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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
BSD 3-Clause "New" or "Revised" License
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[Question]: Waiting for controller manager node to exist. #81

Closed AbishekNP closed 1 month ago

AbishekNP commented 1 year ago

Question

I'm getting this error when I try to execute the "ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic" command. The output is as follows:

[move_group-1] You can start planning now!
[move_group-1] 
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 158050]
[INFO] [spawner-7]: process started with pid [158196]
[gzclient-4] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[ERROR] [gzclient-4]: process has died [pid 158048, exit code -6, cmd 'gzclient'].
[spawner-7] [INFO] [1684874563.018613795] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684874565.026315674] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684874567.034041841] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-1] [INFO] [1684874567.818492195] [rclcpp]: signal_handler(signum=2)
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-7]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-7]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-7]     node_and_namespace = wait_for_value_or(
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-7]     time.sleep(0.2)
[spawner-7] KeyboardInterrupt
[move_group-1] [INFO] [1684874567.837646210] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-1] [INFO] [1684874567.838333792] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1684874567.838834914] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1684874567.839016928] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[move_group-1]          at line 127 in ./src/class_loader.cpp
[move_group-1] Stack trace (most recent call last):
[move_group-1] #16   Object "", at 0xffffffffffffffff, in 
[ERROR] [spawner-7]: process has died [pid 158196, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner -r __ns:=/vx300s --params-file /tmp/launch_params_19mlagqw'].
[move_group-1] #15   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55c681114784, in 
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 158053]
[move_group-1] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fb07fe29e3f]
[ERROR] [rviz2-2]: process has died [pid 158044, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/rviz/xsarm_moveit.rviz -f world --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_dtj2nivy --params-file /tmp/launch_params_f_gsutze --params-file /tmp/launch_params_17x6e75z --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_9_8p8q7x -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[move_group-1] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fb07fe29d8f]
[move_group-1] #12   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55c6811136bb, in 
[move_group-1] #11   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55c681115769, in 
[move_group-1] #10   Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7fb080afba46, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-1] #9    Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7fb080af9999, in 
[move_group-1] #8    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7fb0800d15b5, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-1] #7    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7fb0800e41a9, in 
[move_group-1] #6    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb080763cec, in rclcpp::Node::~Node()
[move_group-1] #5    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb080763cbe, in rclcpp::Node::~Node()
[move_group-1] #4    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb08073f7c9, in 
[move_group-1] #3    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb08076d2d9, in 
[move_group-1] #2    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb08076d220, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-1] #1    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb08073f7c9, in 
[move_group-1] #0    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fb080744511, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-1] Segmentation fault (Address not mapped to object [0x7fb0742867a8])
[INFO] [gzserver-3]: process has finished cleanly [pid 158046]
[ERROR] [move_group-1]: process has died [pid 158042, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_mijosql8 --params-file /tmp/launch_params_vc0uynes --params-file /tmp/launch_params_t8y5qcl5 --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_gts_pq6z --params-file /tmp/launch_params_kv_bole4 --params-file /tmp/launch_params_efs5a46m --params-file /tmp/launch_params_rt1zt_nu --params-file /tmp/launch_params__0_qz3gh --params-file /tmp/launch_params_hb2fpehe -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[move_group-1]

Robot Model

vx300s

Operating System

Ubuntu 22.04

ROS Version

ROS 2 Humble

Additional Info

No response

lukeschmitt-tr commented 1 year ago

Please see if the advice in this ROS Answers comment solves your issue.

AbishekNP commented 1 year ago

Hey. The solution you provided launches the robot arm both in rviz and in a gazebo world. But, it still throws the same "waiting for controller manager node to exist" error. The arm does not move in the desired trajectory when I move it to the desired position and click on Plan and Execute. It just stays still.

AbishekNP commented 1 year ago

This is only occurring when I use the hardware_type to gz_classic. The MoveIt launch command works fine when I use the "actual" hardware type.

lukeschmitt-tr commented 1 year ago

Are your local repos up-to-date? A similar (if not the same) issue was fixes in the recent commit https://github.com/Interbotix/interbotix_ros_manipulators/commit/3ba0e5e55edabb4a116396e9af96e9228409ac88. Try to see if pulling this change solves your issue.

AbishekNP commented 1 year ago

Yeah. They're up-to-date. Still it doesn't solve the issue.

lukeschmitt-tr commented 1 year ago

Could you share the entire contents of your terminal where you're seeing this behavior?

