Package 'panda_moveit_config' not found in STOMP Motion Planner

[ravijo]

Description

I am getting started with the STOMP motion planner by following the documentation. But the command ros2 launch panda_moveit_config demo.launch.py mentioned in the documentation is showing the following error.

Package 'panda_moveit_config' not found

Your environment

• ROS Distro: Humble and Iron (found in both versions)
• OS Version: Ubuntu 22.04.3 LTS
• ROS Source or Binary build: Binary
• MoveIt Source or Binary build: Source (humble branch for Humble, main branch for Iron)

Steps to reproduce

• ROS Humble
  • Executing demo.launch.py as shown below:

    user@dell:~/moveit_ws_humble$ ros2 launch panda_moveit_config demo.launch.py
    Package 'panda_moveit_config' not found: "package 'panda_moveit_config' not found, searching: ['/home/user/moveit_ws_humble/install/pilz_industrial_motion_planner_testutils', '/home/user/moveit_ws_humble/install/moveit_runtime', '/home/user/moveit_ws_humble/install/moveit2_tutorials', '/home/user/moveit_ws_humble/install/moveit', '/home/user/moveit_ws_humble/install/moveit_planners', '/home/user/moveit_ws_humble/install/pilz_industrial_motion_planner', '/home/user/moveit_ws_humble/install/moveit_visual_tools', '/home/user/moveit_ws_humble/install/moveit_task_constructor_visualization', '/home/user/moveit_ws_humble/install/moveit_task_constructor_demo', '/home/user/moveit_ws_humble/install/moveit_task_constructor_capabilities', '/home/user/moveit_ws_humble/install/moveit_task_constructor_core', '/home/user/moveit_ws_humble/install/moveit_ros_control_interface', '/home/user/moveit_ws_humble/install/moveit_plugins', '/home/user/moveit_ws_humble/install/moveit_simple_controller_manager', '/home/user/moveit_ws_humble/install/moveit_setup_assistant', '/home/user/moveit_ws_humble/install/moveit_setup_srdf_plugins', '/home/user/moveit_ws_humble/install/moveit_setup_core_plugins', '/home/user/moveit_ws_humble/install/moveit_setup_controllers', '/home/user/moveit_ws_humble/install/moveit_setup_app_plugins', '/home/user/moveit_ws_humble/install/moveit_setup_framework', '/home/user/moveit_ws_humble/install/moveit_servo', '/home/user/moveit_ws_humble/install/moveit_ros', '/home/user/moveit_ws_humble/install/moveit_ros_visualization', '/home/user/moveit_ws_humble/install/moveit_hybrid_planning', '/home/user/moveit_ws_humble/install/moveit_ros_planning_interface', '/home/user/moveit_ws_humble/install/moveit_ros_benchmarks', '/home/user/moveit_ws_humble/install/moveit_ros_warehouse', '/home/user/moveit_ws_humble/install/moveit_ros_robot_interaction', '/home/user/moveit_ws_humble/install/moveit_ros_perception', '/home/user/moveit_ws_humble/install/moveit_resources_prbt_pg70_support', '/home/user/moveit_ws_humble/install/moveit_resources_prbt_moveit_config', '/home/user/moveit_ws_humble/install/moveit_ros_move_group', '/home/user/moveit_ws_humble/install/moveit_planners_ompl', '/home/user/moveit_ws_humble/install/moveit_ros_planning', '/home/user/moveit_ws_humble/install/moveit_ros_occupancy_map_monitor', '/home/user/moveit_ws_humble/install/moveit_resources_prbt_ikfast_manipulator_plugin', '/home/user/moveit_ws_humble/install/moveit_planners_chomp', '/home/user/moveit_ws_humble/install/moveit_kinematics', '/home/user/moveit_ws_humble/install/moveit_chomp_optimizer_adapter', '/home/user/moveit_ws_humble/install/chomp_motion_planner', '/home/user/moveit_ws_humble/install/moveit_core', '/home/user/moveit_ws_humble/install/moveit_configs_utils', '/home/user/moveit_ws_humble/install/srdfdom', '/home/user/moveit_ws_humble/install/rviz_marker_tools', '/home/user/moveit_ws_humble/install/rosparam_shortcuts', '/home/user/moveit_ws_humble/install/moveit_task_constructor_msgs', '/home/user/moveit_ws_humble/install/moveit_resources_prbt_support', '/home/user/moveit_ws_humble/install/moveit_resources', '/home/user/moveit_ws_humble/install/moveit_resources_pr2_description', '/home/user/moveit_ws_humble/install/moveit_resources_panda_moveit_config', '/home/user/moveit_ws_humble/install/moveit_resources_panda_description', '/home/user/moveit_ws_humble/install/moveit_resources_fanuc_moveit_config', '/home/user/moveit_ws_humble/install/moveit_resources_fanuc_description', '/home/user/moveit_ws_humble/install/moveit_common', '/home/user/moveit_ws_humble/install/launch_param_builder', '/opt/ros/humble']"
    

