Hello,
I was following Unit 2 procedures to create the MoveIt2 package, but when I launched the my_planning_execution.launch.py, the following message appeard:
Shell 1
In [ ]: ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
Out [ ]:
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-04-12-17-52-26-259608-1_xterm-28891
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name=‘Task-2’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure('executed command failed. Command: /opt/ros/noetic/bin/xacro /home/user/ros2_ws/install/ur_e_description/share/ur_e_description/urdf/ur3e_robot.urdf.xacro safety_limits:=true safety_pos_margin:=0.15 safety_k_position:=20 name:=ur prefix:=“” ‘)>
Traceback (most recent call last):
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event
await self.__process_event(next_event)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 422, in execute
self._perform_substitutions(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 382, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 145, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 69, in evaluate_parameter_dict
evaluated_value = perform_substitutions(context, list(value))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line26, in perform_substitutions
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line26, in
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py”, line 197, in perform_substitution
return substitution.perform(self)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py”, line 116, in perform
raise SubstitutionFailure(f’executed command failed. Command: {command_str}’)
launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: /opt/ros/noetic/bin/xacro /home/user/ros2_ws/install/ur_e_description/share/ur_e_description/urdf/ur3e_robot.urdf.xacro safety_limits:=true safety_pos_margin:=0.15 safety_k_position:=20 name:=ur prefix:=“”
I have checked the forum and another guy had a similar issue with a different robot, the solution he found was changing the srdf_file definition path (as he was trying to use a different robot). But in my case I am just following the tutorial, and I have checked the path of the srdf_file in the launch file and it seems to be fine. What could be the issue here? If you need me to post any section of the code just let me know.
Thank you