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IFRA-Cranfield / ros2_RobotSimulation

ROS2.0 Foxy and Humble repositories which provide ready-to-use ROS2.0 Gazebo + MoveIt!2 simulation packages for different Industrial and Collaborative Robots.
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Different Launch error for ROS2 Foxy and Humble #11

Closed ghost closed 1 year ago

ghost commented 1 year ago

Hey, I have installed simulator on two platform;

  1. Ubuntu 22.04, ROS Humble, Laptop
  2. Ubuntu 20.04, ROS Foxy, Nvidia Orin(Jetpack)

But after I have installed varied on ROS version, the output is so different. I executed this commands on terminal; ros2 launch ur5_ros2_moveit2 ur5.launch.py For case of No.1, 

[INFO] [launch]: All log files can be found below /home/lenin/.ros/log/2023-06-09-21-29-36-419372-lenin-W65-W67RC-27702
[INFO] [launch]: Default logging verbosity is set to INFO

 --- Cranfield University --- 
        (c) IFRA Group        

ros2_RobotSimulation --> UR5 ROBOT
Launch file -> ur5.launch.py

Robot configuration:

- Cell layout:
     + Option N1: UR5 ROBOT alone.
     + Option N2: UR5 ROBOT on top of a pedestal.
  Please select: 1

- End-effector:
     + No EE variants for this robot.

[INFO] [gzserver-1]: process started with pid [27703]
[INFO] [gzclient-2]: process started with pid [27705]
[INFO] [spawn_entity.py-3]: process started with pid [27707]
[INFO] [static_transform_publisher-4]: process started with pid [27709]
[INFO] [robot_state_publisher-5]: process started with pid [27712]
[static_transform_publisher-4] [WARN] [1686338980.950500225] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1686338980.957832884] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-4] from 'world' to 'base_link'
[robot_state_publisher-5] [INFO] [1686338980.975508549] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1686338980.977719827] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1686338980.978309998] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1686338980.978764599] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1686338980.979177780] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1686338980.979576635] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1686338980.979966993] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1686338980.980361644] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1686338980.980752762] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1686338980.981172275] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1686338980.981580547] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1686338980.981982631] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-3] [INFO] [1686338981.491150274] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1686338981.491656892] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1686338981.493562367] [spawn_entity]: Waiting for entity xml on robot_description
[gzserver-1] [WARN] [1686338982.089508155] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1686338982.089690224] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[gzserver-1] [INFO] [1686338982.093657620] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1686338982.094160435] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]

And it shows no model and MoveIt when I opened as follows. 1

But when I have opened it on No.2, it works well.

[INFO] [launch]: All log files can be found below /home/orinthree/.ros/log/2023-06-09-21-38-05-229216-orinthree-27919
[INFO] [launch]: Default logging verbosity is set to INFO

 --- Cranfield University --- 
        (c) IFRA Group        

ros2_RobotSimulation --> UR5 ROBOT
Launch file -> ur5.launch.py

Robot configuration:

- Cell layout:
     + Option N1: UR5 ROBOT alone.
     + Option N2: UR5 ROBOT on top of a pedestal.
  Please select: 1

- End-effector:
     + No EE variants for this robot.

