moveit_cfg: 6640 ctrlr mngr launch file empty about abb HOT 10 CLOSED

Btw, irb_6640_moveit_config has been released (v1.1.1) with this empty irb_6640_moveit_controller_manager.launch.xml, afaict.

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The old (released) version of this file is still empty. The newer package (introduced with #43) is ok.

I'll submit a pull request later to fix the issue with irb_6640_moveit_config.

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I'm having some difficulty getting this to work again. Even a going back to the state of the repository as of 428bec4e (before any changes to the irb_6640 package) doesn't give me a working configuration. moveit_planning_execution.launch always errors out with:

[ERROR] [/joint_trajectory_action]: Joint trajectory action failing on invalid joints

Followed by:

[ERROR] [/move_group]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.569268 seconds). Stopping trajectory.

I haven't looked into the invalid joints error yet though.

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Ok, it would appear that the two joints for the piston and the cylinder are causing the invalid joints error. industrial_utils::isSimilar(..) returns false, causing the action to fail.

The latest Groovy version shows the same behaviour. Has this ever worked?

I have no idea why the abb_irb6640_moveit_config package does not suffer from the same problem: it also includes the piston and cylinder.

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Ping?

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Ping again.

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@gavanderhoorn, It looks like this was addressed by PR #89, do you agree?

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Not sure.

There are now two *_controller_manager.launch files in the abb_irb6640_moveit_config/launch directory. The one that is being used (abb_irb6640_185_280_moveit_controller_manager.launch.xml) is (still) empty, the other one (launch/abb_irb6640_moveit_controller_manager.launch.xml) is not.

I think we should move the old one to the new one.

Seems I forgot to test the moveit_planning_execution.launch script yesterday. That would have showed that things are still not correct.

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Addressed in 421e955.

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Thanks @Levi-Armstrong.

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