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ICube-Robotics / iiwa_ros2

ROS2 stack for KUKA iiwa collaborative robots
Apache License 2.0
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No planning library loaded #29

Closed yunqiguhm closed 1 year ago

yunqiguhm commented 1 year ago

Hi,

thank you for sharing this project. I'm trying to do MotionPlanning in Moveit2 by runing 

ros2 launch iiwa_bringup iiwa.launch.py use_planning:=true

but unfortunately it's always showing "no planning library loaded", Screenshot from 2023-01-25 12-10-32 and no planning group can be selected. Screenshot from 2023-01-25 12-10-54 The full log is as following:

yunqi@yunqi-U22:~/iiwa_ros2$ ros2 launch iiwa_bringup iiwa.launch.py use_planning:=true
[INFO] [launch]: All log files can be found below /home/yunqi/.ros/log/2023-01-25-12-01-51-488108-yunqi-U22-18944
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [18951]
[INFO] [move_group-2]: process started with pid [18953]
[INFO] [rviz2-3]: process started with pid [18955]
[INFO] [robot_state_publisher-4]: process started with pid [18957]
[INFO] [spawner-5]: process started with pid [18959]
[INFO] [spawner-6]: process started with pid [18961]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-4] Link iiwa_base had 1 children
[robot_state_publisher-4] Link link_0 had 1 children
[robot_state_publisher-4] Link link_1 had 1 children
[robot_state_publisher-4] Link link_2 had 1 children
[robot_state_publisher-4] Link link_3 had 1 children
[robot_state_publisher-4] Link link_4 had 1 children
[robot_state_publisher-4] Link link_5 had 1 children
[robot_state_publisher-4] Link link_6 had 1 children
[robot_state_publisher-4] Link link_7 had 1 children
[robot_state_publisher-4] Link tool0 had 0 children
[robot_state_publisher-4] [INFO] [1674644512.620577161] [robot_state_publisher]: got segment iiwa_base
[robot_state_publisher-4] [INFO] [1674644512.620705667] [robot_state_publisher]: got segment link_0
[robot_state_publisher-4] [INFO] [1674644512.620719268] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1674644512.620728257] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1674644512.620739834] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1674644512.620748520] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1674644512.620756904] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1674644512.620768081] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1674644512.620778617] [robot_state_publisher]: got segment link_7
[robot_state_publisher-4] [INFO] [1674644512.620787786] [robot_state_publisher]: got segment tool0
[robot_state_publisher-4] [INFO] [1674644512.620800289] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1674644512.654575055] [resource_manager]: Loading hardware 'iiwaRobot' 
[ros2_control_node-1] [INFO] [1674644512.655286657] [resource_manager]: Initialize hardware 'iiwaRobot' 
[ros2_control_node-1] [INFO] [1674644512.655365945] [resource_manager]: Successful initialization of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1674644512.655458305] [resource_manager]: 'configure' hardware 'iiwaRobot' 
[ros2_control_node-1] [INFO] [1674644512.655469598] [resource_manager]: Successful 'configure' of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1674644512.655488874] [resource_manager]: 'activate' hardware 'iiwaRobot' 
[ros2_control_node-1] [INFO] [1674644512.655497582] [resource_manager]: Successful 'activate' of hardware 'iiwaRobot'
[ros2_control_node-1] [INFO] [1674644512.661855970] [controller_manager]: update rate is 225 Hz
[ros2_control_node-1] [INFO] [1674644512.662043595] [controller_manager]: RT kernel is recommended for better performance
[move_group-2] [INFO] [1674644512.726727245] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00366482 seconds
[move_group-2] [INFO] [1674644512.727687349] [moveit_robot_model.robot_model]: Loading robot model 'iiwa'...
[move_group-2] [WARN] [1674644512.727716782] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'iiwa_base' does not match the URDF frame 'world'
[move_group-2] [INFO] [1674644512.727725597] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-1] [INFO] [1674644512.808200866] [controller_manager]: Loading controller 'ets_state_broadcaster'
[spawner-6] [INFO] [1674644512.834439521] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1674644512.839734285] [spawner_ets_state_broadcaster]: Loaded ets_state_broadcaster
[ros2_control_node-1] [INFO] [1674644512.841032044] [controller_manager]: Configuring controller 'ets_state_broadcaster'
[spawner-5] [INFO] [1674644512.850290038] [spawner_ets_state_broadcaster]: Configured and activated ets_state_broadcaster
[INFO] [spawner-5]: process has finished cleanly [pid 18959]
[rviz2-3] [INFO] [1674644512.995365263] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1674644512.995627989] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1674644513.017440547] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1674644513.040474293] [controller_manager]: Loading controller 'joint_state_broadcaster'
[move_group-2] Link iiwa_base had 1 children
[move_group-2] Link link_0 had 1 children
[move_group-2] Link link_1 had 1 children
[move_group-2] Link link_2 had 1 children
[move_group-2] Link link_3 had 1 children
[move_group-2] Link link_4 had 1 children
[move_group-2] Link link_5 had 1 children
[move_group-2] Link link_6 had 1 children
[move_group-2] Link link_7 had 1 children
[move_group-2] Link tool0 had 0 children
[spawner-6] [INFO] [1674644513.054719212] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1674644513.056572537] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1674644513.056657825] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1674644513.072158542] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 18961]
[INFO] [spawner-7]: process started with pid [19062]
[ros2_control_node-1] [INFO] [1674644513.459231103] [controller_manager]: Loading controller 'iiwa_arm_controller'
[ros2_control_node-1] [INFO] [1674644513.476489652] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[spawner-7] [INFO] [1674644513.503268526] [spawner_iiwa_arm_controller]: Loaded iiwa_arm_controller
[ros2_control_node-1] [INFO] [1674644513.504657100] [controller_manager]: Configuring controller 'iiwa_arm_controller'
[ros2_control_node-1] [INFO] [1674644513.504826897] [iiwa_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1674644513.504878075] [iiwa_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1674644513.504927213] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ros2_control_node-1] [INFO] [1674644513.504940038] [iiwa_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1674644513.505787475] [iiwa_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-1] [INFO] [1674644513.506757796] [iiwa_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1674644513.521453594] [spawner_iiwa_arm_controller]: Configured and activated iiwa_arm_controller
[INFO] [spawner-7]: process has finished cleanly [pid 19062]
