Run stomp planner error "The 'stomp' configuration parameter was not found"

[hlhfhmt]

I install moveit and stomp planner from source in Ubuntu 20. When i run the demo for the stomp planner with the command "roslaunch panda_moveit_config demo_stomp.launch ", i get the following error:
[ERROR] [1674098279.924124491]: The 'stomp' configuration parameter was not found terminate called after throwing an instance of 'std::runtime_error' what(): Unable to initialize planning plugin [move_group-5] process has died [pid 3939941, exit code -6, cmd /home/dell/ws_moveit/devel/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/dell/.ros/log/df160252-97a7-11ed-b47c-ebb3863f028e/move_group-5.log]. log file: /home/dell/.ros/log/df160252-97a7-11ed-b47c-ebb3863f028e/move_group-5*.log [ INFO] [1674098280.451824028]: Stereo is NOT SUPPORTED [ INFO] [1674098280.451920599]: OpenGL device: NVIDIA GeForce RTX 3090/PCIe/SSE2 [ INFO] [1674098280.451941955]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1674098283.856437647]: Loading robot model 'panda'... [ INFO] [1674098283.959639331]: Starting planning scene monitor [ INFO] [1674098283.961705455]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1674098284.367928116]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1674098289.374384433]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [ INFO] [1674098289.374592777]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [ERROR] [1674098319.388580579]: Unable to connect to move_group action server 'move_group' within allotted time (30s) [ INFO] [1674098319.389808524]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [ERROR] [1674098349.402577899]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
All planner config are right, any solutions to deal with that?

[ChuGuoqing]

I got the same error. Have you solved the problem?

[new2me321]

Hello, I found a solution to the issue.
There is no need to define the planning group name in the file "stomp_planning_pipeline.launch.xml".
group ns="$(arg arm_id)_arm"

Just delete all the lines with the "group" tag in that file and replace them with
<rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>

However, you need to define the planning group directly in the 'stomp_planning.yaml' file

stomp/panda_arm:
group_name: panda_arm
optimization:
num_timesteps: 60
num_iterations: 40
...

[ChuGuoqing]

excellent work！！ Thank you very much  824738078 ***@***.***  

…

------------------&nbsp;原始邮件&nbsp;------------------ 发件人: ***@***.***&gt;; 发送时间: 2023年6月8日(星期四) 晚上6:52 收件人: ***@***.***&gt;; 抄送: ***@***.***&gt;; ***@***.***&gt;; 主题: Re: [ros-planning/panda_moveit_config] Run stomp planner error &quot;The &#39;stomp&#39; configuration parameter was not found&quot; (Issue #131) Hello, I found a solution to the issue. There is no need to define the planning group name in the file "stomp_planning_pipeline.launch.xml". group ns="$(arg arm_id)_arm" Just delete all the lines with the "group" tag in that file and replace them with <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/&gt; However, you need to define the planning group directly in the 'stomp_planning.yaml' file stomp/panda_arm: group_name: panda_arm optimization: num_timesteps: 60 num_iterations: 40 ... — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***&gt;

[Joinjiang]

but, it still have a another the same error show up? how to solve it

[ravijo]

Thank you very much. I submitted the following pull request based on this thread.
#137

The changes can be seen on the following commit:
https://github.com/ravijo/panda_moveit_config/commit/9a02d4df0ba97c9df5d1e06d490d053f02ff6229

[ravijo]

@Joinjiang

Until the pull request is approved and merged, you can pull the changes from the following repository:
https://github.com/ravijo/panda_moveit_config

[ravijo]

As for future readers, the latest commit 058a848 by @rhaschke, proposes a much cleaner and better solution. Please use the official repository.