AbishekNP commented 1 year ago 
robotarm@gorgon:~$ ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic
[INFO] [launch]: All log files can be found below /home/robotarm/.ros/log/2023-05-24-17-42-30-478850-gorgon-183258
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [183262]
[INFO] [rviz2-2]: process started with pid [183264]
[INFO] [gzserver-3]: process started with pid [183266]
[INFO] [gzclient-4]: process started with pid [183268]
[INFO] [spawn_entity.py-5]: process started with pid [183280]
[INFO] [robot_state_publisher-6]: process started with pid [183287]
[move_group-1] [WARN] [1684975351.993410010] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1684975351.996475022] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1684975351.996502382] [moveit_robot_model.robot_model]: Loading robot model 'vx300s'...
[move_group-1] [INFO] [1684975351.996509615] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1684975352.166692505] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1684975352.166846467] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/vx300s/joint_states' for joint states
[move_group-1] [INFO] [1684975352.167426465] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/vx300s/joint_states'
[move_group-1] [INFO] [1684975352.167803286] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1684975352.167816805] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1684975352.168083586] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1684975352.168095086] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1684975352.168379960] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1684975352.168654266] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1684975352.169010232] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1684975352.169026666] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1684975352.169038258] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1684975352.200669218] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1684975352.213741193] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1684975352.216202621] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1684975352.216220060] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1684975352.216224814] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1684975352.216237276] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1684975352.216251072] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1684975352.216256213] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1684975352.216266519] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1684975352.216271262] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1684975352.216276009] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1684975352.216286395] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1684975352.216290621] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1684975352.216294144] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1684975352.216320411] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1684975352.216324804] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1684975352.264868650] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300s/arm_controller
[move_group-1] [INFO] [1684975352.266634553] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300s/gripper_controller
[move_group-1] [INFO] [1684975352.266998888] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1684975352.267021480] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1684975352.268442245] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1684975352.268460785] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1684975352.284960197] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1684975352.284997488] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1684975352.285006772] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 183280]
[INFO] [spawner-7]: process started with pid [183432]
[gzclient-4] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[ERROR] [gzclient-4]: process has died [pid 183268, exit code -6, cmd 'gzclient'].
[spawner-7] [INFO] [1684975356.944340648] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684975358.952547223] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684975360.960337090] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684975362.968330393] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [INFO] [1684975363.318092412] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684975363.318261423] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684975364.419075022] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[spawner-7] [INFO] [1684975364.976385011] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [WARN] [1684975365.419873315] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-1] [WARN] [1684975366.420613860] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[spawner-7] [INFO] [1684975366.984604678] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [WARN] [1684975367.422021750] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-1] [INFO] [1684975367.932445066] [rclcpp]: signal_handler(signum=2)
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-7]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-7]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-7]     node_and_namespace = wait_for_value_or(
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-7]     time.sleep(0.2)
[spawner-7] KeyboardInterrupt
[ERROR] [spawner-7]: process has died [pid 183432, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner -r __ns:=/vx300s --params-file /tmp/launch_params_jix_dxpi'].
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 183287]
[ERROR] [rviz2-2]: process has died [pid 183264, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/rviz/xsarm_moveit.rviz -f world --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_02lk5x6i --params-file /tmp/launch_params_esozirwt --params-file /tmp/launch_params_a3f23ype --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_0rj61szd -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[INFO] [gzserver-3]: process has finished cleanly [pid 183266]
[move_group-1] [WARN] [1684975368.422974536] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-1] [WARN] [1684975369.424495329] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975369.933203989] [rclcpp]: signal_handler(signum=2)
[move_group-1] [WARN] [1684975370.426095335] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-1] [WARN] [1684975371.427690495] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975371.461202784] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975371.821195738] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.133219313] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.357232333] [rclcpp]: signal_handler(signum=2)
[move_group-1] [WARN] [1684975372.429231229] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.541234218] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.685139810] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.837239313] [rclcpp]: signal_handler(signum=2)
[ERROR] [move_group-1]: process[move_group-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [move_group-1]: sending signal 'SIGTERM' to process[move_group-1]
[move_group-1] [INFO] [1684975372.940776489] [rclcpp]: signal_handler(signum=15)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975372.981073714] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.133025970] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.285158458] [rclcpp]: signal_handler(signum=2)
[move_group-1] [WARN] [1684975373.430659103] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.446803300] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.581204384] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.725198701] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.845235745] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975373.988567462] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.133221364] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.285232542] [rclcpp]: signal_handler(signum=2)
[move_group-1] [WARN] [1684975374.432214131] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.447702925] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.588555206] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.741239631] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975374.885230817] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975375.037259491] [rclcpp]: signal_handler(signum=2)
[move_group-1] [WARN] [1684975375.433771162] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-1] [WARN] [1684975376.435355921] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-1] [WARN] [1684975377.436954209] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[move_group-1] [INFO] [1684975377.885288971] [rclcpp]: signal_handler(signum=2)
[ERROR] [move_group-1]: process[move_group-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [move_group-1]: sending signal 'SIGKILL' to process[move_group-1]
[ERROR] [move_group-1]: process has died [pid 183262, exit code -9, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_ya3eu215 --params-file /tmp/launch_params_1rrvun3y --params-file /tmp/launch_params_yznzuben --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_uazyt1s3 --params-file /tmp/launch_params_w084dwby --params-file /tmp/launch_params_on5_kll6 --params-file /tmp/launch_params_8r8amnds --params-file /tmp/launch_params_mjo7vjnl --params-file /tmp/launch_params__9lfkhts -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[move_group-1]
lukeschmitt-tr commented 1 year ago

