Closed YumTaha closed 4 days ago
lukeschmitt-tr
commented
1 month ago [xs_sdk-8] *** stack smashing detected ***: terminated
We sometimes see this issue when there are multiple xs_sdk nodes being launched simultaneously or some other issue related to port ownership. Please ensure that you are only loaded a single xs_sdk node at a time. Note that the xsarm_moveit launch file already launches the node for you so you do not have to launch it yourself in another terminal.
YumTaha
commented
1 month ago I usually run my commands directly in the terminal because I'm still learning how to use the robot. Currently, when I execute a command, it connects to the robot but only executes the first plan. Subsequent attempts to execute other plans fail.
moveit_interface-1] [INFO] [1726232345.129946999] [move_group_interface]: Planning request complete!
[moveit_interface-1] [INFO] [1726232345.230586705] [move_group_interface]: time taken to generate plan: 3.02074 seconds
[moveit_interface-1] [INFO] [1726232345.234172376] [interbotix_moveit_node]: Plan success: 1
[moveit_interface_gui-2] [INFO] [1726232345.257625620] [moveit_interface_gui]: Planning EE position was successful!
[move_group-3] [INFO] [1726232348.560617978] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1726232348.561425743] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1726232348.561641170] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726232348.562040784] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[moveit_interface-1] [INFO] [1726232348.764842898] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1726232349.562443561] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1726232349.562592062] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1726232349.562719340] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[moveit_interface-1] [INFO] [1726232349.873638922] [move_group_interface]: Execute request aborted
[moveit_interface-1] [ERROR] [1726232349.974110983] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[moveit_interface_gui-2] [INFO] [1726232349.984315609] [moveit_interface_gui]: Execution was not successful.Please provide the full logs. You may also try setting the xs_driver_logging_level launch arg to DEBUG to get more information out of the xs_sdk and xs_driver.
YumTaha
commented
1 month ago Here is the complete log from two attempts using the standard log settings. The third log has XS logging configured to DEBUG mode.
1st LOG
pibot@pibot:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch.py robot_model:=vx300
[INFO] [launch]: All log files can be found below /home/pibot/.ros/log/2024-09-13-11-38-54-731877-pibot-5020
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_interface-1]: process started with pid [5029]
[INFO] [moveit_interface_gui-2]: process started with pid [5031]
[INFO] [move_group-3]: process started with pid [5033]
[INFO] [rviz2-4]: process started with pid [5035]
[INFO] [ros2_control_node-5]: process started with pid [5037]
[INFO] [spawner-6]: process started with pid [5039]
[INFO] [spawner-7]: process started with pid [5041]
[INFO] [xs_sdk-8]: process started with pid [5043]
[INFO] [robot_state_publisher-9]: process started with pid [5045]
[xs_sdk-8] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-8] [INFO] Using logging level 'INFO'.
[xs_sdk-8] [INFO] Loaded mode configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_moveit_interface/share/interbotix_xsarm_moveit_interface/config/modes.yaml'.
[xs_sdk-8] [INFO] Loaded motor configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300.yaml'.
[xs_sdk-8] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 7, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 6, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 4, Model: 'XM540-W270', Joint Name: 'elbow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 8, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 1, Model: 'XM540-W270', Joint Name: 'waist'.
[move_group-3] [WARN] [1726241941.429319557] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-3] [WARN] [1726241941.429567388] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-3] [INFO] [1726241941.455688674] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0244237 seconds
[move_group-3] [INFO] [1726241941.456002004] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[move_group-3] [INFO] [1726241941.456096021] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-3] Link vx300/base_link had 1 children
[move_group-3] Link vx300/shoulder_link had 1 children
[move_group-3] Link vx300/upper_arm_link had 1 children
[move_group-3] Link vx300/forearm_link had 1 children
[move_group-3] Link vx300/wrist_link had 1 children
[move_group-3] Link vx300/gripper_link had 1 children
[move_group-3] Link vx300/ee_arm_link had 2 children
[move_group-3] Link vx300/gripper_prop_link had 0 children
[move_group-3] Link vx300/gripper_bar_link had 1 children
[move_group-3] Link vx300/fingers_link had 3 children
[move_group-3] Link vx300/ee_gripper_link had 0 children
[move_group-3] Link vx300/left_finger_link had 0 children
[move_group-3] Link vx300/right_finger_link had 0 children
[xs_sdk-8] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-8] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-8] [INFO] Interbotix X-Series Driver is up!
[move_group-3] [INFO] [1726241942.381023143] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1726241942.381831023] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/vx300/joint_states' for joint states
[move_group-3] [INFO] [1726241942.389103128] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/vx300/joint_states'
[move_group-3] [INFO] [1726241942.409314850] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1726241942.410664872] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1726241942.418634006] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1726241942.418761468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1726241942.428196234] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1726241942.450873114] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1726241942.475521953] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1726241942.475848061] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-3] [INFO] [1726241942.476012281] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[xs_sdk-8] [INFO] [1726241942.559501417] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[ros2_control_node-5] [INFO] [1726241942.561232120] [vx300.xs_hardware_interface]: Joint states received.
