michalinadengusiak
commented
4 months ago This is what my console is displaying after:
`[rviz2-6] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-6] at line 321 in /opt/ros/iron/include/class_loader/class_loader/class_loader_core.hpp [ros2-8] Could not contact service /controller_manager/load_controller [ERROR] [ros2-8]: process has died [pid 3270, exit code 1, cmd 'ros2 control load_controller --set-state active start_joint_controller']. [rviz2-6] [ERROR] [1708357107.382678991] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-6] [INFO] [1708357107.439736491] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-6] [INFO] [1708357117.331482051] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 4.81264 seconds [rviz2-6] [INFO] [1708357117.331635451] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [rviz2-6] [INFO] [1708357117.331692251] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2-9] Could not contact service /controller_manager/load_controller [ERROR] [ros2-9]: process has died [pid 3272, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster']. [INFO] [rviz2-10]: process started with pid [3842] [INFO] [ros2-11]: process started with pid [3844] [rviz2-6] [INFO] [1708357126.873995221] [moveit_kinematics_base.kinematics_base]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1 [rviz2-6] [INFO] [1708357134.380592007] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-6] [INFO] [1708357134.382730707] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-6] [INFO] [1708357143.167127424] [interactive_marker_display_94843850638336]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-6] [INFO] [1708357143.186261524] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator [rviz2-6] [INFO] [1708357143.186375524] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace '' [rviz2-6] [INFO] [1708357143.250893825] [move_group_interface]: Ready to take commands for planning group ur_manipulator. [rviz2-6] [INFO] [1708357143.337377625] [interactive_marker_display_94843850638336]: Sending request for interactive markers [rviz2-6] [INFO] [1708357143.469802125] [interactive_marker_display_94843850638336]: Service response received for initialization [rviz2-10] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700 [rviz2-10] [INFO] [1708357153.469463953] [rviz2]: Stereo is NOT SUPPORTED [rviz2-10] [INFO] [1708357153.469784753] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [rviz2-10] [INFO] [1708357157.044805363] [rviz2]: Stereo is NOT SUPPORTED [ros2-11] Could not contact service /controller_manager/load_controller [ERROR] [ros2-11]: process has died [pid 3844, exit code 1, cmd 'ros2 control load_controller --set-state active ur_controllers']. [rviz2-6] [INFO] [1708357192.303406060] [move_group_interface]: MoveGroup action client/server ready [move_group-5] [INFO] [1708357192.304980960] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-6] [INFO] [1708357192.306543560] [move_group_interface]: Planning request accepted [move_group-5] [WARN] [1708357193.413510169] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.769000s, timeout is 1.000000s [move_group-5] [INFO] [1708357193.615983471] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 2988.512000, but latest received state has time 0.000000. [move_group-5] Check clock synchronization if your are running ROS across multiple machines! [move_group-5] [WARN] [1708357193.616048371] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state. [move_group-5] [INFO] [1708357193.616225671] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-5] [INFO] [1708357193.616340171] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' [move_group-5] [INFO] [1708357193.654992271] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-5] [WARN] [1708357193.991972075] [moveit.ros_planning.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. [move_group-5] [INFO] [1708357193.993261275] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully. [rviz2-6] [INFO] [1708357193.995257675] [move_group_interface]: Planning request complete! [rviz2-6] [INFO] [1708357193.996901175] [move_group_interface]: time taken to generate plan: 0.0525653 seconds [move_group-5] [INFO] [1708357195.860416898] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request [move_group-5] [INFO] [1708357195.860691298] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received [move_group-5] [INFO] [1708357195.860747098] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-5] [INFO] [1708357195.860869398] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-5] [INFO] [1708357195.861141498] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [rviz2-6] [INFO] [1708357195.863268098] [move_group_interface]: Execute request accepted [move_group-5] [WARN] [1708357195.961283499] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.000000s, timeout is 1.000000s [move_group-5] [WARN] [1708357196.967488011] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.854000s, timeout is 1.000000s [move_group-5] [INFO] [1708357197.067641313] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 2991.322000, but latest received state has time 0.000000. [move_group-5] Check clock synchronization if your are running ROS across multiple machines! [move_group-5] [WARN] [1708357197.067702913] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s [move_group-5] [INFO] [1708357197.067752013] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED [rviz2-6] [INFO] [1708357197.071930013] [move_group_interface]: Execute request aborted [rviz2-6] [ERROR] [1708357197.072185313] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached [move_group-5] [INFO] [1708357234.793538292] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-6] [INFO] [1708357234.795302792] [move_group_interface]: Plan and Execute request accepted [move_group-5] [WARN] [1708357234.894080191] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.000000s, timeout is 1.000000s [move_group-5] [WARN] [1708357235.922460182] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.767000s, timeout is 1.000000s [move_group-5] [INFO] [1708357236.225899380] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 3021.031000, but latest received state has time 0.000000. [move_group-5] Check clock synchronization if your are running ROS across multiple machines! [move_group-5] [WARN] [1708357236.225983680] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state. [move_group-5] [INFO] [1708357236.226083780] [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-5] [INFO] [1708357236.228369380] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-5] [INFO] [1708357236.228523180] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' [move_group-5] [INFO] [1708357236.230339280] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-5] [WARN] [1708357236.708207075] [moveit.ros_planning.