ROS中使用moveit遇到问题和解决办法总结
问题一：MoveIt! Rviz Plugin - No interactive markers visible/available
xml.parsers.expat.ExpatError: unbound prefix: line 3, column 4
[joint_state_publisher-3] process has died"[ INFO] [1378302606.461072650]: rviz version 1.9.32"
"[ INFO] [1378302606.461179802]: compiled against OGRE version 1.7.4 (Cthugha)"
"[ INFO] [1378302606.653216609]: OpenGl version: 2.1 (GLSL 1.2)."
[ERROR] [WallTime: 1378302606.779255] Execution failed: [Errno 2] No such file or directory
"[ INFO] [1378302606.887842389]: Publishing maintained planning scene on 'monitored_planning_scene'"
解决办法：https://answers.ros.org/question/57611/moveit-rviz-plugin-no-interactive-markers-visibleavailable/
问题二：Correctly configuring end effectors for moveit
[ INFO] [1397094975.183158794]: Got new goal: [1.72786,2.13589,0.553876]
[ERROR] [1397094975.183266964]: No end-effector to set the pose for
[ INFO] [1397094975.184236157]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1397094975.186156762]: No goal constraints specified. There is no problem to solve.主要的问题似乎是我定义的虚拟关节没有一个现有的父引用框架，删除它使我可以使用简化版本的模型向前移动。在我得到了更简单的模型后，我尝试了Dave的建议，将末端执行器子组作为父组的一部分，导致了与虚拟关节相同的问题。连接或连接可以被双重定义，而不会引起问题。所有三个定义都导致rviz崩溃，而在gripper子组和虚拟关节被删除之后，没有一个信息错误。
解决办法：https://answers.ros.org/question/151376/correctly-configuring-end-effectors-for-moveit/
问题三：MoveIT! end effector setup question
All is well! Everyone is happy! You can start planning now!
[ INFO] [1405097835.482849916]: Loading robot model 'i_arm'...
[ INFO] [1405097835.801883868]: Loading robot model 'i_arm'...
[ INFO] [1405097835.913759003]: Starting scene monitor
[ INFO] [1405097835.917105272]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1405097837.711538251]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[rviz_ubuntu_24010_6131403636814191245-4] process has died [pid 24050, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /home/joso21/catkin_ws/src/iarm_ed_moveit/launch/moveit.rviz __name:=rviz_ubuntu_24010_6131403636814191245 __log:=/home/joso21/.ros/log/44fb4ab6-090c-11e4-93a6-000c298bbf45/rviz_ubuntu_24010_6131403636814191245-4.log].
log file: /home/joso21/.ros/log/44fb4ab6-090c-11e4-93a6-000c298bbf45/rviz_ubuntu_24010_6131403636814191245-4*.log计划一个6自由度的arm机器人。当使用安装助理时，我将按照PR2的例子为“arm”分配计划组，而“gripper”则会生成包，并尝试使用demo进行roslaunch。启动文件，但它崩溃了。我正在尝试解决这个问题，但是所有的连接和链接(我还没有使用链，因为我还没有完全理解它们)，我可以考虑让Rviz在终端窗口中出现这个错误。
解决办法：https://answers.ros.org/question/186125/moveit-end-effector-setup-question/
其他学习网址：http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot
问题三：利用Moveit_setup_assistant 配置好marm_description/urdf/arm.xacro模型，保存在catkin_ws/src下，roslaunch 出现cannot launch node of type [moveit_ros_move_group/move_group]:can't locate node [move_group] in package [moveit_ros_move_group],并且在moveit-rviz界面显示NO PLANNING LIBARY LOADED,
解决办法：
解析：首先，可能是因为嵌套catkin工作区（即将工作区放入另一个工作区）。虽然它在技术上是可行的（确认catkin_make每个工作区都按预期运行），但我建议不要这样做，因为这可能会导致意想不到的结果。
解决步骤：删除build和devel在％YOUR_CATKIN_WS％文件夹，然后运行catkin_make，再次编译，看看它是否工作。
https://answers.ros.org/question/251251/cant-locate-node-moveit_setup_assistant-in-package-moveit_setup_assistant/