[ros2_control_node-5] [INFO] [1726241942.665306917] [vx300.controller_manager]: update rate is 10 Hz
[ros2_control_node-5] [INFO] [1726241942.691230354] [vx300.controller_manager]: RT kernel is recommended for better performance
[move_group-3] [INFO] [1726241942.833287807] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[ros2_control_node-5] [INFO] [1726241942.928982011] [vx300.controller_manager]: Loading controller 'arm_controller'
[move_group-3] [INFO] [1726241943.080653414] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1726241943.122050698] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726241943.122148197] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726241943.122178493] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1726241943.122279325] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1726241943.122365343] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1726241943.122404101] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726241943.122476934] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726241943.122507730] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1726241943.122631210] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1726241943.122710450] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1726241943.122753505] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1726241943.122951170] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1726241943.123001539] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1726241943.123021132] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ros2_control_node-5] [INFO] [1726241943.211025236] [vx300.controller_manager]: Loading controller 'gripper_controller'
[spawner-6] [INFO] [1726241943.373499037] [vx300.arm_controller_spawner]: Loaded arm_controller
[ros2_control_node-5] [INFO] [1726241943.398111155] [vx300.controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-5] [INFO] [1726241943.398526688] [vx300.arm_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726241943.402841547] [vx300.arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1726241943.414456419] [vx300.arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1726241943.615910680] [vx300.gripper_controller_spawner]: Loaded gripper_controller
[ros2_control_node-5] [INFO] [1726241943.697903943] [vx300.controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-5] [INFO] [1726241943.698171977] [vx300.gripper_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726241943.699582165] [vx300.gripper_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1726241943.704300595] [vx300.gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-6] [INFO] [1726241943.710363787] [vx300.arm_controller_spawner]: Configured and started arm_controller
[spawner-7] [INFO] [1726241943.903211643] [vx300.gripper_controller_spawner]: Configured and started gripper_controller
[move_group-3] [INFO] [1726241944.207788674] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/arm_controller
[move_group-3] [INFO] [1726241944.271069051] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/gripper_controller
[move_group-3] [INFO] [1726241944.271869857] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726241944.275979904] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1726241944.276106570] [move_group.move_group]: MoveGroup debug mode is ON
[INFO] [spawner-6]: process has finished cleanly [pid 5039]
[move_group-3] [INFO] [1726241944.569192616] [move_group.move_group]:
[move_group-3]
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using:
[move_group-3] * - ApplyPlanningSceneService
[move_group-3] * - ClearOctomapService
[move_group-3] * - CartesianPathService
[move_group-3] * - ExecuteTrajectoryAction
[move_group-3] * - GetPlanningSceneService
[move_group-3] * - KinematicsService
[move_group-3] * - MoveAction
[move_group-3] * - MotionPlanService
[move_group-3] * - QueryPlannersService
[move_group-3] * - StateValidationService
[move_group-3] ********************************************************
[move_group-3]
[move_group-3] [INFO] [1726241944.569437799] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1726241944.569506594] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3]
[move_group-3] You can start planning now!
[move_group-3]
[INFO] [spawner-7]: process has finished cleanly [pid 5041]
[moveit_interface-1] [INFO] [1726241944.857220311] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.325973 seconds
[moveit_interface-1] [INFO] [1726241944.862928545] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[moveit_interface-1] [INFO] [1726241944.863045895] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_interface-1] [WARN] [1726241945.186371405] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[moveit_interface-1] [INFO] [1726241945.324199311] [move_group_interface]: Ready to take commands for planning group interbotix_arm.
[moveit_interface-1] [INFO] [1726241945.338315841] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[moveit_interface-1] [INFO] [1726241945.406643347] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools waiting 5 seconds for subscriber,
[moveit_interface-1] [WARN] [1726241950.408434666] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools unable to connect to any subscribers within 5 sec. It is possible initially published visual messages will be lost.
[moveit_interface-1] [INFO] [1726241950.408676126] [interbotix_moveit_node]: Reference frame: world
[moveit_interface-1] [INFO] [1726241950.409088529] [interbotix_moveit_node]: End effector link: vx300/ee_gripper_link
[xs_sdk-8] [ERROR] [TxRxResult] Incorrect status packet!
[xs_sdk-8] [ERROR] groupSyncRead getdata failed
[xs_sdk-8] [ERROR] groupSyncRead getdata failed
[xs_sdk-8] [ERROR] groupSyncRead getdata failed
[ERROR] [xs_sdk-8]: process has died [pid 5043, exit code -11, cmd '/home/pibot/interbotix_ws/install/interbotix_xs_sdk/lib/interbotix_xs_sdk/xs_sdk --ros-args -r __node:=xs_sdk -r __ns:=/vx300 --params-file /tmp/launch_params_awfmyeoe'].
