Closed splitterfaenger closed 2 years ago
AndrejOrsula
commented
2 years ago Hello, could you try one of the following?
colcon build with --merge-install option (if not already)IGN_GAZEBO_RESOURCE_PATH
export IGN_GAZEBO_RESOURCE_PATH="<panda_ign_moveit2_dir>/panda_description${IGN_GAZEBO_RESOURCE_PATH:+:${IGN_GAZEBO_RESOURCE_PATH}}"If --merge-install fixes it for you, I will try to adjust the package to support building without this flag.
splitterfaenger
commented
2 years ago Thank you for your reply.
I tried colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" which resulted in a clean build without warnings or errors. Then I used export IGN_GAZEBO_RESOURCE_PATH=/home/tzwaehn/ros_galactic_test/ws_ign_moveit2_examples/src/panda_ign_moveit2/panda_description${IGN_GAZEBO_RESOURCE_PATH:+:${IGN_GAZEBO_RESOURCE_PATH}} to manually export IGN_GAZEBO_RESOURCE_PATH.
Now Gazebo seems to terminate directly after opening it.
Below is the terminal output:
➜ ws_ign_moveit2_examples colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
Starting >>> panda_description
Starting >>> pymoveit2
Finished <<< panda_description [1.26s]
Starting >>> panda_moveit_config
Finished <<< pymoveit2 [1.27s]
Finished <<< panda_moveit_config [0.91s]
Starting >>> ign_moveit2_examples
Finished <<< ign_moveit2_examples [13.4s]
Summary: 4 packages finished [15.7s]
➜ ws_ign_moveit2_examples export IGN_GAZEBO_RESOURCE_PATH=/home/tzwaehn/ros_galactic_test/ws_ign_moveit2_examples/src/panda_ign_moveit2/panda_description${IGN_GAZEBO_RESOURCE_PATH:+:${IGN_GAZEBO_RESOURCE_PATH}}
➜ ws_ign_moveit2_examples . install/setup.zsh
➜ ws_ign_moveit2_examples ros2 launch ign_moveit2_examples ex_cpp_follow_target.launch.py
[INFO] [launch]: All log files can be found below /home/tzwaehn/.ros/log/2022-06-11-12-30-51-275800-tzwaehn-kubuntu-141430
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [141441]
[INFO] [parameter_bridge-2]: process started with pid [141443]
[INFO] [parameter_bridge-3]: process started with pid [141445]
[INFO] [create-4]: process started with pid [141448]
[INFO] [robot_state_publisher-5]: process started with pid [141450]
[INFO] [move_group-6]: process started with pid [141452]
[INFO] [servo_node_main-7]: process started with pid [141454]
[INFO] [rviz2-8]: process started with pid [141456]
[INFO] [spawner-9]: process started with pid [141458]
[INFO] [spawner-10]: process started with pid [141460]
[INFO] [spawner-11]: process started with pid [141462]
[INFO] [ex_follow_target-12]: process started with pid [141464]
[robot_state_publisher-5] Link panda_link0 had 1 children
[robot_state_publisher-5] Link panda_link1 had 1 children
[robot_state_publisher-5] Link panda_link2 had 1 children
[robot_state_publisher-5] Link panda_link3 had 1 children
[robot_state_publisher-5] Link panda_link4 had 1 children
[robot_state_publisher-5] Link panda_link5 had 1 children
[robot_state_publisher-5] Link panda_link6 had 1 children
[robot_state_publisher-5] Link panda_link7 had 1 children
[robot_state_publisher-5] Link panda_link8 had 1 children
[robot_state_publisher-5] Link panda_hand had 3 children
[robot_state_publisher-5] Link panda_leftfinger had 0 children
[robot_state_publisher-5] Link panda_rightfinger had 0 children
[robot_state_publisher-5] Link panda_hand_tcp had 0 children
[servo_node_main-7] [WARN] [1654943452.873147804] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[servo_node_main-7] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-7] to the Servo composable node in the launch file
[servo_node_main-7] [WARN] [1654943452.876830045] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876867835] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876876755] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876883635] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876890545] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876896535] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876902745] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654943452.876909035] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877533824] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877588424] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877595974] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877601994] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877607704] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877612864] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877618274] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654943452.877623674] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ex_follow_target-12] [WARN] [1654943452.881046364] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[move_group-6] Link panda_link0 had 1 children
