URDF not parsable from python wrapper when bio_ik is find_package'd #29
Description
The problem
I am using the MoveIt RobotModelLoader to load a URDF from the ros parameter server. The URDF will not be parsed when the following two conditions are fulfilled:
- The RobotModelLoader is initialized in a function that is called from python, i.e. in a python module/wrapper
- bio_ik is listed as a catkin component in
CMakeLists.txt
Reproducible example:
cd catkin_ws/src && catkin create pkg minimal_example- Put the following files in the new catkin package:
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(minimal_example)
find_package(catkin REQUIRED COMPONENTS
roscpp
bio_ik
moveit_ros_planning
)
find_package(PythonLibs COMPONENTS Interpreter Development)
find_package(Boost REQUIRED COMPONENTS python)
catkin_package()
include_directories(
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
)
add_library(wrapper SHARED wrapper.cpp)
add_dependencies(wrapper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(wrapper PROPERTIES
PREFIX ""
LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
)
wrapper.cpp
#include <boost/python.hpp>
#include <moveit/robot_model_loader/robot_model_loader.h>
void start() {
robot_model_loader::RobotModelLoader rml("robot_description", true);
}
BOOST_PYTHON_MODULE (wrapper) {
using namespace boost::python;
def("start", &start);
}
- Build the package, source the workspace
- Load a urdf, e.g.
roslaunch pr2-description upload_pr2.launch - Run the following in python:
from moveit_ros_planning_interface._moveit_roscpp_initializer import roscpp_init
roscpp_init("test", [])
from minimal_example.wrapper import start
start()Then, a lot of ros errors are raised:
[ERROR] [1613744905.421133198]: Material [Blue] has malformed color rgba values: Unable to parse component [0.0] to a double (while parsing a color value)
[ERROR] [1613744905.421257104]: Material [Blue] color has no rgba
[ERROR] [1613744905.421345652]: Material [Blue] not defined in file
[ERROR] [1613744905.421559337]: Material [Green] has malformed color rgba values: Unable to parse component [0.0] to a double (while parsing a color value)
[ERROR] [1613744905.421679050]: Material [Green] color has no rgba
[ERROR] [1613744905.421736653]: Material [Green] not defined in file
[ERROR] [1613744905.421899605]: Material [Grey] has malformed color rgba values: Unable to parse component [0.7] to a double (while parsing a color value)
[ERROR] [1613744905.421960551]: Material [Grey] color has no rgba
[ERROR] [1613744905.421993995]: Material [Grey] not defined in file
[ERROR] [1613744905.422110530]: Material [Grey2] has malformed color rgba values: Unable to parse component [0.9] to a double (while parsing a color value)
[ERROR] [1613744905.422164421]: Material [Grey2] color has no rgba
[ERROR] [1613744905.422200912]: Material [Grey2] not defined in file
[ERROR] [1613744905.422367720]: Material [Red] has malformed color rgba values: Unable to parse component [0.8] to a double (while parsing a color value)
[ERROR] [1613744905.422454364]: Material [Red] color has no rgba
[ERROR] [1613744905.422525520]: Material [Red] not defined in file
[ERROR] [1613744905.422691867]: Material [White] has malformed color rgba values: Unable to parse component [1.0] to a double (while parsing a color value)
[ERROR] [1613744905.422749125]: Material [White] color has no rgba
[ERROR] [1613744905.422812759]: Material [White] not defined in file
[ERROR] [1613744905.422942299]: Material [Black] has malformed color rgba values: Unable to parse component [0.1] to a double (while parsing a color value)
[ERROR] [1613744905.422995747]: Material [Black] color has no rgba
[ERROR] [1613744905.423060430]: Material [Black] not defined in file
[ERROR] [1613744905.423174719]: Material [LightGrey] has malformed color rgba values: Unable to parse component [0.6] to a double (while parsing a color value)
[ERROR] [1613744905.423210584]: Material [LightGrey] color has no rgba
[ERROR] [1613744905.423251483]: Material [LightGrey] not defined in file
[ERROR] [1613744905.423448811]: Unable to parse component [-0.061] to a double (while parsing a vector value)
[ERROR] [1613744905.423489629]: Could not parse inertial element for Link [base_link]
[ERROR] [1613744905.423588783]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.423626958]: Could not parse inertial element for Link [base_footprint]
[ERROR] [1613744905.423722349]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.423759400]: Could not parse inertial element for Link [base_bellow_link]
