini_moveit"
# =======================================================================
motoman_directory = "moveit_resources_moto_motomini_moveit_config" #not Directory -> ROS Package
# URDF
motoman_robot_description_config = xacro.process_file(
os.path.join(
get_package_share_directory(motoman_directory),
"config",
"motoman_motomini.urdf.xacro",
),
)
motoman_robot_description = {
"robot_description": motoman_robot_description_config.toxml()
}
# =======================================================================
# MoveGroupNode
moveit_config = (
MoveItConfigsBuilder("moveit_resources_moto_motomini")
.robot_description(file_path="config/motoman_motomini.urdf.xacro")
.robot_description_semantic(file_path="config/motoman_motomini.srdf")
.trajectory_execution(file_path="config/moveit_controllers.yaml")
.to_moveit_configs()
)
planning_scene_monitor_parameters = {
"publish_planning_scene": True,
"publish_geometry_updates": True,
"publish_state_updates": True,
"publish_transforms_updates": True,
"publish_robot_description": True,
"publish_robot_description_semantic": True,
}
# Start the actual move_group node/action server
# robot
run_move_group_nodeX = Node(
package="moveit_ros_move_group",
executable="move_group",
namespace= name_space_moveit,
output="screen",
parameters=[
moveit_config.to_dict(),
planning_scene_monitor_parameters,
],
remappings= [
('joint_states', f'{robot_name_space}/joint_states'),
# Action -> follow_joint_trajectory action
(f'{name_space_moveit}{robot_name_space}/follow_joint_trajectory/_action/status', f'{robot_name_space}/follow_joint_trajectory/_action/status'),
(f'{name_space_moveit}{robot_name_space}/follow_joint_trajectory/_action/feedback', f'{robot_name_space}/follow_joint_trajectory/_action/feedback'),
(f'{name_space_moveit}/monitored_planning_scene', '/monitored_planning_scene'),
(f'{name_space_moveit}/display_planned_path', '/display_planned_path'),
]
)
# =======================================================================
joint_state_publisherX = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
namespace= name_space_moveit,
parameters=[
{
"robot_description": motoman_robot_description,
"rate": 43,
"source_list": [f'{robot_name_space}/joint_states'],
}
],
)
# =======================================================================
robot_state_publisherX = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
namespace= name_space_moveit,
parameters=[
motoman_robot_description,
{
"robot_description": motoman_robot_description,
"publish_frequency": 43.0,
"frame_prefix": "",
},
]
)
# =======================================================================
# Launch
return LaunchDescription([
run_move_group_nodeX,
joint_state_publisherX,
robot_state_publisherX,
]
)After this adjustment my ros graph looked correct again but with the new namespace: Click to expand
Now I wanted to test it using a script of the hello_moveit package. std::string group_name = "manipulator";
std::string move_group_namespace = "/moto_mini_moveit";
moveit::planning_interface::MoveGroupInterface::Options options(group_name, moveit::planning_interface::MoveGroupInterface::ROBOT_DESCRIPTION, move_group_namespace);
using moveit::planning_interface::MoveGroupInterface;
auto move_group_interface = MoveGroupInterface(node, options);In addition, I had to start the node via the following launch file in which I again specified the new namespace and the mapping had to be adapted. Without the launch file and running the script via ros2 run I could not even load the robot model even if I gave the argument namespace "moto_mini_moveit" to the constructor of the "hello_motomini" node. Click to expandfrom launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
name_space_moveit = "/moto_mini_moveit"
return LaunchDescription([
Node(
package='hello_moveit',
executable='hello_motomini',
name='hello_motomini',
namespace= name_space_moveit,
output="screen",
remappings= [
# Action -> move_action
('/move_action/_action/feedback', f'{name_space_moveit}/move_action/_action/feedback'),
('/move_action/_action/status', f'{name_space_moveit}/move_action/_action/status'),
# Action -> execute_trajectory ction
('/execute_trajectory/_action/feedback', f'{name_space_moveit}/execute_trajectory/_action/feedback'),
('/execute_trajectory/_action/status', f'{name_space_moveit}/execute_trajectory/_action/status'),
('/trajectory_execution_event', f'{name_space_moveit}/trajectory_execution_event'),
('/attached_collision_object', f'{name_space_moveit}/attached_collision_object'),
]
)
])With the help of the launch file, the node started correctly and the planning was also executed. Only the execution of the trajectory fails and I don't understand why. In the Terminal of Click to expandIt seems to fail because of the following error message: But I don't understand this, because according to rqt_graph and "ros2 node info ..." the I would appreciate any helpful input. |
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Replies: 3 comments 18 replies
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could you please clarify what you mean by this? Do you have both a MotoMini and a GP4 controlled by a single YRC1000? Or do you have two controllers, one for each robot? Could you please also provide more information on which version of MotoROS2 you are using? And which version of ROS 2? |
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Hi, |
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I believe you mean If so: MoveIt is a subscriber to that topic, while MotoROS2 publishes to it.