[moveit_interface_gui-2] [INFO] [1726241971.212584060] [moveit_interface_gui]: Desired end-effector pose: x[m]: 0.11, y[m]: 0.20, z[m] 0.08, roll[rad]: 0.00, pitch[rad]: 0.00, yaw[rad]: 0.00.
[moveit_interface-1] [INFO] [1726241971.214315393] [interbotix_moveit_node]: Target: x, y, z: 0.109500, 0.199500, 0.081450
[moveit_interface-1] [INFO] [1726241971.214880646] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1726241971.217338211] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1726241971.218192628] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[moveit_interface-1] [INFO] [1726241971.521793585] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1726241972.218780524] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1726241972.219095521] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-3] [INFO] [1726241972.219614126] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1726241972.220198027] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'waist'). Assuming within bounds.
[move_group-3] [WARN] [1726241972.220419932] [moveit_ros.fix_start_state_bounds]: Joint 'shoulder' from the starting state is outside bounds by a significant margin: [-3.14159 ] should be in the range [-1.85005 ], [1.25664 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.100000)
[move_group-3] [WARN] [1726241972.220576579] [moveit_ros.fix_start_state_bounds]: Joint 'elbow' from the starting state is outside bounds by a significant margin: [-3.14159 ] should be in the range [-1.76278 ], [1.6057 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.100000)
[move_group-3] [WARN] [1726241972.220631134] [moveit_ros.fix_start_state_bounds]: Joint 'wrist_angle' from the starting state is outside bounds by a significant margin: [-3.14159 ] should be in the range [-1.8675 ], [2.23402 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.100000)
[move_group-3] [INFO] [1726241972.220666911] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'wrist_rotate'). Assuming within bounds.
[move_group-3] [INFO] [1726241972.228783080] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'interbotix_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [WARN] [1726241972.230412859] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/base/src/Planner.cpp:257 - interbotix_arm/interbotix_arm: Skipping invalid start state (invalid bounds)
[move_group-3] [ERROR] [1726241972.230656263] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - interbotix_arm/interbotix_arm: Motion planning start tree could not be initialized!
[move_group-3] [WARN] [1726241972.237829110] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/base/goals/src/GoalLazySamples.cpp:129 - Goal sampling thread never did any work.
[move_group-3] [INFO] [1726241972.238287624] [moveit.ompl_planning.model_based_planning_context]: Unable to solve the planning problem
[move_group-3] [INFO] [1726241972.255170622] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[moveit_interface-1] [INFO] [1726241972.529573087] [move_group_interface]: Planning request aborted
[moveit_interface-1] [ERROR] [1726241972.629930551] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[moveit_interface-1] [INFO] [1726241972.630447693] [moveit_visual_tools]: No planning scene passed into moveit_visual_tools, creating one.
[moveit_interface-1] [INFO] [1726241972.630542766] [moveit_visual_tools]: Loading planning scene monitor
[moveit_interface-1] [INFO] [1726241972.901583787] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.270917 seconds
[moveit_interface-1] [INFO] [1726241972.901704064] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[moveit_interface-1] [INFO] [1726241972.901730934] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_interface-1] [WARN] [1726241973.074717057] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[moveit_interface-1] [INFO] [1726241973.487673230] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'planning_scene'
[moveit_interface-1] [INFO] [1726241973.488789329] [moveit_visual_tools]: Publishing planning scene on planning_scene
[moveit_interface-1] [WARN] [1726241973.489203880] [interbotix_moveit_node.rviz_visual_tools]: Skipping path because 0 points passed in.
[moveit_interface-1] [INFO] [1726241973.490182276] [interbotix_moveit_node]: Plan success: 0
[moveit_interface_gui-2] [INFO] [1726241973.500082741] [moveit_interface_gui]: Planning EE position was not successful.2nd LOG
pibot@pibot:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch.py robot_model:=vx300
[INFO] [launch]: All log files can be found below /home/pibot/.ros/log/2024-09-13-11-42-44-733465-pibot-5554
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_interface-1]: process started with pid [5565]
[INFO] [moveit_interface_gui-2]: process started with pid [5567]
[INFO] [move_group-3]: process started with pid [5569]
[INFO] [rviz2-4]: process started with pid [5571]
[INFO] [ros2_control_node-5]: process started with pid [5573]
[INFO] [spawner-6]: process started with pid [5575]
[INFO] [spawner-7]: process started with pid [5577]
[INFO] [xs_sdk-8]: process started with pid [5579]
[INFO] [robot_state_publisher-9]: process started with pid [5581]
[xs_sdk-8] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-8] [INFO] Using logging level 'INFO'.
[xs_sdk-8] [INFO] Loaded mode configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_moveit_interface/share/interbotix_xsarm_moveit_interface/config/modes.yaml'.
[xs_sdk-8] [INFO] Loaded motor configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300.yaml'.
