tahsinkose/hector-moveit

Hector Quadrotor with MoveIt! Motion Planning Framework

hector-moveit's Issues

Issue launching with different world

Hello,

I was wondering if it is possible to run hector-moveit with different Gazebo worlds. I am currently trying to launch hector-moveit in Gazebo's empty world, but am having some errors as described below.

I have installed Hector-moveit on Ubuntu 18.04 with ROS Melodic and I tested it using the default launch files that use the garden2 world. I copied empty.world into the hector_moveit_gazebo_worlds/worlds/ directory and modified the orchard_navigation.launch file to launch the empty.world file. I first launch the orchard_navigation.launch file and the output looks normal. I then launch explore.launch and I begin to see different error messages. On hector_explorer node, I get the following error messages indicating that the takeoff has failed.

[ INFO] [1576012707.894704884, 16.150000000]: Try to start from [19.957798,-0.001118,0.184687]
[ INFO] [1576012707.894814936, 16.150000000]: Try to go to [19.957798,-0.001118,1.000000]
[ WARN] [1576012709.015593266, 16.866000000]: Fail: ABORTED: No motion plan found. No execution attempted.

Hector explorer continues to print
[ INFO] [1576012709.015701858, 16.866000000]: Looking for frontiers

Some error messages from the terminal that launched orchard_navigation.launch:

[ WARN] [1576012708.991452238, 16.864000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[New Thread 0x7fffa67fc700 (LWP 3221)]
[ERROR] [1576012708.991548937, 16.864000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[Thread 0x7fffa6ffd700 (LWP 3220) exited]
[ WARN] [1576012708.993885101, 16.864000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[New Thread 0x7fffa5ffb700 (LWP 3222)]
[ERROR] [1576012708.995369543, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[Thread 0x7fffa77fe700 (LWP 3219) exited]
[ WARN] [1576012708.995873194, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012708.996103529, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1576012708.996998268, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012708.997056668, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[Thread 0x7fffa5ffb700 (LWP 3222) exited]
[Thread 0x7fffa67fc700 (LWP 3221) exited]
[ WARN] [1576012709.003028451, 16.866000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.012239 seconds
[Thread 0x7fffa7fff700 (LWP 3218) exited]
[New Thread 0x7fffa5ffb700 (LWP 3223)]
[ WARN] [1576012709.004734338, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[New Thread 0x7fffa67fc700 (LWP 3224)]
[ERROR] [1576012709.008078972, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[New Thread 0x7fffa6ffd700 (LWP 3225)]
[Thread 0x7fffa5ffb700 (LWP 3223) exited]
[ WARN] [1576012709.008785139, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012709.009018838, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[New Thread 0x7fffa77fe700 (LWP 3226)]
[ WARN] [1576012709.009383756, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[Thread 0x7fffa6ffd700 (LWP 3225) exited]
[ERROR] [1576012709.009443560, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[Thread 0x7fffa67fc700 (LWP 3224) exited]
[ WARN] [1576012709.010554625, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012709.010816722, 16.866000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1576012709.011027581, 16.866000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.007497 seconds
[New Thread 0x7fffa77fe700 (LWP 3227)]
[ WARN] [1576012709.011921324, 16.867000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012709.011979464, 16.867000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[Thread 0x7fffa77fe700 (LWP 3227) exited]
[New Thread 0x7fffa6ffd700 (LWP 3228)]
[Thread 0x7fffa77fe700 (LWP 3226) exited]
[ WARN] [1576012709.013006668, 16.867000000]: DroneBody[RRTConnectkConfigDefault]: Skipping invalid start state (invalid bounds)
[ERROR] [1576012709.014153607, 16.867000000]: DroneBody[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized!
[ WARN] [1576012709.014355866, 16.867000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.002745 seconds
[ INFO] [1576012709.014493871, 16.867000000]: Unable to solve the planning problem
[Thread 0x7fffa6ffd700 (LWP 3228) exited]
[ WARN] [1576012711.631622100, 17.556000000]: attitude_controller: No command received for 0.505s, triggering estop

Thank you in advance for any help.

Sean

fatal error: hector_uav_msgs/PoseAction.h: no such file or directory

your job is so good and I am trying to learn about it. But I met an error:

fatal error: hector_uav_msgs/PoseAction.h: no such file or directory

I tried to fing it in the https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor but I failed.
Can you tell me how to deal with this error? thank you very much!

hector_quadrotor_description" does not exist.

Thanks for your helpful answer!
Now I install the gazebo9, and I met a new error again:

Errors << hector_quadrotor_description:check /home/yinjie/ws_moveit/logs/hector_quadrotor_description/build.check.008.log
CMake Error: The source directory "/home/yinjie/ws_moveit/src/hector_quadrotor-kinetic-devel/hector_quadrotor_description" does not exist.
Specify --help for usage, or press the help button on the CMake GUI.
make: *** [cmake_check_build_system] Error 1

and

Could not find a package configuration file provided by
"hector_pose_estimation" with any of the following names:

hector_pose_estimationConfig.cmake
hector_pose_estimation-config.cmake

Add the installation prefix of "hector_pose_estimation" to
CMAKE_PREFIX_PATH or set "hector_pose_estimation_DIR" to a directory
containing one of the above files. If "hector_pose_estimation" provides a
separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
CMakeLists.txt:7 (find_package)

Can I ask a more question? why are the directory hector_gazebo and hector_gazebo empty?