[move_group-6] Link panda_link1 had 1 children
[move_group-6] Link panda_link2 had 1 children
[move_group-6] Link panda_link3 had 1 children
[move_group-6] Link panda_link4 had 1 children
[move_group-6] Link panda_link5 had 1 children
[move_group-6] Link panda_link6 had 1 children
[move_group-6] Link panda_link7 had 1 children
[move_group-6] Link panda_link8 had 1 children
[move_group-6] Link panda_hand had 3 children
[move_group-6] Link panda_leftfinger had 0 children
[move_group-6] Link panda_rightfinger had 0 children
[move_group-6] Link panda_hand_tcp had 0 children
[servo_node_main-7] Link panda_link0 had 1 children
[servo_node_main-7] Link panda_link1 had 1 children
[servo_node_main-7] Link panda_link2 had 1 children
[servo_node_main-7] Link panda_link3 had 1 children
[servo_node_main-7] Link panda_link4 had 1 children
[servo_node_main-7] Link panda_link5 had 1 children
[servo_node_main-7] Link panda_link6 had 1 children
[servo_node_main-7] Link panda_link7 had 1 children
[servo_node_main-7] Link panda_link8 had 1 children
[servo_node_main-7] Link panda_hand had 3 children
[servo_node_main-7] Link panda_leftfinger had 0 children
[servo_node_main-7] Link panda_rightfinger had 0 children
[servo_node_main-7] Link panda_hand_tcp had 0 children
[move_group-6] [WARN] [1654943452.896944962] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-6] [ERROR] [1654943452.896971512] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[INFO] [create-4]: process has finished cleanly [pid 141448]
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[rviz2-8] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-8] at line 253 in /opt/ros/galactic/include/class_loader/class_loader_core.hpp
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[ign gazebo-1] [ERROR] [1654943454.100776934] [rcl]: Failed to parse global arguments
[ign gazebo-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[ign gazebo-1] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/tzwaehn/ros_galactic_test/ws_ign_moveit2_examples/install/panda_moveit_config/share/panda_moveit_config/config/controllers_effort.yaml'. Error: Error opening YAML file, at /tmp/binarydeb/ros-galactic-rcl-yaml-param-parser-3.1.3/src/parser.c:270, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/arguments.c:406
[ign gazebo-1] Stack trace (most recent call last):
[ign gazebo-1] #31 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f0aa483f805, in
[ign gazebo-1] #30 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f0aa48592da, in
[ign gazebo-1] #29 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f0aa484c4b4, in
[ign gazebo-1] #28 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f0aa06e9714, in
[ign gazebo-1] #27 Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f0aa481d929, in rb_nogvl
[ign gazebo-1] #26 Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f0aa06e98fb, in
[ign gazebo-1] #25 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f0aa0685409, in
[ign gazebo-1] #24 Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f0aa0685ff4, in
[ign gazebo-1] #23 Object "/usr/lib/x86_64-linux-gnu/libignition-gazebo6-ign.so.6.9.0", at 0x7f0a9fc24f25, in runServer
[ign gazebo-1] #22 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f86213b, in ignition::gazebo::v6::Server::Run(bool, unsigned long, bool)
[ign gazebo-1] #21 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f86ae63, in
[ign gazebo-1] #20 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f878bda, in ignition::gazebo::v6::SimulationRunner::Run(unsigned long)
[ign gazebo-1] #19 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f8783e4, in ignition::gazebo::v6::SimulationRunner::Step(ignition::gazebo::v6::UpdateInfo const&)
[ign gazebo-1] #18 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f871489, in ignition::gazebo::v6::SimulationRunner::UpdateSystems()
[ign gazebo-1] #17 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7f0a76892858, in ignition::gazebo::v6::systems::UserCommands::PreUpdate(ignition::gazebo::v6::UpdateInfo const&, ignition::gazebo::v6::EntityComponentManager&)
[ign gazebo-1] #16 Object "/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/libignition-gazebo-user-commands-system.so", at 0x7f0a7689577d, in ignition::gazebo::v6::systems::CreateCommand::Execute()
[ign gazebo-1] #15 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f839400, in ignition::gazebo::v6::SdfEntityCreator::CreateEntities(sdf::v12::Model const*)
