Joint States issues

[Gaurang-1402]

Hi, I followed the instructions but the robot is not executing the planned motion as expected

Here is the error I get in the move_group.launch.py terminal

[ERROR] [1688223063.534889158] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[move_group-2] [WARN] [1688223160.048471449] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'tool0' to planning frame'world' (Could not find a connection between 'world' and 'tool0' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-2] [WARN] [1688223160.048533739] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'flange' to planning frame'world' (Could not find a connection between 'world' and 'flange' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-2] [WARN] [1688223160.048550778] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'wrist_3_link' to planning frame'world' (Could not find a connection between 'world' and 'wrist_3_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-2] [WARN] [1688223160.048565094] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'ft_frame' to planning frame'world' (Could not find a connection between 'world' and 'ft_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-2] [ERROR] [1688223160.048647317] [moveit_robot_state.conversions]: Found empty JointState message
[move_group-2] [ERROR] [1688223160.048668730] [moveit_robot_state.conversions]: Found empty JointState message
[move_group-2] [ERROR] [1688223160.048743758] [moveit_robot_state.conversions]: Found empty JointState message
[move_group-2] [ERROR] [1688223160.048881414] [moveit_robot_state.conversions]: Found empty JointState message

Here is the error in the ex_pose_goal terminal

$ ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.25, 0.0, 1.0]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]" -p cartesian:=False
[INFO] [1688223160.047524623] [ex_pose_goal]: Moving to {position: [0.25, 0.0, 1.0], quat_xyzw: [0.0, 0.0, 0.0, 1.0]}
[WARN] [1688223161.135484471] [ex_pose_goal]: Action server 'joint_trajectory_controller/follow_joint_trajectory' is not yet available. Better luck next time!
[WARN] [1688223161.136446016] [ex_pose_goal]: Cannot wait until motion is executed (no motion is in progress).

You can see the planned motion below but no execution

It tells me that /joint_states is not publishing messages

[AndrejOrsula]

Hello,

[WARN] [1688223161.135484471] [ex_pose_goal]: Action server 'joint_trajectory_controller/follow_joint_trajectory' is not yet available.

This would indicate that the controller is not running, so the issue is most likely related to the robot setup (_description and _moveit_config) rather than pymoveit2.

What ROS 2 distribution do you use? As README.md of panda_ign_moveit2 indicates, it was tested with galactic. There is now humble branch, but it is not fully tested.

If you want, you can also test the setup with prebuilt Docker images first to know how it should look like. For example:

• https://hub.docker.com/repository/docker/andrejorsula/ign_moveit2_examples
• https://hub.docker.com/repository/docker/andrejorsula/panda_ign_moveit2

[JaisonJose241]

It's also observed that after some amount of time or with good computation PCs, it's possible to continue with same request. And weird thing is in the same instance it runs without error.