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Kinovarobotics / ros_kortex

ROS packages for KINOVA® KORTEX™ robotic arms
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Error while running MoveIt! example: ImportError: undefined symbol #158

Closed Jaroan closed 3 years ago

Jaroan commented 3 years ago

When I try to run the example to use the Python MoveIt! API to move the arm based on #moveit-example I get the following error: ImportError: /opt/ros/melodic/lib/libmoveit_planning_scene.so.1.0.8: undefined symbol: _ZN8octomath6Pose6DC1ERKS0_ The full log is below. Any help to fix the error is appreciated. Thank you!

:~/catkin_ws$  roslaunch kortex_examples moveit_example.launch
... logging to /home/jasprism/.ros/log/16f1a5ce-cde1-11eb-8708-ac120395af92/roslaunch-jasprism-31206.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jasprism:33917/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /my_gen3/
    moveit_example (kortex_examples/example_move_it_trajectories.py)

ROS_MASTER_URI=http://localhost:11311

process[my_gen3/moveit_example-1]: started with pid [31221]
Traceback (most recent call last):
  File "/home/jasprism/catkin_ws/src/ros_kortex/kortex_examples/src/move_it/example_move_it_trajectories.py", line 46, in <module>
    import moveit_commander
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/__init__.py", line 4, in <module>
    from .move_group import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 51, in <module>
    from moveit_ros_planning_interface import _moveit_move_group_interface
ImportError: /opt/ros/melodic/lib/libmoveit_planning_scene.so.1.0.8: undefined symbol: _ZN8octomath6Pose6DC1ERKS0_
[my_gen3/moveit_example-1] process has died [pid 31221, exit code 1, cmd bash -c sleep 0; $0 $@ /home/jasprism/catkin_ws/src/ros_kortex/kortex_examples/src/move_it/example_move_it_trajectories.py __name:=moveit_example __log:=/home/jasprism/.ros/log/16f1a5ce-cde1-11eb-8708-ac120395af92/my_gen3-moveit_example-1.log].
log file: /home/jasprism/.ros/log/16f1a5ce-cde1-11eb-8708-ac120395af92/my_gen3-moveit_example-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
felixmaisonneuve commented 3 years ago

Hi @Jaroan,

The easiest way to fix this I think would be to delete moveit from your machine

sudo apt purge ros-melodic-moveit-*

then reinstall everything from your catkin workspace using 

 rosdep install --from-paths src --ignore-src -y

and finally rebuild your catkin workspace

rm -rf build/ devel/
catkin_make

Let me know if this works, Felix

Jaroan commented 3 years ago

Hi @felixmaisonneuve , Thank you for the help. I did as told above and I still get that same error

Jaroan commented 3 years ago

Seems like this launch command enables moveit automatically?

