Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

ez_pnp2.py erro #10

Closed
nhzjwsdyr opened this issue Apr 12, 2020 · 11 comments
Closed

ez_pnp2.py erro #10

nhzjwsdyr opened this issue Apr 12, 2020 · 11 comments

Comments

@nhzjwsdyr
Copy link

nhzjwsdyr commented Apr 12, 2020 •
edited by gstavrinos
Loading

hi gstavrinos! ez pnp is very helpful for me,however,when I run ez_pnp2.py,it seem to get an error!
it looks like:

[ERROR] [1586700828.583032, 51.950000]: Error processing request: 'Z'
['Traceback (most recent call last):\n', '  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 625, in _handle_request\n    response = convert_return_to_response(self.handler(request), self.response_class)\n', '  File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 223, in startPlanning\n    graspit_grasps = self.graspThis(req.graspit_target_object)\n', '  File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 113, in graspThis\n    target.id = str(self.ez_objects[object_name][0])\n', "KeyError: 'Z'\n"]

maybe the problem is here?

def graspThis(self, object_name):
        target = CollisionObject()
        target.id = str(self.ez_objects[object_name][0])
        target.primitive_poses = [self.ez_objects[object_name][1].pose]
        response = self.planning_srv(group_name = self.gripper_name, target = target)
        return response.grasp

and the last problem is as the gif showing,the E and Z two objects should be loading in test2_ez_pnp2.py ,but the service node just show only E was succeed,why?

 Loaded object from /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml - GraspItSceneManager.cpp, 639
[ INFO] [1586700826.607526458, 51.872000000]: Added object E from file /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml and got ID=1 - GraspItServices.cpp, 158
GCOL: model not foundy
[ INFO] [1586700826.683683481, 51.944000000]: Successfully loaded model 1 to the world. - GraspItServices.cpp, 211

could you help me? thank you very much!!!
@gstavrinos
Copy link
Owner

Hey @nhzjwsdyr, thanks for the interest. I edited your issue with code tags to make it a bit easier to read. Could you please provide me with a full console output?

@nhzjwsdyr
Copy link
Author

nhzjwsdyr commented Apr 13, 2020 •
edited
Loading

@gstavrinos thanks for your replying!! here is the output:
2020-04-13 16-30-49

if I should open the graspit simulator before run test2_ez_pnp2.py?

@gstavrinos
Copy link
Owner

Thanks for the console output. It would be easier to go through it if it was copy-pasted here, but that's fine for now. Apart from a robot simulation, are you also running a MoveIt planning scene?

@nhzjwsdyr
Copy link
Author

nhzjwsdyr commented Apr 14, 2020 •
edited by gstavrinos
Loading

hi gstavrinos ！yes I have run the manos_planning_execution.launch at the same time，and some error appeare，it looks like:

[ERROR] [1586851843.615180543, 17.565000000]: Could not find the planner configuration 'NonekConfigDefault' on the param server
[ERROR] [1586851843.617329931, 17.566000000]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1586851843.620728446, 17.569000000]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1586851843.622491793, 17.571000000]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1586851843.623253003, 17.572000000]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1586851843.623971626, 17.573000000]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1586851843.624570618, 17.573000000]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1586851843.625178914, 17.574000000]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1586851843.625752364, 17.574000000]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1586851843.626442412, 17.575000000]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1586851843.627044982, 17.576000000]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1586851843.627626534, 17.576000000]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1586851843.628309301, 17.577000000]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1586851843.628964033, 17.578000000]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1586851843.630221083, 17.578000000]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1586851843.631378373, 17.580000000]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1586851843.632406540, 17.581000000]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1586851843.633051733, 17.582000000]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1586851843.633731063, 17.582000000]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1586851843.634465477, 17.582000000]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1586851843.635035844, 17.583000000]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1586851843.635992545, 17.584000000]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1586851843.636707021, 17.585000000]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1586851843.637335530, 17.585000000]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server
[ERROR] [1586851843.645427959, 17.593000000]: Could not find the planner configuration 'NonekConfigDefault' on the param server
[ERROR] [1586851843.646945215, 17.594000000]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1586851843.647641439, 17.595000000]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1586851843.648354993, 17.596000000]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1586851843.650989317, 17.598000000]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1586851843.651867626, 17.599000000]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1586851843.653111640, 17.600000000]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1586851843.654051858, 17.601000000]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1586851843.654857623, 17.602000000]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1586851843.655722548, 17.603000000]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1586851843.656372996, 17.604000000]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1586851843.656996281, 17.604000000]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1586851843.657649192, 17.605000000]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1586851843.658907098, 17.606000000]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1586851843.659614833, 17.607000000]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1586851843.660639194, 17.608000000]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1586851843.663161352, 17.610000000]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1586851843.663983968, 17.611000000]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1586851843.664625389, 17.611000000]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1586851843.665298388, 17.612000000]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1586851843.666701596, 17.613000000]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1586851843.668882830, 17.615000000]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1586851843.669568468, 17.616000000]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1586851843.670260024, 17.617000000]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server

as the picture shows:
2020-04-14 16-15-16

@gstavrinos
Copy link
Owner

Ok, those last errors should not be an issue. Give me some time to look into it, and I will get back to you.

@nhzjwsdyr
Copy link
Author

thanks for your patience！

@gstavrinos
Copy link
Owner

Hey @nhzjwsdyr, I just tested the package in a fresh installation of Ubuntu, so I had to install everything from scratch. I did not encounter the problem described above. Could you please provide me with all the commands you are running along with their complete console outputs? Please copy-paste them so that I can search through them easily. Thanks!

@nhzjwsdyr
Copy link
Author

nhzjwsdyr commented Apr 16, 2020 •
edited by gstavrinos
Loading

@nhzjwsdyr Thank you! I use the ubuntu16.04 and ros kinetic,I just obey the steps as the readme showing:
1.roslaunch` manos_gazebo manos_gazebo.launch limited:=true
output:

... logging to /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/roslaunch-user-Inspiron-7572-7599.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.

inconsistent namespace redefinitions for xmlns:xacro:
 old: http://www.ros.org/wiki/xacro
 new: http://ros.org/wiki/xacro (/home/user/pnp_ws/src/manosg/manos_description/urdf/grippers/schunk_pg70.transmission.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
 old: http://www.ros.org/wiki/xacro
 new: http://ros.org/wiki/xacro (/home/user/pnp_ws/src/manosg/manos_description/urdf/grippers/schunk_pg70.gazebo.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
 old: http://www.ros.org/wiki/xacro
 new: http://wiki.ros.org/xacro (/opt/ros/kinetic/share/ur_description/urdf/ur3.urdf.xacro)
redefining global property: pi
when processing file: /home/user/pnp_ws/src/manosg/manos_description/urdf/ur3_pg70_limited.urdf.xacro
started roslaunch server http://192.168.0.105:43645/