[ign gazebo-1] #14 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f84c756, in void ignition::gazebo::v6::EventManager::Emit<ignition::common::EventT<void (unsigned long, std::shared_ptr<sdf::v12::Element>), ignition::gazebo::v6::events::LoadPluginsTag>, unsigned long const&, std::shared_ptr<sdf::v12::Element> const&>(unsigned long const&, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #13 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f872416, in ignition::gazebo::v6::SimulationRunner::LoadPlugins(unsigned long, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #12 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f88a8b8, in ignition::gazebo::v6::SystemManager::LoadPlugin(unsigned long, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<sdf::v12::Element> const&)
[ign gazebo-1] #11 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f889176, in ignition::gazebo::v6::SystemManager::AddSystem(ignition::plugin::TemplatePluginPtr<ignition::plugin::SpecializedPlugin<ignition::gazebo::v6::System, ignition::gazebo::v6::ISystemConfigure, ignition::gazebo::v6::ISystemPreUpdate, ignition::gazebo::v6::ISystemUpdate, ignition::gazebo::v6::ISystemPostUpdate> > const&, unsigned long, std::shared_ptr<sdf::v12::Element const>)
[ign gazebo-1] #10 Object "/lib/x86_64-linux-gnu/libignition-gazebo6.so.6", at 0x7f0a9f888fad, in ignition::gazebo::v6::SystemManager::AddSystemImpl(ignition::gazebo::v6::SystemInternal, std::shared_ptr<sdf::v12::Element const>)
[ign gazebo-1] #9 Object "/home/tzwaehn/ros_galactic_test/ws_ign_ros2_control/install/ign_ros2_control/lib/libign_ros2_control-system.so", at 0x7f0a75ef84eb, in ign_ros2_control::IgnitionROS2ControlPlugin::Configure(unsigned long const&, std::shared_ptr<sdf::v12::Element const> const&, ignition::gazebo::v6::EntityComponentManager&, ignition::gazebo::v6::EventManager&)
[ign gazebo-1] #8 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f0a75c49a2e, in rclcpp::init(int, char const* const*, rclcpp::InitOptions const&)
[ign gazebo-1] #7 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f0a75b74733, in rclcpp::Context::init(int, char const* const*, rclcpp::InitOptions const&)
[ign gazebo-1] #6 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f0a75b7bb5c, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcutils_error_state_t const*, void (*)())
[ign gazebo-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f0aa053c37e, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[ign gazebo-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f0aa053c3f6, in std::terminate()
[ign gazebo-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f0aa053c38b, in
[ign gazebo-1] #2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f0aa0530910, in
[ign gazebo-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0aa446e858, in abort
[ign gazebo-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0aa448f00b, in gsignal
[ign gazebo-1] Aborted (Signal sent by tkill() 141615 1000)
[ign gazebo-1] [GUI] [Wrn] [Application.cc:753] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[rviz2-8] [ERROR] [1654943456.824713080] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [WARN] [1654943456.944696360] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944745150] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944750990] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944755850] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944760680] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944764690] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944768770] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654943456.944773400] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] Link panda_link0 had 1 children
[rviz2-8] Link panda_link1 had 1 children
[rviz2-8] Link panda_link2 had 1 children
[rviz2-8] Link panda_link3 had 1 children
[rviz2-8] Link panda_link4 had 1 children
[rviz2-8] Link panda_link5 had 1 children
[rviz2-8] Link panda_link6 had 1 children
[rviz2-8] Link panda_link7 had 1 children
[rviz2-8] Link panda_link8 had 1 children
[rviz2-8] Link panda_hand had 3 children
[rviz2-8] Link panda_leftfinger had 0 children
[rviz2-8] Link panda_rightfinger had 0 children
[rviz2-8] Link panda_hand_tcp had 0 children
[rviz2-8] Link panda_link0 had 1 children
[rviz2-8] Link panda_link1 had 1 children
[rviz2-8] Link panda_link2 had 1 children
[rviz2-8] Link panda_link3 had 1 children
[rviz2-8] Link panda_link4 had 1 children
[rviz2-8] Link panda_link5 had 1 children
[rviz2-8] Link panda_link6 had 1 children
[rviz2-8] Link panda_link7 had 1 children
[rviz2-8] Link panda_link8 had 1 children
[rviz2-8] Link panda_hand had 3 children
[rviz2-8] Link panda_leftfinger had 0 children
[rviz2-8] Link panda_rightfinger had 0 children
[rviz2-8] Link panda_hand_tcp had 0 children
[rviz2-8] [ERROR] [1654943457.189717388] [rclcpp]: Received invalid sequence number. Ignoring...