[ERROR] [1613744905.423856896]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.423901057]: Could not parse inertial element for Link [base_laser_link]
[ERROR] [1613744905.423998539]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424035614]: Could not parse inertial element for Link [fl_caster_rotation_link]
[ERROR] [1613744905.424131989]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424168781]: Could not parse inertial element for Link [fl_caster_l_wheel_link]
[ERROR] [1613744905.424261822]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424298544]: Could not parse inertial element for Link [fl_caster_r_wheel_link]
[ERROR] [1613744905.424392930]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424430763]: Could not parse inertial element for Link [fr_caster_rotation_link]
[ERROR] [1613744905.424523717]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424561717]: Could not parse inertial element for Link [fr_caster_l_wheel_link]
[ERROR] [1613744905.424642766]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424679720]: Could not parse inertial element for Link [fr_caster_r_wheel_link]
[ERROR] [1613744905.424783002]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424820717]: Could not parse inertial element for Link [bl_caster_rotation_link]
[ERROR] [1613744905.424900987]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.424937599]: Could not parse inertial element for Link [bl_caster_l_wheel_link]
[ERROR] [1613744905.425029065]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.425064242]: Could not parse inertial element for Link [bl_caster_r_wheel_link]
[ERROR] [1613744905.425139219]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.425177220]: Could not parse inertial element for Link [br_caster_rotation_link]
[ERROR] [1613744905.425269975]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.425306871]: Could not parse inertial element for Link [br_caster_l_wheel_link]
[ERROR] [1613744905.425400131]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.425436585]: Could not parse inertial element for Link [br_caster_r_wheel_link]
[ERROR] [1613744905.425530191]: Unable to parse component [-0.1] to a double (while parsing a vector value)
[ERROR] [1613744905.425567198]: Could not parse inertial element for Link [torso_lift_link]
[ERROR] [1613744905.425667310]: Unable to parse component [-0.0625] to a double (while parsing a vector value)
[ERROR] [1613744905.425704389]: Could not parse inertial element for Link [l_torso_lift_side_plate_link]
[ERROR] [1613744905.425797797]: Unable to parse component [-0.0625] to a double (while parsing a vector value)
[ERROR] [1613744905.425834060]: Could not parse inertial element for Link [r_torso_lift_side_plate_link]
[ERROR] [1613744905.425926920]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.425963485]: Could not parse inertial element for Link [torso_lift_motor_screw_link]
[ERROR] [1613744905.426056790]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.426093051]: Could not parse inertial element for Link [imu_link]
[ERROR] [1613744905.426188788]: Unable to parse component [0.010907] to a double (while parsing a vector value)
[ERROR] [1613744905.426225659]: Could not parse inertial element for Link [head_pan_link]
[ERROR] [1613744905.426319806]: Unable to parse component [0.001716] to a double (while parsing a vector value)
[ERROR] [1613744905.426356186]: Could not parse inertial element for Link [head_tilt_link]
[ERROR] [1613744905.426449479]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.426485690]: Could not parse inertial element for Link [head_plate_frame]
[ERROR] [1613744905.426579829]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.426642692]: Could not parse inertial element for Link [sensor_mount_link]
[ERROR] [1613744905.426730224]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.426771594]: Could not parse inertial element for Link [high_def_frame]
[ERROR] [1613744905.426861823]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.426899307]: Could not parse inertial element for Link [high_def_optical_frame]
[ERROR] [1613744905.426978513]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427014018]: Could not parse inertial element for Link [double_stereo_link]
[ERROR] [1613744905.427105094]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427144812]: Could not parse inertial element for Link [wide_stereo_link]
[ERROR] [1613744905.427245829]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427282756]: Could not parse inertial element for Link [wide_stereo_l_stereo_camera_frame]
