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yao62995 / AS_6Dof_Arm

robot arm by ROS & Moveit, Train Deep Reinforcement Algorithms

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grasp 生成器：Grasp configuration parameter `pregrasp_time_from_start` missing from rosparam server.

cookiegg opened this issue · comments

commented 
... logging to /home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/roslaunch-forrest-7678.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://forrest:40489/
SUMMARY
========
PARAMETERS
 * /moveit_simple_grasps_server/base_link: base_link
 * /moveit_simple_grasps_server/end_effector: gripper
 * /moveit_simple_grasps_server/gripper/end_effector_name: gripper
 * /moveit_simple_grasps_server/gripper/end_effector_parent_link: gripper_link
 * /moveit_simple_grasps_server/gripper/grasp_pose_to_eef: [0.0, 0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_pose_to_eef_rotation: [0.0, 0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_posture: [0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_time_from_start: 4.0
 * /moveit_simple_grasps_server/gripper/joints: ['finger_joint1',...
 * /moveit_simple_grasps_server/gripper/postplace_time_from_start: 4.0
 * /moveit_simple_grasps_server/gripper/pregrasp_posture: [0.015, -0.015]
 * /moveit_simple_grasps_server/gripper/pregrasp_time_from_start: 4.0
 * /moveit_simple_grasps_server/group: arm
 * /rosdistro: indigo
 * /rosversion: 1.11.20
NODES
  /
    moveit_simple_grasps_server (moveit_simple_grasps/moveit_simple_grasps_server)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[moveit_simple_grasps_server-1]: started with pid [7697]

**[ERROR] [1479200657.825976997]: Grasp configuration parameter `pregrasp_time_from_start` missing from rosparam server. Did you load your end effector's configuration yaml file? Searching in namespace: /moveit_simple_grasps_server/right
[moveit_simple_grasps_server-1] process has died [pid 7697, exit code -11, cmd /opt/ros/indigo/lib/moveit_simple_grasps/moveit_simple_grasps_server __name:=moveit_simple_grasps_server __log:=/home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/moveit_simple_grasps_server-1.log].
log file: /home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/moveit_simple_grasps_server-1*.log**
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
commented

@cookiegg
这是moveit_simple_grasps对ubuntu14.04的兼容问题
参考：
qboticslabs/mastering_ros#3

@qboticslabs
I have found two solutions for this problem. This problem can vary in different system with different environment.

Possible solution:

  1. Stick on to Ubuntu 14.04.2 instead of Ubuntu 14.04.3. The package will perfectly work in ROS version 1.11.13. I think you will get this version in Ubuntu 14.04.2
  2. If you are using Ubuntu 14.04.3, take a try with the following package

https://github.com/qboticslabs/mastering_ros/blob/master/chapter_10_codes/moveit_simple_grasps_1.zip
Please get back to me with your issues to my mail id : qboticslabs@gmail.com.
I am not closing the issue now, waiting for your response !!!

commented

看来要研究下怎么修改它，让它能在ubuntu14.04.5上用……

commented

I'm using ubuntu 16.04 . Which package should I use? @yao62995 @cookiegg

commented

@cookiegg
Hello,
I meet same problem. 現在可以在14.04.5下使用嗎？

commented
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@kottesaikumar
I have the same problem in Ubuntu16.04 ROS Kinetic.
Have you solve the problem?

commented

想问一下， moveit_simple_grasps对ubuntu14.04.5的兼容问题解决了吗？谢谢 @cookiegg @kottesaikumar @WeJay @wangcongrobot

commented

现在我是采用openai gym,抓取规划可以试试graspit!

commented