tork-a / ros_seminar

Packages for ROS seminar held by TORK

ros_workshop

Packages for ROS workshops/seminars held by TORK

Setups common for all workshops

Intended Environment

• Ubuntu 14.04 (Trusty Tahr) 64bit
• No virtual machine (it MIGHT work but cannot be guaranteed)
• Intel i5 4th generation or higher
• You can check by sudo lshw | grep -i cpu (ref. this QA thread)
• 5GB free disk space
• 1 or more USB ports
• When attending a workshop outside your organization, be sure to disable intra-network setting (e.g. web proxy).

Setup

System prerequisite

• Install ROS Indigo by following the installation tutorial Japanese : English

Workshop content

sudo apt-get install git
source /opt/ros/indigo/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src && catkin_init_workspace
git clone https://github.com/tork-a/ros_seminar.git
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r  -y
catkin_make
source devel/setup.bash

ros_seminar's Issues

Use DEB version of leap_motion

Confiemed that 0.0.4 was not functioning but 0.0.7 works fine.

Reademe.rst is messed

Installation command that span to multiple lines are concatenated into a single line by accident.

Moveit plan finally found after many failures

When the failure occurred (many times), the following error was printed upon boot of moveit init process and planning immediately failed.
RRTConnect: Motion planning start tree could not be initialize

After trying many init posture of the real robot, the error and the issue is gone.

Remove dependency on 'pocketsphinx'

Issue not to forget. I would change not to use pocketsphinx, which is not released to Kinetic.

Use android_voice_message instead.

https://play.google.com/store/apps/details?id=org.ros.android.android_voice_message

roslaunch stackit_robot_moveit_config demo.launch　でエラーが出てモデルが動かない

@k-okada
何かお気づきの点があれば、コメントいただけると助かります。

• kinetic 最新
• ソルバはikfastに変更済み
• 実機とつなぐ前の段階でエラーが出る
• indigoは問題ない
• FaceControllerをkineticでは使えない？

camellia@Camellia:~$ roslaunch stackit_robot_moveit_config demo.launch
... logging to /home/camellia/.ros/log/f429091c-b373-11e9-948e-f894c22f7dc6/roslaunch-Camellia-31673.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://Camellia:40841/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm_tip/planner_configs: ['SBLkConfigDefau...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'joints': ['bas...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.1
 * /move_group/whole_arm/planner_configs: ['SBLkConfigDefau...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/whole_arm/kinematics_solver: stackit_robot_who...
 * /robot_description_kinematics/whole_arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/whole_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/whole_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/base_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/base_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/base_lift_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/base_lift_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/base_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/base_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/base_pan_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/base_pan_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/dummy_a_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/dummy_a_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/dummy_a_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/dummy_a_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.571
 * /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 1.571
 * /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 1.571
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver: stackit_robot_who...
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_attempts: 3
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_Camellia_31673_1264217969422571553/whole_arm/kinematics_solver_timeout: 0.005
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_Camellia_31673_1264217969422571553 (rviz/rviz)