$ roslaunch kortex_gazebo spawn_kortex_robot.launch
... logging to /home/jasprism/.ros/log/3735e32a-cdfc-11eb-8708-ac120395af92/roslaunch-jasprism-23267.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://jasprism:33573/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /my_gen3/gen3_joint_trajectory_controller/action_monitor_rate: 25
 * /my_gen3/gen3_joint_trajectory_controller/constraints/goal_time: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.5
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/d: 2.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i_clamp_max: 100.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/i_clamp_min: -100.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_1/p: 3000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i_clamp_max: 5.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/i_clamp_min: -5.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_2/p: 50000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_3/p: 3000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_4/p: 50000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/d: 0.2
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_5/p: 750.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/d: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i_clamp_max: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/i_clamp_min: -1.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_6/p: 5000.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/d: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i: 0.0
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i_clamp_max: 0.1
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/i_clamp_min: -0.1
 * /my_gen3/gen3_joint_trajectory_controller/gains/joint_7/p: 100.0
 * /my_gen3/gen3_joint_trajectory_controller/joints: ['joint_1', 'join...
 * /my_gen3/gen3_joint_trajectory_controller/state_publish_rate: 25
 * /my_gen3/gen3_joint_trajectory_controller/stop_trajectory_duration: 1.0
 * /my_gen3/gen3_joint_trajectory_controller/type: effort_controller...
 * /my_gen3/home_the_arm/robot_name: my_gen3
 * /my_gen3/joint_1_position_controller/joint: joint_1
 * /my_gen3/joint_1_position_controller/pid/d: 2.0
 * /my_gen3/joint_1_position_controller/pid/i: 0.0
 * /my_gen3/joint_1_position_controller/pid/p: 3000.0
 * /my_gen3/joint_1_position_controller/type: effort_controller...
 * /my_gen3/joint_2_position_controller/joint: joint_2
 * /my_gen3/joint_2_position_controller/pid/d: 0.0
 * /my_gen3/joint_2_position_controller/pid/i: 0.0
 * /my_gen3/joint_2_position_controller/pid/p: 50000.0
 * /my_gen3/joint_2_position_controller/type: effort_controller...
 * /my_gen3/joint_3_position_controller/joint: joint_3
 * /my_gen3/joint_3_position_controller/pid/d: 0.0
 * /my_gen3/joint_3_position_controller/pid/i: 0.0
 * /my_gen3/joint_3_position_controller/pid/p: 3000.0
 * /my_gen3/joint_3_position_controller/type: effort_controller...
 * /my_gen3/joint_4_position_controller/joint: joint_4
 * /my_gen3/joint_4_position_controller/pid/d: 0.0
 * /my_gen3/joint_4_position_controller/pid/i: 0.0
 * /my_gen3/joint_4_position_controller/pid/p: 50000.0
 * /my_gen3/joint_4_position_controller/type: effort_controller...
 * /my_gen3/joint_5_position_controller/joint: joint_5
 * /my_gen3/joint_5_position_controller/pid/d: 0.2
 * /my_gen3/joint_5_position_controller/pid/i: 0.0
 * /my_gen3/joint_5_position_controller/pid/p: 750.0
 * /my_gen3/joint_5_position_controller/type: effort_controller...
 * /my_gen3/joint_6_position_controller/joint: joint_6
 * /my_gen3/joint_6_position_controller/pid/d: 1.0
 * /my_gen3/joint_6_position_controller/pid/i: 0.0
 * /my_gen3/joint_6_position_controller/pid/p: 5000.0
 * /my_gen3/joint_6_position_controller/type: effort_controller...
 * /my_gen3/joint_7_position_controller/joint: joint_7
 * /my_gen3/joint_7_position_controller/pid/d: 0.0
 * /my_gen3/joint_7_position_controller/pid/i: 0.0
 * /my_gen3/joint_7_position_controller/pid/p: 100.0
 * /my_gen3/joint_7_position_controller/type: effort_controller...
 * /my_gen3/joint_state_controller/publish_rate: 50
 * /my_gen3/joint_state_controller/type: joint_state_contr...
 * /my_gen3/move_group/allow_trajectory_execution: True
 * /my_gen3/move_group/arm/default_planner_config: RRTConnect
 * /my_gen3/move_group/arm/longest_valid_segment_fraction: 0.005
 * /my_gen3/move_group/arm/planner_configs: ['SBL', 'EST', 'L...
 * /my_gen3/move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /my_gen3/move_group/capabilities: 
 * /my_gen3/move_group/controller_list: [{'default': True...
 * /my_gen3/move_group/disable_capabilities: 
 * /my_gen3/move_group/jiggle_fraction: 0.05
 * /my_gen3/move_group/joint_state_controller/publish_rate: 50
 * /my_gen3/move_group/joint_state_controller/type: joint_state_contr...
 * /my_gen3/move_group/max_safe_path_cost: 1
 * /my_gen3/move_group/moveit_controller_manager: moveit_simple_con...
 * /my_gen3/move_group/moveit_manage_controllers: True
 * /my_gen3/move_group/planner_configs/BFMT/balanced: 0
 * /my_gen3/move_group/planner_configs/BFMT/cache_cc: 1
 * /my_gen3/move_group/planner_configs/BFMT/extended_fmt: 1
 * /my_gen3/move_group/planner_configs/BFMT/heuristics: 1
 * /my_gen3/move_group/planner_configs/BFMT/nearest_k: 1
 * /my_gen3/move_group/planner_configs/BFMT/num_samples: 1000
 * /my_gen3/move_group/planner_configs/BFMT/optimality: 1
 * /my_gen3/move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /my_gen3/move_group/planner_configs/BFMT/type: geometric::BFMT