[gzclient-4] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.

Looks like Gazebo is still crashing. This will prevent the gazebo_ros2_control plugin from loading, causing the Waiting for '/vx300s/controller_manager' node to exist issue.

Add the line below to your ~/.bashrc file to prevent this from happening in the future, open a new terminal, and try again.

. /usr/share/gazebo/setup.sh
AbishekNP commented 1 year ago

Still getting error.

robotarm@gorgon:~/interbotix_ws$ ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic
[INFO] [launch]: All log files can be found below /home/robotarm/.ros/log/2023-05-24-18-15-26-464349-gorgon-185242
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [185246]
[INFO] [rviz2-2]: process started with pid [185248]
[INFO] [gzserver-3]: process started with pid [185250]
[INFO] [gzclient-4]: process started with pid [185252]
[INFO] [spawn_entity.py-5]: process started with pid [185254]
[INFO] [robot_state_publisher-6]: process started with pid [185256]
[move_group-1] [WARN] [1684977328.090983964] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1684977328.093963644] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1684977328.093989065] [moveit_robot_model.robot_model]: Loading robot model 'vx300s'...
[move_group-1] [INFO] [1684977328.093997093] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1684977328.364899582] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1684977328.365043357] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/vx300s/joint_states' for joint states
[move_group-1] [INFO] [1684977328.366112999] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/vx300s/joint_states'
[move_group-1] [INFO] [1684977328.369686220] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1684977328.369711874] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1684977328.370510530] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1684977328.370525009] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1684977328.371290367] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1684977328.371851141] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1684977328.372181594] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1684977328.372196702] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1684977328.372208034] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1684977328.408984008] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1684977328.422241016] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1684977328.425093360] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1684977328.425436250] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1684977328.425681405] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1684977328.425926904] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1684977328.426176110] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1684977328.426493490] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1684977328.426750020] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1684977328.426986650] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1684977328.427248846] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1684977328.427488021] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1684977328.427722684] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1684977328.428004568] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1684977328.428323322] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1684977328.428557060] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1684977328.524568900] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300s/arm_controller
[move_group-1] [INFO] [1684977328.530330860] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for /vx300s/gripper_controller
[move_group-1] [INFO] [1684977328.530465612] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1684977328.530486071] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1684977328.531747854] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1684977328.531900086] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1684977328.559431145] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1684977328.559471063] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1684977328.559480729] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 185254]
[INFO] [spawner-7]: process started with pid [185400]
[move_group-1] [WARN] [1684977332.587556945] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977332.587610296] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977332.587621310] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977332.587629798] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977332.587637523] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977332.587645194] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[spawner-7] [INFO] [1684977332.601523289] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977334.609432050] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [INFO] [1684977336.248714243] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684977336.248865865] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684977336.248954965] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977336.248997057] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977336.249007988] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977336.249016203] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977336.249023987] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977336.249032055] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1684977336.249046817] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1684977336.249107085] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1684977336.249117056] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1684977336.249186602] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-1] [INFO] [1684977336.249196429] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow'). Assuming within bounds.
[move_group-1] [INFO] [1684977336.250911267] [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-1] [WARN] [1684977336.300901652] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint velocity limits are not defined. Using the default 1 rad/s. You can define velocity limits in the URDF or joint_limits.yaml.
[move_group-1] [INFO] [1684977336.302364771] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-1] [ERROR] [1684977336.304853702] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 0 1 2 ] out of 29. Explanations follow in command line. Contacts are published on /display_contacts
[move_group-1] [INFO] [1684977336.305032534] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977336.305041198] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977336.305743328] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977336.305756565] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977336.306375924] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977336.306420936] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [ERROR] [1684977336.306814068] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[move_group-1] [INFO] [1684977336.307118364] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[spawner-7] [INFO] [1684977336.617126969] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977338.625333890] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [INFO] [1684977338.766741999] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684977338.766822198] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684977338.766878239] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977338.766893743] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977338.766903447] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977338.766912285] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977338.766920661] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977338.766928820] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1684977338.766942827] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1684977338.766968875] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1684977338.766975875] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1684977338.767006343] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-1] [INFO] [1684977338.767013578] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow'). Assuming within bounds.
[move_group-1] [INFO] [1684977338.768747256] [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-1] [INFO] [1684977338.806945544] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-1] [ERROR] [1684977338.809509142] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 0 1 2 ] out of 29. Explanations follow in command line. Contacts are published on /display_contacts
[move_group-1] [INFO] [1684977338.809705944] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977338.809714721] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977338.810293030] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977338.810300716] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977338.810929205] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977338.810937278] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [ERROR] [1684977338.811342414] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[move_group-1] [INFO] [1684977338.811497196] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[spawner-7] [INFO] [1684977340.633411744] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [INFO] [1684977341.558676871] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684977341.558745943] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684977341.558911776] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977341.558948870] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977341.558959015] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977341.558967731] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977341.558975653] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977341.558983533] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1684977341.559013953] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1684977341.559021785] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1684977341.559058056] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-1] [INFO] [1684977341.559085827] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow'). Assuming within bounds.
[move_group-1] [INFO] [1684977341.560352168] [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-1] [INFO] [1684977341.595027047] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-1] [ERROR] [1684977341.597750251] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 0 1 2 ] out of 29. Explanations follow in command line. Contacts are published on /display_contacts
