terminate called after throwing an instance of 'std::runtime_error'

[Aruen24]

[JuoTungChen]

Hi,
Please provide more details on what command you are running and what the issues you are encountering so I can assist, thanks!

[Aruen24]

Hi, Please provide more details on what command you are running and what the issues you are encountering so I can assist, thanks!

@JuoTungChen
run the moveit_server_node.cpp file

#include <moveit_ur5_msgs/srv/plan_request.hpp>
#include <moveit_ur5_interface/moveit_pose_server.hpp>

int main(int argc, char** argv){
rclcpp::init(argc, argv);

std::shared_ptr<moveit_ur5::service> moveit_server = std::make_shared<moveit_ur5::service>("moveit_interface_server");
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(moveit_server);
executor.spin();
rclcpp::shutdown();

return 0;

}

[JuoTungChen]

Can you provide additional information on what system and ROS version you are running?
Also, in addition to the server node, do you also run a client node or use ros2 topic to send planning request?

Another thing you can try is run the launch file:

ros2 launch moveit_ur5_interface moveit_ur5_interface_sim.launch

This will launch a UR5 in simulation and run the server node for you.
Then you can use a command line like the following to send planning request and move the robot:

ros2 service call /moveit_ur5/target_pose moveit_ur5_msgs/srv/PlanRequest "{target:{position: {x: -0.3, y: -0.4, z: 0.6}, orientation: {x: -1.0, y: 0.0, z: 0.0, w: 0.0}}}"

Hope this helps!

[Aruen24]

Can you provide additional information on what system and ROS version you are running? Also, in addition to the server node, do you also run a client node or use ros2 topic to send planning request?

Another thing you can try is run the launch file:

ros2 launch moveit_ur5_interface moveit_ur5_interface_sim.launch

This will launch a UR5 in simulation and run the server node for you. Then you can use a command line like the following to send planning request and move the robot:

ros2 service call /moveit_ur5/target_pose moveit_ur5_msgs/srv/PlanRequest "{target:{position: {x: -0.3, y: -0.4, z: 0.6}, orientation: {x: -1.0, y: 0.0, z: 0.0, w: 0.0}}}"

Hope this helps!

@JuoTungChen
ubuntu22.04
ROS version is ros2
I also run a client node
Some people on the Internet said that this problem may be caused by
action server but nothing is ready" indicates that your code is trying to fetch data from an action server, but the server hasn't provided any data yet (i.e., it's not ready)

[JuoTungChen]

Hi,
Thank you for providing the information. Note that this code is only tested on ubuntu 20.04 for ROS2 Galactic, but I will try to see if I can reproduce this error.

[Aruen24]

Hi, Thank you for providing the information. Note that this code is only tested on ubuntu 20.04 for ROS2 Galactic, but I will try to see if I can reproduce this error.

@JuoTungChen ubuntu 22.04 and ros2 humble