[INFO] [ign gazebo-1]: process has finished cleanly [pid 141441]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)[ign gazebo-1] what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/tzwaehn/ros_galactic_test/ws_ign_moveit2_examples/install/panda_moveit_config/share/panda_moveit_config/config/controllers_effort.yaml'. Error: Error opening YAML file, at /tmp/binarydeb/ros-galactic-rcl-yaml-param-parser-3.1.3/src/parser.c:270, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/arguments.c:406
Your build seems to be broken. Remove ~/ros_galactic_test/ws_ign_moveit2_examples/build, ~/ros_galactic_test/ws_ign_moveit2_examples/install and ~/ros_galactic_test/ws_ign_moveit2_examples/log directories. Then try again.
splitterfaenger
commented
2 years ago I created a new workspace and rebuild everything as stated in the tutorial. Then I ran the scripts in panda_description and panda_moveit_config as well as exporting the IGN_GAZEBO_RESOURCE_PATH manually.
Then I sourced ROS and the other dependencies.
Now Gazebo does not close on start. The robot is now visible and on moving the cube in Gazebo I can see the motion planning take place in RViz. The robot is not moving in gazebo though. But this is still great progress from before.
These are the errors I am having:
[move_group-6] [ERROR] [1654948358.047102846] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates[ign gazebo-1] [ERROR] [1654948359.332948788] [ignition_ros_control]: Desired controller update period (0.004 s) is faster than the gazebo simulation period (0.005 s).[ign gazebo-1] [ERROR] [1654948359.379236118] [gripper_trajectory_controller]: using 'effort' command interface alone is not yet implemented yet.[ign gazebo-1] [ERROR] [1654948359.379275828] [controller_manager]: After configuring, controller 'gripper_trajectory_controller' is in state 'unconfigured' , expected inactive.[ign gazebo-1] [ERROR] [1654948359.379674808] [joint_trajectory_controller]: using 'effort' command interface alone is not yet implemented yet.[ign gazebo-1] [ERROR] [1654948359.379696698] [controller_manager]: After configuring, controller 'joint_trajectory_controller' is in state 'unconfigured' , expected inactive.[move_group-6] [ERROR] [1654948359.505614769] [moveit_ros.trajectory_execution_manager]:
[move_group-6] Invalid Trajectory: start point deviates from current robot state more than 0.01
[move_group-6] joint 'panda_joint4': expected: -1.5708, current: -0.219813[ERROR] [spawner-9]: process has died [pid 181801, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner joint_trajectory_controller --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_ud6b7hnx'].
