Trouble in Moveit2

Omniverse Isaac Sim
1

I’m using ubuntu22.04,ros2humble, and when I follow this tutorial(9. MoveIt 2 — isaacsim latest documentation)、(How To Command Simulated Isaac Robot — MoveIt Documentation: Rolling documentation), I have a couple problems:
First of all: “controller manager not available”,All I can ensure is that I have the controller manager installed. And the ‘[ERROR] [move_group-5]: process has died [pid 59, exit code -6, cmd ‘/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_89dev4yd’].’ appears.Besides,I can not see ’
You can start planning now!’ in the terminal.
Secondly: in the rviz2 interface, there is a warning like 'requesting initial scene failed '.
Lastly, when I move the trackball and give control commands, the arm does not move when I click ‘plan & execute’ and I get this error in the terminal 'Movegroup action client/server not ready '.
Help ！！！！！！

Screenshot from 2023-08-05 17-21-49
Screenshot from 2023-08-05 17-21-491920×1078 505 KB

Screenshot from 2023-08-05 17-26-21
Screenshot from 2023-08-05 17-26-211920×1078 216 KB

Screenshot from 2023-08-05 17-26-25
Screenshot from 2023-08-05 17-26-251920×1078 422 KB

2

Hi @gaozhao22 - It seems like you’re encountering several issues while trying to use MoveIt 2 with ROS2 on Ubuntu 22.04. Here are some general troubleshooting steps you can take:

  1. Controller Manager Not Available: This error usually indicates that the controller manager is not running or not properly configured. Make sure that you have correctly installed and configured the controller manager. You can check if the controller manager is running by using the command ros2 service list | grep controller_manager.
  2. Move Group Process Died: This error could be due to a variety of reasons. It might be helpful to look at the log files for more detailed error messages. You can find the log files in ~/.ros/log/ directory.
  3. Requesting Initial Scene Failed: This warning in RViz usually indicates that MoveIt is unable to communicate with the planning scene. Make sure that your robot’s URDF is correctly loaded and that the move_group node is running.
  4. MoveGroup Action Client/Server Not Ready: This error usually indicates that the MoveGroup action server is not running or not properly configured. Make sure that the move_group node is running and that it is correctly configured to provide the MoveGroup action service.
3

Thank u.I have tried something,but it sitill shows ‘isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691829689.923527546] [move_group_interface]: MoveGroup action client/server not ready’ !Could u give me specific advice on how can i make sure that the move_group node is running and that it is correctly configured.To be honest, i have not changed anything as the tutorial.I just follow the tutorial.Is there anything wrong with the demo itself?Looking forward to your reply!

Screenshot from 2023-08-12 16-53-36
Screenshot from 2023-08-12 16-53-361914×1074 500 KB

4

Hi @gaozhao22 - The error message you’re seeing indicates that the MoveGroup action client/server is not ready. This typically means that the MoveGroup node, which is part of the MoveIt! framework for motion planning, is not running or not correctly configured.

Here are a few things you can check:

  1. Make sure that the MoveIt! framework is correctly installed and configured. You can check this by running the command roslaunch moveit_setup_assistant setup_assistant.launch in a terminal. This should launch the MoveIt! Setup Assistant, which you can use to configure your robot for motion planning.
  2. Check that the MoveGroup node is running. You can do this by running the command rosnode list in a terminal. This will list all the currently running ROS nodes. Look for a node named /move_group.
  3. Check the configuration of the MoveGroup node. The configuration files for the MoveGroup node are typically located in the config directory of your MoveIt! package. Make sure that the move_group.launch file is correctly configured for your robot.
  4. Make sure that the correct version of ROS is being used. The Isaac Sim supports ROS Melodic and ROS2 Foxy. If you’re using a different version of ROS, you may encounter compatibility issues.
  5. Check the network configuration. If you’re running the MoveGroup node and Isaac Sim on different machines, make sure that they can communicate with each other over the network. You can check this by running the command rostopic list on both machines and making sure that they see the same list of topics.

If you’re still having trouble, it might be helpful to look at the ROS logs for more detailed error messages. You can view the logs by running the command roscd log in a terminal.