sugangandhi
commented
1 year ago I am also getting the same error...
ubuntu@ubuntu-System-Product-Name:~/ros2_ws(copy)$ ros2 launch dsr_control2 dsr_moveit2.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-01-05-09-44-00-301346-ubuntu-System-Product-Name-16030 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'moveit_ros_move_group' not found, searching: ['/home/ubuntu/ros2_ws(copy)/install/warehouse_ros', '/home/ubuntu/ros2_ws(copy)/install/velocity_controllers', '/home/ubuntu/ros2_ws(copy)/install/ros2_control', '/home/ubuntu/ros2_ws(copy)/install/transmission_interface', '/home/ubuntu/ros2_ws(copy)/install/test_robot_hardware', '/home/ubuntu/ros2_ws(copy)/install/fake_joint_driver', '/home/ubuntu/ros2_ws(copy)/install/ros2_controllers', '/home/ubuntu/ros2_ws(copy)/install/position_controllers', '/home/ubuntu/ros2_ws(copy)/install/dsr_example2_py', '/home/ubuntu/ros2_ws(copy)/install/dsr_control2', '/home/ubuntu/ros2_ws(copy)/install/moveit_msgs', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_m1509', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_m1013', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_m0617', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_m0609', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_h2515', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_h2017', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_a0912', '/home/ubuntu/ros2_ws(copy)/install/moveit_config_a0509', '/home/ubuntu/ros2_ws(copy)/install/joint_trajectory_controller', '/home/ubuntu/ros2_ws(copy)/install/joint_state_controller', '/home/ubuntu/ros2_ws(copy)/install/joint_limits_interface', '/home/ubuntu/ros2_ws(copy)/install/effort_controllers', '/home/ubuntu/ros2_ws(copy)/install/forward_command_controller', '/home/ubuntu/ros2_ws(copy)/install/diff_drive_controller', '/home/ubuntu/ros2_ws(copy)/install/controller_manager', '/home/ubuntu/ros2_ws(copy)/install/controller_interface', '/home/ubuntu/ros2_ws(copy)/install/hardware_interface', '/home/ubuntu/ros2_ws(copy)/install/dsr_msgs2', '/home/ubuntu/ros2_ws(copy)/install/dsr_launcher2', '/home/ubuntu/ros2_ws(copy)/install/dsr_description2', '/home/ubuntu/ros2_ws(copy)/install/controller_manager_msgs', '/home/ubuntu/ros2_ws(copy)/install/common2', '/opt/ros/foxy']")> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource raise LookupError( LookupError: Could not find the resource 'moveit_ros_move_group' of type 'packages'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event
visit_all_entities_and_collect_futures(entity, self.context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 1 more time]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
ret = super().execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
self.expand_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in expand_substitutions
cmd = [perform_substitutions(context, x) for x in self.cmd]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in
I tried to use your moveit package following instructions provided but faced error after running
terminal output below :
yh99@yh99-ThinkPad-E15-Gen-3:~$ cd ros2_ws yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$ . install/setup.bash yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$ ros2 launch moveit_config_m1013 m1013.launch.py [INFO] [launch]: All log files can be found below /home/yh99/.ros/log/2022-08-16-16-15-30-726717-yh99-ThinkPad-E15-Gen-3-25714 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [25720] [INFO] [static_transform_publisher-2]: process started with pid [25722] [INFO] [robot_state_publisher-3]: process started with pid [25724] [INFO] [move_group-4]: process started with pid [25726] [INFO] [fake_joint_driver_node-5]: process started with pid [25728] [INFO] [mongo_wrapper_ros.py-6]: process started with pid [25730] [static_transform_publisher-2] [INFO] [1660634131.243883986] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0' [fake_joint_driver_node-5] Parsing robot urdf xml string. [robot_state_publisher-3] Parsing robot urdf xml string. [robot_state_publisher-3] Link base_0 had 1 children [robot_state_publisher-3] Link link1 had 1 children [robot_state_publisher-3] Link link2 had 1 children [robot_state_publisher-3] Link link3 had 1 children [robot_state_publisher-3] Link link4 had 1 children [robot_state_publisher-3] Link link5 had 1 children [robot_state_publisher-3] Link link6 had 0 children [robot_state_publisher-3] [INFO] [1660634131.250386621] [robot_state_publisher]: got segment base_0 [robot_state_publisher-3] [INFO] [1660634131.250486612] [robot_state_publisher]: got segment link1 [robot_state_publisher-3] [INFO] [1660634131.250499958] [robot_state_publisher]: got segment link2 [robot_state_publisher-3] [INFO] [1660634131.250510928] [robot_state_publisher]: got segment link3 [robot_state_publisher-3] [INFO] [1660634131.250521549] [robot_state_publisher]: got segment link4 [robot_state_publisher-3] [INFO] [1660634131.250532380] [robot_state_publisher]: got segment link5 [robot_state_publisher-3] [INFO] [1660634131.250543839] [robot_state_publisher]: got segment link6 [robot_state_publisher-3] [INFO] [1660634131.250554460] [robot_state_publisher]: got segment world [fake_joint_driver_node-5] [INFO] [1660634131.256978695] [controller_manager]: Loading controller 'fake_joint_state_controller' [fake_joint_driver_node-5] [fake_joint_driver_node-5] [INFO] [1660634131.264792254] [controller_manager]: Loading controller 'dsr_joint_trajectory_controller' [fake_joint_driver_node-5] [fake_joint_driver_node-5] [INFO] [1660634131.271731257] [dsr_joint_trajectory_controller]: Controller state will be published at 50Hz. [fake_joint_driver_node-5] [INFO] [1660634131.272138768] [dsr_joint_trajectory_controller]: Action status changes will be monitored at 20Hz. [fake_joint_driver_node-5] [WARN] [1660634131.274090655] [rcl_lifecycle]: No transition matching 1 found for current state inactive [fake_joint_driver_node-5] [ERROR] [1660634131.274113644] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350 [fake_joint_driver_node-5] [WARN] [1660634131.274140686] [rcl_lifecycle]: No transition matching 1 found for current state inactive [fake_joint_driver_node-5] [ERROR] [1660634131.274151307] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350 [move_group-4] [WARN] [1660634131.285118463] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [move_group-4] [WARN] [1660634131.285179533] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] Parsing robot urdf xml string. [move_group-4] [INFO] [1660634131.288034974] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000857924 seconds [move_group-4] [INFO] [1660634131.288072846] [moveit_robot_model.robot_model]: Loading robot model 'm1013'... [move_group-4] [INFO] [1660634131.288084166] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-4] [WARN] [1660634131.288126650] [moveit_robot_model.robot_model]: Link base_0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [move_group-4] [WARN] [1660634131.288188280] [moveit_robot_model.robot_model]: Link link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [move_group-4] [WARN] [1660634131.288206028] [moveit_robot_model.robot_model]: Link link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [move_group-4] terminate called after throwing an instance of 'std::bad_alloc' [move_group-4] what(): std::bad_alloc [mongo_wrapper_ros.py-6] [INFO] [1660634131.376432259] [mongodb]: Starting mongodb with db location /tmp/db listening on localhost:33829 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] MongoDB starting : pid=25811 port=33829 dbpath=/tmp/db 64-bit host=yh99-ThinkPad-E15-Gen-3 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] db version v3.6.8 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] OpenSSL version: OpenSSL 1.1.1f 31 Mar 2020 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] allocator: tcmalloc [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] modules: none [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] build environment: [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] distarch: x86_64 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] target_arch: x86_64 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } } [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 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] 2022-08-16T16:15:31.411+0900 I STORAGE [initandlisten] [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE [initandlisten] ** WARNING: Using the XFS filesystem is strongly recommended with the WiredTiger storage engine [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE [initandlisten] ** See http://dochub.mongodb.org/core/prodnotes-filesystem [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE [initandlisten] wiredtiger_open config: create,cache_size=6894M,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), [ERROR] [move_group-4]: process has died [pid 25726, exit code -6, cmd '/home/yh99/ros2_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_0j_coqes --params-file /tmp/launch_params_okey37ea --params-file /tmp/launch_params_ejk2bojx --params-file /tmp/launch_params_fy3saj46 --params-file /tmp/launch_params_d_s7ykpi --params-file /tmp/launch_params_i8jiz2j3 --params-file /tmp/launch_params_ta1y747e']. [rviz2-1] [INFO] [1660634131.558657092] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1660634131.558871748] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1660634131.580654711] [rviz2]: Stereo is NOT SUPPORTED [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.657+0900 I STORAGE [initandlisten] WiredTiger message [1660634131:657373][25811:0x7fd368f0cac0], txn-recover: Main recovery loop: starting at 6/4992 [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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. [rviz2-1] at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.695+0900 I STORAGE [initandlisten] WiredTiger message [1660634131:695410][25811:0x7fd368f0cac0], txn-recover: Recovering log 6 through 7 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.724+0900 I STORAGE [initandlisten] WiredTiger message [1660634131:724934][25811:0x7fd368f0cac0], txn-recover: Recovering log 7 through 7 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.747+0900 I STORAGE [initandlisten] WiredTiger