[move_group-2] [INFO] [1674644513.802643421] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1674644513.802836190] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1674644513.803586411] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1674644513.803981833] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1674644513.804005847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1674644513.804343707] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1674644513.804362868] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1674644513.804756746] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1674644513.805070791] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1674644513.805932857] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1674644513.805954604] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1674644519.046187793] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz'
[move_group-2] [INFO] [1674644519.056607866] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1674644519.070341069] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-2] [INFO] [1674644519.070377523] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-2] [INFO] [1674644519.076712625] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-2] [INFO] [1674644519.076740918] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-2] [INFO] [1674644519.079663093] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-2] [INFO] [1674644519.079683703] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1674644519.082457322] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-2] [INFO] [1674644519.082499066] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-2] [INFO] [1674644519.089049036] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-2] [INFO] [1674644519.138394940] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [INFO] [1674644519.147526471] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1674644519.147560965] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1674644519.147568894] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1674644519.147608122] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1674644519.147697044] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-2] [INFO] [1674644519.147728071] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1674644519.147748971] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1674644519.147773298] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-2] [INFO] [1674644519.147779515] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1674644519.147791203] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1674644519.147796166] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1674644519.147800001] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1674644519.147803605] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1674644519.147807017] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-2] [INFO] [1674644519.174520042] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for iiwa_arm_controller
[move_group-2] [INFO] [1674644519.174632617] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1674644519.174651289] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1674644519.175073648] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1674644519.175091979] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1674644519.206513100] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
[move_group-2] [INFO] [1674644519.208765746] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [WARN] [1674644519.208873643] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209023224] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209070013] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209112695] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209156505] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209201516] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209247463] [move_group]: Failed loading deceleration limits
[move_group-2] [INFO] [1674644519.209349173] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [WARN] [1674644519.209388380] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209436427] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209477221] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209520474] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209562256] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209603725] [move_group]: Failed loading deceleration limits
[move_group-2] [WARN] [1674644519.209647292] [move_group]: Failed loading deceleration limits
[move_group-2] [INFO] [1674644519.210547062] [move_group.move_group]: 
[move_group-2] 
[move_group-2] ********************************************************
[move_group-2] * MoveGroup using: 
[move_group-2] *     - ApplyPlanningSceneService
[move_group-2] *     - ClearOctomapService
[move_group-2] *     - CartesianPathService
[move_group-2] *     - ExecuteTrajectoryAction
[move_group-2] *     - GetPlanningSceneService
[move_group-2] *     - KinematicsService
[move_group-2] *     - MoveAction
[move_group-2] *     - MotionPlanService
[move_group-2] *     - QueryPlannersService
[move_group-2] *     - StateValidationService
[move_group-2] *     - SequenceAction
[move_group-2] *     - SequenceService
[move_group-2] ********************************************************
[move_group-2] 
[move_group-2] [INFO] [1674644519.210641974] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-2] [INFO] [1674644519.210657839] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-2] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-2] Loading 'move_group/ClearOctomapService'...
[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-2] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-2] Loading 'move_group/MoveGroupMoveAction'...
[move_group-2] Loading 'move_group/MoveGroupPlanService'...
[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-2] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-2] 
[move_group-2] You can start planning now!
[move_group-2] 
[rviz2-3] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred 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.
[rviz2-3]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-3] [ERROR] [1674644538.417972056] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] [INFO] [1674644538.453665242] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-3] [INFO] [1674644538.484306168] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00432143 seconds
[rviz2-3] [INFO] [1674644538.484357983] [moveit_robot_model.robot_model]: Loading robot model 'iiwa'...
[rviz2-3] [WARN] [1674644538.484374787] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'iiwa_base' does not match the URDF frame 'world'
[rviz2-3] [INFO] [1674644538.484385317] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-3] [ERROR] [1674644538.748258255] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.joint_a1.max_velocity' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.joint_a1.max_velocity} is of type {double}, setting it to {string} is not allowed.

May I ask how can i fix this problem?

Thanks!

Yunqi

mcbed commented 1 year ago

Hi @yunqiguhm, the last line of your log suggests that you have an issue with your UTF8 settings for ROS2 as it has an issue with . and , for double values. Try to do that.

yunqiguhm commented 1 year ago

Hi @mcbed ,

thanks for replying! It works now!