[ERROR] [1613744905.427379709]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427415972]: Could not parse inertial element for Link [wide_stereo_r_stereo_camera_frame]
[ERROR] [1613744905.427528414]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427564602]: Could not parse inertial element for Link [narrow_stereo_link]
[ERROR] [1613744905.427664059]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427699921]: Could not parse inertial element for Link [narrow_stereo_l_stereo_camera_frame]
[ERROR] [1613744905.427795854]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427831885]: Could not parse inertial element for Link [narrow_stereo_r_stereo_camera_frame]
[ERROR] [1613744905.427928084]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.427964662]: Could not parse inertial element for Link [projector_wg6802418_frame]
[ERROR] [1613744905.428063242]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.428114795]: Could not parse inertial element for Link [projector_wg6802418_child_frame]
[ERROR] [1613744905.428184298]: Unable to parse component [-0.001136] to a double (while parsing a vector value)
[ERROR] [1613744905.428210630]: Could not parse inertial element for Link [laser_tilt_mount_link]
[ERROR] [1613744905.428279646]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.428306179]: Could not parse inertial element for Link [laser_tilt_link]
[ERROR] [1613744905.428376115]: Unable to parse component [-0.001201] to a double (while parsing a vector value)
[ERROR] [1613744905.428402552]: Could not parse inertial element for Link [r_shoulder_pan_link]
[ERROR] [1613744905.428472165]: Unable to parse component [0.02195] to a double (while parsing a vector value)
[ERROR] [1613744905.428498587]: Could not parse inertial element for Link [r_shoulder_lift_link]
[ERROR] [1613744905.428567934]: Unable to parse component [0.0] to a double (while parsing a vector value)
[ERROR] [1613744905.428595138]: Could not parse inertial element for Link [r_upper_arm_roll_link]
[ERROR] [1613744905.428654026]: Unable to parse component [0.21398] to a double (while parsing a vector value)
[ERROR] [1613744905.428680435]: Could not parse inertial element for Link [r_upper_arm_link]
[ERROR] [1613744905.428753108]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.428780626]: Could not parse inertial element for Link [r_forearm_roll_link]
[ERROR] [1613744905.428849772]: Unable to parse component [0.01014] to a double (while parsing a vector value)
[ERROR] [1613744905.428878595]: Could not parse inertial element for Link [r_elbow_flex_link]
[ERROR] [1613744905.428954919]: Unable to parse component [0.18791] to a double (while parsing a vector value)
[ERROR] [1613744905.428985475]: Could not parse inertial element for Link [r_forearm_link]
[ERROR] [1613744905.429057071]: Unable to parse component [-0.00157] to a double (while parsing a vector value)
[ERROR] [1613744905.429087929]: Could not parse inertial element for Link [r_wrist_flex_link]
[ERROR] [1613744905.429146575]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.429175503]: Could not parse inertial element for Link [r_wrist_roll_link]
[ERROR] [1613744905.429235187]: Unable to parse component [0.06623] to a double (while parsing a vector value)
[ERROR] [1613744905.429264501]: Could not parse inertial element for Link [r_gripper_palm_link]
[ERROR] [1613744905.429324362]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.429355596]: Could not parse inertial element for Link [r_gripper_motor_accelerometer_link]
[ERROR] [1613744905.429428199]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.429459845]: Could not parse inertial element for Link [r_gripper_motor_slider_link]
[ERROR] [1613744905.429533061]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.429565129]: Could not parse inertial element for Link [r_gripper_motor_screw_link]
[ERROR] [1613744905.429644151]: Unable to parse component [0.03598] to a double (while parsing a vector value)
[ERROR] [1613744905.429672665]: Could not parse inertial element for Link [r_gripper_l_finger_link]
[ERROR] [1613744905.429745145]: Unable to parse component [0.03576] to a double (while parsing a vector value)
[ERROR] [1613744905.429773194]: Could not parse inertial element for Link [r_gripper_r_finger_link]
[ERROR] [1613744905.429847374]: Unable to parse component [0.00423] to a double (while parsing a vector value)
[ERROR] [1613744905.429875234]: Could not parse inertial element for Link [r_gripper_l_finger_tip_link]
[ERROR] [1613744905.429946583]: Unable to parse component [0.00423] to a double (while parsing a vector value)