 * /my_gen3/move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /my_gen3/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/BKPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /my_gen3/move_group/planner_configs/BiEST/range: 0.0
 * /my_gen3/move_group/planner_configs/BiEST/type: geometric::BiEST
 * /my_gen3/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /my_gen3/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /my_gen3/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /my_gen3/move_group/planner_configs/BiTRRT/init_temperature: 100
 * /my_gen3/move_group/planner_configs/BiTRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /my_gen3/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /my_gen3/move_group/planner_configs/EST/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/EST/range: 0.0
 * /my_gen3/move_group/planner_configs/EST/type: geometric::EST
 * /my_gen3/move_group/planner_configs/FMT/cache_cc: 1
 * /my_gen3/move_group/planner_configs/FMT/extended_fmt: 1
 * /my_gen3/move_group/planner_configs/FMT/heuristics: 0
 * /my_gen3/move_group/planner_configs/FMT/nearest_k: 1
 * /my_gen3/move_group/planner_configs/FMT/num_samples: 1000
 * /my_gen3/move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /my_gen3/move_group/planner_configs/FMT/type: geometric::FMT
 * /my_gen3/move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /my_gen3/move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/KPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /my_gen3/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /my_gen3/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /my_gen3/move_group/planner_configs/LBKPIECE/range: 0.0
 * /my_gen3/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /my_gen3/move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /my_gen3/move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/LBTRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /my_gen3/move_group/planner_configs/LazyPRM/range: 0.0
 * /my_gen3/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /my_gen3/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /my_gen3/move_group/planner_configs/PDST/type: geometric::PDST
 * /my_gen3/move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /my_gen3/move_group/planner_configs/PRM/type: geometric::PRM
 * /my_gen3/move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /my_gen3/move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/ProjEST/range: 0.0
 * /my_gen3/move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /my_gen3/move_group/planner_configs/RRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/RRT/range: 0.0
 * /my_gen3/move_group/planner_configs/RRT/type: geometric::RRT
 * /my_gen3/move_group/planner_configs/RRTConnect/range: 0.0
 * /my_gen3/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /my_gen3/move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /my_gen3/move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/RRTstar/range: 0.0
 * /my_gen3/move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /my_gen3/move_group/planner_configs/SBL/range: 0.0
 * /my_gen3/move_group/planner_configs/SBL/type: geometric::SBL
 * /my_gen3/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /my_gen3/move_group/planner_configs/SPARS/max_failures: 1000
 * /my_gen3/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /my_gen3/move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /my_gen3/move_group/planner_configs/SPARS/type: geometric::SPARS
 * /my_gen3/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /my_gen3/move_group/planner_configs/SPARStwo/max_failures: 5000
 * /my_gen3/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /my_gen3/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /my_gen3/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /my_gen3/move_group/planner_configs/STRIDE/degree: 16
 * /my_gen3/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /my_gen3/move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/STRIDE/max_degree: 18
 * /my_gen3/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /my_gen3/move_group/planner_configs/STRIDE/min_degree: 12
 * /my_gen3/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /my_gen3/move_group/planner_configs/STRIDE/range: 0.0
 * /my_gen3/move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /my_gen3/move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /my_gen3/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /my_gen3/move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/goal_bias: 0.05
 * /my_gen3/move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /my_gen3/move_group/planner_configs/TRRT/k_constant: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/max_states_failed: 10
 * /my_gen3/move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /my_gen3/move_group/planner_configs/TRRT/range: 0.0
 * /my_gen3/move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /my_gen3/move_group/planner_configs/TRRT/type: geometric::TRRT
 * /my_gen3/move_group/planning_plugin: ompl_interface/OM...
 * /my_gen3/move_group/planning_scene_monitor/publish_geometry_updates: True
 * /my_gen3/move_group/planning_scene_monitor/publish_planning_scene: True
 * /my_gen3/move_group/planning_scene_monitor/publish_state_updates: True
 * /my_gen3/move_group/planning_scene_monitor/publish_transforms_updates: True
 * /my_gen3/move_group/request_adapters: default_planner_r...
 * /my_gen3/move_group/start_state_max_bounds_error: 0.1
