Kuka Kr6r900sixx Joints not found

[mat-l]

Hey all,
I tried to use the Kr6r900 in MoveIt. Therefore I created an kr6_moveit_config folder with the moveit_assistant using the xacro_urdf file from /kuka_kr6_support/urdf folder. After navigating to the launch folder within the moveit_config folder I started demo.launch in Terminal.
As result RViz opens with the Robot but if I try to plan a random path it consumes a lot of time and the Solution found is a complicated Path with lots of useless motions. In Terminal I get the following Error for each of the Joints:

[ERROR] [1470755272.462600829, 8008.567000000]: Joint 'wrist_2_joint' not found in model 'kuka_kr6r900sixx'

It seems like MoveIt is trying to load the Joint from the Kr6r900sixx file but instead of searching for Joint 1 to Joint 6 it uses the names from the UR Package.
At first I had the UR and Kuka files in the same Catkin Workspace. But even after seperating them in two different Workspaces the Error occured.

Any suggestions are appreciated.
Thanks

[shaun-edwards]

Have you looked through the yaml files that the setup assistant generated? There should be a list of the joint names in one of them (I believe it's *.srdf).

[mat-l]

Thank you for your super fast answer.
kuka_kr6_moveit_config.zip
This is the config file that has been created. I checked them but they seem to be fine.

[gavanderhoorn]

A few things:

1. specify either a chain or a group of joints, not both (I'd recommend a chain, from base_link to tool0)
2. unless you have a specific need / setup, don't make odom_combined the parent of your fixed frame
3. make sure you don't / didn't have a separate instance of roscore running in some other tab / session (that could persist parameters that are not overwritten by demo.launch, which we don't want)

As result RViz opens with the Robot but if I try to plan a random path it consumes a lot of time and the Solution found is a complicated Path with lots of useless motions

Make sure you have selected a good planner on the MoveIt planning request setup tab. See #62.

I tried to use the Kr6r900 in MoveIt. Therefore I created an kr6_moveit_config folder with the moveit_assistant using the xacro_urdf file from /kuka_kr6_support/urdf folder.

Please see if gavanderhoorn/kuka_experimental/kr6r900sixx_moveit_rsi_convenience works for you. That branch contains a KR6 R900 sixx MoveIt configuration with everything setup to use it with ROS-Industrial (or just through the demo.launch file).

If you plan on using this with the kuka_rsi_hw_interface package and a real robot, please make sure to replace this line with the IP address of your ROS PC that it uses to communicate with the robot, and to read the updated RSI setup instructions in #54 (direct link to the readme: here). Experiences of a KR10 R1100 user at #56.

The MoveIt config is experimental (hence the need for some minor manual patching) and the installation instructions are in the process of being updated. These changes will be merged soon, which will make things go a little smoother.

Feel free to ask questions if something isn't clear.

[gavanderhoorn]

As to your original problem: I suspect this is something local to your machine / ROS environment setup, rather than an issue with the xacro we have in the kr6_support package.

As you noted yourself, the kr6r900sixx xacro doesn't contain those joints, so it would seem strange for them to show up in a MoveIt configuration based on it.

[mat-l]

Even though I could not solve the original Problem you're MoveIt setup works perfectly fine for me.
I plan to use a real Robot later so the instruction is really helpful as well.
Thank you for that!
The next step would be to connect MoveIt with a simulated kr6 in Gazebo. You wouldn't have a Gazebo package ready for kr6r900sixx, would you?

[gavanderhoorn]

The next step would be to connect MoveIt with a simulated kr6 in Gazebo. You wouldn't have a Gazebo package ready for kr6r900sixx, would you?

No, I'm afraid I don't.

[gavanderhoorn]

@mat-l: I'm going to close this issue, as I believe you have found a working solution (although it isn't actually a solution to your original issue).

If you want to continue troubleshooting, please re-open and provide us with more information and a way to reproduce the problem.