MoveIt stops/crashes after newest Humble update

[skaeringur97]

Description

This morning, I did apt-update and apt-upgrade. There was a big update (took about 8 minutes) and after that all my demos "crash". A college did the same update but uses Nav2 and not MoveIt and he has no problems. On each demo, the robot first moves for about one second before stopping. There are no error msgs or warnings, the robot simply stops moving.

Your environment

• ROS2: [Humble]
• OS Version: e.g. Ubuntu 22.04
• Binary build for both ROS2 and MoveIt2

Steps to reproduce

install ROS2 Humble and Moveit with binary install and run any MoveIt demo

[sjahr]

Can you provide the terminal output when you run Moveit2?

[skaeringur97]

@sjahr

Demo that uses MoveItCpp to plan and execute

 [INFO] [launch]: All log files can be found below /home/egudmundsson/.ros/log/2022-11-24-11-50-30-750687-LAP19-020-15788
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [static_transform_publisher-1]: process started with pid [15789]
[INFO] [robot_state_publisher-2]: process started with pid [15791]
[INFO] [rviz2-3]: process started with pid [15793]
[INFO] [minimal_example-4]: process started with pid [15795]
[INFO] [ros2_control_node-5]: process started with pid [15797]
[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process started with pid [15799]
[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process started with pid [15801]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process started with pid [15819]
[static_transform_publisher-1] [WARN] [1669287031.074311869] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-1] [INFO] [1669287031.101287367] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'world' to 'panda_link0'
[ros2_control_node-5] [INFO] [1669287031.127161128] [resource_manager]: Loading hardware 'PandaFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127560496] [resource_manager]: Initialize hardware 'PandaFakeSystem' 
[ros2_control_node-5] [WARN] [1669287031.127597307] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: 
[ros2_control_node-5]  
[ros2_control_node-5]   0.0 
[ros2_control_node-5] 
[ros2_control_node-5] [INFO] [1669287031.127607750] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.127628261] [resource_manager]: Loading hardware 'PandaHandFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127636966] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127645842] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.127672642] [resource_manager]: 'configure' hardware 'PandaFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127676647] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.127683737] [resource_manager]: 'activate' hardware 'PandaFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127687667] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.127691026] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127694291] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.127698060] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' 
[ros2_control_node-5] [INFO] [1669287031.127701048] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1669287031.151271272] [controller_manager]: update rate is 100 Hz
[robot_state_publisher-2] Link panda_link1 had 1 children
[robot_state_publisher-2] Link panda_link2 had 1 children
[robot_state_publisher-2] Link panda_link3 had 1 children
[robot_state_publisher-2] Link panda_link4 had 1 children
[robot_state_publisher-2] Link panda_link5 had 1 children
[robot_state_publisher-2] Link panda_link6 had 1 children
[robot_state_publisher-2] Link panda_link7 had 1 children
[robot_state_publisher-2] Link panda_link8 had 1 children
[robot_state_publisher-2] Link panda_hand had 2 children
[robot_state_publisher-2] Link panda_leftfinger had 0 children
[robot_state_publisher-2] Link panda_rightfinger had 0 children
[robot_state_publisher-2] [INFO] [1669287031.167815651] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-2] [INFO] [1669287031.168360953] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-2] [INFO] [1669287031.168678740] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-2] [INFO] [1669287031.168971253] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-2] [INFO] [1669287031.169266680] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-2] [INFO] [1669287031.169564639] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-2] [INFO] [1669287031.169848481] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-2] [INFO] [1669287031.170264454] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-2] [INFO] [1669287031.170569773] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-2] [INFO] [1669287031.170884045] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-2] [INFO] [1669287031.171225814] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-2] [INFO] [1669287031.171543330] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [INFO] [1669287031.173114091] [controller_manager]: RT kernel is recommended for better performance
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1669287031.415005514] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
[rviz2-3] [INFO] [1669287031.447206022] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1669287031.447430859] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[ros2 run controller_manager spawner joint_state_broadcaster-8] [INFO] [1669287031.464307239] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-3] [INFO] [1669287031.467301137] [rviz2]: Stereo is NOT SUPPORTED
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1669287031.478733274] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
[rviz2-3] 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.
[rviz2-3]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1669287031.625397060] [spawner_panda_arm_controller]: Controller already loaded, skipping load_controller