[xs_sdk-8] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 7, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 6, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 4, Model: 'XM540-W270', Joint Name: 'elbow'.
[move_group-3] [WARN] [1726242174.308815832] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-3] [WARN] [1726242174.309143958] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-3] [INFO] [1726242174.345374513] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0347356 seconds
[move_group-3] [INFO] [1726242174.345567066] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[move_group-3] [INFO] [1726242174.345610843] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 8, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 1, Model: 'XM540-W270', Joint Name: 'waist'.
[move_group-3] Link vx300/base_link had 1 children
[move_group-3] Link vx300/shoulder_link had 1 children
[move_group-3] Link vx300/upper_arm_link had 1 children
[move_group-3] Link vx300/forearm_link had 1 children
[move_group-3] Link vx300/wrist_link had 1 children
[move_group-3] Link vx300/gripper_link had 1 children
[move_group-3] Link vx300/ee_arm_link had 2 children
[move_group-3] Link vx300/gripper_prop_link had 0 children
[move_group-3] Link vx300/gripper_bar_link had 1 children
[move_group-3] Link vx300/fingers_link had 3 children
[move_group-3] Link vx300/ee_gripper_link had 0 children
[move_group-3] Link vx300/left_finger_link had 0 children
[move_group-3] Link vx300/right_finger_link had 0 children
[xs_sdk-8] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[spawner-6] [INFO] [1726242175.314562994] [vx300.arm_controller_spawner]: Waiting for '/vx300/controller_manager' services to be available
[move_group-3] [INFO] [1726242175.390492860] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1726242175.392783149] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/vx300/joint_states' for joint states
[move_group-3] [INFO] [1726242175.419244277] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/vx300/joint_states'
[move_group-3] [INFO] [1726242175.429702770] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1726242175.429837361] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1726242175.439837397] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1726242175.439965988] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1726242175.451608560] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1726242175.476279467] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1726242175.483982010] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1726242175.489388671] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-3] [INFO] [1726242175.491672849] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[xs_sdk-8] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-8] [INFO] Interbotix X-Series Driver is up!
[move_group-3] [INFO] [1726242175.804946133] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[ros2_control_node-5] [INFO] [1726242175.907680122] [vx300.xs_hardware_interface]: Joint states received.
[spawner-7] [INFO] [1726242175.944896647] [vx300.gripper_controller_spawner]: Waiting for '/vx300/controller_manager' services to be available
[xs_sdk-8] [INFO] [1726242175.953906768] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[ros2_control_node-5] [INFO] [1726242176.067778836] [vx300.controller_manager]: update rate is 10 Hz
[move_group-3] [INFO] [1726242176.076877826] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[ros2_control_node-5] [INFO] [1726242176.078516993] [vx300.controller_manager]: RT kernel is recommended for better performance
[move_group-3] [INFO] [1726242176.108107196] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726242176.108225380] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726242176.108259843] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1726242176.108359712] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1726242176.108439915] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1726242176.108474636] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726242176.108534932] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726242176.108563265] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1726242176.108649097] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1726242176.108748337] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1726242176.108796170] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1726242176.108938983] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1726242176.108975390] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1726242176.108994834] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ros2_control_node-5] [INFO] [1726242176.335264987] [vx300.controller_manager]: Loading controller 'gripper_controller'
[spawner-7] [INFO] [1726242176.685875015] [vx300.gripper_controller_spawner]: Loaded gripper_controller
[ros2_control_node-5] [INFO] [1726242176.716628391] [vx300.controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-5] [INFO] [1726242176.717086219] [vx300.gripper_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726242176.719189288] [vx300.gripper_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1726242176.735959488] [vx300.gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [INFO] [1726242176.879322538] [vx300.controller_manager]: Loading controller 'arm_controller'
[spawner-6] [INFO] [1726242177.086764903] [vx300.arm_controller_spawner]: Loaded arm_controller
[move_group-3] [INFO] [1726242177.272933341] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/arm_controller
[ros2_control_node-5] [INFO] [1726242177.281262395] [vx300.controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-5] [INFO] [1726242177.281539281] [vx300.arm_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726242177.282881747] [vx300.arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1726242177.287661823] [vx300.arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1726242177.296084821] [vx300.gripper_controller_spawner]: Configured and started gripper_controller
[move_group-3] [INFO] [1726242177.330944483] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/gripper_controller
[move_group-3] [INFO] [1726242177.335016734] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726242177.349478459] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1726242177.353725800] [move_group.move_group]: MoveGroup debug mode is ON
[spawner-6] [INFO] [1726242177.487488162] [vx300.arm_controller_spawner]: Configured and started arm_controller
[move_group-3] [INFO] [1726242177.788337826] [move_group.move_group]:
[move_group-3]
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using:
[move_group-3] * - ApplyPlanningSceneService
[move_group-3] * - ClearOctomapService
[move_group-3] * - CartesianPathService
[move_group-3] * - ExecuteTrajectoryAction
[move_group-3] * - GetPlanningSceneService
[move_group-3] * - KinematicsService
[move_group-3] * - MoveAction
[move_group-3] * - MotionPlanService
[move_group-3] * - QueryPlannersService
[move_group-3] * - StateValidationService
[move_group-3] ********************************************************
[move_group-3]
[move_group-3] [INFO] [1726242177.802756886] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1726242177.802837144] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3]
[move_group-3] You can start planning now!
