MTC node crashes with exit code -11 when trying to modify the pick and place tutorial with interbotix arm #609
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First output message as a text if easier for you: Second output as text: |
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I was able to reproduce the issue - after collecting all the required interbotix packages (which took me quite a while). |
I'm trying to take the MTC pick and place tutorial found here and implement it on the WidowX 250s arm by Trossen Robotics.
Trossen supplies a launch file titled "xsarm_moveit.launch.py" which launches a move group node, a robot state publisher, a joint state publisher, and an rviz node. I modified the supplied launch file slightly so that it contains
move_group_capabilities = { "capabilities": "move_group/ExecuteTaskSolutionCapability" }within the move group parameters.I then created a new workspace that contains the moveit_task_constructor and a custom package called pick_and_place. See this link to access my pick_and_place code.. This is primarily just the pick and place tutorial code with a modified launch file, and some changed goal names to reflect the different SRDF file (for example, a gripper pose of "Released" instead of "open").
A few notes: The moveit_task_constructor is pointed to the humble branch. Interbotix automatically installs moveit so I am using a binary install as opposed to installing from source.
Here are the steps I take to get to error:
ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx250s hardware_type:=fakeros2 launch pick_and_place pick_and_place.launch.py. The interbotix workspace is sourced in my .bashrc.After running the second launch file, I get the following console output:
One thing to note is, the node works if I only have the open hand stage implemented in code, i.e. if I comment out lines 142-221, I can get the robot to successfully open the gripper. When I do that, the terminal output is as follows:
Please note that the error messages "Pre planning" "passed a" and "passed b" are simply logger messages I created to try and pinpoint the source of the error. Using these, I seem to have tracked the issue down to be line 82, which is the
if (!task_.plan(1))line. I've set it to 1 instead of 5 (which is the number in the tutorial) because I saw a post somewhere saying that may fix it, but it still leads to the same error.Please let me know if there's anything you can do to help. Apologies if this is more of a question for Trossen than MTC. Thank you in advance.
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