Run isaac_ros_cumotion_moveit base custom robot get error

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi,
I’d like to run isaac_ros_cumotion_moveit on my custom robot. As I follow isaac_ros_cumotion_moveit — isaac_ros_docs documentation, when I select a target pose on moveit and click Plan,cumotion_planner_node report errors :

root@ubuntu:/workspaces/isaac_ros-dev# ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=/workspaces/isaac_ros-dev/src/robot_description/resource/robot_X3plus.xrdf -p urdf_path:=/workspaces/is
aac_ros-dev/src/robot_description/urdf/robot_X3plus.urdf
[INFO] [1744168287.225888605] [cumotion_action_server]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[INFO] [1744168289.461098676] [cumotion_action_server]: warming up cuMotion, wait until ready
[INFO] [1744168291.100895566] [cumotion_action_server]: cuMotion is ready for planning queries!
[INFO] [1744168334.337883417] [cumotion_action_server]: Executing goal...
[INFO] [1744168334.339414797] [cumotion_action_server]: Planning with time_dilation_factor: 0.1
[INFO] [1744168334.342368656] [cumotion_action_server]: PlanRequest start state was empty, reading current joint state
[INFO] [1744168334.358185397] [cumotion_action_server]: Calculating goal pose from Joint target
[ERROR] [1744168334.367128353] [cumotion_action_server]: Error raised in execute callback: 'grip_joint' is not in list
Traceback (most recent call last):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal
    execute_result = await await_or_execute(execute_callback, goal_handle)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 724, in execute_callback
    goal_state = self.motion_gen.get_active_js(
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2177, in get_active_js
    opt_js = in_js.get_ordered_joint_state(opt_jnames)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 394, in get_ordered_joint_state
    new_js.inplace_reindex(ordered_joint_names)
  File "/usr/lib/python3.10/contextlib.py", line 79, in inner
    return func(*args, **kwds)
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in inplace_reindex
    new_index_l = [self.joint_names.index(j) for j in joint_names]
  File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in <listcomp>
    new_index_l = [self.joint_names.index(j) for j in joint_names]
ValueError: 'grip_joint' is not in list

I think there may be errors in my urdf or xrdf file,can you please help me check them? Thanks!
robot_X3plus.xrdf.txt (1.4 KB)
robot_X3plus.urdf.txt (19.3 KB)

2

I think I miss to modify moveit configuration,so I follow Tutorial for Integrating Custom Manipulators with cuMotion — isaac_ros_docs documentation to modify my MoveIt Configuration.After that I run launch file got ros controller errors:
log.txt (22.3 KB)
What may cause these errors?
isaac_sim.launch.py.txt (11.2 KB)

3

ros controller error have been solved.That’s because demo file in tutorial is wrong, in 12:

scaled_joint_trajectory_controller_spawner = Node(
    package='controller_manager',
    executable='spawner',
    arguments=['scaled_joint_trajectory_controller', '-c', '/controller_manager'],
)

joint_trajectory_controller_spawner = Node(
    package='controller_manager',
    executable='spawner',
    arguments=['joint_trajectory_controller', '-c', '/controller_manager'],
)

should be

scaled_joint_trajectory_controller_spawner = Node(
    package='controller_manager',
    executable='spawner',
    arguments=['scaled_joint_trajectory_controller', '--controller-manager', '/controller_manager'],
)

joint_trajectory_controller_spawner = Node(
    package='controller_manager',
    executable='spawner',
    arguments=['joint_trajectory_controller', '--controller-manager', '/controller_manager'],
)

however,there still get error when I click plan in moveit ui:

[cumotion_planner_node-9] [INFO] [1744192177.717123996] [cumotion_planner]: Executing goal...
[cumotion_planner_node-9] [INFO] [1744192177.720970837] [cumotion_planner]: Planning with time_dilation_factor: 0.1
[cumotion_planner_node-9] [INFO] [1744192177.729818366] [cumotion_planner]: Calculating goal pose from Joint target
[cumotion_planner_node-9] [ERROR] [1744192177.740169362] [cumotion_planner]: Error raised in execute callback: 'grip_joint' is not in list
[cumotion_planner_node-9] Traceback (most recent call last):
[cumotion_planner_node-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal
[cumotion_planner_node-9]     execute_result = await await_or_execute(execute_callback, goal_handle)
[cumotion_planner_node-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
[cumotion_planner_node-9]     return callback(*args)
[cumotion_planner_node-9]   File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 724, in execute_callback
[cumotion_planner_node-9]     goal_state = self.motion_gen.get_active_js(
[cumotion_planner_node-9]   File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py", line 2177, in get_active_js
[cumotion_planner_node-9]     opt_js = in_js.get_ordered_joint_state(opt_jnames)
[cumotion_planner_node-9]   File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 394, in get_ordered_joint_state
[cumotion_planner_node-9]     new_js.inplace_reindex(ordered_joint_names)
[cumotion_planner_node-9]   File "/usr/lib/python3.10/contextlib.py", line 79, in inner
[cumotion_planner_node-9]     return func(*args, **kwds)
[cumotion_planner_node-9]   File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in inplace_reindex
[cumotion_planner_node-9]     new_index_l = [self.joint_names.index(j) for j in joint_names]
[cumotion_planner_node-9]   File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.10/site-packages/curobo/types/state.py", line 402, in <listcomp>
[cumotion_planner_node-9]     new_index_l = [self.joint_names.index(j) for j in joint_names]
[cumotion_planner_node-9] ValueError: 'grip_joint' is not in list
[log2.txt|attachment](upload://ceQJTbCiAk8JMgLOSMgAfUJhaP1.txt) (24.2 KB)
4

log2.txt (24.2 KB)

5

It’s my xrdf configure problem,now I have fix it.