[ros2_control_node-5] [INFO] [1669287031.628325609] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [ERROR] [1669287031.628376619] [controller_manager]: Could not configure controller with name 'panda_arm_controller' because no controller with this name exists
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1669287031.629186462] [spawner_panda_arm_controller]: Failed to configure controller
[ros2_control_node-5] [INFO] [1669287031.673832541] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1669287031.697335338] [controller_manager]: Loading controller 'panda_hand_controller'
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1669287031.724148949] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-5] [INFO] [1669287031.725051029] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1669287031.725182489] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1669287031.743958839] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[ros2 run controller_manager spawner panda_arm_controller-6] [ros2run]: Process exited with failure 1
[ERROR] [ros2 run controller_manager spawner panda_arm_controller-6]: process has died [pid 15799, exit code 1, cmd 'ros2 run controller_manager spawner panda_arm_controller'].
[ros2 run controller_manager spawner joint_state_broadcaster-8] [ros2run]: Process exited with failure 1
[ERROR] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process has died [pid 15819, exit code 1, cmd 'ros2 run controller_manager spawner joint_state_broadcaster'].
[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process has finished cleanly [pid 15801]
[rviz2-3] [ERROR] [1669287034.573585215] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] [INFO] [1669287034.586079881] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-3] [INFO] [1669287034.672553267] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0269322 seconds
[rviz2-3] [INFO] [1669287034.672645278] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1669287034.692595814] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [INFO] [1669287034.733540283] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1669287034.734467107] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-3] [INFO] [1669287034.965443671] [interactive_marker_display_94395028524368]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-3] [INFO] [1669287034.968899155] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] Link panda_link1 had 1 children
[rviz2-3] Link panda_link2 had 1 children
[rviz2-3] Link panda_link3 had 1 children
[rviz2-3] Link panda_link4 had 1 children
[rviz2-3] Link panda_link5 had 1 children
[rviz2-3] Link panda_link6 had 1 children
[rviz2-3] Link panda_link7 had 1 children
[rviz2-3] Link panda_link8 had 1 children
[rviz2-3] Link panda_hand had 2 children
[rviz2-3] Link panda_leftfinger had 0 children
[rviz2-3] Link panda_rightfinger had 0 children
[rviz2-3] [INFO] [1669287034.969554131] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [INFO] [1669287034.974603152] [moveit_ros_visualization.motion_planning_frame]: group hand
[rviz2-3] [INFO] [1669287034.974625685] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'hand' in namespace ''
[rviz2-3] [WARN] [1669287034.974764744] [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.
[rviz2-3] [INFO] [1669287034.984929458] [interactive_marker_display_94395028524368]: Sending request for interactive markers
[rviz2-3] [INFO] [1669287035.004507444] [move_group_interface]: Ready to take commands for planning group hand.
[rviz2-3] [INFO] [1669287035.009249633] [interactive_marker_display_94395028524368]: Service response received for initialization
[minimal_example-4] [INFO] [1669287036.211677343] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0279054 seconds
[minimal_example-4] [INFO] [1669287036.211729043] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[minimal_example-4] Link panda_link1 had 1 children
[minimal_example-4] Link panda_link2 had 1 children
[minimal_example-4] Link panda_link3 had 1 children
[minimal_example-4] Link panda_link4 had 1 children
[minimal_example-4] Link panda_link5 had 1 children
[minimal_example-4] Link panda_link6 had 1 children
[minimal_example-4] Link panda_link7 had 1 children
[minimal_example-4] Link panda_link8 had 1 children
[minimal_example-4] Link panda_hand had 2 children
[minimal_example-4] Link panda_leftfinger had 0 children
[minimal_example-4] Link panda_rightfinger had 0 children
[minimal_example-4] [INFO] [1669287036.246235245] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[minimal_example-4] [INFO] [1669287036.246672573] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[minimal_example-4] [INFO] [1669287036.248485362] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[minimal_example-4] [INFO] [1669287036.248788178] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[minimal_example-4] [INFO] [1669287036.248804558] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[minimal_example-4] [INFO] [1669287036.249024944] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[minimal_example-4] [INFO] [1669287036.249037197] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[minimal_example-4] [INFO] [1669287036.249275874] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[minimal_example-4] [INFO] [1669287036.249487934] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[minimal_example-4] [WARN] [1669287036.249625765] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[minimal_example-4] [ERROR] [1669287036.249635775] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[minimal_example-4] [INFO] [1669287036.250599952] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[minimal_example-4] [INFO] [1669287036.259529554] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[minimal_example-4] [INFO] [1669287036.272719001] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[minimal_example-4] [INFO] [1669287036.272783405] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[minimal_example-4] [INFO] [1669287036.272787355] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[minimal_example-4] [INFO] [1669287036.272813407] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[minimal_example-4] [INFO] [1669287036.272834134] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[minimal_example-4] [INFO] [1669287036.272840647] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[minimal_example-4] [INFO] [1669287036.272850409] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[minimal_example-4] [INFO] [1669287036.272857615] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[minimal_example-4] [INFO] [1669287036.272863054] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[minimal_example-4] [INFO] [1669287036.272874881] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[minimal_example-4] [INFO] [1669287036.272879381] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[minimal_example-4] [INFO] [1669287036.272882338] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[minimal_example-4] [INFO] [1669287036.272884844] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[minimal_example-4] [INFO] [1669287036.272886542] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[minimal_example-4] [INFO] [1669287036.272888641] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[minimal_example-4] [WARN] [1669287036.278798809] [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.
[minimal_example-4] [INFO] [1669287036.347421685] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[minimal_example-4] [INFO] [1669287036.347463434] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[minimal_example-4] [INFO] [1669287036.349354900] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[minimal_example-4] [INFO] [1669287036.349476961] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287036.349495736] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287036.349891064] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[minimal_example-4] [INFO] [1669287036.350771948] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000823011 seconds
[minimal_example-4] [INFO] [1669287036.350781049] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[minimal_example-4] Link panda_link1 had 1 children
[minimal_example-4] Link panda_link2 had 1 children
[minimal_example-4] Link panda_link3 had 1 children
[minimal_example-4] Link panda_link4 had 1 children
[minimal_example-4] Link panda_link5 had 1 children
[minimal_example-4] Link panda_link6 had 1 children
[minimal_example-4] Link panda_link7 had 1 children
[minimal_example-4] Link panda_link8 had 1 children
[minimal_example-4] Link panda_hand had 2 children
[minimal_example-4] Link panda_leftfinger had 0 children
[minimal_example-4] Link panda_rightfinger had 0 children
[minimal_example-4] [INFO] [1669287036.379581397] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[minimal_example-4] [INFO] [1669287036.381592572] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[minimal_example-4] [INFO] [1669287036.382002880] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[minimal_example-4] [INFO] [1669287036.382016277] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[minimal_example-4] [INFO] [1669287036.382385885] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[minimal_example-4] [INFO] [1669287036.382395110] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[minimal_example-4] [INFO] [1669287036.382738263] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[minimal_example-4] [INFO] [1669287036.383107033] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[minimal_example-4] [WARN] [1669287036.383237494] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[minimal_example-4] [ERROR] [1669287036.383250542] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[minimal_example-4] [INFO] [1669287037.384747968] [minimal_example]: Add apples 0 to 2
[minimal_example-4] [INFO] [1669287037.396962966] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[minimal_example-4] [WARN] [1669287037.449062973] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[minimal_example-4] [INFO] [1669287037.450025300] [minimal_example]: Pick plan ready
[minimal_example-4] [INFO] [1669287037.450081451] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.450090947] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.450117668] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.450121797] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.450140582] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[minimal_example-4] [INFO] [1669287037.452702639] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[minimal_example-4] [INFO] [1669287037.452773123] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.452817241] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example-4] [INFO] [1669287037.452980735] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to panda_arm_controller
[minimal_example-4] [INFO] [1669287037.453762584] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: panda_arm_controller started execution
[minimal_example-4] [INFO] [1669287037.453849522] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[minimal_example-4] [WARN] [1669287040.119792595] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out
[minimal_example-4] [ERROR] [1669287040.119821555] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 2.665742 seconds). Stopping trajectory.
[minimal_example-4] [INFO] [1669287040.119846709] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for panda_arm_controller

