Issues combining with kortex_driver or moving robot with Kinova Web App #4
Description
I launched the kortex_driver and was able to Home the robot through RViz. Then I launched the kinova_vision file to add the color camera topic to RViZ and while the camera was brought up, then I was unable to move the robot anymore. I got this message:
[my_gen3/my_gen3_driver-2] process has died [pid 22054, exit code -6, cmd /home/maru/catkin_ws/devel/lib/kortex_driver/kortex_arm_driver __name:=my_gen3_driver __log:=/home/maru/.ros/log/2e9f0704-7bb4-11eb-a70c-00216be2491f/my_gen3-my_gen3_driver-2.log].
log file: /home/maru/.ros/log/2e9f0704-7bb4-11eb-a70c-00216be2491f/my_gen3-my_gen3_driver-2*.log
[ERROR] [1614730062.376534521]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 16.142000 seconds). Stopping trajectory.
[ INFO] [1614730062.376600621]: Cancelling execution for gen3_joint_trajectory_controller
[ INFO] [1614730062.376707557]: Completed trajectory execution with status TIMED_OUT ...
[ WARN] [1614730072.484201720]: Unable to transform object from frame 'camera_depth_frame' to planning frame 'base_link' (Could not find a connection between 'base_link' and 'camera_depth_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[ WARN] [1614730072.484351976]: Unable to transform object from frame 'camera_link' to planning frame 'base_link' (Could not find a connection between 'base_link' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[ WARN] [1614730072.484435858]: Unable to transform object from frame 'camera_color_frame' to planning frame 'base_link' (Could not find a connection between 'base_link' and 'camera_color_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
Then I tried to move the robot through the Kinova Web App, and I had been logged out and when trying to log back in I saw the message: "Connection Error. Make sure Robot is started." Nothing had changed, the robot was still on and the camera is still streaming and updating in RViZ