[ERROR] [spawner-10]: process has died [pid 181803, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner gripper_trajectory_controller --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_spfc493x'].[ex_follow_target-12] [ERROR] [1654948359.930607822] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached[rviz2-8] [ERROR] [1654948361.963092083] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [ERROR] [1654948362.055464103] [moveit_rviz_plugin_render_tools.trajectory_visualization]: No robot state or robot model loaded[move_group-6] [ERROR] [1654948383.700803599] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: joint_trajectory_controller/follow_joint_trajectory [move_group-6] [ERROR] [1654948383.700823079] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller joint_trajectory_controller[ex_follow_target-12] [ERROR] [1654948384.269841985] [move_group_interface]: MoveGroupInterface::move() failed or timeout reachedThe complete output can be seen below (sorry again for not toggling it):
[INFO] [launch]: All log files can be found below /home/tzwaehn/.ros/log/2022-06-11-13-52-36-372251-tzwaehn-kubuntu-181771
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [181784]
[INFO] [parameter_bridge-2]: process started with pid [181786]
[INFO] [parameter_bridge-3]: process started with pid [181788]
[INFO] [create-4]: process started with pid [181791]
[INFO] [robot_state_publisher-5]: process started with pid [181793]
[INFO] [move_group-6]: process started with pid [181795]
[INFO] [servo_node_main-7]: process started with pid [181797]
[INFO] [rviz2-8]: process started with pid [181799]
[INFO] [spawner-9]: process started with pid [181801]
[INFO] [spawner-10]: process started with pid [181803]
[INFO] [spawner-11]: process started with pid [181805]
[INFO] [ex_follow_target-12]: process started with pid [181807]
[robot_state_publisher-5] Link panda_link0 had 1 children
[robot_state_publisher-5] Link panda_link1 had 1 children
[robot_state_publisher-5] Link panda_link2 had 1 children
[robot_state_publisher-5] Link panda_link3 had 1 children
[robot_state_publisher-5] Link panda_link4 had 1 children
[robot_state_publisher-5] Link panda_link5 had 1 children
[robot_state_publisher-5] Link panda_link6 had 1 children
[robot_state_publisher-5] Link panda_link7 had 1 children
[robot_state_publisher-5] Link panda_link8 had 1 children
[robot_state_publisher-5] Link panda_hand had 3 children
[robot_state_publisher-5] Link panda_leftfinger had 0 children
[robot_state_publisher-5] Link panda_rightfinger had 0 children
[robot_state_publisher-5] Link panda_hand_tcp had 0 children
[servo_node_main-7] [WARN] [1654948358.030962712] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[servo_node_main-7] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-7] to the Servo composable node in the launch file
[move_group-6] [WARN] [1654948358.031192242] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031241962] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031247892] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031252512] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031257032] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031261052] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031265152] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] [WARN] [1654948358.031269112] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-6] Link panda_link0 had 1 children
[move_group-6] Link panda_link1 had 1 children
[move_group-6] Link panda_link2 had 1 children
[move_group-6] Link panda_link3 had 1 children
[move_group-6] Link panda_link4 had 1 children
[move_group-6] Link panda_link5 had 1 children
[move_group-6] Link panda_link6 had 1 children
[move_group-6] Link panda_link7 had 1 children
[move_group-6] Link panda_link8 had 1 children
[move_group-6] Link panda_hand had 3 children
[move_group-6] Link panda_leftfinger had 0 children
[move_group-6] Link panda_rightfinger had 0 children
[move_group-6] Link panda_hand_tcp had 0 children
[servo_node_main-7] [WARN] [1654948358.035010965] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035047025] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035055465] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035062665] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035069655] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035075725] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035081975] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] [WARN] [1654948358.035088345] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node_main-7] Link panda_link0 had 1 children
[servo_node_main-7] Link panda_link1 had 1 children
[servo_node_main-7] Link panda_link2 had 1 children
[servo_node_main-7] Link panda_link3 had 1 children
[servo_node_main-7] Link panda_link4 had 1 children
[servo_node_main-7] Link panda_link5 had 1 children
[servo_node_main-7] Link panda_link6 had 1 children
[servo_node_main-7] Link panda_link7 had 1 children
[servo_node_main-7] Link panda_link8 had 1 children
[servo_node_main-7] Link panda_hand had 3 children
[servo_node_main-7] Link panda_leftfinger had 0 children
[servo_node_main-7] Link panda_rightfinger had 0 children
[servo_node_main-7] Link panda_hand_tcp had 0 children
[move_group-6] [WARN] [1654948358.047082246] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-6] [ERROR] [1654948358.047102846] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[ex_follow_target-12] [WARN] [1654948358.050078209] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")[0m[1;33m[0m
[INFO] [create-4]: process has finished cleanly [pid 181791]
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"[0m[1;33m[0m
[rviz2-8] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-8] at line 253 in /opt/ros/galactic/include/class_loader/class_loader_core.hpp