[INFO] [gzserver-1]: process started with pid [27924]
[INFO] [gzclient   -2]: process started with pid [27926]
[INFO] [spawn_entity.py-3]: process started with pid [27929]
[INFO] [static_transform_publisher-4]: process started with pid [27932]
[INFO] [robot_state_publisher-5]: process started with pid [27934]
[INFO] [ros2 run controller_manager spawner.py ur5_controller-6]: process started with pid [27936]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process started with pid [27938]
[static_transform_publisher-4] [INFO] [1686339488.397434057] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'base_link'
[robot_state_publisher-5] Parsing robot urdf xml string.
[robot_state_publisher-5] Link base_link had 2 children
[robot_state_publisher-5] Link base had 0 children
[robot_state_publisher-5] Link base_link_inertia had 1 children
[robot_state_publisher-5] Link shoulder_link had 1 children
[robot_state_publisher-5] Link upper_arm_link had 1 children
[robot_state_publisher-5] Link forearm_link had 1 children
[robot_state_publisher-5] Link wrist_1_link had 1 children
[robot_state_publisher-5] Link wrist_2_link had 1 children
[robot_state_publisher-5] Link wrist_3_link had 1 children
[robot_state_publisher-5] Link flange had 1 children
[robot_state_publisher-5] Link tool0 had 0 children
[robot_state_publisher-5] [INFO] [1686339488.403862838] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1686339488.404050104] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1686339488.404067448] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1686339488.404075000] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1686339488.404081080] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1686339488.404087000] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1686339488.404093464] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1686339488.404099192] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1686339488.404105080] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1686339488.404110905] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1686339488.404116761] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1686339488.404122393] [robot_state_publisher]: got segment wrist_3_link
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339489.228734395] [spawner_ur5_controller]: Waiting for /controller_manager services
[spawn_entity.py-3] [INFO] [1686339489.259788172] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1686339489.260322162] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] [INFO] [1686339489.270412618] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1686339489.277137530] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1686339489.277572447] [spawn_entity]: Waiting for service /spawn_entity
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339489.288432608] [spawner_joint_state_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339491.243151724] [spawner_ur5_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339491.299418184] [spawner_joint_state_controller]: Waiting for /controller_manager services
[gzserver-1] [WARN] [1686339492.267336618] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1686339492.267681646] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[spawn_entity.py-3] [INFO] [1686339492.304992649] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1686339492.305471791] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1686339492.310066950] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
[spawn_entity.py-3] [INFO] [1686339492.763468011] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5]
[gzserver-1] [INFO] [1686339492.839093165] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1686339492.865682185] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1686339492.865786282] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1686339492.865894219] [gazebo_ros2_control]: Loading parameter files /home/orinthree/ros2_ws/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml
[gzserver-1] [INFO] [1686339492.882249613] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1686339492.883785344] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-1] [INFO] [1686339492.919537832] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-1] [INFO] [1686339492.919661449] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.919692874] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.919743146] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.919763883] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.919794827] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.919811883] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.919853164] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.919876588] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-1] [INFO] [1686339492.919891692] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.919904012] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.919915341] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.919926829] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.919938925] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.919949709] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.919960237] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.919972941] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-1] [INFO] [1686339492.919984205] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.919994157] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920004014] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920013294] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.920025070] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.920035118] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920044878] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920057486] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-1] [INFO] [1686339492.920068398] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.920078254] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920087599] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920097231] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.920106703] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.920115311] [gazebo_ros2_control]:        position
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 27929]
[gzserver-1] [INFO] [1686339492.920123695] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920135343] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-1] [INFO] [1686339492.920144847] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.920153455] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920162479] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920172112] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.920181168] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.920189296] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920198768] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920210384] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-1] [INFO] [1686339492.920219952] [gazebo_ros2_control]:   State:
[gzserver-1] [INFO] [1686339492.920228624] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920297649] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920311729] [gazebo_ros2_control]:        effort
[gzserver-1] [INFO] [1686339492.920321201] [gazebo_ros2_control]:   Command:
[gzserver-1] [INFO] [1686339492.920329649] [gazebo_ros2_control]:        position
[gzserver-1] [INFO] [1686339492.920338450] [gazebo_ros2_control]:        velocity
[gzserver-1] [INFO] [1686339492.920637237] [gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [WARN] [1686339493.013045470] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1686339493.013302017] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-1] [INFO] [1686339493.081955568] [controller_manager]: Loading controller 'ur5_controller'
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339493.122702931] [spawner_ur5_controller]: Loaded ur5_controller
[gzserver-1] [INFO] [1686339493.205017796] [controller_manager]: Configuring controller 'ur5_controller'
[gzserver-1] [INFO] [1686339493.205439561] [ur5_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[gzserver-1] [INFO] [1686339493.207606723] [ur5_controller]: Controller state will be published at 100.00 Hz.
[gzserver-1] [INFO] [1686339493.211156493] [ur5_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-1] [INFO] [1686339493.218478468] [controller_manager]: Loading controller 'joint_state_controller'
[gzserver-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class joint_state_broadcaster::JointStateBroadcaster. 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.
[gzserver-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339493.245159137] [spawner_joint_state_controller]: Loaded joint_state_controller
[gzserver-1] [INFO] [1686339493.265070253] [controller_manager]: Configuring controller 'joint_state_controller'
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339493.267584299] [spawner_ur5_controller]: Configured and started ur5_controller
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339493.375685326] [spawner_joint_state_controller]: Configured and started joint_state_controller
[INFO] [ros2 run controller_manager spawner.py ur5_controller-6]: process has finished cleanly [pid 27936]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process has finished cleanly [pid 27938]
[INFO] [rviz2-8]: process started with pid [28267]
[INFO] [move_group-9]: process started with pid [28269]
[move_group-9] [WARN] [1686339498.235535459] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-9] [WARN] [1686339498.235669477] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-9] Parsing robot urdf xml string.
[move_group-9] Warning: Link 'ur_base' is not known to URDF. Cannot disable collisons.
[move_group-9]          at line 555 in /tmp/binarydeb/ros-foxy-srdfdom-2.0.2/src/model.cpp
[move_group-9] [INFO] [1686339498.242696984] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00186412 seconds
[move_group-9] [INFO] [1686339498.242763033] [moveit_robot_model.robot_model]: Loading robot model 'ur5'...
[move_group-9] [WARN] [1686339498.242778617] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world'
[move_group-9] [INFO] [1686339498.242784569] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-9] Link base_link had 2 children
[move_group-9] Link base had 0 children
[move_group-9] Link base_link_inertia had 1 children
[move_group-9] Link shoulder_link had 1 children
[move_group-9] Link upper_arm_link had 1 children
[move_group-9] Link forearm_link had 1 children
[move_group-9] Link wrist_1_link had 1 children
[move_group-9] Link wrist_2_link had 1 children
[move_group-9] Link wrist_3_link had 1 children
[move_group-9] Link flange had 1 children
[move_group-9] Link tool0 had 0 children
[move_group-9] [INFO] [1686339498.288838684] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1686339498.289154271] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1686339498.290016425] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1686339498.290660177] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1686339498.290696114] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1686339498.291037622] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-9] [INFO] [1686339498.291060726] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1686339498.292987373] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1686339498.293572660] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1686339498.293666741] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1686339498.293726069] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-9] [INFO] [1686339498.297592867] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-9] [INFO] [1686339498.336098508] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1686339498.341709838] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1686339498.341760623] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1686339498.341768687] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1686339498.341801648] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1686339498.341826864] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-9] [INFO] [1686339498.341835696] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1686339498.341865552] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1686339498.341875376] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-9] [INFO] [1686339498.341898897] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1686339498.341917489] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1686339498.341942033] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-9] [INFO] [1686339498.342023282] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1686339498.342030930] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1686339498.342034866] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1686339498.342038802] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1686339498.372858112] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for ur5_controller
[move_group-9] [INFO] [1686339498.373158563] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1686339498.373977709] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1686339498.374016654] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-9] [INFO] [1686339498.395589517] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1686339498.395698351] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-9] [INFO] [1686339498.395715535] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[rviz2-8] [INFO] [1686339499.227902202] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1686339499.228291999] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-8] [INFO] [1686339499.321017450] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] 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.
