Control arm LBR only on RVIZ without gazebo

Hello @mhubii . I was using this code: ros2 launch lbr_bringup bringup.launch.py model:=iiwa14 moveit:=true to launch the robot iiwa14 in simulation (gazebo) and Rviz. However i wanted to launch this robot only in Rviz without using gazebo. I tried following this tutorials of moviet humble: https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html and also this one: https://moveit.picknik.ai/main/doc/how_to_guides/moveit_launch_files/moveit_launch_files_tutorial.html

I tried to follow the way presented in the tutorials and this is my code:

import os from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.conditions import IfCondition, UnlessCondition from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare from launch.actions import ExecuteProcess from ament_index_python.packages import get_package_share_directory from moveit_configs_utils import MoveItConfigsBuilder from lbr_description import LBRDescriptionMixin, RVizMixin from lbr_bringup import LBRMoveGroupMixin

def generate_launch_description():

declared_arguments = []
declared_arguments.append(
    DeclareLaunchArgument(
        "rviz_config",
        default_value="miariiwa1.rviz",
        description="RViz configuration file",
    )
)

return LaunchDescription(
    declared_arguments + [OpaqueFunction(function=launch_setup)]
)

def launch_setup(context, *args, **kwargs):

moveit_config = (
    MoveItConfigsBuilder("iiwa14")
    .robot_description(os.path.join(
            get_package_share_directory("lbr_description"),
            "urdf/iiwa14/iiwa14.urdf.xacro",
        )
    )
    .trajectory_execution(file_path="/home/antonio/lbr-stack/src/lbr_fri_ros2_stack/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml")
    .planning_scene_monitor(
        publish_robot_description=True, publish_robot_description_semantic=True
    )
    .planning_pipelines(
        pipelines=["ompl"]
    )
    .robot_description_kinematics(file_path="/home/antonio/lbr-stack/src/lbr_fri_ros2_stack/lbr_moveit_config/iiwa14_moveit_config/config/kinematics.yaml")
    .to_moveit_configs()   
)

# Start the actual move_group node/action server
run_move_group_node = Node(
    package="moveit_ros_move_group",
    executable="move_group",
    output="screen",
    parameters=[moveit_config.to_dict()],
)

rviz_base = LaunchConfiguration("rviz_config")
rviz_config = PathJoinSubstitution(
    #[FindPackageShare("lbr_description"), "config", rviz_base]
    [FindPackageShare("miar_robot"), "launch", rviz_base]

)

# RViz
rviz_node = Node(
    package="rviz2",
    executable="rviz2",
    name="rviz2",
    output="log",
    arguments=["-d", rviz_config],
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
        moveit_config.planning_pipelines,
        moveit_config.joint_limits,
    ],
)

# Static TF
static_tf = Node(
    package="tf2_ros",
    executable="static_transform_publisher",
    name="static_transform_publisher",
    output="log",
    arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "link_0"],
)

# Publish TF
robot_state_publisher = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    name="robot_state_publisher",
    output="both",
    parameters=[moveit_config.robot_description],
)

# ros2_control using FakeSystem as hardware
ros2_controllers_path = os.path.join(
    get_package_share_directory("lbr_ros2_control"),
    "config",
    "lbr_controllers.yaml",
)
ros2_control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[moveit_config.robot_description, ros2_controllers_path],
    output="both",
)

joint_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "joint_state_broadcaster",
        "--controller-manager-timeout",
        "300",
        "--controller-manager",
        "/controller_manager",
    ],
)

arm_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
)

nodes_to_start = [
    rviz_node,
    static_tf,
    robot_state_publisher,
    run_move_group_node,
    ros2_control_node,
    joint_state_broadcaster_spawner,
    arm_controller_spawner,
]

return nodes_to_star

PS: I put this launch file in a package called miar_robot as you can check in the code. However when i run this code in rviz i can plan a trajectory but i can´t execute it as you can see in the picture below:

In the terminal appears the following error: [ERROR] [ros2_control_node-5]: process has died [pid 15443, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_e0scg7kp --params-file /home/antonio/lbr-stack/install/lbr_ros2_control/share/lbr_ros2_control/config/lbr_controllers.yaml']. [spawner-7] [INFO] [1719412041.691157785] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist [spawner-6] [INFO] [1719412041.739105946] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist Anyone know any way to launch the robot lbr only rviz and also be able to plan and execute in the rviz without using any simulator as gazebo?

lbr-stack / lbr_fri_ros2_stack

Control arm LBR only on RVIZ without gazebo #193