mukmalone
commented
2 years ago Just saw this was a pinned issue.
Closed mukmalone closed 2 years ago
mukmalone
commented
2 years ago Just saw this was a pinned issue.
Hi, when I run:
roslaunch mycobot_280_movit demo_gazebo.launchrviz seems to properly launch, gazebo starts but there is no robot in gazebo.Here is a screen shot of what I see and the full output in the terminal. My setup is:
NODES / controller_spawner (controller_manager/spawner) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_ubuntu_16721_3607413135093980549 (rviz/rviz) spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master process[master]: started with pid [16729] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 709dd776-6dcf-11ec-8eec-e37c200a2edc process[rosout-1]: started with pid [16739] started core service [/rosout] process[gazebo-2]: started with pid [16746] process[gazebo_gui-3]: started with pid [16749] process[spawn_gazebo_model-4]: started with pid [16755] process[controller_spawner-5]: started with pid [16757] process[joint_state_publisher-6]: started with pid [16758] process[robot_state_publisher-7]: started with pid [16759] process[move_group-8]: started with pid [16760] process[rviz_ubuntu_16721_3607413135093980549-9]: started with pid [16761] [ WARN] [1641349827.030924094]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [ WARN] [1641349827.033408878]: Falling back to using the the move_group node namespace (deprecated behavior). [ INFO] [1641349827.058673316]: Loading robot model 'firefighter'... usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout] [--shutdown-timeout SHUTDOWN_TIMEOUT] controller [controller ...] spawner: error: the following arguments are required: controller [ INFO] [1641349827.504178327]: rviz version 1.14.11 [ INFO] [1641349827.504396633]: compiled against Qt version 5.12.8 [ INFO] [1641349827.504420363]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1641349827.525487372]: Forcing OpenGl version 0. [INFO] [1641349827.619513, 0.000000]: Loading model XML from ros parameter robot_description [ WARN] [1641349827.621072689]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration. [INFO] [1641349827.630214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [controller_spawner-5] process has died [pid 16757, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log]. log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log [ INFO] [1641349827.915521987]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641349827.922577590]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1641349828.066988916]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1641349828.069499135]: Listening to 'joint_states' for joint states [ INFO] [1641349828.073427114]: Listening to '/attached_collision_object' for attached collision objects [ INFO] [1641349828.073531021]: Starting planning scene monitor [ INFO] [1641349828.075194278]: Listening to '/planning_scene' [ INFO] [1641349828.075270079]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1641349828.077371405]: Listening to '/collision_object' [ INFO] [1641349828.079895945]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1641349828.170924351]: Stereo is NOT SUPPORTED [ INFO] [1641349828.171161326]: OpenGL device: SVGA3D; build: RELEASE; LLVM; [ INFO] [1641349828.171273163]: OpenGl version: 2.1 (GLSL 1.2). [ INFO] [1641349828.234091682]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641349828.238270901]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1641349828.731545920]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1641349828.781624111, 0.009000000]: Physics dynamic reconfigure ready. [INFO] [1641349828.847892, 0.057000]: Calling service /gazebo/spawn_urdf_model [INFO] [1641349828.916240, 0.087000]: Spawn status: SpawnModel: Successfully spawned entity [spawn_gazebo_model-4] process has finished cleanly log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4.log [ INFO] [1641349830.136846206, 1.282000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 ' [ INFO] [1641349830.136963171, 1.282000000]: Loading planning pipeline '' [ERROR] [1641349830.176414102, 1.309000000]: Could not find the planner configuration 'None' on the param server [ INFO] [1641349830.240815089, 1.386000000]: Using planning interface 'OMPL' [ INFO] [1641349830.246175492, 1.392000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1641349830.247408567, 1.393000000]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1641349830.248381045, 1.394000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1641349830.249325531, 1.395000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1641349830.250618166, 1.396000000]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1641349830.251783892, 1.397000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1641349830.251951548, 1.397000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1641349830.252084823, 1.397000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1641349830.252253775, 1.397000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1641349830.252330257, 1.397000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1641349830.252355201, 1.397000000]: Using planning request adapter 'Fix Start State Path Constraints' [FATAL] [1641349830.270842361, 1.415000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager [ INFO] [1641349830.293482806, 1.430000000]: Trajectory execution is managing controllers [ INFO] [1641349830.293608443, 1.430000000]: MoveGroup debug mode is ON 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] [1641349830.390214398, 1.520000000]:
[ INFO] [1641349830.391504732, 1.522000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1641349830.391895943, 1.522000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1641349832.206084179, 3.308000000]: Loading robot model 'firefighter'... [ WARN] [1641349832.743275778, 3.837000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_attempts' from your configuration. [ INFO] [1641349833.313376442, 4.401000000]: Starting planning scene monitor [ INFO] [1641349833.318581304, 4.407000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1641349834.088218209, 5.181000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace '' [ INFO] [1641349835.246391752, 6.314000000]: Ready to take commands for planning group arm_group. ^C[rviz_ubuntu_16721_3607413135093980549-9] killing on exit [move_group-8] killing on exit [robot_state_publisher-7] killing on exit [joint_state_publisher-6] killing on exit [gazebo-2] killing on exit [gazebo_gui-3] killing on exit ^C[gazebo_gui-3] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done robot@ubuntu:~$ robot@ubuntu:~$ roslaunch mycobot_280_moveit demo_gazebo.launch ... logging to /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/roslaunch-ubuntu-17366.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://ubuntu:38505/