[rviz2-8]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-8] [ERROR] [1686339502.513275800] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [ERROR] [1686339502.564083122] [rviz2]: PluginlibFactory: The plugin for class 'rviz_common/Time' failed to load. Error: According to the loaded plugin descriptions the class rviz_common/Time with base class type rviz_common::Panel does not exist. Declared types are 
[rviz2-8] Parsing robot urdf xml string.
[rviz2-8] Warning: Link 'ur_base' is not known to URDF. Cannot disable collisons.
[rviz2-8]          at line 555 in /tmp/binarydeb/ros-foxy-srdfdom-2.0.2/src/model.cpp
[rviz2-8] [INFO] [1686339502.670378397] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00537856 seconds
[rviz2-8] [INFO] [1686339502.670485214] [moveit_robot_model.robot_model]: Loading robot model 'ur5'...
[rviz2-8] [WARN] [1686339502.670514047] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world'
[rviz2-8] [INFO] [1686339502.670522495] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-8] Link base_link had 2 children
[rviz2-8] Link base had 0 children
[rviz2-8] Link base_link_inertia had 1 children
[rviz2-8] Link shoulder_link had 1 children
[rviz2-8] Link upper_arm_link had 1 children
[rviz2-8] Link forearm_link had 1 children
[rviz2-8] Link wrist_1_link had 1 children
[rviz2-8] Link wrist_2_link had 1 children
[rviz2-8] Link wrist_3_link had 1 children
[rviz2-8] Link flange had 1 children
[rviz2-8] Link tool0 had 0 children
[rviz2-8] [INFO] [1686339502.752748621] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-8] [INFO] [1686339502.754275551] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-8] [INFO] [1686339503.404804923] [interactive_marker_display_187650357784912]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-8] Link base_link had 2 children
[rviz2-8] Link base had 0 children
[rviz2-8] Link base_link_inertia had 1 children
[rviz2-8] Link shoulder_link had 1 children
[rviz2-8] Link upper_arm_link had 1 children
[rviz2-8] Link forearm_link had 1 children
[rviz2-8] Link wrist_1_link had 1 children
[rviz2-8] Link wrist_2_link had 1 children
[rviz2-8] Link wrist_3_link had 1 children
[rviz2-8] Link flange had 1 children
[rviz2-8] Link tool0 had 0 children
[rviz2-8] [INFO] [1686339503.426917441] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.426976162] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur5_arm' in namespace ''
[rviz2-8] [WARN] [1686339503.427132036] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-8] [INFO] [1686339503.444538610] [interactive_marker_display_187650357784912]: Sending request for interactive markers
[rviz2-8] [INFO] [1686339503.457525612] [move_group_interface]: Ready to take commands for planning group ur5_arm.
[rviz2-8] [INFO] [1686339503.457629517] [move_group_interface]: Looking around: no
[rviz2-8] [INFO] [1686339503.457657709] [move_group_interface]: Replanning: no
[rviz2-8] [INFO] [1686339503.459681157] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.459845095] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.476616462] [interactive_marker_display_187650357784912]: Service response received for initialization
[rviz2-8] [INFO] [1686339503.486566660] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 25 grp: ur5_arm
[rviz2-8] [INFO] [1686339503.486866439] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm
[rviz2-8] [INFO] [1686339503.486883976] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BFMTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487013641] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BKPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487032041] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BiESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487044233] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BiTRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487052266] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[ESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487058122] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[FMTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487064202] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[KPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487069898] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LBKPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487154027] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LBTRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487161739] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LazyPRMkConfigDefault]
[rviz2-8] [INFO] [1686339503.487166955] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LazyPRMstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487172395] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PDSTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487177611] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PRMkConfigDefault]
[rviz2-8] [INFO] [1686339503.487182731] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PRMstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487188427] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[ProjESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487193547] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTConnectkConfigDefault]
[rviz2-8] [INFO] [1686339503.487198315] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487203659] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487208651] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SBLkConfigDefault]
[rviz2-8] [INFO] [1686339503.487213995] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SPARSkConfigDefault]
[rviz2-8] [INFO] [1686339503.487219244] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SPARStwokConfigDefault]
[rviz2-8] [INFO] [1686339503.487223980] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[STRIDEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487229164] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[TRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487234220] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[TrajOptDefault]

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Is this Humble version still not completed yet? I downloaded two repo(foxy, humble) separately though. Please check it and feel free to provide a feedback once you've confirmed. Thanks.

ghost commented 1 year ago

Solved. After re-installation of ROS2 Humble, it works well now.