SUMMARY
========

PARAMETERS
 * /arm_controller/action_monitor_rate: 10
 * /arm_controller/constraints/elbow_joint/goal: 0.1
 * /arm_controller/constraints/elbow_joint/trajectory: 0.1
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05
 * /arm_controller/constraints/wrist_1_joint/goal: 0.1
 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_2_joint/goal: 0.1
 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_3_joint/goal: 0.1
 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /arm_controller/joints: ['shoulder_pan_jo...
 * /arm_controller/state_publish_rate: 25
 * /arm_controller/stop_trajectory_duration: 0.5
 * /arm_controller/type: position_controll...
 * /gripper_controller/action_monitor_rate: 10
 * /gripper_controller/constraints/goal_time: 0.6
 * /gripper_controller/constraints/pg70_finger1_joint/goal: 0.01
 * /gripper_controller/constraints/pg70_finger1_joint/trajectory: 0.1
 * /gripper_controller/constraints/pg70_finger2_joint/goal: 0.01
 * /gripper_controller/constraints/pg70_finger2_joint/trajectory: 0.1
 * /gripper_controller/constraints/stopped_velocity_tolerance: 0.05
 * /gripper_controller/joints: ['pg70_finger1_jo...
 * /gripper_controller/state_publish_rate: 25
 * /gripper_controller/stop_trajectory_duration: 0.5
 * /gripper_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    arm_controller_spawner (controller_manager/controller_manager)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gripper_controller_spawner (controller_manager/controller_manager)
    joint_state_controller_spawner (controller_manager/controller_manager)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [7613]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13
process[rosout-1]: started with pid [7626]
started core service [/rosout]
process[gazebo-2]: started with pid [7629]
process[gazebo_gui-3]: started with pid [7634]
process[spawn_gazebo_model-4]: started with pid [7639]
process[robot_state_publisher-5]: started with pid [7640]
process[fake_joint_calibration-6]: started with pid [7668]
process[joint_state_controller_spawner-7]: started with pid [7671]
process[arm_controller_spawner-8]: started with pid [7672]
process[gripper_controller_spawner-9]: started with pid [7673]
INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/user/.ros/log/latest'
SpawnModel script started
[INFO] [1587028914.682507, 0.000000]: Loading model XML from ros parameter
[INFO] [1587028914.692666, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1587028915.643663626]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1587028915.648294293]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1587028915.648779199]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1587028915.652748390]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1587028919.244152, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[INFO] [1587028921.466405, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/spawn_gazebo_model-4*.log
[ INFO] [1587028925.255084653, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1587028925.255213414, 0.001000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1587028925.256052528, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1587028925.749913357, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1587028925.751774013, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1587028925.753538609, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1587028925.754944362, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1587028925.756289753, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1587028925.757746452, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ERROR] [1587028925.759028347, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/pg70_finger1_joint
[ERROR] [1587028925.760239864, 0.001000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/pg70_finger2_joint
[ INFO] [1587028926.509124512, 0.001000000]: Loaded gazebo_ros_control.
[ WARN] [1587028926.509319618, 0.002000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1587028926.509348046, 0.002000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1587028926.509372126, 0.002000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1587028926.509400410, 0.002000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[ INFO] [1587028926.531154955, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1587028926.531757419, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1587028926.610207210, 0.095000000]: Physics dynamic reconfigure ready.
[ INFO] [1587028927.026780740, 0.480000000]: Physics dynamic reconfigure ready.
Loaded gripper_controller
Loaded joint_state_controller
Loaded arm_controller
Started ['gripper_controller'] successfully
Started ['joint_state_controller'] successfully
Started ['arm_controller'] successfully
[joint_state_controller_spawner-7] process has finished cleanly
log file: /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/joint_state_controller_spawner-7*.log
[arm_controller_spawner-8] process has finished cleanly
log file: /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/arm_controller_spawner-8*.log
[gripper_controller_spawner-9] process has finished cleanly
log file: /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/gripper_controller_spawner-9*.log

2. roslaunch manos_moveit_config manos_planning_execution.launch sim:=true limited:=true
output:

`... logging to /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/roslaunch-user-Inspiron-7572-11055.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://192.168.0.105:34509/

SUMMARY
========

PARAMETERS
 * /max_range: 5.0
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/default_planner_config: NonekConfigDefault
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/gripper/default_planner_config: NonekConfigDefault
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /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_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/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/planning_scene_monitor/shape_transform_cache_lookup_wait_time: 1.0
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /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: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /octomap_resolution: 0.025
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/pg70_finger1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/pg70_finger1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/pg70_finger1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/pg70_finger1_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/pg70_finger2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/pg70_finger2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/pg70_finger2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/pg70_finger2_joint/max_velocity: 2
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sensors: [{'point_subsampl...