[ERROR] [1613744905.429975453]: Could not parse inertial element for Link [r_gripper_r_finger_tip_link]
[ERROR] [1613744905.430074151]: Unable to parse component [-0.001201] to a double (while parsing a vector value)
[ERROR] [1613744905.430102480]: Could not parse inertial element for Link [l_shoulder_pan_link]
[ERROR] [1613744905.430177591]: Unable to parse component [0.02195] to a double (while parsing a vector value)
[ERROR] [1613744905.430205785]: Could not parse inertial element for Link [l_shoulder_lift_link]
[ERROR] [1613744905.430277491]: Unable to parse component [0.0] to a double (while parsing a vector value)
[ERROR] [1613744905.430305160]: Could not parse inertial element for Link [l_upper_arm_roll_link]
[ERROR] [1613744905.430379558]: Unable to parse component [0.21405] to a double (while parsing a vector value)
[ERROR] [1613744905.430407262]: Could not parse inertial element for Link [l_upper_arm_link]
[ERROR] [1613744905.430478621]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.430506163]: Could not parse inertial element for Link [l_forearm_roll_link]
[ERROR] [1613744905.430579621]: Unable to parse component [0.01014] to a double (while parsing a vector value)
[ERROR] [1613744905.430618398]: Could not parse inertial element for Link [l_elbow_flex_link]
[ERROR] [1613744905.430705837]: Unable to parse component [0.18791] to a double (while parsing a vector value)
[ERROR] [1613744905.430733502]: Could not parse inertial element for Link [l_forearm_link]
[ERROR] [1613744905.430805290]: Unable to parse component [-0.00157] to a double (while parsing a vector value)
[ERROR] [1613744905.430833176]: Could not parse inertial element for Link [l_wrist_flex_link]
[ERROR] [1613744905.430907456]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.430934684]: Could not parse inertial element for Link [l_wrist_roll_link]
[ERROR] [1613744905.431006990]: Unable to parse component [0.06623] to a double (while parsing a vector value)
[ERROR] [1613744905.431034927]: Could not parse inertial element for Link [l_gripper_palm_link]
[ERROR] [1613744905.431108694]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.431136095]: Could not parse inertial element for Link [l_gripper_motor_accelerometer_link]
[ERROR] [1613744905.431210253]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.431238369]: Could not parse inertial element for Link [l_gripper_motor_slider_link]
[ERROR] [1613744905.431315438]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.431343624]: Could not parse inertial element for Link [l_gripper_motor_screw_link]
[ERROR] [1613744905.431415007]: Unable to parse component [0.03598] to a double (while parsing a vector value)
[ERROR] [1613744905.431443524]: Could not parse inertial element for Link [l_gripper_l_finger_link]
[ERROR] [1613744905.431517333]: Unable to parse component [0.03576] to a double (while parsing a vector value)
[ERROR] [1613744905.431544894]: Could not parse inertial element for Link [l_gripper_r_finger_link]
[ERROR] [1613744905.431616387]: Unable to parse component [0.00423] to a double (while parsing a vector value)
[ERROR] [1613744905.431644363]: Could not parse inertial element for Link [l_gripper_l_finger_tip_link]
[ERROR] [1613744905.431718383]: Unable to parse component [0.00423] to a double (while parsing a vector value)
[ERROR] [1613744905.431745975]: Could not parse inertial element for Link [l_gripper_r_finger_tip_link]
[ERROR] [1613744905.431823067]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.431856851]: Could not parse inertial element for Link [l_forearm_cam_frame]
[ERROR] [1613744905.431936225]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.431964181]: Could not parse inertial element for Link [r_forearm_cam_frame]
[ERROR] [1613744905.432041440]: Unable to parse component [0] to a double (while parsing a vector value)
[ERROR] [1613744905.432070149]: Malformed parent origin element for joint [base_footprint_joint]
[ERROR] [1613744905.432102347]: joint xml is not initialized correctly
[ERROR] [1613744905.432583054]: Unable to parse URDF from parameter '/robot_description'
Now, remove bio_ik from the CMakeLists.txt, recompile, and try again. The problem will not occur.
I tested this on ROS Melodic on Ubuntu 18.04 for both python2 and python3 (just replace python with python3 in the find_package(BOOST...)). The problem did not occur on a self compiled workspace on Debian Testing.
In my case it was fortunately possible to remove bio_ik from the catkin components, but that may not always be the case.
I'm sorry for the bizarre issue.