Controller spawner fails to find controller manager

liver121888 commented 3 months ago

Hi, I am using ROS 2 Humble and trying to launch the command:

ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=true rviz:=true moveit:=true

The terminal output is as follows:

[INFO] [launch]: All log files can be found below /home/liver/.ros/log/2024-03-24-12-33-19-252489-liver-Vivobook15-12674
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [12676]
[INFO] [gzclient-2]: process started with pid [12678]
[INFO] [spawn_entity.py-3]: process started with pid [12680]
[INFO] [spawner-4]: process started with pid [12682]
[INFO] [robot_state_publisher-5]: process started with pid [12684]
[INFO] [spawner-6]: process started with pid [12686]
[INFO] [static_transform_publisher-7]: process started with pid [12688]
[INFO] [move_group-8]: process started with pid [12690]
[static_transform_publisher-7] [INFO] [static_transform_publisher_456ND5uA8AE2MhvX]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from 'world' to 'lbr/world'
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_0
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_1
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_2
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_3
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_4
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_5
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_6
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_7
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_ee
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment world
[move_group-8] [INFO] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-8] [INFO] [moveit_robot_model.robot_model]: Loading robot model 'iiwa7'...
[move_group-8] [INFO] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-8] [INFO] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-8] [INFO] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-8] [WARN] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-8] [ERROR] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /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-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Waiting for entity xml on robot_description
[move_group-8] [INFO] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-8] [INFO] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-8] [INFO] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-8] [INFO] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-8] [INFO] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-8] [INFO] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-8] [INFO] [move_group.move_group]: 
[move_group-8] 
[move_group-8] ********************************************************
[move_group-8] * MoveGroup using: 
[move_group-8] *     - ApplyPlanningSceneService
[move_group-8] *     - ClearOctomapService
[move_group-8] *     - CartesianPathService
[move_group-8] *     - ExecuteTrajectoryAction
[move_group-8] *     - GetPlanningSceneService
[move_group-8] *     - KinematicsService
[move_group-8] *     - MoveAction
[move_group-8] *     - MotionPlanService
[move_group-8] *     - QueryPlannersService
[move_group-8] *     - StateValidationService
[move_group-8] ********************************************************
[move_group-8] 
[move_group-8] [INFO] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-8] [INFO] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-8] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-8] Loading 'move_group/ClearOctomapService'...
[move_group-8] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-8] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-8] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-8] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-8] Loading 'move_group/MoveGroupMoveAction'...
[move_group-8] Loading 'move_group/MoveGroupPlanService'...
[move_group-8] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-8] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-8] 
[move_group-8] You can start planning now!
[move_group-8] 
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [ERROR] [lbr.spawner_joint_trajectory_controller]: Controller manager not available
[spawner-4] [ERROR] [lbr.spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-6]: process has died [pid 12686, exit code 1, cmd '/home/liver/paradocs_ws/install/controller_manager/lib/controller_manager/spawner joint_trajectory_controller --controller-manager controller_manager --ros-args -r __ns:=/lbr'].
[ERROR] [spawner-4]: process has died [pid 12682, exit code 1, cmd '/home/liver/paradocs_ws/install/controller_manager/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args -r __ns:=/lbr'].

A potential cause of the error may be this breaking change: https://github.com/ros-controls/ros2_control/pull/1410 As on my laptop, I am using ros-humble-controller-manager (2.40.0-1jammy.20240304.152357), the error occured. But on another laptop, we are using ros-humble-controller-manager 2.37.0 and the controllers can be successfully spawned.

mhubii commented 3 months ago

thank you very much for sharing @liver121888 ! Will get this sorted ASAP

mhubii commented 3 months ago

One thing you can try is to checkout the dev-humble-launch branch until it gets merged. This should solve the issues

liver121888 commented 3 months ago

Unfortunately, that didn't work for me. Is there a way for me to check each node separately to see where is the root cause? I checkout the dev-humble-launch branch, now the robot_state_publisher can be spawned, but

ros2 topic echo /lbr/robot_description gives following output:

data: <?xml version="1.0" ?> <!-- =================================================================================== --> <!-- |    Th...
---

ros2 topic echo /lbr/joint_states gives nothing.

full log:

[INFO] [launch]: All log files can be found below /home/liver/.ros/log/2024-03-25-23-03-19-784397-liver-Vivobook15-25064
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [25066]
[INFO] [gzclient-2]: process started with pid [25068]
[INFO] [spawn_entity.py-3]: process started with pid [25070]
[INFO] [spawner-4]: process started with pid [25072]
[INFO] [robot_state_publisher-5]: process started with pid [25074]
[INFO] [spawner-6]: process started with pid [25076]
[INFO] [static_transform_publisher-7]: process started with pid [25078]
[INFO] [move_group-8]: process started with pid [25080]
[static_transform_publisher-7] [INFO] [static_transform_publisher_VYyIn1DvmNSUCnye]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from 'world' to 'lbr/world'
[move_group-8] [INFO] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-8] [INFO] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[move_group-8] [INFO] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_0
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_1
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_2
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_3
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_4
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_5
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_6
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_7
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment link_ee
[robot_state_publisher-5] [INFO] [lbr.robot_state_publisher]: got segment world
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-8] [INFO] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-8] [INFO] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-8] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-8] [WARN] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-8] [ERROR] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-8] [INFO] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /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-3]   warnings.warn(
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-8] [INFO] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-8] [INFO] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-8] [INFO] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-8] [INFO] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-8] [INFO] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-8] [INFO] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Waiting for service /spawn_entity
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-8] [INFO] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-8] [INFO] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-8] [INFO] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-8] [INFO] [move_group.move_group]: 
[move_group-8] 
[move_group-8] ********************************************************
[move_group-8] * MoveGroup using: 
[move_group-8] *     - ApplyPlanningSceneService
[move_group-8] *     - ClearOctomapService
[move_group-8] *     - CartesianPathService
[move_group-8] *     - ExecuteTrajectoryAction
[move_group-8] *     - GetPlanningSceneService
[move_group-8] *     - KinematicsService
[move_group-8] *     - MoveAction
[move_group-8] *     - MotionPlanService
[move_group-8] *     - QueryPlannersService
[move_group-8] *     - StateValidationService
[move_group-8] ********************************************************
[move_group-8] 
[move_group-8] [INFO] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-8] [INFO] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-8] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-8] Loading 'move_group/ClearOctomapService'...
[move_group-8] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-8] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-8] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-8] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-8] Loading 'move_group/MoveGroupMoveAction'...
[move_group-8] Loading 'move_group/MoveGroupPlanService'...
[move_group-8] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-8] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-8] 
[move_group-8] You can start planning now!
[move_group-8] 
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [lbr]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 25070]
[INFO] [rviz2-9]: process started with pid [25283]
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-9] [INFO] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-9] 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.
[rviz2-9]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[rviz2-9] [ERROR] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-9] [INFO] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-9] [INFO] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> lbr. Reloading params.
[rviz2-9] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-9] [INFO] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-9] [INFO] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-9] [INFO] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-9] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-9] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-9] [INFO] [interactive_marker_display_108063543268576]: Connected on namespace: lbr/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-9] [INFO] [interactive_marker_display_108063543268576]: Sending request for interactive markers
[rviz2-9] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-9] [WARN] [interactive_marker_display_108063543268576]: Server not available during initialization, resetting
[rviz2-9] [INFO] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.1 seconds
[rviz2-9] [INFO] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-9] [INFO] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-9] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-9] [INFO] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[move_group-8] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'lbr/link_ee' to planning frame'world' (Could not find a connection between 'world' and 'lbr/link_ee' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-8] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'lbr/link_7' to planning frame'world' (Could not find a connection between 'world' and 'lbr/link_7' because they are not part of the same tree.Tf has two or more unconnected trees.)
[rviz2-9] [INFO] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-9] [INFO] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace 'lbr'
[rviz2-9] [INFO] [interactive_marker_display_108063543268576]: Sending request for interactive markers
[rviz2-9] [INFO] [move_group_interface]: Ready to take commands for planning group arm.
[move_group-8] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'lbr/link_ee' to planning frame'world' (Could not find a connection between 'world' and 'lbr/link_ee' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-8] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'lbr/link_7' to planning frame'world' (Could not find a connection between 'world' and 'lbr/link_7' because they are not part of the same tree.Tf has two or more unconnected trees.)
[rviz2-9] [INFO] [moveit_ros_visualization.motion_planning_frame]: group arm
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[rviz2-9] [INFO] [interactive_marker_display_108063543268576]: Service response received for initialization
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [ERROR] [lbr.spawner_joint_state_broadcaster]: Controller manager not available
[spawner-6] [ERROR] [lbr.spawner_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-6]: process has died [pid 25076, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager controller_manager --ros-args -r __ns:=/lbr'].
[ERROR] [spawner-4]: process has died [pid 25072, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args -r __ns:=/lbr'].

mhubii commented 3 months ago

hm quite strange indeed. Did you upgrade the controller_manager and gazebo_ros2_control to the latest version? I.e. ros-humble-controller-manager and ros-humble-gazebo-ros2-control.

Maybe try:

ros2 node list

And see if controller_manager node exists.

So we can see

Robot gets spawned into Gazebo:

[spawn_entity.py-3] [INFO] [lbr.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [lbr]

Following that, controller manager does not get loaded, or the namespace is still off (likely your issue):

[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[spawner-4] [INFO] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist

Therefore, controllers can't be loaded:

[ERROR] [spawner-6]: process has died [pid 25076, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller --controller-manager controller_manager --ros-args -r __ns:=/lbr'].
[ERROR] [spawner-4]: process has died [pid 25072, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args -r __ns:=/lbr'].

The controller_manager node is loaded as plugin into Gazebo through gazebo_ros2_control, https://github.com/ros-controls/gazebo_ros2_control/tree/humble

As an alternative, you can try and run through Docker: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/docker/doc/docker.html inside a clean environment.

liver121888 commented 3 months ago

I tried to run the cmd in the docker environment, it works perfectly fine. When comparing the apt pkgs, I found out I installed ros2_control, but I didn't install ros-humble-gazebo-ros2-control, somehow this package didn't get installed when I installed the gazebo. Maybe it is due to my recent upgrade from ubuntu 20.04 to 22.04. Now it works perfectly fine, thank you so much for your help, I am closing this issue.

mhubii commented 3 months ago

glad this worked for you

lbr-stack / lbr_fri_ros2_stack

Controller spawner fails to find controller manager #164