[move_group-3]
[INFO] [spawner-7]: process has finished cleanly [pid 5577]
[moveit_interface-1] [INFO] [1726242178.035804999] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.376105 seconds
[moveit_interface-1] [INFO] [1726242178.036105736] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[moveit_interface-1] [INFO] [1726242178.036177698] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[INFO] [spawner-6]: process has finished cleanly [pid 5575]
[moveit_interface-1] [WARN] [1726242178.384364735] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[moveit_interface-1] [INFO] [1726242178.512092054] [move_group_interface]: Ready to take commands for planning group interbotix_arm.
[moveit_interface-1] [INFO] [1726242178.520955769] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[moveit_interface-1] [INFO] [1726242178.691258570] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools waiting 5 seconds for subscriber,
[moveit_interface-1] [WARN] [1726242183.695305429] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools unable to connect to any subscribers within 5 sec. It is possible initially published visual messages will be lost.
[moveit_interface-1] [INFO] [1726242183.695555982] [interbotix_moveit_node]: Reference frame: world
[moveit_interface-1] [INFO] [1726242183.695890348] [interbotix_moveit_node]: End effector link: vx300/ee_gripper_link
[moveit_interface_gui-2] [INFO] [1726242208.873139813] [moveit_interface_gui]: Desired end-effector pose: x[m]: 0.15, y[m]: 0.15, z[m] 0.28, roll[rad]: 0.00, pitch[rad]: 0.00, yaw[rad]: 0.00.
[moveit_interface-1] [INFO] [1726242208.874653462] [interbotix_moveit_node]: Target: x, y, z: 0.154500, 0.148950, 0.283650
[moveit_interface-1] [INFO] [1726242208.875362491] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1726242208.878940284] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1726242208.880212585] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-3] [INFO] [1726242208.893621452] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1726242208.897900218] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-3] [INFO] [1726242208.920230336] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'interbotix_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[moveit_interface-1] [INFO] [1726242209.186296977] [move_group_interface]: Planning request accepted
[move_group-3] [ERROR] [1726242213.925906570] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:253 - interbotix_arm/interbotix_arm: Unable to sample any valid states for goal tree
[move_group-3] [INFO] [1726242213.934282513] [moveit.ompl_planning.model_based_planning_context]: Unable to solve the planning problem
[move_group-3] [INFO] [1726242213.934578417] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[moveit_interface-1] [INFO] [1726242214.231738502] [move_group_interface]: Planning request aborted
[moveit_interface-1] [ERROR] [1726242214.332740601] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[moveit_interface-1] [INFO] [1726242214.334112326] [moveit_visual_tools]: No planning scene passed into moveit_visual_tools, creating one.
[moveit_interface-1] [INFO] [1726242214.334199121] [moveit_visual_tools]: Loading planning scene monitor
[moveit_interface-1] [INFO] [1726242214.616732075] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.282257 seconds
[moveit_interface-1] [INFO] [1726242214.627774913] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[moveit_interface-1] [INFO] [1726242214.627936578] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_interface-1] [WARN] [1726242214.877336018] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[moveit_interface-1] [INFO] [1726242215.265106633] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'planning_scene'
[moveit_interface-1] [INFO] [1726242215.266103381] [moveit_visual_tools]: Publishing planning scene on planning_scene
[moveit_interface-1] [WARN] [1726242215.266365341] [interbotix_moveit_node.rviz_visual_tools]: Skipping path because 0 points passed in.
[moveit_interface-1] [INFO] [1726242215.266833466] [interbotix_moveit_node]: Plan success: 0
[moveit_interface_gui-2] [INFO] [1726242215.277354884] [moveit_interface_gui]: Planning EE position was not successful.
[moveit_interface_gui-2] [INFO] [1726242217.803030214] [moveit_interface_gui]: Desired end-effector pose: x[m]: 0.15, y[m]: 0.15, z[m] 0.28, roll[rad]: 0.00, pitch[rad]: 0.00, yaw[rad]: 0.00.
[moveit_interface-1] [INFO] [1726242217.806480268] [interbotix_moveit_node]: Target: x, y, z: 0.154500, 0.148950, 0.283650
[moveit_interface-1] [INFO] [1726242217.807113816] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1726242217.808085083] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1726242217.808624225] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-3] [INFO] [1726242217.818035193] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1726242217.818482113] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-3] [INFO] [1726242217.822927211] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'interbotix_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[moveit_interface-1] [INFO] [1726242218.015502274] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1726242222.409582576] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-3] [INFO] [1726242222.419426798] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[moveit_interface-1] [INFO] [1726242222.666177840] [move_group_interface]: Planning request complete!
