Moveit perception error
Hello ROS Community!
I am struggling with the configuration of the moveit
perception capabilities.
I have a robotic arm in Gazebo
equipped with an libgazebo_ros_openni_kinect.so
-based rgbd camera.
I want to do collision avoided path planning from point A to point B based on the simulated point cloud data.
As it is given in the tutorial:
1) In the config
folder i defined the following sensors_kinect_pointcloud.yaml
:
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /rgbd_camera/depth_registered/points
max_range: 5.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
max_update_rate: 1.0
filtered_cloud_topic: filtered_cloud
2) I edited my robot_5s_moveit_sensor_manager.launch.xml
file as:
<launch>
<rosparam command="load" file="$(find robot_5s_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
</launch>
3) My sensor_manager.launch.xml
file looks as:
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="robot_5s" />
<include file="$(find robot_5s_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>
I have no idea why, but if i load the aforementioned sensors_kinect_pointcloud.yaml
then suddenly nothing works.
I get the Fail: ABORTED: No motion plan found. No execution attempted.
error message for those poses that are reachable.
These poses can be reached successfully without any problem if the sensors_kinect_pointcloud.yaml
is not loaded.
/rgbd_camera/depth_registered/points
topic is published correctly, and in RVIZ i see the correct octomap.
Any idea what could be the problem?
Thanks in advance.