moveit regression? Found empty JointState message

Question

Dear List,

Since the last update of indigo (juli 2017) I am getting error messages in move_group with moveit.

For example with moveit-commander, after each "go up" or so, there are 4 lines with

[ERROR] [1499944106.195095905]: Found empty JointState message

Moveit seems to work however. It did NOT occur before the last update, and it also occurs in the kinetic version.

Anything I can do?

Regards, Sietse

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Originally posted by Sietse on ROS Answers with karma: 168 on 2017-07-13

Post score: 1

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Original comments

Comment by gvdhoorn on 2017-07-13:
NB: in order for errors to show up, you need to format them as preformatted text. Use the button with 101010 on it for that.

Comment by hvpandya on 2017-07-17:
+1 Observing same issue across three different robots in Kinetic, does not affect the operation for any of them.

Answer 1

I noticed that too, but did not find the time to debug it yet. This is the relevant commit: https://github.com/ros-planning/moveit/commit/492e8816c5385880a99486765e958a98d11e3df2

To the best of my current knowledge the error message does not change any behavior of the node though, but I'm not 100% sure.

Apparently some code in the PlanAndExecute pipeline uses the RobotStateMsg -> RobotState conversion tools without checking whether the message is actually filled in.

Anything I can do?

You could track down when and where this happens and file an issue on the github project. That would (hopefully) help a lot.

--- EDIT ---

By now, this should be fixed upstream. See https://github.com/ros-planning/moveit/pull/589 .

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Originally posted by v4hn with karma: 2950 on 2017-07-13

This answer was ACCEPTED on the original site

Post score: 2

Answer 2

As discussed before, this appears to be a regression. I opened a issue as suggested: https://github.com/ros-planning/moveit/issues/579

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Originally posted by Stefan Kohlbrecher with karma: 24361 on 2017-08-08

This answer was NOT ACCEPTED on the original site

Post score: 1