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. [move_group-5] [INFO] [1708357236.709990275] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-5] [INFO] [1708357236.711042775] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-5] [INFO] [1708357236.712066075] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-5] [WARN] [1708357237.013358273] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.119000s, timeout is 1.000000s [move_group-5] [WARN] [1708357238.038857364] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock. Have been waiting for 0.784000s, timeout is 1.000000s [move_group-5] [INFO] [1708357238.341832061] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 3022.321000, but latest received state has time 0.000000. [move_group-5] Check clock synchronization if your are running ROS across multiple machines! [move_group-5] [WARN] [1708357238.341905061] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[rviz2-6] [INFO] [1708357238.348068561] [move_group_interface]: Plan and Execute request aborted [rviz2-6] [ERROR] [1708357238.348463861] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached`
Additionally, an empty gazebo environment is appearing, one working rviz environment:
and one crashed rviz environment:
Any help would be appreciated! I am using ROS Iron, and tweaked a few things to make it run, but these were only minor changes, which shouldn't have affected the main code too much...
fmauch
I'm having trouble using the motion planner on rviz. When I set a start and goal state and click plan, it works fine. Then when I hit execute it immediately fails. Here's the main issue:
[move_group-1] [INFO] [1707670870.360229842] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1707670870.360380462] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1707670870.360478343] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [ERROR] [1707670870.360708389] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: scaled_joint_trajectory_controller/follow_joint_trajectory [move_group-1] [ERROR] [1707670870.360728448] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller scaled_joint_trajectory_controller [move_group-1] [INFO] [1707670870.360816294] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... [move_group-1] [INFO] [1707670870.360968295] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED [rviz2-2] [INFO] [1707670870.361968868] [move_group_interface]: Execute request abortedI've tried setting the use_mock_hardware flag to true but its the same issue. Any help would be so appreciated!
Here's the full terminal output: `ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py use_mock_hardware:=True [INFO] [launch]: All log files can be found below /home/tahira/.ros/log/2024-02-11-12-00-58-631161-tahira-Cyborg-15-A13VE-11236 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [move_group-1]: process started with pid [11244] [INFO] [rviz2-2]: process started with pid [11246] [INFO] [servo_node_main-3]: process started with pid [11248] [INFO] [robot_state_publisher-4]: process started with pid [11250] [INFO] [spawner-5]: process started with pid [11252] [INFO] [spawner-6]: process started with pid [11254] [INFO] [gzserver-7]: process started with pid [11256] [INFO] [gzclient-8]: process started with pid [11258] [INFO] [spawn_entity.py-9]: process started with pid [11260] [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [robot_state_publisher-4] [INFO] [1707670860.063610647] [robot_state_publisher]: got segment base [robot_state_publisher-4] [INFO] [1707670860.063685897] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1707670860.063691556] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-4] [INFO] [1707670860.063694725] [robot_state_publisher]: got segment flange [robot_state_publisher-4] [INFO] [1707670860.063697231] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-4] [INFO] [1707670860.063699707] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-4] [INFO] [1707670860.063702291] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-4] [INFO] [1707670860.063704900] [robot_state_publisher]: got segment tool0 [robot_state_publisher-4] [INFO] [1707670860.063707285] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-4] [INFO] [1707670860.063709800] [robot_state_publisher]: got segment world [robot_state_publisher-4] [INFO] [1707670860.063712143] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-4] [INFO] [1707670860.063714492] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-4] [INFO] [1707670860.063716758] [robot_state_publisher]: got segment wrist_3_link [move_group-1] [WARN] [1707670860.077489780] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [servo_node_main-3] [WARN] [1707670860.079530042] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: [servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}] [servo_node_main-3] to the Servo composable node in the launch file [move_group-1] [INFO] [1707670860.080883730] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds [move_group-1] [INFO] [1707670860.080918300] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [move_group-1] [INFO] [1707670860.080932936] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [servo_node_main-3] [INFO] [1707670860.083009749] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00194123 seconds [servo_node_main-3] [INFO] [1707670860.083027402] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [servo_node_main-3] [INFO] [1707670860.083033106] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [servo_node_main-3] [WARN] [1707670860.091699359] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [servo_node_main-3] [INFO] [1707670860.117594098] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' [servo_node_main-3] [INFO] [1707670860.120496599] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [servo_node_main-3] [INFO] [1707670860.120512858] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [servo_node_main-3] [INFO] [1707670860.121162992] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [servo_node_main-3] [INFO] [1707670860.121361676] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' [servo_node_main-3] [WARN] [1707670860.126706604] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead. [servo_node_main-3] [WARN] [1707670860.126726367] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows [move_group-1] [INFO] [1707670860.138690027] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-1] [INFO] [1707670860.138791303] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-1] [INFO] [1707670860.139182488] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-1] [INFO] [1707670860.139341118] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-1] [INFO] [1707670860.139351202] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-1] [INFO] [1707670860.139456282] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-1] [INFO] [1707670860.139462841] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-1] [INFO] [1707670860.139788511] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-1] [INFO] [1707670860.139982289] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-1] [WARN] [1707670860.140906224] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-1] [ERROR] [1707670860.140921211] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-1] [INFO] [1707670860.144324883] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-1] [INFO] [1707670860.158718034] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-1] [INFO] [1707670860.163318680] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1707670860.163335383] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1707670860.163340074] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-1] [INFO] [1707670860.163355651] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-1] [INFO] [1707670860.163370377] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 [move_group-1] [INFO] [1707670860.163374497] [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] [1707670860.163385752] [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] [1707670860.163390035] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-1] [INFO] [1707670860.163399188] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-1] [INFO] [1707670860.163409581] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-1] [INFO] [1707670860.163415251] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-1] [INFO] [1707670860.163418913] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-1] [INFO] [1707670860.163421912] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-1] [INFO] [1707670860.163425024] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-1] [INFO] [1707670860.185460595] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller [move_group-1] [INFO] [1707670860.187559084] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller [move_group-1] [INFO] [1707670860.187662952] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1707670860.187689803] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1707670860.188170084] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers [move_group-1] [INFO] [1707670860.188182873] [move_group.move_group]: MoveGroup debug mode is ON [move_group-1] [INFO] [1707670860.213350293] [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] [1707670860.213385710] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-1] [INFO] [1707670860.213392151] [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] [rviz2-2] [INFO] [1707670860.372821546] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1707670860.372870195] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1707670860.383272685] [rviz2]: Stereo is NOT SUPPORTED [spawn_entity.py-9] [INFO] [1707670860.429796254] [spawn_ur]: Spawn Entity started [spawn_entity.py-9] [INFO] [1707670860.429998581] [spawn_ur]: Loading entity published on topic robot_description [spawn_entity.py-9] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-9] warnings.warn( [spawn_entity.py-9] [INFO] [1707670860.431462008] [spawn_ur]: Waiting for entity xml on robot_description [spawn_entity.py-9] [INFO] [1707670860.442796635] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-9] [INFO] [1707670860.443045810] [spawn_ur]: Waiting for service /spawn_entity [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [spawn_entity.py-9] [INFO] [1707670860.948847900] [spawn_ur]: Calling service /spawn_entity [spawn_entity.py-9] [INFO] [1707670861.256663836] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur] [gzserver-7] [INFO] [1707670861.278149294] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-7] [INFO] [1707670861.280393439] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-7] [INFO] [1707670861.280583309] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-7] [INFO] [1707670861.280636675] [gazebo_ros2_control]: Loading parameter files /home/tahira/workspaces/ur_gazebo/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur_controllers.yaml [gzserver-7] [INFO] [1707670861.284318135] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-7] [INFO] [1707670861.284731299] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-7] text not specified in the tf_prefix tag [gzserver-7] text not specified in the tf_prefix tag [gzserver-7] [ERROR] [1707670861.290940989] [gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class ur_robot_driver/URPositionHardwareInterface with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem [gzserver-7] [gzserver-7] [INFO] [1707670861.298643558] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-7] [INFO] [1707670861.298699926] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298713270] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298726860] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298774866] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-7] [INFO] [1707670861.298786730] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-7] [INFO] [1707670861.298794743] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298802237] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298823672] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-7] [INFO] [1707670861.298834527] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298841753] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298849722] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298869105] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-7] [INFO] [1707670861.298879825] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-7] [INFO] [1707670861.298887061] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298894282] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298933865] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-7] [INFO] [1707670861.298944180] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298951206] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298958275] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298976607] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-7] [INFO] [1707670861.298987092] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.298995136] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.299002523] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-7] [INFO] [1707670861.299051801] [resource_manager]: Initialize hardware 'ur' [gzserver-7] [INFO] [1707670861.299151271] [resource_manager]: Successful initialization of hardware 'ur' [gzserver-7] [INFO] [1707670861.299264129] [resource_manager]: 'configure' hardware 'ur'
