rqt_calibrationmovements Plan failed

[julyfun]

Environment

• os: ubuntu20.04

• ros: noetic

• date: 24.4.23

• device: Azure kinetic + UR10

• In rqt_calibrationmovements window, Clicking the Plan button gives an error in the commandline (see below), but it actually got a plan which is only visible in the rviz model (with a planning trajectory animation), but still the rqt_calibrationmovements windows shows No plan yet and the Execute button is in invalid state.

• I actually finished the calibration by moving robot manually, but it is a bit inconvenient without the auto movements.

• It seems to be caused by the different lengths of the two joins limit variables. The error message:

 [INFO] [1713880385.108403]: Selected pose 2 for next movement
[INFO] [1713880385.934811]: Planning to target pose 2
[ERROR] [1713880386.015122]: Error processing request: operands could not be broadcast together with shapes (8,) (7,) 
['Traceback (most recent call last):\n', '  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 633, in _handle_request\n    response = convert_return_to_response(self.handler(request), self.response_class)\n', '  File "/home/user/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_server_robot.py", line 63, in plan_to_selected_target_pose\n    ret = self.local_mover.plan_to_current_target_pose()\n', '  File "/home/user/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_robot.py", line 79, in plan_to_current_target_pose\n    return self._plan_to_pose(self.target_poses[i])\n', '  File "/home/user/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_robot.py", line 101, in _plan_to_pose\n    if CalibrationMovements._is_crazy_plan(plan, self.fallback_joint_limits):\n', '  File "/home/user/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_robot.py", line 193, in _is_crazy_plan\n    if (abs_rot_per_joint > max_rotation_per_joint).any():\n', 'ValueError: operands could not be broadcast together with shapes (8,) (7,) \n']
Traceback (most recent call last):
  File "/home/user/catkin_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_calibrationmovements.py", line 145, in handle_plan
    res = self.handeye_client.plan_to_selected_target_pose()
  File "/home/user/catkin_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_client.py", line 112, in plan_to_selected_target_pose
    return self.plan_to_selected_target_pose_proxy()
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 523, in call
    responses = transport.receive_once()
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 742, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 360, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 343, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/ur10_k4a_handeyecalibration_eye_on_base/plan_to_selected_target_pose] responded with an error: b'error processing request: operands could not be broadcast together with shapes (8,) (7,) '