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")[0m[1;33m[0m
[ign gazebo-1] [INFO] [1654948359.298459737] [ignition_ros_control]: [ign_ros2_control] Fixed joint [panda_joint_base] (Entity=45)] is skipped
[ign gazebo-1] [INFO] [1654948359.300436499] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo-1] [INFO] [1654948359.300791480] [ignition_ros_control]: Received URDF from param server
[ign gazebo-1] [INFO] [1654948359.304731692] [ignition_ros_control]: Loading joint: panda_joint1
[ign gazebo-1] [INFO] [1654948359.304749822] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.304761822] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304809902] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.304815592] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.304857362] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.304880482] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304896472] [ignition_ros_control]: Loading joint: panda_joint2
[ign gazebo-1] [INFO] [1654948359.304902032] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.304907162] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304928952] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.304934452] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.304939762] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.304945752] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304954232] [ignition_ros_control]: Loading joint: panda_joint3
[ign gazebo-1] [INFO] [1654948359.304959373] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.304964363] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304970233] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.304975253] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.304980463] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.304985643] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.304994803] [ignition_ros_control]: Loading joint: panda_joint4
[ign gazebo-1] [INFO] [1654948359.305000323] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305005463] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305010573] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305015473] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305020653] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305025793] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305033533] [ignition_ros_control]: Loading joint: panda_joint5
[ign gazebo-1] [INFO] [1654948359.305038643] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305044063] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305049853] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305054753] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305059913] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305065103] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305072983] [ignition_ros_control]: Loading joint: panda_joint6
[ign gazebo-1] [INFO] [1654948359.305077983] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305082893] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305088003] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305092823] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305098013] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305104703] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305112903] [ignition_ros_control]: Loading joint: panda_joint7
[ign gazebo-1] [INFO] [1654948359.305118163] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305123193] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305128283] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305133113] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305138283] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305143423] [ignition_ros_control]: effort
[ign gazebo-1] [WARN] [1654948359.305443963] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1654948359.305663203] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1654948359.305792043] [ignition_ros_control]: Loading joint: panda_finger_joint1
[ign gazebo-1] [INFO] [1654948359.305801773] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305807393] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305813823] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305818903] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305839263] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305846003] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305855913] [ignition_ros_control]: Loading joint: panda_finger_joint2
[ign gazebo-1] [INFO] [1654948359.305861223] [ignition_ros_control]: Command:
[ign gazebo-1] [INFO] [1654948359.305866283] [ignition_ros_control]: effort
[ign gazebo-1] [INFO] [1654948359.305872393] [ignition_ros_control]: State:
[ign gazebo-1] [INFO] [1654948359.305878183] [ignition_ros_control]: position
[ign gazebo-1] [INFO] [1654948359.305883613] [ignition_ros_control]: velocity
[ign gazebo-1] [INFO] [1654948359.305889473] [ignition_ros_control]: effort
[ign gazebo-1] [WARN] [1654948359.305917893] [ignition_ros_control]: On init...
[ign gazebo-1] [INFO] [1654948359.305930013] [ignition_ros_control]: System Successfully configured!
[ign gazebo-1] [INFO] [1654948359.305941793] [ignition_ros_control]: Loading controller_manager
[ign gazebo-1] [1;33mWarning [GenericJoint.hpp:1480][0m [GenericJoint::setRestPosition] Value of _q0 [0], is out of the limit range [-3.07178, -0.0698132] for index [0] of Joint [Joint].
[ign gazebo-1] [1;33m[Wrn] [Component.hh:144] [0m[1;33mTrying to serialize component with data type [[0m[1;33mN3sdf3v125WorldE[0m[1;33m], which doesn't have [0m[1;33m`operator<<`. Component will not be serialized.[0m[1;33m[0m
[ign gazebo-1] [ERROR] [1654948359.332948788] [ignition_ros_control]: Desired controller update period (0.004 s) is faster than the gazebo simulation period (0.005 s).