  • Surprisingly the package panda_moveit_config is available in the source folder as shown below:

    user@dell:~/moveit_ws_humble$ ll ./src/moveit_resources/panda_moveit_config
    total 40
    drwxrwxr-x  4 user user 4096  9月 25 11:08 ./
    drwxrwxr-x 10 user user 4096  9月 25 11:08 ../
    -rw-rw-r--  1 user user 4510  9月 25 11:08 CHANGELOG.rst
    -rw-rw-r--  1 user user  324  9月 25 11:08 CMakeLists.txt
    drwxrwxr-x  2 user user 4096  9月 25 11:08 config/
    drwxrwxr-x  2 user user 4096  9月 25 11:08 launch/
    -rw-rw-r--  1 user user 1741  9月 25 11:08 package.xml
    -rw-rw-r--  1 user user  199  9月 25 11:08 README.md
    -rw-rw-r--  1 user user  292  9月 25 11:08 .setup_assistant
    

  • The package panda_moveit_config is also installed by binary as shown below:

    user@dell:~/moveit_ws_humble$ sudo apt install ros-humble-moveit-resources-panda-moveit-config 
    [sudo] password for user: 
    Reading package lists... Done
    Building dependency tree... Done
    Reading state information... Done
    ros-humble-moveit-resources-panda-moveit-config is already the newest version (2.0.6-1jammy.20230822.190940).
    0 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.
    

• ROS Iron
  • Executing demo.launch.py as shown below:

    user@dell:~/moveit_ws_iron$ ros2 launch panda_moveit_config demo.launch.py
    Package 'panda_moveit_config' not found: "package 'panda_moveit_config' not found, searching: ['/home/user/moveit_ws_iron/install/moveit2_tutorials', '/home/user/moveit_ws_iron/install/hello_moveit', '/home/user/moveit_ws_iron/install/moveit_visual_tools', '/home/user/moveit_ws_iron/install/rviz_visual_tools', '/home/user/moveit_ws_iron/install/mtc_tutorial', '/home/user/moveit_ws_iron/install/moveit_task_constructor_visualization', '/home/user/moveit_ws_iron/install/moveit_task_constructor_demo', '/home/user/moveit_ws_iron/install/moveit_task_constructor_capabilities', '/home/user/moveit_ws_iron/install/moveit_task_constructor_core', '/home/user/moveit_ws_iron/install/rviz_marker_tools', '/home/user/moveit_ws_iron/install/rosparam_shortcuts', '/home/user/moveit_ws_iron/install/pilz_industrial_motion_planner_testutils', '/home/user/moveit_ws_iron/install/moveit_runtime', '/home/user/moveit_ws_iron/install/moveit', '/home/user/moveit_ws_iron/install/kinova_gen3_7dof_robotiq_2f_85_moveit_config', '/home/user/moveit_ws_iron/install/kinova_gen3_6dof_robotiq_2f_85_moveit_config', '/home/user/moveit_ws_iron/install/moveit_planners', '/home/user/moveit_ws_iron/install/pilz_industrial_motion_planner', '/home/user/moveit_ws_iron/install/pick_ik', '/home/user/moveit_ws_iron/install/moveit_task_constructor_msgs', '/home/user/moveit_ws_iron/install/moveit_ros_control_interface', '/home/user/moveit_ws_iron/install/moveit_plugins', '/home/user/moveit_ws_iron/install/moveit_simple_controller_manager', '/home/user/moveit_ws_iron/install/moveit_setup_assistant', '/home/user/moveit_ws_iron/install/moveit_setup_srdf_plugins', '/home/user/moveit_ws_iron/install/moveit_setup_core_plugins', '/home/user/moveit_ws_iron/install/moveit_setup_controllers', '/home/user/moveit_ws_iron/install/moveit_setup_app_plugins', '/home/user/moveit_ws_iron/install/moveit_setup_framework', '/home/user/moveit_ws_iron/install/moveit_servo', '/home/user/moveit_ws_iron/install/moveit_ros', '/home/user/moveit_ws_iron/install/moveit_ros_visualization', '/home/user/moveit_ws_iron/install/moveit_py', '/home/user/moveit_ws_iron/install/moveit_hybrid_planning', '/home/user/moveit_ws_iron/install/moveit_ros_planning_interface', '/home/user/moveit_ws_iron/install/moveit_ros_benchmarks', '/home/user/moveit_ws_iron/install/moveit_ros_warehouse', '/home/user/moveit_ws_iron/install/moveit_ros_robot_interaction', '/home/user/moveit_ws_iron/install/moveit_ros_perception', '/home/user/moveit_ws_iron/install/moveit_resources_prbt_pg70_support', '/home/user/moveit_ws_iron/install/moveit_resources_prbt_moveit_config', '/home/user/moveit_ws_iron/install/moveit_ros_move_group', '/home/user/moveit_ws_iron/install/moveit_planners_ompl', '/home/user/moveit_ws_iron/install/moveit_kinematics', '/home/user/moveit_ws_iron/install/moveit_ros_planning', '/home/user/moveit_ws_iron/install/moveit_ros_occupancy_map_monitor', '/home/user/moveit_ws_iron/install/moveit_resources_prbt_support', '/home/user/moveit_ws_iron/install/moveit_resources_prbt_ikfast_manipulator_plugin', '/home/user/moveit_ws_iron/install/moveit_resources', '/home/user/moveit_ws_iron/install/moveit_resources_pr2_description', '/home/user/moveit_ws_iron/install/moveit_resources_panda_moveit_config', '/home/user/moveit_ws_iron/install/dual_arm_panda_moveit_config', '/home/user/moveit_ws_iron/install/moveit_resources_panda_description', '/home/user/moveit_ws_iron/install/moveit_resources_fanuc_moveit_config', '/home/user/moveit_ws_iron/install/moveit_resources_fanuc_description', '/home/user/moveit_ws_iron/install/moveit_planners_stomp', '/home/user/moveit_ws_iron/install/moveit_planners_chomp', '/home/user/moveit_ws_iron/install/moveit_chomp_optimizer_adapter', '/home/user/moveit_ws_iron/install/chomp_motion_planner', '/home/user/moveit_ws_iron/install/moveit_core', '/home/user/moveit_ws_iron/install/moveit_msgs', '/home/user/moveit_ws_iron/install/moveit_configs_utils', '/home/user/moveit_ws_iron/install/moveit_common', '/home/user/moveit_ws_iron/install/kortex_bringup', '/home/user/moveit_ws_iron/install/kortex_driver', '/home/user/moveit_ws_iron/install/kortex_description', '/home/user/moveit_ws_iron/install/kortex_api', '/opt/ros/iron']"
    