If you are using a MoveIt configuration that publishes to |
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The Did you include that on purpose (you could fi use it to merge different And btw:
it's perfectly OK to have multiple nodes publish to the same topic. That's expressly supported by ROS. Whether consumers know how to process the resulting message stream correctly is something else, but there's nothing inherently problematic about multiple publishers on a single topic. |
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yes exactly, I have corrected it
yes that's right, I have commented out all nodes except
good to know! |
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I have to admit I haven't used the package you link to. I might perhaps suggest to start from a more simple setup. From a quick look it appears that launch file uses a JSP to give MoveIt (which is not running in a namespace) access to the But if you run MoveIt itself in the same namespace as you have MotoROS2, I would not expect that to be necessary. Resolution of relative topic names should start in the 'local' namespace. |
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@TE-2: have you been able to get things to work? |
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Hi, |
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small update, our robot module will be dispatched in a few days to exhibit it at a fair. We have currently developed it further with the workaround solution of two ROS Domain Ids. After the fair (in 4 Weeks) I will look again at running both Ros Graphs in the same namespace. |
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Edit: the comment before this comment was 'promoted' to an answer. See #225 (comment) below. Thanks for the update and the launch file. If you'd post this as a new answer (below), @TE-2 could select it as the answer. re: |
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Well, yes it's related to loading parameters of I think I meant, that controller_manager is not visible for ros2control, not MoveIt in the post before... It's pretty easy to get lost here :) |
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@rureverek: I've merged your comment with the launch file with your answer posted below.
true. Good to hear though my assumption about 'just placing MoveIt in a namespace' worked out, and did in fact reduce the nr of remaps to a minimum. |
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Update. @TE-2 handed over task to me. Finally, I managed to place two robots in two different moveIt nodes (namespaces). Here are my findings: I put all nodes in namespace e.g: robot_state_publisher, run_move_group_node, ros2_control_node, joint_state_publisher. After that, two main problems came up when trying to run it with previous moveIt configuration: Problem: When placing controller_manager in namespace, controller_manager wasn't visible for ros2control. Solution: Changed configuration: moto_gp4/controller_manager:
ros__parameters:
update_rate: 100 # Hz
moto_gp4:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
moto_gp4/moto_gp4:
...
...I don't like that I had to put namespace prefix before the name of controller_manager in ros2_controllers_namespace.yaml, but apparrently it was the only way that worked for me. (I tried many simpler things, which didn't work). Error: "action client is not connected to action server". The key was to understand how moveit_controller.yaml works. moveit_simple_controller_manager:
controller_names:
- moto_gp4
moto_gp4:
type: FollowJointTrajectory
action_ns: follow_joint_trajectoryThis is telling moveIt to look for action server in this path: "/moto_gp4/follow_joint_trajectory". However, its more problematic when we want to place MoveIt into new namespace... Then this "path" looks like this: "<moveit_ns>/<controller_name>/<action_ns>" (/moto_gp4/moto_gp4/follow_joint_trajectory). To solve this problem I changed the configuration of the controller manager running in namespace to following: moveit_simple_controller_manager:
controller_names:
- follow_joint_trajectory
follow_joint_trajectory:
type: FollowJointTrajectory
action_ns: ""In that case if we place the controller in namespace called "moto_gp4", we effectively end up with path: "/moto_gp4/follow_joint_trajectory", as action_ns is not defined here. Edit: launch file for reference: Click to expandimport os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node
from launch.actions import ExecuteProcess, Shutdown
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
import xacro
def generate_launch_description():
moveit_namespace = "moto_gp4"
moveit_namespace2 = "moto_mini"
motoman_directory = "moveit_resources_moto_gp4_moveit_config"
motoman_directory2 = "moveit_resources_moto_motomini_moveit_config"
# URDF
motoman_robot_description_config = xacro.process_file(
os.path.join(
get_package_share_directory(motoman_directory),
"config",
"motoman_gp4.urdf.xacro",
),
# mappings={'prefix': '/yaskawa_a1/'},
)
motoman_robot_description = {
"robot_description": motoman_robot_description_config.toxml()
