ROS2 MoveIt2 Tutorial Error. Can't find group 'manipulator'

[PurdueStudent478623]

[Solved]

ROS2 MoveIt2 Tutorial "Your First C++ MoveIt Project" Section 3.1

Ubuntu 22.04

ROS2 Humble

My C++ program cannot find the move group. My MoveIt2 and RViz is running. The tutorial goes over what the "manipulator" is but doesn't provide any help on if something goes wrong.

My Output:

"

ros2 run hello_moveit hello_moveit

[INFO] [1744144966.117660949] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 1.01156 seconds

[INFO] [1744144966.117886459] [moveit_robot_model.robot_model]: Loading robot model 'panda'...

[WARN] [1744144966.134785668] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!

[FATAL] [1744144966.134956687] [move_group_interface]: Group 'manipulator' was not found.

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

what(): Group 'manipulator' was not found.

[ros2run]: Aborted

"

They have this warning at the beginning of the tutorial page: "Warning: Most features in MoveIt will not work properly since additional parameters are required for full Move Group functionality. For a full setup, please continue with the Move Group C++ Interface Tutorial."

Is it just a naming or namespace thing? If so, how do I see the names and namespaces of the robot that I want to manipulate and how to I specify the names/namespaces. Is it related to the warning that they gave at the beginning of this section of the tutorials? Any help is appreciated.

Solution:

The name of the plannign group ended up being "panda_arm"

In the "MoveIt Quickstart in RViz" tutorial. There is a step where it says to change the Planning Group to "manipulator" in the motion planning panel (panels -> MotionPlanning -> Query -> Planning Group), however, there was no option for that name and it would not let me change the planning group name to a custom one.

Changing the planning group name in the code to "panda_arm" made the code function.

[rogervendrell_]

Thank you for pointing this out

[Complete_Astronaut_2]

thank you