auto-starting new master
process[master]: started with pid [31692]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f429091c-b373-11e9-948e-f894c22f7dc6
process[rosout-1]: started with pid [31705]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [31722]
process[robot_state_publisher-3]: started with pid [31723]
process[move_group-4]: started with pid [31724]
process[rviz_Camellia_31673_1264217969422571553-5]: started with pid [31730]
[ INFO] [1564564622.305748337]: Loading robot model 'stackit_robot'...
[ INFO] [1564564622.393267651]: rviz version 1.12.17
[ INFO] [1564564622.393336450]: compiled against Qt version 5.5.1
[ INFO] [1564564622.393357764]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1564564622.405000796]: base_pan_joint -1.571 1.571 1
[ INFO] [1564564622.405045901]: base_lift_joint -2.617 2.617 1
[ INFO] [1564564622.405063735]: elbow_flex_joint 0 2.617 1
[ INFO] [1564564622.405091485]: wrist_flex_joint -1.745 1.745 1
[ INFO] [1564564622.405104042]: dummy_a_joint -1.571 1.571 1
[ INFO] [1564564622.418534122]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1564564622.424647793]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1564564622.424748902]: Starting scene monitor
[ INFO] [1564564622.427394885]: Listening to '/planning_scene'
[ INFO] [1564564622.427477170]: Starting world geometry monitor
[ INFO] [1564564622.430159378]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1564564622.432774299]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1564564622.442982524]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1564564622.470907572]: Initializing OMPL interface using ROS parameters
[ INFO] [1564564622.498232021]: Using planning interface 'OMPL'
[ INFO] [1564564622.500584111]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1564564622.501157683]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1564564622.501608252]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564564622.502123499]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564564622.502556771]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1564564622.502992488]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1564564622.503061665]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1564564622.503081546]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1564564622.503096823]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1564564622.503112106]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1564564622.503126912]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1564564622.506939214]: Exception while loading controller manager 'moveit_fake_controller_manager/MoveItFakeControllerManager': According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_simple_controller_manager/MoveItSimpleControllerManager
[ INFO] [1564564622.521732759]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
[ INFO] [1564564622.579489080]: Stereo is NOT SUPPORTED
[ INFO] [1564564622.579567558]: OpenGl version: 3 (GLSL 1.3).
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1564564622.630919556]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1564564622.631282180]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1564564622.631411673]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1564564625.994050405]: Loading robot model 'stackit_robot'...
[ INFO] [1564564626.034821489]: base_pan_joint -1.571 1.571 1
[ INFO] [1564564626.034858622]: base_lift_joint -2.617 2.617 1
[ INFO] [1564564626.034875467]: elbow_flex_joint 0 2.617 1
[ INFO] [1564564626.034891129]: wrist_flex_joint -1.745 1.745 1
[ INFO] [1564564626.034905649]: dummy_a_joint -1.571 1.571 1
[ INFO] [1564564626.088440800]: Starting scene monitor
[ INFO] [1564564626.099684565]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1564564626.316504850]: Constructing new MoveGroup connection for group 'whole_arm' in namespace ''
[ INFO] [1564564627.411952738]: Ready to take commands for planning group whole_arm.
[ INFO] [1564564627.412516040]: Looking around: no
[ INFO] [1564564627.412720719]: Replanning: no
[ WARN] [1564564627.439555062]: Interactive marker 'EE:goal_dummy_a_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ INFO] [1564564636.266539192]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1564564636.266828885]: Planning attempt 1 of at most 1
[ INFO] [1564564636.268366957]: Planner configuration 'whole_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1564564636.269446989]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269593060]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269695043]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.269809644]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.281881030]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.282707549]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.282876723]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.284917713]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.285195650]: ParallelPlan::solve(): Solution found by one or more threads in 0.016169 seconds
[ INFO] [1564564636.285760569]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.285986874]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.286218599]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.287353426]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.287558682]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.288366577]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1564564636.289768334]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.289930489]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1564564636.290210950]: ParallelPlan::solve(): Solution found by one or more threads in 0.004583 seconds
[ INFO] [1564564636.290385656]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.290425326]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1564564636.292246067]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.292415397]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1564564636.292604906]: ParallelPlan::solve(): Solution found by one or more threads in 0.002259 seconds
[ INFO] [1564564636.299347122]: SimpleSetup: Path simplification took 0.006335 seconds and changed from 3 to 2 states
[ERROR] [1564564636.300495407]: Unable to identify any set of controllers that can actuate the specified joints: [ base_lift_joint base_pan_joint elbow_flex_joint wrist_flex_joint ]
[ERROR] [1564564636.300533851]: Known controllers and their joints:

[ERROR] [1564564636.300571273]: Apparently trajectory initialization failed
[ INFO] [1564564636.308552719]: ABORTED: Solution found but controller failed during execution

How can I install gstreamer0.10-gconf from rosdep install?

The my_navigation package in navigation seminar depends on pocketsphinx and gstreamer0.10-gconf so I added run_depend into package.xml as:

  <run_depend>gstreamer0.10-gconf</run_depend>

Then

$ rosdep install -y -r --from-paths src --ignore-src

But I got error:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
my_navigation: Cannot locate rosdep definition for [gstreamer0.10-gconf]

How can I fix this?

@534o @130s

rosdep can't resolve dependency keys

Using livecd,

ubuntu@ubuntu:~/catkin_ws$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

    rosdep update

ubuntu@ubuntu:~/catkin_ws$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
updated cache in /home/ubuntu/.ros/rosdep/sources.cache
ubuntu@ubuntu:~/catkin_ws$ rosdep install --from-paths src --ignore-src -r -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
stackit_robot_description: Cannot locate rosdep definition for [xacro]
my_onedof_control: Cannot locate rosdep definition for [dynamixel_controllers]
my_moveit_sample: Cannot locate rosdep definition for [rospy]
stackit_robot_ikfast_whole_arm_plugin: Cannot locate rosdep definition for [pluginlib]
rospy_tutorials: Cannot locate rosdep definition for [std_msgs]
roscpp_tutorials: Cannot locate rosdep definition for [std_msgs]
turtlesim: Cannot locate rosdep definition for [std_srvs]
stackit_robot: Cannot locate rosdep definition for [dynamixel_controllers]
stackit_robot_moveit_config: Cannot locate rosdep definition for [xacro]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully