No kinematics plugins defined. Fill and load kinematics.yaml! #2983
Description
Description
My name is Pedro, working for the University of Granada lab.
We are trying to move a Universal Robot arm and we want to move it through URSIM beforehand. To do this we are trying to adapt the hello_moveit_ur project (configured for panda) https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html to ur5e or ur3e.
In this project they explain how to make a launch file for this purpose: https://github.com/LucaBross/simple_moveit2_universal_robots_movement/blob/main/README.md
But I cannot make it works
Your environment
- ROS Distro: Humble
- OS Version: Ubuntu 22.04
- Source or Binary build?
- I am using a binary version of moveit_config and a binary version of ur_robot_driver
- If binary, which release version?
- If source, which branch?
- Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.
Steps to reproduce
According to the README provided for Luca Bross in the same github mentioned before:
Shell 1: run the driver
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller to connect to the Universal Robot.
Start the external control urcap on the UR to allow external control (172.17.0.2 )
whose answer is :
[ur_ros2_control_node-1] [INFO] [1724836702.880117247] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1724836702.880196920] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1724836702.909041735] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
Shell 2: run the moveit controller
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
to cofigure moveit.
whose anser is :
[rviz2-2] [INFO] [1724836802.044574767] [interactive_marker_display_95582728855616]: Sending request for interactive markers
[rviz2-2] [INFO] [1724836802.078529470] [interactive_marker_display_95582728855616]: Service response received for initialization
[rviz2-2] [INFO] [1724836862.032627211] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
Shell 3: launch the program hello
Start the hello_moveit_ur file with a launchfile
ros2 launch hello_moveit_ur hello_moveit_ur_launch.py.
whose anser is:
[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-28-11-36-43-385497-pedro-B650-AORUS-ELITE-AX-11823
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_moveit_ur-1]: process started with pid [11826]
[hello_moveit_ur-1] [INFO] [1724837803.703205261] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00261015 seconds
[hello_moveit_ur-1] [INFO] [1724837803.703235167] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[hello_moveit_ur-1] [INFO] [1724837803.703242611] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[hello_moveit_ur-1] [WARN] [1724837803.770902047] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
Expected behaviour
The robot to move in the UR SIM, to the selected point.
Actual behaviour
It gives a warning about the kinematics and keep waiting.
Thanks a lot.