[moveit_interface-1] [INFO] [1726242222.767121698] [move_group_interface]: time taken to generate plan: 4.54951 seconds
[moveit_interface-1] [INFO] [1726242222.784179950] [interbotix_moveit_node]: Plan success: 1
[moveit_interface_gui-2] [INFO] [1726242222.794837866] [moveit_interface_gui]: Planning EE position was successful!
[move_group-3] [INFO] [1726242224.861358543] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1726242224.862193515] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1726242224.862344680] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726242224.862970673] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-3] [INFO] [1726242224.874616764] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-3] [INFO] [1726242224.874874909] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726242224.876564260] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to /vx300/arm_controller
[move_group-3] [INFO] [1726242224.882639265] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: /vx300/arm_controller started execution
[move_group-3] [INFO] [1726242224.882766634] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-5] [INFO] [1726242224.881246818] [vx300.arm_controller]: Received new action goal
[ros2_control_node-5] [INFO] [1726242224.881623407] [vx300.arm_controller]: Accepted new action goal
[moveit_interface-1] [INFO] [1726242225.167523024] [move_group_interface]: Execute request accepted
[ros2_control_node-5] [INFO] [1726242228.578912367] [vx300.arm_controller]: Goal reached, success!
[move_group-3] [INFO] [1726242228.583682868] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller '/vx300/arm_controller' successfully finished
[move_group-3] [INFO] [1726242228.607222658] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-3] [INFO] [1726242228.607615042] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[moveit_interface-1] [INFO] [1726242228.917273723] [move_group_interface]: Execute request success!
[moveit_interface_gui-2] [INFO] [1726242229.030783994] [moveit_interface_gui]: Execution was successful!
[ERROR] [xs_sdk-8]: process has died [pid 5579, exit code -11, cmd '/home/pibot/interbotix_ws/install/interbotix_xs_sdk/lib/interbotix_xs_sdk/xs_sdk --ros-args -r __node:=xs_sdk -r __ns:=/vx300 --params-file /tmp/launch_params_d2akh74i'].
[moveit_interface_gui-2] [INFO] [1726242235.995612820] [moveit_interface_gui]: Desired end-effector pose: x[m]: 0.32, y[m]: 0.23, z[m] 0.28, roll[rad]: 0.00, pitch[rad]: 0.00, yaw[rad]: 0.00.
[moveit_interface-1] [INFO] [1726242235.997162173] [interbotix_moveit_node]: Target: x, y, z: 0.323100, 0.227550, 0.283650
[moveit_interface-1] [INFO] [1726242235.997845943] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1726242236.000302119] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1726242236.001151758] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[moveit_interface-1] [INFO] [1726242236.303909589] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1726242237.002927433] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1726242237.003036173] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-3] [INFO] [1726242237.003172190] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1726242237.004616840] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'interbotix_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [ERROR] [1726242242.010357928] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:253 - interbotix_arm/interbotix_arm: Unable to sample any valid states for goal tree
[move_group-3] [INFO] [1726242242.015756903] [moveit.ompl_planning.model_based_planning_context]: Unable to solve the planning problem
[move_group-3] [INFO] [1726242242.015952290] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[moveit_interface-1] [INFO] [1726242242.261490083] [move_group_interface]: Planning request aborted
[moveit_interface-1] [ERROR] [1726242242.362642919] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[moveit_interface-1] [INFO] [1726242242.384823445] [interbotix_moveit_node]: Plan success: 0
[moveit_interface_gui-2] [INFO] [1726242242.396129873] [moveit_interface_gui]: Planning EE position was not successful.
3rd LOG
pibot@pibot:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch.py robot_model:=vx300 xs_driver_logging_level:=DEBUG
[INFO] [launch]: All log files can be found below /home/pibot/.ros/log/2024-09-13-11-51-42-160251-pibot-6258
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_interface-1]: process started with pid [6489]
[INFO] [moveit_interface_gui-2]: process started with pid [6491]
[INFO] [move_group-3]: process started with pid [6493]
[INFO] [rviz2-4]: process started with pid [6495]
[INFO] [ros2_control_node-5]: process started with pid [6499]
[INFO] [spawner-6]: process started with pid [6501]
[INFO] [spawner-7]: process started with pid [6503]
[INFO] [xs_sdk-8]: process started with pid [6506]
[INFO] [robot_state_publisher-9]: process started with pid [6509]
[xs_sdk-8] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-8] [DEBUG] Set logging level to 0.
[xs_sdk-8] [INFO] Using logging level 'DEBUG'.
[xs_sdk-8] [INFO] Loaded mode configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_moveit_interface/share/interbotix_xsarm_moveit_interface/config/modes.yaml'.
[xs_sdk-8] [INFO] Loaded motor configs from '/home/pibot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300.yaml'.