Gazebo 7 Incompatibility

Thanks for your help, I have solved my last problem, but I got another one when I catkin_make:

/home/felicx/hector-moveit/src/hector_moveit_gazebo_plugins/src/fruit_generator.cc: In member function ‘virtual void gazebo::FruitGenerator::Load(gazebo::physics::WorldPtr, sdf::ElementPtr)’:
/home/felicx/hector-moveit/src/hector_moveit_gazebo_plugins/src/fruit_generator.cc:23:32: error: ‘class gazebo::physics::World’ has no member named ‘Models’
auto models = _parent->Models();
^
/home/felicx/hector-moveit/src/hector_moveit_gazebo_plugins/src/fruit_generator.cc:25:22: error: unable to deduce ‘auto&&’ from ‘models’
for(auto m : models){
^
hector_moveit_gazebo_plugins/CMakeFiles/fruit_generator.dir/build.make:62: recipe for target 'hector_moveit_gazebo_plugins/CMakeFiles/fruit_generator.dir/src/fruit_generator.cc.o' failed
make[2]: *** [hector_moveit_gazebo_plugins/CMakeFiles/fruit_generator.dir/src/fruit_generator.cc.o] Error 1
CMakeFiles/Makefile2:4369: recipe for target 'hector_moveit_gazebo_plugins/CMakeFiles/fruit_generator.dir/all' failed
make[1]: *** [hector_moveit_gazebo_plugins/CMakeFiles/fruit_generator.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 0%] Linking CXX shared library /home/felicx/hector-moveit/devel/lib/libhector_gazebo_reset_plugin.so
[ 0%] Built target hector_gazebo_reset_plugin
[ 0%] Linking CXX shared library /home/felicx/hector-moveit/devel/lib/libdiffdrive_plugin_6w.so
[ 0%] Linking CXX shared library /home/felicx/hector-moveit/devel/lib/libhector_servo_plugin.so
[ 0%] Built target diffdrive_plugin_6w
[ 0%] Built target hector_servo_plugin
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Could you help me? thanks

How to launch with a different world simulation

I was wondering if you could show me how to use the same exploration launch file in a different world like the small indoor world in the worlds file.

Reduce Drone Navigation Speed

Hi
I using ROS Noetic, Ubunto 20.04. I'm new to Moveit. I there any possibility to slow down the drone while navigating.
Thanks

MoveIt! GUI invalid planning after first motion

Tests thus far are only made through well-known MoveIt! GUI. At first, planning seems perfect with respect to constructed OctoMap. However, after this point, wandering around in the map and re-planning for newer goals results in invalid plans, who violate the occupancy grid. Resolving this can be a good first step for advanced in-code features.

EDIT: Problem is related to the start state deviation. Same problem occurs in the code manipulation, since the MoveGroupInterface assigned to the quadrotor cannot fetch the start state.

Note: Project does not implement an action controller which is required by MoveIt! Motion Planning framework yet. Implementing it might auto-resolve the problem.

use turtlebot model in gazebo

Hello, thanks for your sharing. Have you used the TurtleBot model to replace your UAV model？Could you give me some advice? Thanks.

Group 'DroneBody' does not have a parent link

hi , first i want to thank you you for sharing your project . i am using ros melodic with gazebo 9 , and after cloning you and catkin_make your project i tried to launch roslaunch hector_moveit_gazebo orchyard_navigation.launch but i gt the following error

Can't launch orchyard_navigation.launch

Hi, I am trying to run the code but without success. To reproduce the environment I am running a LXC instance with ubuntu 16.04 with ros kinetic and gazebo 9. When launching I get the following error:

[gazebo_gui-4] process has died [pid 3285, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/ubuntu/.ros/log/45c929e4-6bee-11eb-9fa2-00163e3136de/gazebo_gui-4.log].
log file: /home/ubuntu/.ros/log/45c929e4-6bee-11eb-9fa2-00163e3136de/gazebo_gui-4*.log

I wanna use hector + moveIt in my masters in distributed SLAM, appreciate any help, thank you.

Adding a joint

I added these lines in "quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro" in order to move the camera.

<link name="movable_link">
<visual>
<origin rpy="${M_PI/2} 0 0" xyz="0 0 -0.03" />
<geometry>
<cylinder radius="0.02" length="0.01" />
</geometry>
</visual>
<collision>
<origin rpy="${M_PI/2} 0 0" xyz="0 0 -0.03" />
<geometry>
<cylinder radius="0.02" length="0.01" />
</geometry>
</collision>
</link>

<joint name="movable_camera_joint" type="revolute">
<origin xyz="0 0 -0.1" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="movable_link"/>
<axis xyz="1 0 0" />
<limit upper="0" lower="${-M_PI/2}" velocity="1.0" effort="1.0" />
</joint>

<xacro:joint_standard_transmission name="movable_camera_joint" />

When i launch "roslaunch hector_moveit_exploration_mod explore.launch", this is the error

hector_explorer_mod: /opt/ros/noetic/include/moveit/robot_state/robot_state.h:169: void moveit::core::RobotState::setVariablePositions(const std::vector<double>&): Assertion robot_model_->getVariableCount() <= position.size() failed.

Any help??

"catkin_make" error

Hello, thanks your project. I git clone your code and catkin_make, but it has some errors as follow:

-- Could not find the required component 'moveit_core'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "moveit_core" with
any of the following names:

moveit_coreConfig.cmake
moveit_core-config.cmake

Add the installation prefix of "moveit_core" to CMAKE_PREFIX_PATH or set
"moveit_core_DIR" to a directory containing one of the above files. If
"moveit_core" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
hector_moveit_exploration/CMakeLists.txt:5 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/felicx/hector-moveit/build/CMakeFiles/CMakeOutput.log".
See also "/home/felicx/hector-moveit/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Could you help me, thanks.