Moveit: Update pr2 tutorials to work with Kinetic

[davetcoleman]

Our current tutorials only work with Indigo. We would like to have them tested and fixed for Jade and possibly with Kinetic - though this would require building the PR2 dependencies from source. For now a note has been added to the tutorials page.

[Random-Word]

I'd love to be able to compile these for Kinetic. Is there any documentation anywhere on how to do this? The pr2_simulator package's indigo-devel branch doesn't seem to be able to build under kinetic, and master is five years old.

[davetcoleman]

I've updated the MoveGroup Interface package to build with Kinetic but its still under review: https://github.com/ros-planning/moveit_tutorials/pull/45

My strategy there was to remove the dependency on moveit_pr2 because maintenance on it has fallen behind. You're welcome to use my replacement package pr2_moveit_config to fixup the other tutorials via pull requests. Thanks!

[iretiayo]

@Random-Word @davetcoleman
Are you able to successfully run pr2 on ros kinetic? I've tried installing pr2-related packages from source but I keep running into different issues.
Kindly advise.

[v4hn]

@iretiayo What do you mean by "run pr2 on ros kinetic"?
I do not suppose you installed Ubuntu 16.04 on a PR2 and try to get it to run with MoveIt?

What are you doing and which errors do you encounter?

The hardest part I am aware of was to make pr2_arm_kinematics compile/work with MoveIt kinetic.
I just did the appropriate changes and pushed them to my fork here for now.

With that I have the moveit move_group_interface tutorial up and running with MoveIt kinetic on ROS indigo (that's just my custom setup over here...)

[iretiayo]

The pr2_simulator package (and most other PR2 pkgs) haven't been released for Kinetic. So I had to manually download the packages from the PR2 github page. However, when I try to compile the codes, I get errors like below.
When I saw the title of this issue, I thought someone might have a working pr2-simulator on ros-kinetic and wanted to find out how they set it up.

catkin_make error:

/opt/ros/kinetic/include/hardware_interface/internal/interface_manager.h:194:21: error: no matching function for call to ‘pr2_mechanism_model::RobotState::RobotState()’
         iface_combo = new T;

[v4hn]

The pr2_simulator package (and most other PR2 pkgs) haven't been released for Kinetic. So I had to manually download the packages from the PR2 github page.

Yes, this is the case. PR2 support has fallen behind a bit..
Quite a bit can still be compiled right away on kinetic, but you will hit some API changes..

However, this issue is about moveit_tutorials only. The tutorials rely on pr2_moveit and specifically pr2_moveit_config's demo.launch, but not on the gazebo simulation.

[nmalo5]

Hi!,
I´m a university student trying to make progress with MoveIt in ROS Kinetic and Ubuntu 16.04.
The main goal of my project is to do a Pick and Place movement in the simulator.
I found some tutorials about a PR2 arm and MoveIt (http://docs.ros.org/kinetic/api/moveit_tutorials/html/), but I found problems because some necessary packages in this tutorial makes reference to ROS Indigo instead of Kinetic.
Then, searching for similar issues, I ended up here. It seems that PR2 support isn´t available for ROS Kinetic yet... Is there any way to run the PR2 MoveIt tutorials in ROS Kinetic? Could I achieve this goal(Pick&Place in robotic arm) easily with other available tutorials?

[davetcoleman]

A while back I fixed the MoveGroupInterface tutorial to run on Kinetic with the PR2's URDFs. I achieved this by skipping all of PR2's custom plugins and instead using the default KDL IK solver, etc. This "slimmed down" version of pr2_moveit_config is here

This has nothing to do with actual hardware, however.

[nsnitish]

Hi @davetcoleman ! I am trying to follow the MoveGroupINterface tutorial on ROS-Kinetic.
While running roslaunch pr2_moveit_config demo.launch and roslaunch moveit_tutorials move_group_interface_tutorial.launch, I am getting the following error after which the roslaunch exits:
/pr2_moveit_tutorial/catkin_ws/devel/lib/moveit_tutorials/move_group_interface_tutorial: error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory.

I am not able to see any related documentation. Can you please help?

[davetcoleman]

That issue is off-topic for this discussion thread - next time please create a new issue.

libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file

That is a problem with your binary/debian installation - something is out of sync with your computer's installed packages.

[janisa9]

Hi, same problem here,

error while loading shared libraries: libmoveit_planning_scene_interface.so.0.9.6: cannot open shared object file: No such file or directory

Did little digging, and yeah there is libmoveit_planning_scene_interface.so.0.9.7 not libmoveit_planning_scene_interface.so.0.9.6 in opt/ros/kinetic/lib . Is there any solutions to downgrade libraries or use this libmoveit_planning_scene_interface.so.0.9.7 instead of this libmoveit_planning_scene_interface.so.0.9.6 library ??

EDIT

Solved my problem

Somehow catkin build was the problem, everything worked with catkin_make ... wierd..

[maxgitt]

Hi @davetcoleman I am completely new to moveit and am running through the "MoveIt! RViz Plugin Tutorial" for kinetic. What confuses me is the number of indigo references on this page.

Under pre-requisites the first thing to check is that I have the "pr2_moveit_config" which I can either find in the "MoveIt! Setup Assistant tutorial" or by typing in on my commandline:

sudo apt-get install ros-indigo-moveit-pr2

I tried:

sudo apt-get install ros-kinetic-moveit-pr2

but it doesn't seem to exist. So I tried the other option which was to go to the "MoveIt! Setup Assistant tutorial". This page is also listed as a kinetic page and after launching the moveit_setup_assistant, the first step is to load the xacro file found here:

/opt/ros/indigo/share/pr2_description/robots/pr2.urdf.xacro

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

/opt/ros/kinetic/share/

directory I could not find the pr2_description sub-directory. I found your comments explaining that I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

I am not sure what I've missed here and would appreciate your help loading the xacro file for kinetic.

[davetcoleman]

First - yes, those tutorials sorely need to be updated for Kinetic. Just needs someone to put in the effort.

Because I am working with a kinetic distribution I of course don't have this file, but upon searching for the equivalent

The xacro file is not in the moveit_pr2 package but actually the pr2_common pkg that is available in Kinetic.

I can find the slimmed down version of the pr2_moveit_config here but don't find a xacro file within that repo either.

You need both the slimmed down pr2_moveit_config and pr2_common to run the tutorial in Kinetic.

[maxgittelman]

I created a pull request. https://github.com/ros-planning/moveit_tutorials/pull/88

The tutorial now includes the missing pr2_common pkg and some finer changes to make the kinetic tutorial more clear.

[maxgittelman]

I also made a pull request for the RViz plugin tutorial. Hopefully this gets looked at and merged soon.

[davetcoleman]

keep it coming!

[davetcoleman]

Closing this issue because we have switched to the Franka Emika robot, away from the PR2, for all kinetic tutorials and newer:
https://github.com/ros-planning/moveit_tutorials/pull/166