Demo that uses hybrid planner to plan and execute (uses MoveItCpp to plan)

[INFO] [launch]: All log files can be found below /home/egudmundsson/.ros/log/2022-11-24-12-03-36-640444-LAP19-020-17936
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [17958]
[INFO] [pick_and_place_inside_ur10e_cage-2]: process started with pid [17960]
[INFO] [servo_node-3]: process started with pid [17962]
[servo_node-3] [INFO] [1669287818.132261037] [servo]: servo started
[servo_node-3] [INFO] [1669287818.177988683] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0451594 seconds
[servo_node-3] [INFO] [1669287818.178042942] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node-3] [INFO] [1669287818.178050423] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[component_container_mt-1] [INFO] [1669287818.179401515] [hybrid_planning_container]: Load Library: /home/egudmundsson/riwo_ws/hybrid-planning/hybrid_pick_and_place/pick_and_place_hybrid/install/pick_place_hybrid/lib/libmoveit_global_planner_component.so.2.5.3
[component_container_mt-1] [INFO] [1669287818.181468532] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container_mt-1] [INFO] [1669287818.181505493] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[servo_node-3] Link base_link had 2 children
[servo_node-3] Link base had 0 children
[servo_node-3] Link base_link_inertia had 1 children
[servo_node-3] Link shoulder_link had 1 children
[servo_node-3] Link upper_arm_link had 1 children
[servo_node-3] Link forearm_link had 1 children
[servo_node-3] Link wrist_1_link had 1 children
[servo_node-3] Link wrist_2_link had 1 children
[servo_node-3] Link wrist_3_link had 2 children
[servo_node-3] Link flange had 1 children
[servo_node-3] Link tool0 had 0 children
[servo_node-3] Link ft_frame had 0 children
[component_container_mt-1] [INFO] [1669287818.322469147] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0453968 seconds
[component_container_mt-1] [INFO] [1669287818.322510360] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[component_container_mt-1] [INFO] [1669287818.322518467] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[component_container_mt-1] Link base_link had 2 children
[component_container_mt-1] Link base had 0 children
[component_container_mt-1] Link base_link_inertia had 1 children
[component_container_mt-1] Link shoulder_link had 1 children
[component_container_mt-1] Link upper_arm_link had 1 children
[component_container_mt-1] Link forearm_link had 1 children
[component_container_mt-1] Link wrist_1_link had 1 children
[component_container_mt-1] Link wrist_2_link had 1 children
[component_container_mt-1] Link wrist_3_link had 2 children
[component_container_mt-1] Link flange had 1 children
[component_container_mt-1] Link tool0 had 0 children
[component_container_mt-1] Link ft_frame had 0 children
[component_container_mt-1] [INFO] [1669287818.396943117] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[component_container_mt-1] [INFO] [1669287818.397954054] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[component_container_mt-1] [INFO] [1669287818.400258485] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[component_container_mt-1] [INFO] [1669287818.402155029] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/global_planner/monitored_planning_scene'
[component_container_mt-1] [INFO] [1669287818.402600213] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[component_container_mt-1] [INFO] [1669287818.404661832] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[component_container_mt-1] [INFO] [1669287818.404688852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[component_container_mt-1] [INFO] [1669287818.408176511] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[component_container_mt-1] [INFO] [1669287818.409313896] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[component_container_mt-1] [WARN] [1669287818.409529980] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[component_container_mt-1] [ERROR] [1669287818.409546755] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[component_container_mt-1] [INFO] [1669287818.413322360] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[component_container_mt-1] [INFO] [1669287818.418677516] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[component_container_mt-1] [WARN] [1669287818.423927356] [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.
[component_container_mt-1] [INFO] [1669287818.459381020] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[component_container_mt-1] [INFO] [1669287818.466216318] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[component_container_mt-1] [INFO] [1669287818.466451190] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[component_container_mt-1] [INFO] [1669287818.466472333] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/global_planner' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1669287818.468278523] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[component_container_mt-1] [INFO] [1669287818.468305454] [global_planner_component]: Using global planner plugin 'pick_place_hybrid/MoveItPlanningPipeline'
[component_container_mt-1] [INFO] [1669287818.475830486] [hybrid_planning_container]: Load Library: /home/egudmundsson/riwo_ws/hybrid-planning/hybrid_pick_and_place/pick_and_place_hybrid/install/pick_place_hybrid/lib/libmoveit_local_planner_component.so.2.5.3
[component_container_mt-1] [INFO] [1669287818.492328954] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container_mt-1] [INFO] [1669287818.492364555] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[component_container_mt-1] [INFO] [1669287818.521442930] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0037359 seconds
[component_container_mt-1] [INFO] [1669287818.521492875] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[component_container_mt-1] [INFO] [1669287818.521501084] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[component_container_mt-1] Link base_link had 2 children