[move_group-1] [INFO] [1684977341.597923882] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977341.597932420] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977341.598514187] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977341.598523125] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977341.599155915] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977341.599174005] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [ERROR] [1684977341.599585681] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[move_group-1] [INFO] [1684977341.599715607] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[move_group-1] [INFO] [1684977342.366685391] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684977342.366766455] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684977342.366832095] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977342.366859352] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977342.366869501] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977342.366877896] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977342.366885619] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977342.367204393] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1684977342.367226401] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1684977342.367252058] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1684977342.367258528] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1684977342.367291716] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-1] [INFO] [1684977342.367301242] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow'). Assuming within bounds.
[move_group-1] [INFO] [1684977342.368611896] [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-1] [INFO] [1684977342.414730859] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-1] [ERROR] [1684977342.417890982] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 0 1 2 ] out of 29. Explanations follow in command line. Contacts are published on /display_contacts
[move_group-1] [INFO] [1684977342.418055491] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977342.418063787] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977342.418628966] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977342.418687134] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977342.419364889] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977342.419374411] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [ERROR] [1684977342.419806763] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[move_group-1] [INFO] [1684977342.419935940] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[spawner-7] [INFO] [1684977342.641354320] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977344.649188710] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977346.657070926] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977348.664675512] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[move_group-1] [INFO] [1684977350.166832522] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1684977350.166918114] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1684977350.166995616] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977350.167013109] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'chassis' to planning frame'world' (Could not find a connection between 'world' and 'chassis' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977350.167050215] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link_optical' to planning frame'world' (Could not find a connection between 'world' and 'camera_link_optical' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977350.167061310] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'caster_wheel' to planning frame'world' (Could not find a connection between 'world' and 'caster_wheel' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977350.167069188] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'base_link' to planning frame'world' (Could not find a connection between 'world' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1684977350.167077119] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'laser_frame' to planning frame'world' (Could not find a connection between 'world' and 'laser_frame' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1684977350.167092925] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1684977350.167120798] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1684977350.167127634] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1684977350.167160525] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder'). Assuming within bounds.
[move_group-1] [INFO] [1684977350.167170276] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow'). Assuming within bounds.
[move_group-1] [INFO] [1684977350.168617447] [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-1] [INFO] [1684977350.205071373] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ]
[move_group-1] [ERROR] [1684977350.207685714] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [ 0 1 2 ] out of 33. Explanations follow in command line. Contacts are published on /display_contacts
[move_group-1] [INFO] [1684977350.208193392] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977350.208204309] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977350.208858935] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977350.208868650] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [INFO] [1684977350.209589597] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'vx300s/shoulder_link' (type 'Robot link') and 'vx300s/wrist_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[move_group-1] [INFO] [1684977350.209598276] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[move_group-1] [ERROR] [1684977350.210080603] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[move_group-1] [INFO] [1684977350.210243812] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[spawner-7] [INFO] [1684977350.672064506] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977352.680069529] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977354.688088977] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977356.696007825] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977358.704026479] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-7] [INFO] [1684977360.711907587] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-1] [INFO] [1684977360.948339072] [rclcpp]: signal_handler(signum=2)
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-7]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-7]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-7]     node_and_namespace = wait_for_value_or(
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-7]     time.sleep(0.2)
[spawner-7] KeyboardInterrupt
[move_group-1] [INFO] [1684977360.979024819] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[ERROR] [spawner-7]: process has died [pid 185400, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner -r __ns:=/vx300s --params-file /tmp/launch_params_fgm1s4ve'].
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 185256]
[INFO] [gzclient-4]: process has finished cleanly [pid 185252]
[INFO] [gzserver-3]: process has finished cleanly [pid 185250]
[move_group-1] [INFO] [1684977361.199425062] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1684977361.200181002] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1684977361.200441591] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[move_group-1]          at line 127 in ./src/class_loader.cpp
[move_group-1] Stack trace (most recent call last):
[move_group-1] #16   Object "", at 0xffffffffffffffff, in 
[move_group-1] #15   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5647a80d7784, in 
[ERROR] [rviz2-2]: process has died [pid 185248, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/rviz/xsarm_moveit.rviz -f world --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_ww8jcc4m --params-file /tmp/launch_params_ebz17_am --params-file /tmp/launch_params_6s7hd_d8 --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_xw7qcy4a -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[move_group-1] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f4779629e3f]
[move_group-1] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f4779629d8f]
[move_group-1] #12   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5647a80d66bb, in 
[move_group-1] #11   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5647a80d8769, in 
[move_group-1] #10   Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7f477a187a46, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-1] #9    Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7f477a185999, in 
[move_group-1] #8    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7f47794d15b5, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-1] #7    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7f47794e41a9, in 
[move_group-1] #6    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779defcec, in rclcpp::Node::~Node()
[move_group-1] #5    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779defcbe, in rclcpp::Node::~Node()
[move_group-1] #4    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779dcb7c9, in 
[move_group-1] #3    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779df92d9, in 
[move_group-1] #2    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779df9220, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-1] #1    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779dcb7c9, in 
[move_group-1] #0    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f4779dd0511, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-1] Segmentation fault (Address not mapped to object [0x7f476008d7a8])
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ERROR] [move_group-1]: process has died [pid 185246, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_kpon1_p0 --params-file /tmp/launch_params_b6p_uav2 --params-file /tmp/launch_params_zkkqphk2 --params-file /home/robotarm/interbotix_ws/install/interbotix_xsarm_moveit/share/interbotix_xsarm_moveit/config/kinematics.yaml --params-file /tmp/launch_params_qen8vmvh --params-file /tmp/launch_params_djskthb4 --params-file /tmp/launch_params_ajueolsa --params-file /tmp/launch_params_pwmx6wu6 --params-file /tmp/launch_params_1lo94ss0 --params-file /tmp/launch_params_n52lszzf -r vx300s/get_planning_scene:=/vx300s/get_planning_scene -r /arm_controller/follow_joint_trajectory:=/vx300s/arm_controller/follow_joint_trajectory -r /gripper_controller/follow_joint_trajectory:=/vx300s/gripper_controller/follow_joint_trajectory'].
[move_group-1]
lukeschmitt-tr commented 1 year ago