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [11073]
[ INFO] [1587028958.468914300]: Loading robot model 'ur3_pg70'...
[ INFO] [1587028959.004300137, 31.502000000]: Loading robot model 'ur3_pg70'...
[ INFO] [1587028959.495883910, 31.982000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1587028959.503322525, 31.989000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1587028959.503371919, 31.989000000]: Starting scene monitor
[ INFO] [1587028959.509612429, 31.995000000]: Listening to '/planning_scene'
[ INFO] [1587028959.509658099, 31.995000000]: Starting world geometry monitor
[ INFO] [1587028959.513695443, 31.999000000]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1587028959.519191276, 32.005000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1587028960.007768162, 32.483000000]: Listening to '/camera/depth_registered/points' using message filter with target frame '/world '
[ INFO] [1587028960.017314130, 32.493000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1587028960.332230910, 32.802000000]: Initializing OMPL interface using ROS parameters
[ERROR] [1587028960.335235436, 32.805000000]: Could not find the planner configuration 'NonekConfigDefault' on the param server
[ERROR] [1587028960.336412330, 32.807000000]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1587028960.337357330, 32.807000000]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1587028960.338383313, 32.809000000]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1587028960.339198588, 32.809000000]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1587028960.340106432, 32.810000000]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1587028960.341214881, 32.811000000]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1587028960.341950589, 32.812000000]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1587028960.342594041, 32.813000000]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1587028960.344747994, 32.814000000]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1587028960.348345804, 32.817000000]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1587028960.349389149, 32.818000000]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1587028960.349989601, 32.819000000]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1587028960.350538660, 32.819000000]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1587028960.351196789, 32.820000000]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1587028960.351807694, 32.821000000]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1587028960.352373115, 32.821000000]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1587028960.353006654, 32.822000000]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1587028960.353560130, 32.823000000]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1587028960.354196074, 32.823000000]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1587028960.354778806, 32.824000000]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1587028960.355345323, 32.824000000]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1587028960.355933527, 32.825000000]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1587028960.356479707, 32.825000000]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server
[ERROR] [1587028960.360005419, 32.828000000]: Could not find the planner configuration 'NonekConfigDefault' on the param server
[ERROR] [1587028960.364075033, 32.833000000]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1587028960.365667538, 32.835000000]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1587028960.366464789, 32.835000000]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1587028960.367311083, 32.836000000]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1587028960.369004296, 32.837000000]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1587028960.370556011, 32.839000000]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1587028960.371209843, 32.840000000]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1587028960.371774635, 32.840000000]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1587028960.372370339, 32.841000000]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1587028960.372935424, 32.842000000]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1587028960.373491049, 32.842000000]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1587028960.374078650, 32.843000000]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1587028960.374656910, 32.843000000]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1587028960.375264786, 32.844000000]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1587028960.375842858, 32.844000000]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1587028960.376444855, 32.845000000]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1587028960.377270179, 32.846000000]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1587028960.379158789, 32.848000000]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1587028960.379830314, 32.848000000]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1587028960.380475285, 32.849000000]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1587028960.381121649, 32.850000000]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1587028960.381691191, 32.850000000]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1587028960.382300195, 32.851000000]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server
[ INFO] [1587028960.402783638, 32.870000000]: Using planning interface 'OMPL'
[ INFO] [1587028960.447598299, 32.914000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1587028960.448405140, 32.914000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1587028960.449109994, 32.915000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1587028960.449791836, 32.916000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1587028960.450385118, 32.916000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1587028960.451584447, 32.917000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1587028960.451752375, 32.917000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1587028960.451781814, 32.917000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1587028960.451803420, 32.917000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1587028960.451823139, 32.917000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1587028960.451844866, 32.917000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1587028960.737096985, 33.199000000]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [1587028961.037520919, 33.492000000]: Added FollowJointTrajectory controller for gripper_controller
[ INFO] [1587028961.037633580, 33.493000000]: Returned 2 controllers in list
[ INFO] [1587028961.062650946, 33.518000000]: 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'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1587028961.302623649, 33.754000000]: 

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

[ INFO] [1587028961.302713864, 33.754000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1587028961.302751515, 33.754000000]: MoveGroup context initialization complete

You can start planning now!