 * /my_gen3/move_group/trajectory_execution/allowed_execution_duration_scaling: 2.0
 * /my_gen3/move_group/trajectory_execution/allowed_goal_duration_margin: 2.0
 * /my_gen3/move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /my_gen3/my_gen3_driver/arm: gen3
 * /my_gen3/my_gen3_driver/cyclic_data_publish_rate: 40
 * /my_gen3/my_gen3_driver/dof: 7
 * /my_gen3/my_gen3_driver/gripper: 
 * /my_gen3/my_gen3_driver/joint_names: ['joint_1', 'join...
 * /my_gen3/my_gen3_driver/maximum_accelerations: [1.0, 1.0, 1.0, 1...
 * /my_gen3/my_gen3_driver/maximum_angular_acceleration: 0.4
 * /my_gen3/my_gen3_driver/maximum_angular_velocity: 1.74
 * /my_gen3/my_gen3_driver/maximum_linear_acceleration: 0.4
 * /my_gen3/my_gen3_driver/maximum_linear_velocity: 0.5
 * /my_gen3/my_gen3_driver/maximum_velocities: [0.8727, 0.8727, ...
 * /my_gen3/my_gen3_driver/prefix: 
 * /my_gen3/my_gen3_driver/robot_name: my_gen3
 * /my_gen3/my_gen3_driver/sim: True
 * /my_gen3/paramtest_gazebo_initialization/param_name_target: is_initialized
 * /my_gen3/paramtest_gazebo_initialization/param_value_expected: True
 * /my_gen3/paramtest_gazebo_initialization/wait_time: 60
 * /my_gen3/robot_description: <?xml version="1....
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /my_gen3/robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /my_gen3/robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_1/max_acceleration: 0.84
 * /my_gen3/robot_description_planning/joint_limits/joint_1/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_2/max_acceleration: 0.84
 * /my_gen3/robot_description_planning/joint_limits/joint_2/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_3/max_acceleration: 0.84
 * /my_gen3/robot_description_planning/joint_limits/joint_3/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_4/max_acceleration: 0.84
 * /my_gen3/robot_description_planning/joint_limits/joint_4/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_5/max_acceleration: 8.6
 * /my_gen3/robot_description_planning/joint_limits/joint_5/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_6/max_acceleration: 8.6
 * /my_gen3/robot_description_planning/joint_limits/joint_6/max_velocity: 0.41
 * /my_gen3/robot_description_planning/joint_limits/joint_7/has_acceleration_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_7/has_velocity_limits: True
 * /my_gen3/robot_description_planning/joint_limits/joint_7/max_acceleration: 8.6
 * /my_gen3/robot_description_planning/joint_limits/joint_7/max_velocity: 0.41
 * /my_gen3/robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /my_gen3/
    gen3_position_controllers_spawner (controller_manager/spawner)
    gen3_trajectory_controller_spawner (controller_manager/spawner)
    home_the_arm (kortex_gazebo/home_robot.py)
    move_group (moveit_ros_move_group/move_group)
    my_gen3_driver (kortex_driver/kortex_arm_driver)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [23285]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3735e32a-cdfc-11eb-8708-ac120395af92
process[rosout-1]: started with pid [23296]
started core service [/rosout]
process[gazebo-2]: started with pid [23303]
process[gazebo_gui-3]: started with pid [23308]
process[my_gen3/urdf_spawner-4]: started with pid [23313]
process[my_gen3/gen3_trajectory_controller_spawner-5]: started with pid [23314]
process[my_gen3/gen3_position_controllers_spawner-6]: started with pid [23315]
process[my_gen3/my_gen3_driver-7]: started with pid [23316]
process[my_gen3/robot_state_publisher-8]: started with pid [23317]
process[my_gen3/move_group-9]: started with pid [23318]
process[my_gen3/home_the_arm-10]: started with pid [23319]
process[my_gen3/rviz-11]: started with pid [23327]
[ INFO] [1623776872.044748557]: Loading robot model 'gen3'...
[ INFO] [1623776872.045376940]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1623776872.058396428]: -------------------------------------------------
[ INFO] [1623776872.058986402]: Initializing Kortex Driver's services...
[INFO] [1623776872.326546, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1623776872.330105904]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1623776872.331094365]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1623776872.365923026]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1623776872.368308551]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1623776872.368461, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1623776872.496298948]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1623776872.497632743]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1623776872.497659819]: Starting planning scene monitor
[ INFO] [1623776872.498724678]: Listening to '/my_gen3/planning_scene'
[ INFO] [1623776872.498741437]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1623776872.499823015]: Listening to '/my_gen3/collision_object'
[ INFO] [1623776872.500880086]: Listening to '/my_gen3/planning_scene_world' for planning scene world geometry
[ WARN] [1623776872.501109381]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ INFO] [1623776872.501320538]: No 3D sensor plugin(s) defined for octomap updates
[INFO] [1623776872.720290, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1623776872.726086, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1623776872.749159304]: Listening to '/my_gen3/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1623776872.764755393]: Initializing OMPL interface using ROS parameters
