Your work of making foxy moveit2-tutorial docker container is perfect, I ran the tutorial successfully. Thank you very much.
I follow your code and write a Dockerfile for galactic. The container is created successfully, however, the tutorial command is failed.

The Dockerfile for galactic is below, I just replace the ros2 version from foxy to galactic and remove moveit2 repo downloading part which can be downloaded by vcs (refer to galactic tutorial)


# Created by Ebots, Anton Zalutsky (azalutsky@ebots.com)
# This should install the following:
# Ubuntu 20.04
# Nvidia drivers
# ROS2 (Foxy)
# ROS2 - MicroRos (Foxy)
# ROS2 - Industrial_msgs (Foxy)
# ROS2 - Control_msgs (Galactic)

FROM nvidia/cuda:11.6.2-cudnn8-runtime-ubuntu20.04

UTF-8 included in nvidia's image but not activated. Needed for a lot of things.

ENV LANG="C.UTF-8" LC_ALL="C.UTF-8" ENV HOME=/home/ebots ENV ROS2_WORKSPACE=workspace ARG ROS_DISTRO=galactic

Copy current workspace (motoros, motoman_motomini_support, ...) into Docker

RUN mkdir -p $HOME/$ROS2_WORKSPACE

Apparently needed in order to successfully add a repository

RUN echo 'Etc/UTC' > /etc/timezone && \ ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime

Basic Packages install

For any other packages needed- please add to this apt-get installation!

RUN apt-get update && \ apt-get install -y \ build-essential \ curl \ gnupg \ lsb-release \ git \ apt-utils \ python3-dev \ python3-distutils \ python3-pip \ unzip \ sudo \ wget \ software-properties-common \ iputils-ping \ vim \ figlet \ toilet

Install ROS2 Below

RUN add-apt-repository universe

Curl key & authorize ros DIR/$ROS2_WORKSPACE/micro_ros_setup

Dev notes suggest werepository

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && \ echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list

Opted for ROS2 Foxy as we are stuck on Ubuntu 20.04 till Nvidia updates their images

It has the latest EOL & better ecosystem support as Humble is still too new

ENV ROS_DISTRO=$ROS_DISTRO RUN apt-get update && \ apt-get upgrade -y && \ apt-get install -y \ vim \ iputils-ping \ ros-${ROS_DISTRO}-desktop \ ros-${ROS_DISTRO}-gazebo-ros-pkgs \ ros-$ROS_DISTRO-xacro \ python3-rosdep \ python3-colcon-common-extensions \ python3-colcon-mixin \ python3-vcstool && \ rm -rf /var/lib/apt/lists/* && \ rm -rf log/

RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ colcon mixin update default

Set default version of python to be the one ROS2 Foxy uses

RUN update-alternatives --install /usr/bin/python python /usr/bin/python3.8 10

Update ROS2

RUN apt update && \ rosdep init && \ rosdep update --rosdistro=$ROS_DISTRO && \ apt dist-upgrade

Ensure rqt icons show up

RUN mkdir -p $HOME/.icons && ln -s /usr/share/icons/Tango $HOME/.icons/hicolor

Auto-activate ROS whenever shell is opened

RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc

ROS2 Qt comes with good debugging tools, is also framework for adding your own visualizations or control panel.

RUN apt-get install -y ~nros-${ROS_DISTRO}-rqt*

Simulation - Joint State Publisher

RUN mkdir -p $HOME/$ROS2_WORKSPACE/joint_state_publisher && \ git clone \ -b $ROS_DISTRO \ https://github.com/ros/joint_state_publisher \ $HOME/$ROS2_WORKSPACE/joint_state_publisher

RUN mkdir -p $HOME/$ROS2_WORKSPACE/ros2_control && \ git clone \ -b $ROS_DISTRO \ https://github.com/ros-controls/ros2_control.git \ $HOME/$ROS2_WORKSPACE/ros2_control