[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'world' (Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)

It looks like there may be other models in your Gazebo world based on lines like the one above. Did you make any modifications to the world?

Could you launch Gazebo in verbose mode?

https://github.com/Interbotix/interbotix_ros_manipulators/blob/3ba0e5e55edabb4a116396e9af96e9228409ac88/interbotix_ros_xsarms/interbotix_xsarm_sim/launch/xsarm_gz_classic.launch.py#L293-L300

AbishekNP commented 1 year ago

Hey. I re-installed everything (interbotix packages, ROS2 humble and Gazebo) and now: 1) The ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=vx300s hardware_type:=gz_classic is executing properly. But I still get the "Could not contact service /controller_manager/list_controllers" output when I run the ros2 control list_controllers command.

2) The ros2 launch interbotix_xsarm_ros_control xsarm_ros_control.launch.py robot_model:=vx300s hardware_type:=gz_classic command still throws this error:

robotarm@gorgon:~$ ros2 launch interbotix_xsarm_ros_control xsarm_ros_control.launch.py robot_model:=vx300s hardware_type:=gz_classic
[INFO] [launch]: All log files can be found below /home/robotarm/.ros/log/2023-05-25-12-46-30-810072-gorgon-13095
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [13097]
[INFO] [spawner-2]: process started with pid [13099]
[INFO] [spawner-3]: process started with pid [13101]
[ros2_control_node-1] [INFO] [1685043991.315987310] [resource_manager]: Loading hardware 'XSHardwareInterface' 
[ros2_control_node-1] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-1]   what():  According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are  fake_components/GenericSystem interbotix_xs_ros_control/XSHardwareInterface mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system
[ros2_control_node-1] Stack trace (most recent call last):
[ros2_control_node-1] #16   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-1] #15   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5574c146ed84, in 
[ros2_control_node-1] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f1663229e3f]
[ros2_control_node-1] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f1663229d8f]
[ros2_control_node-1] #12   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5574c146e89e, in 
[ros2_control_node-1] #11   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f1663c78c27, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[ros2_control_node-1] #10   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f1663c77dd7, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-1] #9    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f166390e207, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
[ros2_control_node-1] #8    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f1663916856, in 
[ros2_control_node-1] #7    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f16638ed858, in 
[ros2_control_node-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16636ae517, in __cxa_throw
[ros2_control_node-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16636ae2b6, in std::terminate()
[ros2_control_node-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16636ae24b, in 
[ros2_control_node-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f16636a2bbd, in 
[ros2_control_node-1] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f16632287f2]
[ros2_control_node-1] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f1663242475]
[ros2_control_node-1] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-1]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-1]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f1663296a7c]
[ros2_control_node-1] Aborted (Signal sent by tkill() 13097 1000)
[ERROR] [ros2_control_node-1]: process has died [pid 13097, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/vx300s --params-file /tmp/launch_params_vq05ogo0 --params-file /tmp/launch_params_n9xywf1b'].
[spawner-3] [INFO] [1685043993.582845726] [vx300s.gripper_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-2] [INFO] [1685043993.588554358] [vx300s.arm_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-3] [INFO] [1685043995.593357321] [vx300s.gripper_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-2] [INFO] [1685043995.597440722] [vx300s.arm_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-3] [INFO] [1685043997.603485789] [vx300s.gripper_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
[spawner-2] [INFO] [1685043997.609451906] [vx300s.arm_controller_spawner]: Waiting for '/vx300s/controller_manager' node to exist
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[spawner-2] Traceback (most recent call last):
[spawner-2]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-2]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-2]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-2]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-2]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-2]     node_and_namespace = wait_for_value_or(
[spawner-2]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-2]     time.sleep(0.2)
[spawner-2] KeyboardInterrupt
[spawner-3] Traceback (most recent call last):
[spawner-3]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-3]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-3]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-3]     node_and_namespace = wait_for_value_or(
[spawner-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-3]     time.sleep(0.2)
[spawner-3] KeyboardInterrupt
[ERROR] [spawner-2]: process has died [pid 13099, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c /vx300s/controller_manager arm_controller --ros-args -r __node:=arm_controller_spawner -r __ns:=/vx300s'].
[ERROR] [spawner-3]: process has died [pid 13101, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c /vx300s/controller_manager gripper_controller --ros-args -r __node:=gripper_controller_spawner -r __ns:=/vx300s'].

Kindly help me out with this.

lukeschmitt-tr commented 1 year ago 
[ros2_control_node-1] what(): According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem interbotix_xs_ros_control/XSHardwareInterface mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system

You may not have reinstalled the gazebo_ros2_control package. Please run the command below in the root of the Interbotix workspace to install all dependencies, including the gazebo_ros2_control package:

rosdep install --from-paths src --ignore-src -r -y
AbishekNP commented 1 year ago

Still doesn't work...