[xs_sdk-8] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 7, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 6, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 4, Model: 'XM540-W270', Joint Name: 'elbow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 8, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[xs_sdk-8] [INFO] Found DYNAMIXEL ID: 1, Model: 'XM540-W270', Joint Name: 'waist'.
[move_group-3] [WARN] [1726242712.081319912] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-3] [WARN] [1726242712.081559405] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-3] [INFO] [1726242712.112447932] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.029114 seconds
[move_group-3] [INFO] [1726242712.112899400] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[move_group-3] [INFO] [1726242712.113031563] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[xs_sdk-8] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-8] [DEBUG] ID: 1, torqued off.
[xs_sdk-8] [DEBUG] ID: 1, read Drive_Mode [00000000].
[move_group-3] Link vx300/base_link had 1 children
[move_group-3] Link vx300/shoulder_link had 1 children
[move_group-3] Link vx300/upper_arm_link had 1 children
[move_group-3] Link vx300/forearm_link had 1 children
[move_group-3] Link vx300/wrist_link had 1 children
[move_group-3] Link vx300/gripper_link had 1 children
[move_group-3] Link vx300/ee_arm_link had 2 children
[move_group-3] Link vx300/gripper_prop_link had 0 children
[move_group-3] Link vx300/gripper_bar_link had 1 children
[move_group-3] Link vx300/fingers_link had 3 children
[move_group-3] Link vx300/ee_gripper_link had 0 children
[move_group-3] Link vx300/left_finger_link had 0 children
[move_group-3] Link vx300/right_finger_link had 0 children
[xs_sdk-8] [DEBUG] ID: 1, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 1, torqued on.
[xs_sdk-8] [DEBUG] ID: 2, torqued off.
[xs_sdk-8] [DEBUG] ID: 2, read Drive_Mode [00000001].
[xs_sdk-8] [DEBUG] ID: 2, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 3, read Drive_Mode [00000000].
[xs_sdk-8] [DEBUG] ID: 3, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 2, torqued on.
[xs_sdk-8] [DEBUG] ID: 4, torqued off.
[xs_sdk-8] [DEBUG] ID: 4, read Drive_Mode [00000001].
[xs_sdk-8] [DEBUG] ID: 4, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 5, read Drive_Mode [00000000].
[xs_sdk-8] [DEBUG] ID: 5, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 4, torqued on.
[xs_sdk-8] [DEBUG] ID: 6, torqued off.
[xs_sdk-8] [DEBUG] ID: 6, read Drive_Mode [00000001].
[xs_sdk-8] [DEBUG] ID: 6, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 6, torqued on.
[xs_sdk-8] [DEBUG] ID: 7, torqued off.
[xs_sdk-8] [DEBUG] ID: 7, read Drive_Mode [00000000].
[xs_sdk-8] [DEBUG] ID: 7, set mode position, prof_vel=131, prof_acc=25.
[xs_sdk-8] [DEBUG] ID: 7, torqued on.
[xs_sdk-8] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-8] [DEBUG] ID: 8, torqued off.
[xs_sdk-8] [DEBUG] ID: 8, read Drive_Mode [00000000].
[xs_sdk-8] [DEBUG] ID: 8, set mode position, prof_vel=131, prof_acc=15.
[xs_sdk-8] [DEBUG] ID: 8, torqued on.
[xs_sdk-8] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-8] [INFO] Interbotix X-Series Driver is up!
[ros2_control_node-5] [INFO] [1726242713.289125450] [vx300.xs_hardware_interface]: Joint states received.
[xs_sdk-8] [INFO] [1726242713.317091567] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xs_sdk-8] [DEBUG] ID: 1, writing position command 2048.
[xs_sdk-8] [DEBUG] ID: 2, writing position command 841.
[xs_sdk-8] [DEBUG] ID: 4, writing position command 3058.
[xs_sdk-8] [DEBUG] ID: 6, writing position command 2569.
[xs_sdk-8] [DEBUG] ID: 7, writing position command 2048.
[ros2_control_node-5] [INFO] [1726242713.507958573] [vx300.controller_manager]: update rate is 10 Hz
[ros2_control_node-5] [INFO] [1726242713.521243504] [vx300.controller_manager]: RT kernel is recommended for better performance
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [ERROR] [TxRxResult] Port is in use!