RUN cd $HOME/$ROS2_WORKSPACE && \ mkdir -p $HOME/$ROS2_WORKSPACE/moveit2_tutorials && \ git clone https://github.com/ros-planning/moveit2_tutorials.git -b $ROS_DISTRO --depth 1 $HOME/$ROS2_WORKSPACE/moveit2_tutorials && \ vcs import < $HOME/$ROS2_WORKSPACE/moveit2_tutorials/moveit2_tutorials.repos && \ apt update && \ rosdep install -r \ --ignore-src \ --rosdistro $ROS_DISTRO \ --from-paths . -y

Build by source, override any packages in /opt/ros/, (moveit specifically as motoros requires a different version of control_msgs)

RUN cd $HOME/$ROS2_WORKSPACE && \ . /opt/ros/$ROS_DISTRO/setup.sh && \ colcon build --mixin release --allow-overriding controller_interface hardware_interface joint_state_publisher joint_state_publisher_gui

RUN echo "source $HOME/$ROS2_WORKSPACE/install/setup.bash" >> /root/.bashrc RUN echo "figlet -c -f slant MOVEIT2 TUTORIAL" >> /root/.bashrc RUN echo "echo 'ROS2 sourced, sail away'" >> /root/.bashrc

CMD [ "/bin/bash","-c" ]

- After starting the container, I ran the command `ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true`, some error occurred as following,