It gives the following output: robotarm@gorgon:~/interbotix_ws$ rosdep install --from-paths src --ignore-src -r -y

All required rosdeps installed successfully

lukeschmitt-tr commented 1 year ago

You might try to manually install it instead:

sudo apt-get install ros-humble-gazebo-ros2-control

Check that it is installed using dpkg:

dpkg --list | grep gazebo-ros2-control

Make sure to close and reopen your terminal or source the ROS distro setup file before running anything after a package installation.

Try to launch just the Gazebo sim package and set Gazebo's output to verbose:

ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s verbose:=true
AbishekNP commented 1 year ago

Still the same error: I installed ros-humblegazebo-ros2-control and sourced install/setup.bash as well.

Output 1:

robotarm@gorgon:~$ dpkg --list | grep gazebo-ros2-control
ii  ros-humble-gazebo-ros2-control                     0.4.3-1jammy.20230523.211003            amd64        gazebo_ros2_control

Output 2:

obotarm@gorgon:~/interbotix_ws$ ros2 launch interbotix_xsarm_sim xsarm_gz_classic.launch.py robot_model:=vx300s verbose:=true
[INFO] [launch]: All log files can be found below /home/robotarm/.ros/log/2023-06-02-12-29-28-693078-gorgon-767831
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [767841]
[INFO] [gzclient-2]: process started with pid [767843]
[INFO] [spawn_entity.py-3]: process started with pid [767845]
[INFO] [robot_state_publisher-4]: process started with pid [767847]
[INFO] [rviz2-5]: process started with pid [767857]
[gzclient-2] Gazebo multi-robot simulator, version 11.10.2
[gzclient-2] Copyright (C) 2012 Open Source Robotics Foundation.
[gzclient-2] Released under the Apache 2 License.
[gzclient-2] http://gazebosim.org
[gzclient-2] 
[gzserver-1] Gazebo multi-robot simulator, version 11.10.2
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1] 
[gzserver-1] [INFO] [1685734171.767444060] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1685734171.770377964] [vx300s.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /vx300s
[gzserver-1] [INFO] [1685734171.770632613] [vx300s.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1685734171.770679755] [vx300s.gazebo_ros2_control]: Loading parameter files /home/robotarm/interbotix_ws/install/interbotix_xsarm_sim/share/interbotix_xsarm_sim/config/trajectory_controllers/vx300s_trajectory_controllers.yaml
[gzserver-1] [INFO] [1685734171.773805869] [vx300s.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1685734171.774292133] [vx300s.gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-1] [INFO] [1685734171.786753646] [vx300s.gazebo_ros2_control]: Loading joint: waist
[gzserver-1] [INFO] [1685734171.786814641] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.786824763] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786833893] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.786841170] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786885857] [vx300s.gazebo_ros2_control]: Loading joint: shoulder
[gzserver-1] [INFO] [1685734171.786905087] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.786911905] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786918917] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.786925446] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786941044] [vx300s.gazebo_ros2_control]: Loading joint: elbow
[gzserver-1] [INFO] [1685734171.786949536] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.786956313] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786963124] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.786969664] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.786984142] [vx300s.gazebo_ros2_control]: Loading joint: forearm_roll
[gzserver-1] [INFO] [1685734171.786992329] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.786998941] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787005392] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787021662] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787034988] [vx300s.gazebo_ros2_control]: Loading joint: wrist_angle
[gzserver-1] [INFO] [1685734171.787052748] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.787059279] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787065979] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787072759] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787086150] [vx300s.gazebo_ros2_control]: Loading joint: wrist_rotate
[gzserver-1] [INFO] [1685734171.787094104] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.787100555] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787106950] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787113391] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787126315] [vx300s.gazebo_ros2_control]: Loading joint: gripper