[ign gazebo-1] [1;33m[Wrn] [Component.hh:144] [0m[1;33mTrying to serialize component with data type [[0m[1;33mSt6vectorIdSaIdEE[0m[1;33m], which doesn't have [0m[1;33m`operator<<`. Component will not be serialized.[0m[1;33m[0m
[ign gazebo-1] [INFO] [1654948359.354203906] [controller_manager]: Loading controller 'gripper_trajectory_controller'
[ign gazebo-1] [INFO] [1654948359.369597559] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ign gazebo-1] [INFO] [1654948359.378938578] [controller_manager]: Configuring controller 'gripper_trajectory_controller'
[ign gazebo-1] [ERROR] [1654948359.379236118] [gripper_trajectory_controller]: using 'effort' command interface alone is not yet implemented yet.
[ign gazebo-1] [ERROR] [1654948359.379275828] [controller_manager]: After configuring, controller 'gripper_trajectory_controller' is in state 'unconfigured' , expected inactive.
[ign gazebo-1] [INFO] [1654948359.379638898] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ign gazebo-1] [ERROR] [1654948359.379674808] [joint_trajectory_controller]: using 'effort' command interface alone is not yet implemented yet.
[ign gazebo-1] [ERROR] [1654948359.379696698] [controller_manager]: After configuring, controller 'joint_trajectory_controller' is in state 'unconfigured' , expected inactive.
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.[0m[1;33m[0m
[ign gazebo-1] [1;33m[GUI] [Wrn] [Component.hh:189] [0m[1;33mTrying to deserialize component with data type [[0m[1;33mN3sdf3v125WorldE[0m[1;33m], which doesn't have [0m[1;33m`operator>>`. Component will not be deserialized.[0m[1;33m[0m
[ign gazebo-1] [INFO] [1654948359.481996639] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1654948359.493256068] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ign gazebo-1] [INFO] [1654948359.493412128] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[move_group-6] [ERROR] [1654948359.505614769] [moveit_ros.trajectory_execution_manager]:
[move_group-6] Invalid Trajectory: start point deviates from current robot state more than 0.01
[move_group-6] joint 'panda_joint4': expected: -1.5708, current: -0.219813
[ERROR] [spawner-9]: process has died [pid 181801, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner joint_trajectory_controller --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_ud6b7hnx'].
[ERROR] [spawner-10]: process has died [pid 181803, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner gripper_trajectory_controller --ros-args --log-level warn --ros-args --params-file /tmp/launch_params_spfc493x'].
[INFO] [spawner-11]: process has finished cleanly [pid 181805]
[ign gazebo-1] [1;33m[GUI] [Wrn] [Component.hh:189] [0m[1;33mTrying to deserialize component with data type [[0m[1;33mSt6vectorIdSaIdEE[0m[1;33m], which doesn't have [0m[1;33m`operator>>`. Component will not be deserialized.[0m[1;33m[0m
[ex_follow_target-12] [ERROR] [1654948359.930607822] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"[0m[1;33m[0m
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[ign gazebo-1] libEGL warning: DRI2: failed to create dri screen
[rviz2-8] [ERROR] [1654948361.963092083] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [ERROR] [1654948362.055464103] [moveit_rviz_plugin_render_tools.trajectory_visualization]: No robot state or robot model loaded
[rviz2-8] [WARN] [1654948362.067236274] [moveit_robot_model.robot_model]: Link panda_link0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067311864] [moveit_robot_model.robot_model]: Link panda_link1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067323134] [moveit_robot_model.robot_model]: Link panda_link2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067333174] [moveit_robot_model.robot_model]: Link panda_link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067342794] [moveit_robot_model.robot_model]: Link panda_link4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067351394] [moveit_robot_model.robot_model]: Link panda_link5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067359704] [moveit_robot_model.robot_model]: Link panda_link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [WARN] [1654948362.067368464] [moveit_robot_model.robot_model]: Link panda_link7 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] Link panda_link0 had 1 children