[ INFO] [1623776872.777271553]: Using planning interface 'OMPL'
[ INFO] [1623776872.779281344]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1623776872.779607315]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1623776872.779849162]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1623776872.780101876]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1623776872.780352426]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1623776872.780574873]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1623776872.780611647]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1623776872.780632341]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1623776872.780648799]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1623776872.780664727]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1623776872.780676413]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1623776873.369657341]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1623776873.427241688]: Physics dynamic reconfigure ready.
[INFO] [1623776873.630363, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1623776873.838060, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1623776873.838964, 0.000000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1623776873.840473, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1623776873.965692071]: Loading gazebo_ros_control plugin
[ INFO] [1623776873.965759538]: Starting gazebo_ros_control plugin in namespace: my_gen3
[ INFO] [1623776873.966089160]: gazebo_ros_control plugin is waiting for model URDF in parameter [/my_gen3/robot_description] on the ROS param server.
[ INFO] [1623776874.080065069]: Loaded gazebo_ros_control.
[INFO] [1623776874.134790, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1623776874.136545, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1623776874.138078, 0.000000]: Loading controller: gen3_joint_trajectory_controller
[ INFO] [1623776874.149993422]: Kortex Driver's services initialized correctly.
[ INFO] [1623776874.150040156]: -------------------------------------------------
[ INFO] [1623776874.155984192]: Simulating arm with following characteristics:
[ INFO] [1623776874.156022641]: Arm type : gen3
[ INFO] [1623776874.156031230]: Gripper type : None
[ INFO] [1623776874.156041291]: Arm namespace : my_gen3
[ INFO] [1623776874.156051091]: URDF prefix : 
[ INFO] [1623776874.164246123]: Loading robot model 'gen3'...
[ INFO] [1623776874.164272500]: No root/virtual joint specified in SRDF. Assuming fixed joint
[INFO] [1623776874.176114, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1623776874.178406, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1623776874.181088, 0.000000]: Loading controller: joint_1_position_controller
[INFO] [1623776874.244879, 0.000000]: Loading controller: joint_state_controller
[INFO] [1623776874.261274, 0.000000]: Loading controller: joint_2_position_controller
[INFO] [1623776874.263759, 0.000000]: Controller Spawner: Loaded controllers: gen3_joint_trajectory_controller, joint_state_controller
[INFO] [1623776874.279146, 0.000000]: Loading controller: joint_3_position_controller
[INFO] [1623776874.842045, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1623776874.848263, 0.000000]: Set model configuration status: SetModelConfiguration: success
[my_gen3/urdf_spawner-4] process has finished cleanly
log file: /home/jasprism/.ros/log/3735e32a-cdfc-11eb-8708-ac120395af92/my_gen3-urdf_spawner-4*.log
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[INFO] [1623776882.404374, 0.000000]: Unpausing Gazebo...
[INFO] [1623776882.414455, 0.000000]: Unpaused Gazebo.
[INFO] [1623776882.416782, 0.001000]: Started controllers: gen3_joint_trajectory_controller, joint_state_controller
[INFO] [1623776882.471974, 0.055000]: Loading controller: joint_4_position_controller
[INFO] [1623776882.491921, 0.075000]: Loading controller: joint_5_position_controller
[INFO] [1623776882.510019, 0.093000]: Loading controller: joint_6_position_controller
[INFO] [1623776882.526108, 0.109000]: Loading controller: joint_7_position_controller
[INFO] [1623776882.542906, 0.126000]: Controller Spawner: Loaded controllers: joint_1_position_controller, joint_2_position_controller, joint_3_position_controller, joint_4_position_controller, joint_5_position_controller, joint_6_position_controller, joint_7_position_controller
[ INFO] [1623776882.706815377, 0.289000000]: Added FollowJointTrajectory controller for gen3_joint_trajectory_controller
[ INFO] [1623776882.706963168, 0.289000000]: Returned 1 controllers in list
[ INFO] [1623776882.721109968, 0.303000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1623776882.767033959, 0.349000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1623776882.767085466, 0.350000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1623776882.767101447, 0.350000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1623776883.743568663, 1.324000000]: Ready to take commands for planning group arm.
[ INFO] [1623776884.045062159, 1.625000000]: The Kortex driver has been initialized correctly!
[INFO] [1623776884.056093, 1.636000]: Sending the robot home...
[INFO] [1623776886.750733, 4.326000]: Received ACTION_END notification
[INFO] [1623776886.753440, 4.329000]: The Gazebo initialization executed without fail.
[my_gen3/home_the_arm-10] process has finished cleanly
log file: /home/jasprism/.ros/log/3735e32a-cdfc-11eb-8708-ac120395af92/my_gen3-home_the_arm-10*.log
felixmaisonneuve commented 3 years ago