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[ros2_control_node-5] [INFO] [1726242713.906003294] [vx300.controller_manager]: Loading controller 'arm_controller'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242714.164357467] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1726242714.169806784] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/vx300/joint_states' for joint states
[move_group-3] [INFO] [1726242714.198501620] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/vx300/joint_states'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242714.232845083] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1726242714.255153501] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1726242714.295454135] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1726242714.300199325] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1726242714.319918248] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242714.338900804] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1726242714.351133398] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1726242714.356260798] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-3] [INFO] [1726242714.356373906] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[spawner-6] [INFO] [1726242714.475529621] [vx300.arm_controller_spawner]: Loaded arm_controller
[ros2_control_node-5] [INFO] [1726242714.514466722] [vx300.controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-5] [INFO] [1726242714.514798841] [vx300.arm_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726242714.522014420] [vx300.arm_controller]: Controller state will be published at 50.00 Hz.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[ros2_control_node-5] [INFO] [1726242714.543356831] [vx300.arm_controller]: Action status changes will be monitored at 20.00 Hz.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242714.667294845] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[ros2_control_node-5] [INFO] [1726242714.823243059] [vx300.controller_manager]: Loading controller 'gripper_controller'
[spawner-6] [INFO] [1726242714.830867514] [vx300.arm_controller_spawner]: Configured and started arm_controller
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242715.058119502] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1726242715.086555291] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726242715.086673454] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1726242715.086706287] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1726242715.086810450] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1726242715.086890781] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1726242715.086923521] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726242715.086982390] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1726242715.087011907] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1726242715.087118626] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1726242715.087196457] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1726242715.087236178] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1726242715.087388137] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1726242715.087432950] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1726242715.087450987] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[spawner-7] [INFO] [1726242715.219397041] [vx300.gripper_controller_spawner]: Loaded gripper_controller
[ros2_control_node-5] [INFO] [1726242715.233181162] [vx300.controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-5] [INFO] [1726242715.233450765] [vx300.gripper_controller]: Command interfaces are [position] and and state interfaces are [position].
[ros2_control_node-5] [INFO] [1726242715.234813224] [vx300.gripper_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1726242715.236352251] [vx300.gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[spawner-7] [INFO] [1726242715.428297680] [vx300.gripper_controller_spawner]: Configured and started gripper_controller
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[INFO] [spawner-6]: process has finished cleanly [pid 6501]
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[INFO] [spawner-7]: process has finished cleanly [pid 6503]
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242716.170505022] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/arm_controller
[move_group-3] [INFO] [1726242716.190278148] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300/gripper_controller
[move_group-3] [INFO] [1726242716.191513907] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1726242716.196501257] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1726242716.196939966] [move_group.move_group]: MoveGroup debug mode is ON
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[move_group-3] [INFO] [1726242716.429843591] [move_group.move_group]:
[move_group-3]
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using:
[move_group-3] * - ApplyPlanningSceneService
[move_group-3] * - ClearOctomapService
[move_group-3] * - CartesianPathService
[move_group-3] * - ExecuteTrajectoryAction
[move_group-3] * - GetPlanningSceneService
[move_group-3] * - KinematicsService
[move_group-3] * - MoveAction
[move_group-3] * - MotionPlanService
[move_group-3] * - QueryPlannersService
[move_group-3] * - StateValidationService
[move_group-3] ********************************************************
[move_group-3]
[move_group-3] [INFO] [1726242716.430519163] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1726242716.430578791] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3]
[move_group-3] You can start planning now!
[move_group-3]
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[moveit_interface-1] [INFO] [1726242716.759521853] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.3596 seconds
[moveit_interface-1] [INFO] [1726242716.759972265] [moveit_robot_model.robot_model]: Loading robot model 'vx300'...
[moveit_interface-1] [INFO] [1726242716.760094372] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[moveit_interface-1] [WARN] [1726242717.151886044] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[moveit_interface-1] [INFO] [1726242717.324865351] [move_group_interface]: Ready to take commands for planning group interbotix_arm.
[moveit_interface-1] [INFO] [1726242717.334173737] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[moveit_interface-1] [INFO] [1726242717.441968638] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools waiting 5 seconds for subscriber,
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [ERROR] [TxRxResult] Port is in use!
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[moveit_interface-1] [WARN] [1726242722.442214295] [interbotix_moveit_node.rviz_visual_tools]: Topic /moveit_visual_tools unable to connect to any subscribers within 5 sec. It is possible initially published visual messages will be lost.
[moveit_interface-1] [INFO] [1726242722.443199710] [interbotix_moveit_node]: Reference frame: world
[moveit_interface-1] [INFO] [1726242722.443764138] [interbotix_moveit_node]: End effector link: vx300/ee_gripper_link
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] [DEBUG] ID: 8, writing linear_position command nan.
[xs_sdk-8] *** stack smashing detected ***: terminated
[ERROR] [xs_sdk-8]: process has died [pid 6506, exit code -6, cmd '/home/pibot/interbotix_ws/install/interbotix_xs_sdk/lib/interbotix_xs_sdk/xs_sdk --ros-args -r __node:=xs_sdk -r __ns:=/vx300 --params-file /tmp/launch_params_h87hno18'].
What happened?
When I execute the command
ros2 launch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch.py robot_model:=vx300, everything runs smoothly up until the end. However, the xs_sdk node unexpectedly crashes, causing the robot to disconnect and become unresponsive, leading to failed planned movements.Robot Model
vx300
Operating System
Ubuntu 20.04
ROS Distro
ROS 2 Galactic
Steps To Reproduce
No response
Relevant log output
Additional Info
No response