[rviz2-8] Link panda_link1 had 1 children
[rviz2-8] Link panda_link2 had 1 children
[rviz2-8] Link panda_link3 had 1 children
[rviz2-8] Link panda_link4 had 1 children
[rviz2-8] Link panda_link5 had 1 children
[rviz2-8] Link panda_link6 had 1 children
[rviz2-8] Link panda_link7 had 1 children
[rviz2-8] Link panda_link8 had 1 children
[rviz2-8] Link panda_hand had 3 children
[rviz2-8] Link panda_leftfinger had 0 children
[rviz2-8] Link panda_rightfinger had 0 children
[rviz2-8] Link panda_hand_tcp had 0 children
[rviz2-8] Link panda_link0 had 1 children
[rviz2-8] Link panda_link1 had 1 children
[rviz2-8] Link panda_link2 had 1 children
[rviz2-8] Link panda_link3 had 1 children
[rviz2-8] Link panda_link4 had 1 children
[rviz2-8] Link panda_link5 had 1 children
[rviz2-8] Link panda_link6 had 1 children
[rviz2-8] Link panda_link7 had 1 children
[rviz2-8] Link panda_link8 had 1 children
[rviz2-8] Link panda_hand had 3 children
[rviz2-8] Link panda_leftfinger had 0 children
[rviz2-8] Link panda_rightfinger had 0 children
[rviz2-8] Link panda_hand_tcp had 0 children
[rviz2-8] [ERROR] [1654948362.314888239] [rclcpp]: Received invalid sequence number. Ignoring...
[ign gazebo-1] [1;33m[GUI] [Wrn] [Application.cc:753] [0m[1;33m[QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"[0m[1;33m[0m
[move_group-6] [ERROR] [1654948383.700803599] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: joint_trajectory_controller/follow_joint_trajectory
[move_group-6] [ERROR] [1654948383.700823079] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller joint_trajectory_controller
[ex_follow_target-12] [ERROR] [1654948384.269841985] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[move_group-6] [ERROR] [1654948384.295252366] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: joint_trajectory_controller/follow_joint_trajectory
[move_group-6] [ERROR] [1654948384.295285476] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller joint_trajectory_controller
[ex_follow_target-12] [ERROR] [1654948384.871218478] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[move_group-6] [ERROR] [1654948386.360263830] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: joint_trajectory_controller/follow_joint_trajectory[ign gazebo-1] [ERROR] [1654948359.379236118] [gripper_trajectory_controller]: using 'effort' command interface alone is not yet implemented yet.
This is the problem. Your version of ros2_controllers does not support effort-only command interface. There is more information about this in README.md
splitterfaenger
commented
2 years ago I did build the linked AndrejOrsula/ros2_controllers:jtc_effort as stated in the Readme.md. So should I clone and build the main branch of this repo ros-controls/ros2_controllers or this AndrejOrsula/ros2_controllers ?
AndrejOrsula
commented
2 years ago I have only tested jtc_effort branch of AndrejOrsula/ros2_controllers for this purpose, but you can try your luck with some branch of ros-controls/ros2_controllers as long as it implements effort-only control interface (you can look through PRs to see for yourself which branch to use).
AndrejOrsula
commented
2 years ago Closed due to inactivity. Feel free to reopen this issue if you still experience the same problem after following new instructions.
Hello,
first of all. Thank you for creating this repo and these examples. They are exactly what I am looking for.
Current system: Ubuntu 20.04, Galactic (binary install), MoveIt2 (binary install), IGN Fortress (binary install), ros_ign (built from source), ign_ros2_control(built from source, galactic branch), ros2_controller:jtc_effort (built from source).
All dependencies were installed through rosdep.
I tried this launch command:
ros2 launch ign_moveit2_examples ex_cpp_follow_target.launch.pyand got the following errors through the terminal output:What I have tried:
At the moment I am out of Ideas.
The complete terminal output can be seen below:
Sorry for the long block of terminal output. I tried to put it in a toggle switch. That made the output unreadable though