Are you sure all your packages are updated? ROS GPG Key recently expired, when you do sudo apt-get update, are you sure ros is updated correctly?

alexvannobel commented 3 years ago

Hi @Jaroan ,

Yes, the spawn_kortex_robot script launches the MoveIt server on its own, precisely here.

Do you still have the error with your MoveIt Python client?

Best, Alex

Jaroan commented 3 years ago

Hi @felixmaisonneuve I still get the same error when I try $ roslaunch kortex_examples moveit_example.launch ImportError: /opt/ros/melodic/lib/libmoveit_planning_scene.so.1.0.8: undefined symbol: _ZN8octomath6Pose6DC1ERKS0_

However the $ roslaunch kortex_gazebo spawn_kortex_robot.launch enabled the Gazebo simulator and the MoveIt RViz Motion Planning plugin similar to these tutorials .

For

ROS GPG Key recently expired, when you do sudo apt-get update, are you sure ros is updated correctly?

I had reinstalled the ros_kortex package and repeated the full installation to get it working with $ roslaunch kortex_gazebo spawn_kortex_robot.launch again

felixmaisonneuve commented 3 years ago

Hi @Jaroan,

Your $ roslaunch kortex_gazebo spawn_kortex_robot.launch is working as expected. The problem comes from $ roslaunch kortex_examples moveit_example.launch, which raise an error with /opt/ros/melodic/lib/libmoveit_planning_scene.so.1.0.8.

This is comes from a librairy in ROS packages. I don't think the problem comes from our ros_kortex package directly, which is why I want to make sure that your ROS packages are correctly updated. I have found this which is a similar issue to yours. It says this might be caused by a partial update and recommand using sudo apt-get update && sudo apt-get upgrade. (He actually recommends dist-upgrade but I have trust issues with those "smart" system removing packages, even if I think it would not break anything)

You already seem to have the correct version, this is why I recommeded to remove moveit packages with sudo apt purge ros-melodic-moveit-* then reinstalling it, not just our ros_kortex package.

If updating doesn't work, you might have a better shot on the moveit github. I saw a couple similar issues, but they use ROS Neotic on Ubuntu 20.04, which we do not support yet. For example this one which has been answered.

Like I mentionned, I don't think this comes from our ros_kortex package as I am unable to reproduce your specific error with Ubuntu 18.04 and ROS Melodic

Best, Felix

Jaroan commented 3 years ago

Thank you so much @felixmaisonneuve .

You already seem to have the correct version, this is why I recommeded to remove moveit packages with sudo apt purge ros-melodic-moveit-* then reinstalling it, not just our ros_kortex package.

As suggested before, I've done this and the result remained the same unfortunately. I'll shift the issue to the moveit github issues. Thank you once again!

fishbotics commented 2 years ago

@Jaroan , I am seeing a similar issue. Did you resolve this or make an issue with MoveIt? If so, can you link the issue?

Jaroan commented 2 years ago

Hi @fishbotics, unfortunately, I was not able to resolve it