  • Surprisingly the package panda_moveit_config is available in the source folder as shown below:

    user@dell:~/moveit_ws_iron$ ll ./src/moveit_resources/panda_moveit_config
    total 40
    drwxrwx---  4 user user 4096  9月 16 15:38 ./
    drwxrwx--- 11 user user 4096  9月 16 15:38 ../
    -rwxrwx---  1 user user 6531  9月 16 15:38 CHANGELOG.rst*
    -rwxrwx---  1 user user  324  9月 16 15:38 CMakeLists.txt*
    drwxrwx---  2 user user 4096  9月 16 15:38 config/
    drwxrwx---  2 user user 4096  9月 16 15:38 launch/
    -rwxrwx---  1 user user 1741  9月 16 15:38 package.xml*
    -rwxrwx---  1 user user  199  9月 16 15:38 README.md*
    -rwxrwx---  1 user user  292  9月 16 15:38 .setup_assistant*
    

  • The package panda_moveit_config is also installed by binary as shown below:

    user@dell:~/moveit_ws_iron$ sudo apt install ros-iron-moveit-resources-panda-moveit-config 
    [sudo] password for user: 
    Reading package lists... Done
    Building dependency tree... Done
    Reading state information... Done
    ros-iron-moveit-resources-panda-moveit-config is already the newest version (2.1.1-1jammy.20230908.192824).
    0 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.
    

[sjahr]

Oh, that seems to be a bug. The package name should be moveit_resources_panda_moveit_config. Can you try running

ros2 launch moveit_resources_panda_moveit_config demo.launch.py

[ravijo]

Can you try running

ros2 launch moveit_resources_panda_moveit_config demo.launch.py

It works in both Humble and Iron.

Please note that I had to add "Motion Planning" inside RViz by myself. After adding it to the display, I could see STOMP, but only in Iron. In the case of Humble, I could not see STOMP in the dropdown menu. Please see a screenshot of RViz shown in Iron below.

However, I still don't get the view of having a box in the scene, as shown in the documentation. I apologize if I am missing something.

[sjahr]

Yes, STOMP is not available in the humble debian release. You need to build moveit main on humble from source if you want to use STOMP there. We usually only backport bug fixes after a version is released to keep the API stable (see this blogpost for a more detailed explanation). However, since the STOMP ROS 2 port is unlikely to break the API you could consider back porting it yourself and contribute this back to upstream moveit2. We'd appreciate this contribution 😃

[ravijo]

@sjahr

Thank you so much for sharing a link to the MoveIt blog post. I didn't know such an excellent blog existed! Bookmarking the URL now :)

BTW the STOMP documentation shows a collision object (green box) and iterative trajectories for the arm. The command ros2 launch moveit_resources_panda_moveit_config demo.launch.py gets me to a different view. May I request you to provide your guidance to achieve it, please?