[gzserver-7] [INFO] [1707670861.299281923] [resource_manager]: 'activate' hardware 'ur'
[gzserver-7] [INFO] [1707670861.299328016] [gazebo_ros2_control]: Loading controller_manager [gzserver-7] [WARN] [1707670861.314329866] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-7] [INFO] [1707670861.314473939] [gazebo_ros2_control]: Loaded gazebo_ros2_control. [gzserver-7] [INFO] [1707670861.340560248] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-5] [INFO] [1707670861.365956201] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [gzserver-7] [INFO] [1707670861.367297781] [controller_manager]: Loading controller 'joint_trajectory_controller' [INFO] [spawn_entity.py-9]: process has finished cleanly [pid 11260] [gzserver-7] [WARN] [1707670861.385198308] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [gzserver-7] [INFO] [1707670861.394770574] [controller_manager]: Configuring controller 'joint_state_broadcaster' [gzserver-7] [INFO] [1707670861.394961513] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1707670861.395290362] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [gzserver-7] [INFO] [1707670861.404797575] [controller_manager]: Configuring controller 'joint_trajectory_controller' [gzserver-7] [INFO] [1707670861.404931988] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [gzserver-7] [INFO] [1707670861.404975657] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [gzserver-7] [INFO] [1707670861.404988406] [joint_trajectory_controller]: Using 'splines' interpolation method. [gzserver-7] [INFO] [1707670861.406070464] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [gzserver-7] [INFO] [1707670861.407151441] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-5] [INFO] [1707670861.435092485] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-6] [INFO] [1707670861.455178451] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [INFO] [spawner-5]: process has finished cleanly [pid 11252] [INFO] [spawner-6]: process has finished cleanly [pid 11254] [rviz2-2] [ERROR] [1707670863.492295517] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] [INFO] [1707670863.529022221] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-2] [INFO] [1707670863.597802410] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00302019 seconds [rviz2-2] [INFO] [1707670863.597834689] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [rviz2-2] [INFO] [1707670863.597845141] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] [INFO] [1707670863.647274731] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-2] [INFO] [1707670863.647782546] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-2] [INFO] [1707670863.805669357] [interactive_marker_display_94526503659280]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-2] [INFO] [1707670863.808907711] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator [rviz2-2] [INFO] [1707670863.808921232] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace '' [rviz2-2] [INFO] [1707670863.812905169] [move_group_interface]: Ready to take commands for planning group ur_manipulator. [rviz2-2] [INFO] [1707670863.814270539] [interactive_marker_display_94526503659280]: Sending request for interactive markers [rviz2-2] [INFO] [1707670863.847449886] [interactive_marker_display_94526503659280]: Service response received for initialization [rviz2-2] [INFO] [1707670867.927490361] [move_group_interface]: MoveGroup action client/server ready [move_group-1] [INFO] [1707670867.928418149] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1707670867.928927845] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [rviz2-2] [INFO] [1707670867.928784622] [move_group_interface]: Planning request accepted [move_group-1] [INFO] [1707670867.928973397] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' [move_group-1] [INFO] [1707670867.930384407] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-1] [WARN] [1707670868.006266478] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [move_group-1] [INFO] [1707670868.006559977] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully. [rviz2-2] [INFO] [1707670868.006884715] [move_group_interface]: Planning request complete! [rviz2-2] [INFO] [1707670868.007273746] [move_group_interface]: time taken to generate plan: 0.0218485 seconds [move_group-1] [INFO] [1707670870.352522330] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request [move_group-1] [INFO] [1707670870.352852717] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received [move_group-1] [INFO] [1707670870.352933644] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1707670870.352988521] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [rviz2-2] [INFO] [1707670870.353095992] [move_group_interface]: Execute request accepted [move_group-1] [INFO] [1707670870.353257785] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-1] [INFO] [1707670870.360229842] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1707670870.360380462] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [INFO] [1707670870.360478343] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-1] [ERROR] [1707670870.360708389] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected to action server: scaled_joint_trajectory_controller/follow_joint_trajectory [move_group-1] [ERROR] [1707670870.360728448] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller scaled_joint_trajectory_controller [move_group-1] [INFO] [1707670870.360816294] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... [move_group-1] [INFO] [1707670870.360968295] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED [rviz2-2] [INFO] [1707670870.361968868] [move_group_interface]: Execute request aborted [rviz2-2] [ERROR] [1707670870.362815530] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached [rviz2-2] [WARN] [1707670870.961803940] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1707670860.587s `