3.roslaunch manos_graspit_config graspit_planning_service_opt.launch
output:

... logging to /home/user/.ros/log/ac9e9bee-7fc3-11ea-85d8-d46a6ad52a13/roslaunch-user-Inspiron-7572-11589.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://192.168.0.105:32997/

SUMMARY
========

PARAMETERS
 * /graspit_planning_service/add_to_db_topic: graspit_add_to_da...
 * /graspit_planning_service/database_name: GraspItDatabase
 * /graspit_planning_service/default_finish_with_autograsp: True
 * /graspit_planning_service/default_max_planning_steps: 75000
 * /graspit_planning_service/default_num_keep_results: 999
 * /graspit_planning_service/default_num_repeat_planning: 4
 * /graspit_planning_service/eg_planning_topic: graspit_eg_planning
 * /graspit_planning_service/grasp_msg_position_factor: 0.001
 * /graspit_planning_service/load_model_topic: graspit_load_model
 * /graspit_planning_service/results_output_directory: ~/.ros/
 * /graspit_planning_service/save_result_files_graspit: False
 * /graspit_planning_service/save_result_files_inventor: False
 * /graspit_planning_service/save_world_topic: graspit_save_world
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    graspit_planning_service (grasp_planning_graspit_ros/grasp_planning_service)

ROS_MASTER_URI=http://localhost:11311

process[graspit_planning_service-1]: started with pid [11610]
[ INFO] [1587028978.626969078]: Using database name: GraspItDatabase - GraspItServices.cpp, 88
[ INFO] [1587028978.627669065]: Using eg planner name: graspitEGPlanner - GraspItServices.cpp, 90
[ INFO] [1587028978.628736998]: Using add_to_db_topic: graspit_add_to_database - GraspItServices.cpp, 92
[ INFO] [1587028978.629915116]: Using load_model_topic: graspit_load_model - GraspItServices.cpp, 94
[ INFO] [1587028978.631063553]: Using save_world_topic: graspit_save_world - GraspItServices.cpp, 96
[ INFO] [1587028978.632356585]: Using eg_planning_topic: graspit_eg_planning - GraspItServices.cpp, 98
[ INFO] [1587028978.633436200]: Using default max number of planning steps: 75000 - GraspItServices.cpp, 100
[ INFO] [1587028978.634599742]: Using default number of planning repeats: 4 - GraspItServices.cpp, 102
[ INFO] [1587028978.636577774]: Using default factor for position values: 0.001 - GraspItServices.cpp, 104
[ INFO] [1587028978.638374383]: Using default number of results kept: 999 - GraspItServices.cpp, 106
[ INFO] [1587028978.640928024]: Finish with auto-grasp by default: 1 - GraspItServices.cpp, 108
[ INFO] [1587028978.645625379]: Save result files inventor: 0 - GraspItServices.cpp, 110
[ INFO] [1587028978.647874441]: Save result files graspit: 0 - GraspItServices.cpp, 112
[ INFO] [1587028978.649134758]: Results output directory: ~/.ros/ - GraspItServices.cpp, 114
[ INFO] [1587028978.649173397]: Creating graspit interface and database - GraspItServices.cpp, 77
[ INFO] [1587028978.649364955]: Enter INVENTOR thread loop - GraspItSceneManagerHeadless.cpp, 108
[ INFO] [1587028978.649406814]: Starting with args GraspIt, --headless - GraspItSceneManagerHeadless.cpp, 114
[ INFO] [1587028979.108565676, 51.101000000]: Created. - GraspItSceneManagerHeadless.cpp, 116
[ INFO] [1587028979.149821101, 51.140000000]: Creating new graspit world - GraspItSceneManagerHeadless.cpp, 99
[ INFO] [1587028979.151490124, 51.142000000]: Initialized GraspItSceneManager. - GraspItSceneManager.cpp, 133
[ INFO] [1587028979.151553446, 51.142000000]: Registering graspitEGPlanner - GraspItSceneManager.cpp, 204
[ INFO] [1587028979.156891186, 51.147000000]: Ready to accept planning messages - GraspItServices.cpp, 125
Using default mass
Using default inertia matrix
Using default center of gravity
[ INFO] [1587029026.946174740, 97.078000000]: Loaded object from /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml - GraspItSceneManager.cpp, 639
[ INFO] [1587029026.950764005, 97.082000000]: Added object E from file /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml and got ID=1 - GraspItServices.cpp, 158
GCOL: model not found
[ INFO] [1587029027.022267560, 97.152000000]: Successfully loaded model 1 to the world. - GraspItServices.cpp, 211