[component_container_mt-1] Link base had 0 children
[component_container_mt-1] Link base_link_inertia had 1 children
[component_container_mt-1] Link shoulder_link had 1 children
[component_container_mt-1] Link upper_arm_link had 1 children
[component_container_mt-1] Link forearm_link had 1 children
[component_container_mt-1] Link wrist_1_link had 1 children
[component_container_mt-1] Link wrist_2_link had 1 children
[component_container_mt-1] Link wrist_3_link had 2 children
[component_container_mt-1] Link flange had 1 children
[component_container_mt-1] Link tool0 had 0 children
[component_container_mt-1] Link ft_frame had 0 children
[component_container_mt-1] [INFO] [1669287818.617557068] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[component_container_mt-1] [INFO] [1669287818.618905223] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[component_container_mt-1] [INFO] [1669287818.618945946] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[component_container_mt-1] [INFO] [1669287818.620327024] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/collision_object'
[component_container_mt-1] [INFO] [1669287818.621655081] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[component_container_mt-1] [WARN] [1669287818.621951852] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[component_container_mt-1] [ERROR] [1669287818.621972534] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[component_container_mt-1] [INFO] [1669287818.628602603] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[component_container_mt-1] [INFO] [1669287818.632036698] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[component_container_mt-1] [INFO] [1669287818.632274695] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Updating internal planning scene state at most every 0.013333 seconds
[component_container_mt-1] [INFO] [1669287818.648736134] [local_planner_component]: Using trajectory operator interface 'pick_place_hybrid/SimpleSampler'
[component_container_mt-1] [INFO] [1669287818.651141187] [local_planner_component]: Using constraint solver interface 'pick_place_hybrid/ForwardTrajectory'
[component_container_mt-1] [INFO] [1669287818.655743584] [local_planner_component]: Using 'trajectory_msgs/JointTrajectory' as local solution topic type
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/local_planner' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1669287818.659333342] [hybrid_planning_container]: Load Library: /home/egudmundsson/riwo_ws/hybrid-planning/hybrid_pick_and_place/pick_and_place_hybrid/install/pick_place_hybrid/lib/libpick_place_hybrid_manager.so.2.5.3
[component_container_mt-1] [INFO] [1669287818.662314270] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate
[component_container_mt-1] [INFO] [1669287818.662330475] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/hybrid_planning_manager' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1669287818.670709548] [hybrid_planning_manager]: Using planner logic interface 'pick_place_hybrid/ReplanInvalidatedTrajectory'
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.692256170] [test_hybrid_planning_client]: GetClosestObject
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.692342506] [test_hybrid_planning_client]: closest object is basket with pos x:0.3 with pos y:1.1 with pos z:1.05
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.692700353] [test_hybrid_planning_client]: GetClosestObject
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.692713669] [test_hybrid_planning_client]: closest object is apple0 with pos x:0.774922 with pos y:0.741991 with pos z:0.00314926
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.692740685] [test_hybrid_planning_client]: Sending hybrid planning goal
[component_container_mt-1] [INFO] [1669287818.693020453] [hybrid_planning_manager]: Received goal request
[component_container_mt-1] [INFO] [1669287818.693339247] [global_planner_component]: Received global planning goal request
[pick_and_place_inside_ur10e_cage-2] [INFO] [1669287818.693492489] [test_hybrid_planning_client]: Global goal accepted by server
[component_container_mt-1] [WARN] [1669287818.693700485] [moveit.ompl_planning.planning_context_manager]: Cannot find planning configuration for group 'ur_manipulator' using planner 'ompl'. Will use defaults instead.
[component_container_mt-1] [WARN] [1669287818.693855349] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[component_container_mt-1] [INFO] [1669287818.694046946] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[component_container_mt-1] [INFO] [1669287818.841258307] [moveit.ros_planning_interface.planning_component]: Deleting PlanningComponent 'ur_manipulator'
[component_container_mt-1] [WARN] [1669287818.841586690] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[component_container_mt-1] [INFO] [1669287818.841716456] [local_planner_component]: Received local planning goal request
[component_container_mt-1] [INFO] [1669287818.892091203] [local_planner_component]: The local planner is solving...
[servo_node-3] [INFO] [1669287820.329509864] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node-3] [INFO] [1669287820.338034781] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/monitored_planning_scene'
[servo_node-3] [INFO] [1669287820.338078779] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node-3] [INFO] [1669287820.338947087] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/collision_object'
[servo_node-3] [INFO] [1669287820.340263639] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[servo_node-3] [WARN] [1669287820.340864536] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[servo_node-3] [ERROR] [1669287820.340881109] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node-3] [INFO] [1669287820.352068779] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node-3] [INFO] [1669287820.354378468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects

Here is a video that shows the behaviour:

https://user-images.githubusercontent.com/31903354/203769666-20c5fa2f-102e-473a-bbce-47e681297f92.mp4

Expected behavior is that it continues to grasp the object and places it.

[skaeringur97]

I have verified that it is the update by running the same code on a computer that hasn't updated for 2 weeks. The code runs fine there.

[gavanderhoorn]

Just to get it out of the way: have you rebuilt your workspace (meaning: clean it out, then do a fresh colcon build)?

(there is no ABI compatibility guarantee in ROS (neither 1 nor 2). After updating with apt, workspaces must be rebuilt, or crashes are likely to occur)

[skaeringur97]

@gavanderhoorn thanks for the reply. Yes, I have deleted my build, log and install folders and re-build. Unfortunately that didn't solve the problem

[sjahr]

What about this error?

[minimal_example-4] [ERROR] [1669287040.119821555] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 2.665742 seconds). Stopping trajectory.

:point_up: copied from your minimal example terminal output. This error message is generated here Which version of ros2_control are you using and does this message always appear when you run the simple examples?

Hybrid Planning does not use the joint trajectory manager so if somethings wrong with the joint trajectory execution it might get stuck in an infinite loop since there is no timeout check like this.

[skaeringur97]

@sjahr this error only shows after the robot stops before finishing the trajectory. I meant that there is no error about why it stops.

Which version of ros2_control are you using

I'm using version 2.16.0-1

does this message always appear when you run the simple examples?

The above error only shows up in the example where I use MoveItCpp to execute (with planning_components->execute();). In the hybrid planning example no error msg shows. In both examples the robot moves a little before stopping.

it might get stuck in an infinite loop since there is no timeout check like this.

I'm not using hybrid planning in both examples. Does the same apply to MoveItCpp?