[INFO] [launch]: All log files can be found below /home/ebots/.ros/log/2022-10-14-11-57-04-185658-ipc-ai-training-676 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [678] [INFO] [static_transform_publisher-2]: process started with pid [680] [INFO] [robot_state_publisher-3]: process started with pid [682] [INFO] [move_group-4]: process started with pid [684] [INFO] [ros2_control_node-5]: process started with pid [686] [INFO] [mongo_wrapper_ros.py-6]: process started with pid [688] [INFO] [ros2 run controller_manager spawner panda_arm_controller-7]: process started with pid [690] [INFO] [ros2 run controller_manager spawner panda_hand_controller-8]: process started with pid [692] [INFO] [ros2 run controller_manager spawner joint_state_broadcaster-9]: process started with pid [694] [static_transform_publisher-2] [INFO] [1665748624.637975130] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0' [robot_state_publisher-3] Link panda_link1 had 1 children [robot_state_publisher-3] Link panda_link2 had 1 children [robot_state_publisher-3] Link panda_link3 had 1 children [robot_state_publisher-3] Link panda_link4 had 1 children [robot_state_publisher-3] Link panda_link5 had 1 children [robot_state_publisher-3] Link panda_link6 had 1 children [robot_state_publisher-3] Link panda_link7 had 1 children [robot_state_publisher-3] Link panda_link8 had 1 children [robot_state_publisher-3] Link panda_hand had 2 children [robot_state_publisher-3] Link panda_leftfinger had 0 children [robot_state_publisher-3] Link panda_rightfinger had 0 children [robot_state_publisher-3] [INFO] [1665748624.641867071] [robot_state_publisher]: got segment panda_hand [robot_state_publisher-3] [INFO] [1665748624.641923401] [robot_state_publisher]: got segment panda_leftfinger [robot_state_publisher-3] [INFO] [1665748624.641930971] [robot_state_publisher]: got segment panda_link0 [robot_state_publisher-3] [INFO] [1665748624.641935661] [robot_state_publisher]: got segment panda_link1 [robot_state_publisher-3] [INFO] [1665748624.641939871] [robot_state_publisher]: got segment panda_link2 [robot_state_publisher-3] [INFO] [1665748624.641944021] [robot_state_publisher]: got segment panda_link3 [robot_state_publisher-3] [INFO] [1665748624.641948741] [robot_state_publisher]: got segment panda_link4 [robot_state_publisher-3] [INFO] [1665748624.641952641] [robot_state_publisher]: got segment panda_link5 [robot_state_publisher-3] [INFO] [1665748624.641956441] [robot_state_publisher]: got segment panda_link6 [robot_state_publisher-3] [INFO] [1665748624.641960311] [robot_state_publisher]: got segment panda_link7 [robot_state_publisher-3] [INFO] [1665748624.641964181] [robot_state_publisher]: got segment panda_link8 [robot_state_publisher-3] [INFO] [1665748624.641968141] [robot_state_publisher]: got segment panda_rightfinger [ros2_control_node-5] [INFO] [1665748624.643674632] [controller_manager]: update rate is 100 Hz [ros2_control_node-5] [INFO] [1665748624.643808552] [controller_manager]: RT kernel is recommended for better performance [rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [move_group-4] [WARN] [1665748624.664129290] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [move_group-4] [WARN] [1665748624.664166480] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] [INFO] [1665748624.667256002] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00296932 seconds [move_group-4] [INFO] [1665748624.667295952] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [move_group-4] Link panda_link1 had 1 children [move_group-4] Link panda_link2 had 1 children [move_group-4] Link panda_link3 had 1 children [move_group-4] Link panda_link4 had 1 children [move_group-4] Link panda_link5 had 1 children [move_group-4] Link panda_link6 had 1 children [move_group-4] Link panda_link7 had 1 children [move_group-4] Link panda_link8 had 1 children [move_group-4] Link panda_hand had 2 children [move_group-4] Link panda_leftfinger had 0 children [move_group-4] Link panda_rightfinger had 0 children [move_group-4] [INFO] [1665748624.693558832] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1665748624.693697492] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1665748624.694237153] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1665748624.694527973] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1665748624.694554143] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1665748624.695063233] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1665748624.695073413] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1665748624.695287083] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1665748624.695530063] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1665748624.696216683] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1665748624.696231073] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-4] [INFO] [1665748624.696710444] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [mongo_wrapper_ros.py-6] [INFO] [1665748624.713400170] [mongodb]: Starting mongodb with db location /tmp/db listening on localhost:33829 [move_group-4] [INFO] [1665748624.714758611] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1665748624.718394192] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1665748624.718413172] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 [move_group-4] [INFO] [1665748624.718417612] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1665748624.718425512] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1665748624.718429192] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1665748624.718437102] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1665748624.718445562] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization' [move_group-4] [INFO] [1665748624.718454382] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-4] [INFO] [1665748624.718457022] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1665748624.718459492] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1665748624.718461782] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1665748624.718463922] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-4] [INFO] [1665748624.733822329] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller [move_group-4] [INFO] [1665748624.733953399] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1665748624.733976949] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1665748624.734184439] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1665748624.734194649] [move_group.move_group]: MoveGroup debug mode is ON [move_group-4] [INFO] [1665748624.746904304] [move_group.move_group]: [move_group-4] [move_group-4] **** [move_group-4] MoveGroup using: [move_group-4] - ApplyPlanningSceneService [move_group-4] - ClearOctomapService [move_group-4] - CartesianPathService [move_group-4] - ExecuteTrajectoryAction [move_group-4] - GetPlanningSceneService [move_group-4] - KinematicsService [move_group-4] - MoveAction [move_group-4] - MotionPlanService [move_group-4] - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] **** [move_group-4] [move_group-4] [INFO] [1665748624.746934054] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1665748624.746940524] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] MongoDB starting : pid=886 port=33829 dbpath=/tmp/db 64-bit host=ipc-ai-training [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] db version v3.6.8 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] OpenSSL version: OpenSSL 1.1.1f 31 Mar 2020 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] allocator: tcmalloc [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] modules: none [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] build environment: [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] distarch: x86_64 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] target_arch: x86_64 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I CONTROL [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } } [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.757+0000 I - [initandlisten] Detected data files in /tmp/db created by the 'wiredTiger' storage engine, so setting the active storage engine to 'wiredTiger'. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:04.758+0000 I STORAGE [initandlisten] wiredtiger_open config: create,cache_size=47732M,session_max=20000,eviction=(threads_min=4,threads_max=4),config_base=false,statistics=(fast),cache_cursors=false,compatibility=(release="3.0",require_max="3.0"),log=(enabled=true,archive=true,path=journal,compressor=snappy),file_manager=(close_idle_time=100000),statistics_log=(wait=0),verbose=(recovery_progress), [move_group-4] 1665748624.763052 [] move_group: create_thread: move_group: no free slot [move_group-4] Stack trace (most recent call last) in thread 1006: [move_group-4] #18 Object "", at 0xffffffffffffffff, in [move_group-4] #17 Object "/usr/lib/x86_64-linux-gnu/libc-2.31.so", at 0x7f92fc243132, in __clone [move_group-4] #16 Object "/usr/lib/x86_64-linux-gnu/libpthread-2.31.so", at 0x7f92fb88f608, in start_thread [move_group-4] #15 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7f92fc407de3, in [move_group-4] #14 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f92fc65f4ba, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long) [move_group-4] #13 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f92fc659014, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) [move_group-4] #12 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f92fc6588e3, in rclcpp::Executor::execute_subscription(std::shared_ptr) [move_group-4] #11 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f92fc657de0, in [move_group-4] #10 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f92fc6ed34f, in rclcpp::SubscriptionBase::take_type_erased(void*, rclcpp::MessageInfo&) [move_group-4] #9 Object "/opt/ros/galactic/lib/librcl.so", at 0x7f92fb93a9ba, in rcl_take [move_group-4] #8 Object "/opt/ros/galactic/lib/librmw_cyclonedds_cpp.so", at 0x7f92f7fbf32f, in [move_group-4] #7 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7f2c84a, in dds_take [move_group-4] #6 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7f2c05c, in [move_group-4] #5 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7f0970d, in lookup_thread_state_real [move_group-4] #4 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7f09116, in [move_group-4] #3 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7f3a357, in dds_log [move_group-4] #2 Object "/opt/ros/galactic/lib/x86_64-linux-gnu/libddsc.so.0.8.0", at 0x7f92f7ea6dd0, in [move_group-4] #1 Object "/usr/lib/x86_64-linux-gnu/libc-2.31.so", at 0x7f92fc146858, in abort [move_group-4] #0 Object "/usr/lib/x86_64-linux-gnu/libc-2.31.so", at 0x7f92fc16700b, in raise [move_group-4] Aborted (Signal sent by tkill() 684 0) [rviz2-1] [INFO] [1665748624.861114470] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1665748624.861416180] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-1] [INFO] [1665748624.909870420] [rviz2]: Stereo is NOT SUPPORTED [ERROR] [move_group-4]: process has died [pid 684, exit code -6, cmd '/home/ebots/workspace/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_cenxz42o --params-file /tmp/launch_params_1tg68aph --params-file /tmp/launch_params_1je6i4_r --params-file /tmp/launch_params_pblljuez --params-file /tmp/launch_params_gap45f80 --params-file /tmp/launch_params_au6xhy02 --params-file /tmp/launch_params_zmuj7vkc']. [move_group-4] [ros2_control_node-5] [INFO] [1665748624.928114337] [controller_manager]: Loading controller 'panda_hand_controller' [ros2_control_node-5] [INFO] [1665748624.945093074] [controller_manager]: Loading controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1665748624.954132068] [controller_manager]: Loading controller 'joint_state_broadcaster' [ros2 run controller_manager spawner panda_hand_controller-8] [INFO] [1665748624.958438410] [spawner_panda_hand_controller]: Loaded panda_hand_controller [ros2_control_node-5] [INFO] [1665748624.964189362] [controller_manager]: Configuring controller 'panda_hand_controller' [ros2_control_node-5] [INFO] [1665748624.964251202] [panda_hand_controller]: Action status changes will be monitored at 20Hz. [ros2 run controller_manager spawner panda_arm_controller-7] [INFO] [1665748624.965002662] [spawner_panda_arm_controller]: Loaded panda_arm_controller [ros2 run controller_manager spawner joint_state_broadcaster-9] [INFO] [1665748624.975622637] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-5] [INFO] [1665748624.984214350] [controller_manager]: Configuring controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1665748624.984305610] [panda_arm_controller]: Command interfaces are [position] and and state interfaces are [position velocity]. [ros2_control_node-5] [INFO] [1665748624.984912340] [panda_arm_controller]: Controller state will be published at 50.00 Hz. [ros2 run controller_manager spawner panda_hand_controller-8] [INFO] [1665748624.985021790] [spawner_panda_hand_controller]: Configured and started panda_hand_controller [ros2_control_node-5] [INFO] [1665748624.985476081] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-5] [INFO] [1665748624.988071992] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-5] [INFO] [1665748624.988125032] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2 run controller_manager spawner panda_arm_controller-7] [INFO] [1665748625.004855209] [spawner_panda_arm_controller]: Configured and started panda_arm_controller [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.019+0000 I STORAGE [initandlisten] WiredTiger message [1665748625:19272][886:0x7f398fbf2ac0], txn-recover: Main recovery loop: starting at 1/22016 [ros2_control_node-5] 1665748625.024394 [] ros2_contr: create_thread: ros2_control_no: no free slot [ros2 run controller_manager spawner joint_state_broadcaster-9] [INFO] [1665748625.024967027] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.067+0000 I STORAGE [initandlisten] WiredTiger message [1665748625:67144][886:0x7f398fbf2ac0], txn-recover: Recovering log 1 through 2 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.095+0000 I STORAGE [initandlisten] WiredTiger message [1665748625:95958][886:0x7f398fbf2ac0], txn-recover: Recovering log 2 through 2 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.119+0000 I STORAGE [initandlisten] WiredTiger message [1665748625:119344][886:0x7f398fbf2ac0], txn-recover: Set global recovery timestamp: 0 [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] WARNING: Access control is not enabled for the database. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] Read and write access to data and configuration is unrestricted. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] WARNING: You are running this process as the root user, which is not recommended. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] WARNING: This server is bound to localhost. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] Remote systems will be unable to connect to this server. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] Start the server with --bind_ip