4.rosrun ez_pick_and_place ez_pnp2.py
output:

Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ INFO] [1587029027.032254288, 97.161000000]: Loading robot model 'ur3_pg70'...
[ INFO] [1587029027.297184048, 97.411000000]: Loading robot model 'ur3_pg70'...
[ INFO] [1587029028.454144006, 98.523000000]: Ready to take commands for planning group arm.
[ INFO] [1587029028.794928686, 98.853000000]: Ready to take commands for planning group gripper.
[ERROR] [1587029028.846294, 98.902000]: Error processing request: 'Z'
['Traceback (most recent call last):\n', '  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 625, in _handle_request\n    response = convert_return_to_response(self.handler(request), self.response_class)\n', '  File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 223, in startPlanning\n    graspit_grasps = self.graspThis(req.graspit_target_object)\n', '  File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 113, in graspThis\n    target.id = str(self.ez_objects[object_name][0])\n', "KeyError: 'Z'\n"]

5.rosrun ez_pick_and_place test2_ez_pnp2.py
output:

Waiting for the services to come up...
Done!
success: False
info: ['Pyassimp needs patch https://launchpadlibrarian.net/319496602/patchPyassim.txt']
error_codes: [-1]
Traceback (most recent call last):
  File "/home/user/pnp_ws/src/ez_pick_and_place/test/test2_ez_pnp2.py", line 91, in <module>
    main()
  File "/home/user/pnp_ws/src/ez_pick_and_place/test/test2_ez_pnp2.py", line 87, in main
    response = start_planning_srv(doit)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 515, in call
    responses = transport.receive_once()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 727, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 353, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 336, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/ez_pnp/start_planning] responded with an error: error processing request: 'Z'

that's all ,thanks!

@gstavrinos
Copy link
Owner

From your full docs, I can see that you are facing the mighty pyassimp problem found in Kinetic/Xenial setups. You can see more inf here:
moveit/moveit#86
Try some of the solutions proposed there and see if any of these work for you. Since this is a problem not related with this package, I will close the issue. Please feel free to open a new one if you encounter any other problems. Good luck!

@nhzjwsdyr
Copy link
Author

Hey gstavrinos！with your help and patience，I have solved this problem！But you know why sometimes the gripper in gazebo is apart from the arm，which lead to [ ABORTED: No motion plan found. No execution attempted ] in ez_pnp2.py.just like the picture shows:
2020-04-16 23-04-06屏幕截图
thank you very much!

@gstavrinos
Copy link
Owner

Sorry for the late reply, @nhzjwsdyr. There seems to be aa bug with gazebo, since it seems that the gripper is completely "destroyed"! You can try to run it solely from graspit-simulator and check the results there. I should also note that the package have been tested under ROS Melodic, so there might be incompatibilities due to different gazego versions. Thus, you could also try updating gazebo. Goo luck! (I would suggest opening a new issue instead of revamping the old one, since it is not relatedd to the old error)

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@gstavrinos @nhzjwsdyr