[gzserver-1] [INFO] [1685734171.787133902] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.787140470] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787146966] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787153368] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787162513] [vx300s.gazebo_ros2_control]: Loading joint: left_finger
[gzserver-1] [INFO] [1685734171.787170082] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.787176611] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787182965] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787189295] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787222962] [vx300s.gazebo_ros2_control]: Loading joint: right_finger
[gzserver-1] [INFO] [1685734171.787232972] [vx300s.gazebo_ros2_control]:    State:
[gzserver-1] [INFO] [1685734171.787239786] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787247458] [vx300s.gazebo_ros2_control]:    Command:
[gzserver-1] [INFO] [1685734171.787254166] [vx300s.gazebo_ros2_control]:         position
[gzserver-1] [INFO] [1685734171.787326425] [resource_manager]: Initialize hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1685734171.787466903] [resource_manager]: Successful initialization of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1685734171.787568375] [resource_manager]: 'configure' hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1685734171.787575180] [resource_manager]: Successful 'configure' of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1685734171.787591483] [resource_manager]: 'activate' hardware 'XSHardwareInterface' 
[gzserver-1] [INFO] [1685734171.787596397] [resource_manager]: Successful 'activate' of hardware 'XSHardwareInterface'
[gzserver-1] [INFO] [1685734171.787663761] [vx300s.gazebo_ros2_control]: Loading controller_manager
[gzclient-2] [Msg] Waiting for master.
[gzclient-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-2] [Msg] Publicized address: 171.65.72.41
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_common_sim/share/ament_index"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_common_sim/share/colcon-core"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_xsarm_descriptions/share/ament_index"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_xsarm_descriptions/share/colcon-core"
[gzclient-2] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robotarm/interbotix_ws/install/interbotix_xsarm_descriptions/share/interbotix_xsarm_descriptions"
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 767845]
[INFO] [spawner-6]: process started with pid [767982]
[gzclient-2] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [//database.config]. Only locally installed models will be available.
[ERROR] [gzserver-1]: process has died [pid 767841, exit code -11, cmd 'gzserver /home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[spawner-6] [INFO] [1685734174.195014091] [vx300s.joint_state_broadcaster_spawner]: Waiting for '/vx300s/controller_manager' node to exist
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[spawner-6] Traceback (most recent call last):
[spawner-6]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-6]     sys.exit(load_entry_point('controller-manager==2.25.2', 'console_scripts', 'spawner')())
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 182, in main
[spawner-6]     if not wait_for_controller_manager(node, controller_manager_name,
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 100, in wait_for_controller_manager
[spawner-6]     node_and_namespace = wait_for_value_or(
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 61, in wait_for_value_or
[spawner-6]     time.sleep(0.2)
[spawner-6] KeyboardInterrupt
[ERROR] [gzclient-2]: process has died [pid 767843, exit code -2, cmd 'gzclient --verbose'].
[gzclient-2] 
[gzclient-2] 
[ERROR] [spawner-6]: process has died [pid 767982, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner -c controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner -r __ns:=/vx300s --params-file /tmp/launch_params_i77mzq1m'].
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 767847]
[INFO] [rviz2-5]: process has finished cleanly [pid 767857]
lukeschmitt-tr commented 1 year ago 
[gzserver-1] [INFO] [1685734171.787663761] [vx300s.gazebo_ros2_control]: Loading controller_manager
...
[ERROR] [gzserver-1]: process has died [pid 767841, exit code -11, cmd 'gzserver /home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].

