Program stuck creating moveit::planning_interface::MoveGroupInterface object.

[SourabhPrasad]

Environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04
• Source build - humble branch (6288b0d)

Description

Hi,
I have been trying to work with move_group API, and created a sample project.
When launching the file using new_test.launch.py. The program is stuck while creating the moveit::planning_interface::MoveGroupInterface object (line 27). The program does not provide any errors.

i get the following output.

cryoschrome@ROG:~/grab_ws$ ros2 launch moveit_test_pkg new_test.launch.py 
[INFO] [launch]: All log files can be found below /home/sourabh/.ros/log/2022-06-01-11-52-11-019536-ROG-8627
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [8628]
[INFO] [move_group_test-2]: process started with pid [8630]
[robot_state_publisher-1] Link rotate_joint had 0 children
[robot_state_publisher-1] [INFO] [1654069931.256974968] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1654069931.257213403] [robot_state_publisher]: got segment rotate_joint
[move_group_test-2] [INFO] [1654069931.293252025] [move_group_test]: MOVE_GROUP CREATED.
[move_group_test-2] [INFO] [1654069931.293500727] [move_group_test]: EXECUTOR Added to thread
[move_group_test-2] [INFO] [1654069931.301201189] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00286066 seconds
[move_group_test-2] [INFO] [1654069931.301249099] [moveit_robot_model.robot_model]: Loading robot model 'single_joint'...
[move_group_test-2] Link rotate_joint had 0 children

Expected behaviour

moveit::planning_interface::MoveGroupInterface object is created and the rest of the code is executed.

Actual behaviour

Stuck creating moveit::planning_interface::MoveGroupInterface object

[henningkayser]

@Cryoschrome could you try if your issue still exists with #1305?

[SourabhPrasad]

Thanks for the reply @henningkayser!
I tried launching the #1305, but still facing the same issue.

[henningkayser]

Oh, I see. It seems like you're not launching the MoveGroup node. Running the MoveGroupInterface without another MoveGroup node doesn't work, as it's merely a ROS interface. Please review the MoveGroupInterface tutorial. You'll see that the launch files include separate entries for MoveGroup and MoveGroupInterface. Also, there are several other nodes that you might want to launch as well (e.g. controllers), depending on your needs. It's also highly recommended to use moveit_configs_utils for generating the launch parameters, it makes your life a lot easier.