message [1660634131:747163][25811:0x7fd368f0cac0], txn-recover: Set global recovery timestamp: 0 [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** WARNING: Access control is not enabled for the database. [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** Read and write access to data and configuration is unrestricted. [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** WARNING: This server is bound to localhost. [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** Remote systems will be unable to connect to this server. [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** Start the server with --bind_ip <address> to specify which IP [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** addresses it should serve responses from, or with --bind_ip_all to [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** bind to all interfaces. If this behavior is desired, start the [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] ** server with --bind_ip 127.0.0.1 to disable this warning. [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.765+0900 I FTDC [initandlisten] Initializing full-time diagnostic data capture with directory '/tmp/db/diagnostic.data' [mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.765+0900 I NETWORK [initandlisten] waiting for connections on port 33829 [rviz2-1] [ERROR] [1660634134.701846639] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] /opt/ros/foxy/lib/rviz2/rviz2: symbol lookup error: /home/yh99/ros2_ws/install/moveit_ros_visualization/lib/libmoveit_trajectory_rviz_plugin_core.so.2.2.3: undefined symbol: _ZN10rdf_loader9RDFLoaderC1ERKSt10shared_ptrIN6rclcpp4NodeEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE [ERROR] [rviz2-1]: process has died [pid 25720, exit code 127, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/yh99/ros2_ws/install/dsr_description2/share/dsr_description2/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_d9jzcwzi --params-file /tmp/launch_params_7tceyydl --params-file /tmp/launch_params_k5huissi --params-file /tmp/launch_params_jleqte1e']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robot_state_publisher-3] [INFO] [1660634142.937700682] [rclcpp]: signal_handler(signal_value=2) [fake_joint_driver_node-5] [INFO] [1660634142.937746098] [rclcpp]: signal_handler(signal_value=2) [static_transform_publisher-2] [INFO] [1660634142.937761260] [rclcpp]: signal_handler(signal_value=2) [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.937+0900 I CONTROL [signalProcessingThread] got signal 2 (Interrupt), will terminate after current cmd ends [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.937+0900 I NETWORK [signalProcessingThread] shutdown: going to close listening sockets... [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.938+0900 I NETWORK [signalProcessingThread] removing socket file: /tmp/mongodb-33829.sock [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.938+0900 I FTDC [signalProcessingThread] Shutting down full-time diagnostic data capture [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.942+0900 I STORAGE [signalProcessingThread] WiredTigerKVEngine shutting down [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 25722] [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 25724] [INFO] [fake_joint_driver_node-5]: process has finished cleanly [pid 25728] [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I STORAGE [signalProcessingThread] shutdown: removing fs lock... [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I CONTROL [signalProcessingThread] now exiting [mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I CONTROL [signalProcessingThread] shutting down with code:0 [mongo_wrapper_ros.py-6] Traceback (most recent call last): [mongo_wrapper_ros.py-6] File "/home/yh99/ros2_ws/install/warehouse_ros_mongo/lib/warehouse_ros_mongo/mongo_wrapper_ros.py", line 131, in <module> [mongo_wrapper_ros.py-6] check_call("mongod --dbpath {} --port {}".format(dbpath, port.value).split()) [mongo_wrapper_ros.py-6] File "/usr/lib/python3.8/subprocess.py", line 359, in check_call [mongo_wrapper_ros.py-6] retcode = call(*popenargs, **kwargs) [mongo_wrapper_ros.py-6] File "/usr/lib/python3.8/subprocess.py", line 342, in call [mongo_wrapper_ros.py-6] return p.wait(timeout=timeout) [mongo_wrapper_ros.py-6] File "/usr/lib/python3.8/subprocess.py", line 1083, in wait [mongo_wrapper_ros.py-6] return self._wait(timeout=timeout) [mongo_wrapper_ros.py-6] File "/usr/lib/python3.8/subprocess.py", line 1806, in _wait [mongo_wrapper_ros.py-6] (pid, sts) = self._try_wait(0) [mongo_wrapper_ros.py-6] File "/usr/lib/python3.8/subprocess.py", line 1764, in _try_wait [mongo_wrapper_ros.py-6] (pid, sts) = os.waitpid(self.pid, wait_flags) [mongo_wrapper_ros.py-6] KeyboardInterrupt [ERROR] [mongo_wrapper_ros.py-6]: process has died [pid 25730, exit code -2, cmd '/home/yh99/ros2_ws/install/warehouse_ros_mongo/lib/warehouse_ros_mongo/mongo_wrapper_ros.py --ros-args --params-file /tmp/launch_params_3it9dbfq --params-file /tmp/launch_params_kr7wwn21 --params-file /tmp/launch_params_17i0qxrn']. yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$