psm1/baselink not found

[yangzhongii]

Hi I am new to this project. I have followed the procedures in the README and install the ambf simulator properly. However, when I try to control the robot, errors occur. My platform is shown below: Ubuntu20, ROS noecic. Here are the errors when I try to run launch_crtk_interface.py.

Specified Arguments
Namespace(namespace='/CRTK', rate=120, run_ecm=True, run_psm_one=True, run_psm_three=False, run_psm_two=True, run_scene=True)
Found Common Object Namespace as:
Launching CRTK-ROS Interface for PSM1
psm1/baselink NAMED OBJECT NOT FOUND
Traceback (most recent call last):
File "launch_crtk_interface.py", line 328, in
sceneManager = SceneManager(options)
File "launch_crtk_interface.py", line 266, in init
self.psm1 = PSMCRTKWrapper(self.simulation_manager, 'psm1', options.namespace)
File "launch_crtk_interface.py", line 72, in init
self.arm = psm_arm.PSM(client, name, add_joint_errors=True)
File "/home/thera/surgical_robotics_challenge/scripts/psm_arm.py", line 79, in init
self.base = self.simulation_manager.get_obj_handle(self.name + '/baselink', required=True)
File "/home/thera/surgical_robotics_challenge/scripts/surgical_robotics_challenge/simulation_manager.py", line 70, in get_obj_handle
raise RuntimeError(f"SimulationObject {name} is required not found in the simulation")
RuntimeError: SimulationObject psm1/baselink is required not found in the simulation

It seems that the python node can not find the Simulationobject.

Thank you for your help.

[adnanmunawar]

Hello, did you run the simulation first?