to specify which IP [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] addresses it should serve responses from, or with --bind_ip_all to [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] bind to all interfaces. If this behavior is desired, start the [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] server with --bind_ip 127.0.0.1 to disable this warning. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.124+0000 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.126+0000 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.126+0000 I CONTROL [initandlisten] WARNING: You are running on a NUMA machine. [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.126+0000 I CONTROL [initandlisten] We suggest launching mongod like this to avoid performance problems: [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.126+0000 I CONTROL [initandlisten] numactl --interleave=all mongod [other options] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.126+0000 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.133+0000 I FTDC [initandlisten] Initializing full-time diagnostic data capture with directory '/tmp/db/diagnostic.data' [mongo_wrapper_ros.py-6] 2022-10-14T11:57:05.133+0000 I NETWORK [initandlisten] waiting for connections on port 33829 [ERROR] [ros2_control_node-5]: process has died [pid 686, exit code -6, cmd '/home/ebots/workspace/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_cm2r9tmp --params-file /home/ebots/workspace/install/moveit_resources_panda_moveit_config/share/moveit_resources_panda_moveit_config/config/panda_ros_controllers.yaml']. [INFO] [ros2 run controller_manager spawner panda_hand_controller-8]: process has finished cleanly [pid 692] [INFO] [ros2 run controller_manager spawner panda_arm_controller-7]: process has finished cleanly [pid 690] [INFO] [ros2 run controller_manager spawner joint_state_broadcaster-9]: process has finished cleanly [pid 694]


I don't understand the cause of the error. Could you please help check the Dockerfile for galactic and investigate failure reason, thank you again.

azalutsky / MoveIt2Docker

Check the Dockerfile for galactic #1