SUMMARY
PARAMETERS
NODES / controller_spawner (controller_manager/spawner) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_ubuntu_17366_7161459687332021435 (rviz/rviz) spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master process[master]: started with pid [17374] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 92b76b60-6dcf-11ec-8eec-e37c200a2edc process[rosout-1]: started with pid [17384] started core service [/rosout] process[gazebo-2]: started with pid [17391] process[gazebo_gui-3]: started with pid [17394] process[spawn_gazebo_model-4]: started with pid [17401] process[controller_spawner-5]: started with pid [17402] process[joint_state_publisher-6]: started with pid [17403] process[robot_state_publisher-7]: started with pid [17404] process[move_group-8]: started with pid [17405] process[rviz_ubuntu_17366_7161459687332021435-9]: started with pid [17406] [ WARN] [1641349884.300905129]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [ WARN] [1641349884.306829416]: Falling back to using the the move_group node namespace (deprecated behavior). [ INFO] [1641349884.358769088]: Loading robot model 'firefighter'... usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout] [--shutdown-timeout SHUTDOWN_TIMEOUT] controller [controller ...] spawner: error: the following arguments are required: controller [ INFO] [1641349884.591287303]: rviz version 1.14.11 [ INFO] [1641349884.591414982]: compiled against Qt version 5.12.8 [ INFO] [1641349884.591436916]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1641349884.648803696]: Forcing OpenGl version 0. [controller_spawner-5] process has died [pid 17402, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log]. log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log [INFO] [1641349884.883613, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1641349884.889865, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ WARN] [1641349884.901099560]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration. [ INFO] [1641349885.184700151]: Stereo is NOT SUPPORTED [ INFO] [1641349885.184990839]: OpenGL device: SVGA3D; build: RELEASE; LLVM; [ INFO] [1641349885.185083236]: OpenGl version: 2.1 (GLSL 1.2). [ INFO] [1641349885.207383147]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641349885.215393125]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1641349885.409836319]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1641349885.413670776]: Listening to 'joint_states' for joint states [ INFO] [1641349885.424290118]: Listening to '/attached_collision_object' for attached collision objects [ INFO] [1641349885.424386190]: Starting planning scene monitor [ INFO] [1641349885.427009962]: Listening to '/planning_scene' [ INFO] [1641349885.427231742]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1641349885.429874028]: Listening to '/collision_object' [ INFO] [1641349885.432958575]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1641349885.493739962]: Finished loading Gazebo ROS API Plugin. [ INFO] [1641349885.495811508]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1641349885.928483870]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1641349885.969412620, 0.017000000]: Physics dynamic reconfigure ready. [INFO] [1641349886.103939, 0.135000]: Calling service /gazebo/spawn_urdf_model [INFO] [1641349886.322105, 0.315000]: Spawn status: SpawnModel: Successfully spawned entity [spawn_gazebo_model-4] process has finished cleanly log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4.log [ INFO] [1641349887.352675213, 1.346000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 ' [ INFO] [1641349887.352767131, 1.346000000]: Loading planning pipeline '' [ERROR] [1641349887.392816981, 1.388000000]: Could not find the planner configuration 'None' on the param server [ INFO] [1641349887.445387988, 1.431000000]: Using planning interface 'OMPL' [ INFO] [1641349887.453674895, 1.440000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1641349887.455007054, 1.441000000]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1641349887.456185042, 1.442000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1641349887.459965453, 1.446000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1641349887.461015850, 1.447000000]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1641349887.462624840, 1.449000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1641349887.462768665, 1.449000000]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1641349887.462853641, 1.449000000]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1641349887.463575200, 1.449000000]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1641349887.463639807, 1.450000000]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1641349887.463725295, 1.450000000]: Using planning request adapter 'Fix Start State Path Constraints' [FATAL] [1641349887.480374589, 1.462000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager [ INFO] [1641349887.515772856, 1.492000000]: Trajectory execution is managing controllers [ INFO] [1641349887.515964940, 1.492000000]: MoveGroup debug mode is ON 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] [1641349887.718422177, 1.701000000]:
[ INFO] [1641349887.718528208, 1.701000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1641349887.718551365, 1.701000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1641349889.393690916, 3.346000000]: Loading robot model 'firefighter'... [ WARN] [1641349890.017421293, 3.956000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_attempts' from your configuration. [ INFO] [1641349890.586570516, 4.515000000]: Starting planning scene monitor [ INFO] [1641349890.593662163, 4.523000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1641349891.442518922, 5.352000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace '' [ INFO] [1641349892.468871406, 6.366000000]: Ready to take commands for planning group arm_group.