}
# URDF
motoman_robot_description_config2 = xacro.process_file(
os.path.join(
get_package_share_directory(motoman_directory2),
"config",
"motoman_motomini.urdf.xacro",
),
# mappings={'prefix': '/yaskawa_a1/'},
)
motoman_robot_description2 = {
"robot_description": motoman_robot_description_config2.toxml()
}
moveit_config = (
MoveItConfigsBuilder("moveit_resources_moto_gp4")
.robot_description(file_path="config/motoman_gp4.urdf.xacro")
.robot_description_semantic(file_path="config/motoman_gp4.srdf")
.trajectory_execution(file_path="config/moveit_controllers_shared.yaml")
.to_moveit_configs()
)
moveit_config2 = (
MoveItConfigsBuilder("moveit_resources_moto_motomini")
.robot_description(file_path="config/motoman_motomini.urdf.xacro")
.robot_description_semantic(file_path="config/motoman_motomini.srdf")
.trajectory_execution(file_path="config/moveit_controllers_shared.yaml")
.to_moveit_configs()
)
planning_scene_monitor_parameters = {
"publish_planning_scene": True,
"publish_geometry_updates": True,
"publish_state_updates": True,
"publish_transforms_updates": True,
"publish_robot_description": True,
"publish_robot_description_semantic": True,
}
# Start the actual move_group node/action server
run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
namespace=moveit_namespace,
parameters=[
moveit_config.to_dict(),
planning_scene_monitor_parameters,
# {"use_sim_time": True},
],
# remappings=[
# ('joint_states', 'joint_state_broadcaster/joint_states')]
)
run_move_group_node2 = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
namespace=moveit_namespace2,
parameters=[
moveit_config2.to_dict(),
planning_scene_monitor_parameters,
# {"use_sim_time": True},
],
# remappings=[
# ('joint_states', 'joint_state_broadcaster/joint_states')]
)
# RViz
rviz_base = os.path.join(
get_package_share_directory("moveit_resources_moto_gp4_moveit_config"), "launch"
)
rviz_full_config = os.path.join(rviz_base, "moveit_namespace.rviz")
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_full_config],
parameters=[
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.planning_pipelines,
moveit_config.robot_description_kinematics,
# moveit_config2.robot_description2,
# {"use_sim_time": True},
],
)
# Publish TF
robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="both",
namespace=moveit_namespace,
parameters=[moveit_config.robot_description],
remappings=[
('joint_states', 'joint_state_broadcaster/joint_states'),
# ('/robot_description', f'/{moveit_namespace}/robot_description')
]
)
robot_state_publisher2 = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="both",
namespace=moveit_namespace2,
parameters=[moveit_config2.robot_description],
remappings=[
('joint_states', 'joint_state_broadcaster/joint_states')
]
)
# ros2_control using FakeSystem as hardware
ros2_controllers_path = os.path.join(
get_package_share_directory("moveit_resources_moto_gp4_moveit_config"),
"config",
"ros2_controllers_shared.yaml",
)
ros2_controllers_path2 = os.path.join(
get_package_share_directory("moveit_resources_moto_motomini_moveit_config"),
"config",
"ros2_controllers_shared.yaml",
)
ros2_control_node = Node(
namespace=moveit_namespace,
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.robot_description, ros2_controllers_path], #Remember to add ros_control tag in xacro file
output="both",
)
ros2_control_node2 = Node(
namespace=moveit_namespace2,
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config2.robot_description, ros2_controllers_path2], #Remember to add ros_control tag in xacro file
output="both",
)
joint_state_publisher = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
namespace=moveit_namespace,
parameters=[
{
"robot_description": motoman_robot_description,
"rate": 43,
"source_list": [f'/{moveit_namespace}/joint_states'], # Könnte auch Moveit Problem sein
}
],
)
joint_state_publisher2 = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
namespace=moveit_namespace2,
parameters=[
{
"robot_description": motoman_robot_description2,
"rate": 43,
"source_list": [f'/{moveit_namespace2}/joint_states'], # Könnte auch Moveit Problem sein
}
],
)
return LaunchDescription(
[
rviz_node,
# static_tf,
robot_state_publisher,
robot_state_publisher2,
run_move_group_node,
run_move_group_node2,
ros2_control_node,
ros2_control_node2,
joint_state_publisher,
joint_state_publisher2
]
) |
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Update. @TE-2 handed over task to me. Finally, I managed to place two robots in two different moveIt nodes (namespaces). Here are my findings:
I put all nodes in namespace e.g: robot_state_publisher, run_move_group_node, ros2_control_node, joint_state_publisher.
Only one remapping was needed for robot_state_publisher (possibly could be fixed by using different source_list at joint_state_publisher, but I didn't verify that).
After that, two main problems came up when trying to run it with previous moveIt configuration:
Problem: When placing controller_manager in namespace, controller_manager wasn't visible for ros2control.
Solution:
Changed configuration:
Add namespace prefix before contro…