file 'pilz_mtc.launch.py' was not found

[ravijo]

Description

I am trying to setup Pilz Industrial Motion Planner by following the documentation in ROS 2 Humble. Unfortunately, the command ros2 launch moveit2_tutorials pilz_mtc.launch.py is not working.

$ ros2 launch moveit2_tutorials pilz_mtc.launch.py
file 'pilz_mtc.launch.py' was not found in the share directory of package 'moveit2_tutorials' which is at '/home/user/moveit2_ws/install/moveit2_tutorials/share/moveit2_tutorials'

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04.3 LTS
• ROS Source or Binary build: Binary
• Moveit Source or Binary build: Source (humble branch)

Steps to reproduce

$ ros2 launch moveit2_tutorials demo.launch.py rviz_config:=panda_hello_moveit.rviz
$ ros2 launch moveit2_tutorials mtc_demo.launch.py
$ ros2 launch moveit2_tutorials pilz_mtc.launch.py
file 'pilz_mtc.launch.py' was not found in the share directory of package 'moveit2_tutorials' which is at '/home/user/moveit2_ws/install/moveit2_tutorials/share/moveit2_tutorials'

Objective

I just need a working demo of Pilz Industrial Motion Planner. It could be in ROS 1 or ROS 2. I could not find any. Unfortunately, the ROS 1 demo is referring to a read-online repository and it is also showing errors reported here.

Is there a working demo of Pilz Industrial Motion Planner available online?

[sea-bass]

I think this tutorial broke in the changing of default robots for the Kinova Gen3.

Just fixed it all up with a combination of 2 PRs, if you'd like to test now:

• Update instructions for Pilz tutorial #796
• Fix Panda demo launch for MoveIt 2 tutorials moveit_resources#190

Otherwise, we'll get this merged soon!

[sea-bass]

Oh by the way, this tutorial is only on the main branch of the tutorials, and not on humble -- so that may be why the file itself is not found.

We'll either need to backport that tutorial to Humble (#797), or you can try using the main branch of the tutorials -- noting that if you do this, you'll need to build moveit from source

[ravijo]

@sea-bass

Thank you very much for the quick response. It works like a charm!

Adding commands for reference only:

$ source /opt/ros/rolling/setup.bash
$ source ~/ws_moveit2_ros2_rolling/install/setup.bash
$ ros2 launch moveit_resources_panda_moveit_config demo.launch.py
$ ros2 run moveit2_tutorials pilz_move_group

Thank you!

[ravijo]

@sea-bass @sjahr

Sorry for commenting on a closed issue. Just wanted to know how to port this to the UR robot. The panda_moveit_config contains pilz_industrial_motion_planner_planning.yaml, but ur_moveit_config does not have it.

Thanks!

[ravijo]

Adding this comment for future readers. A demonstration of Pilz Industrial Motion Planner in MoveIt with Universal Robots is now available here: https://github.com/ravijo/ur_pilz_demo

Thanks

[sjahr]

Sorry, I just saw your comment. Glad you solved it! Just open a new issue next time to increase visibility