It might be failing when trying to load the controller manager. As I am unable to replicate this issue even on a fresh install, I would encourage you to further troubleshoot this issue yourself.

Are you able to run the command in the error?

gzserver /home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so
AbishekNP commented 1 year ago

This is the output when I try to run that command:

robotarm@gorgon:~/interbotix_ws$ gzserver /home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so Gazebo multi-robot simulator, version 11.10.2 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

[Msg] Waiting for master. [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 171.65.72.41 [Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds. [Wrn] [FuelModelDatabase.cc:313] URI not supported by Fuel [model://TrossenRoboticsOfficeBuilding] [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://TrossenRoboticsOfficeBuilding] Error Code 12 Msg: Unable to find uri[model://TrossenRoboticsOfficeBuilding] [Msg] Loading world file [/home/robotarm/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world]

I've already installed: ros-humble-ros2-control, ros-humble-ros2-controllers and ros-humble-gazebo-ros2-control packages. Is there any additional packages or source command required to load the controller manager?

RodrigoMA170393 commented 9 months ago

[gzclient-4] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.

Looks like Gazebo is still crashing. This will prevent the gazebo_ros2_control plugin from loading, causing the Waiting for '/vx300s/controller_manager' node to exist issue.

Add the line below to your ~/.bashrc file to prevent this from happening in the future, open a new terminal, and try again.

. /usr/share/gazebo/setup.sh

Thank you, it worked