[sjahr]

MoveItCpp uses the trajectory execution manager, Hybrid Planning doesn't. Based on the error, it could be that for some reason, the execution doesn't finish successfully, that's what the error implies. Does the robot execute the whole trajectory before stopping? and do the examples without real HW work?

[skaeringur97]

@sjahr It usually stops close to the end of the trajectory. When it manages to finish, it stops in the beginning of the next trajectory. I have only tested on fake hardware.

[sjahr]

Can you verify that the trajectory execution action finishes successful and the next trajectory gets send to the robot? & Have you tried to reproduce the issue with the moveit2 docker?

[skaeringur97]

The next line after planning_components->execute(); is not executed, if that answers your question. I tried installing the docker but I was unable to get it working.. I can try again later when I have more time

[vatanaksoytezer]

Seems like there are some ros2_control nodes dying, I would recommend checking the names. From your log:

[ros2_control_node-5] [INFO] [1669287031.628325609] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [ERROR] [1669287031.628376619] [controller_manager]: Could not configure controller with name 'panda_arm_controller' because no controller with this name exists
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1669287031.629186462] [spawner_panda_arm_controller]: Failed to configure controller
[ros2_control_node-5] [INFO] [1669287031.673832541] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1669287031.697335338] [controller_manager]: Loading controller 'panda_hand_controller'
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1669287031.724148949] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-5] [INFO] [1669287031.725051029] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1669287031.725182489] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1669287031.743958839] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[ros2 run controller_manager spawner panda_arm_controller-6] [ros2run]: Process exited with failure 1
[ERROR] [ros2 run controller_manager spawner panda_arm_controller-6]: process has died [pid 15799, exit code 1, cmd 'ros2 run controller_manager spawner panda_arm_controller'].
[ros2 run controller_manager spawner joint_state_broadcaster-8] [ros2run]: Process exited with failure 1
[ERROR] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process has died [pid 15819, exit code 1, cmd 'ros2 run controller_manager spawner joint_state_broadcaster'].

[skaeringur97]

@vatanaksoytezer thanks for your reply. These error messages don't seem to be related. Since making this issue I have moved to using a move_group node and now I don't get the same errors but the behavior is the same:

Same demo as before, that uses MoveItCpp to plan and execute, but now with move_group node

[INFO] [launch]: All log files can be found below /home/egudmundsson/.ros/log/2022-11-28-13-33-56-943562-LAP19-020-13287
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [minimal_example_servo-1]: process started with pid [13288]
[INFO] [servo_node-2]: process started with pid [13290]
[servo_node-2] [INFO] [1669638837.268421465] [servo]: servo started
[servo_node-2] [INFO] [1669638837.304235855] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.034799 seconds
[servo_node-2] [INFO] [1669638837.304279957] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[servo_node-2] Link panda_link1 had 1 children
[servo_node-2] Link panda_link2 had 1 children
[servo_node-2] Link panda_link3 had 1 children
[servo_node-2] Link panda_link4 had 1 children
[servo_node-2] Link panda_link5 had 1 children
[servo_node-2] Link panda_link6 had 1 children
[servo_node-2] Link panda_link7 had 1 children
[servo_node-2] Link panda_link8 had 1 children
[servo_node-2] Link panda_hand had 2 children
[servo_node-2] Link panda_leftfinger had 0 children
[servo_node-2] Link panda_rightfinger had 0 children
[servo_node-2] [INFO] [1669638837.332572344] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node-2] [INFO] [1669638837.336399314] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/monitored_planning_scene'
[servo_node-2] [INFO] [1669638837.336421972] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node-2] [INFO] [1669638837.336774057] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/collision_object'
[servo_node-2] [INFO] [1669638837.337441210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[servo_node-2] [WARN] [1669638837.337619254] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[servo_node-2] [ERROR] [1669638837.337632242] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node-2] [INFO] [1669638837.339301072] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node-2] [INFO] [1669638837.339540425] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[minimal_example_servo-1] [INFO] [1669638842.311213090] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0311471 seconds
[minimal_example_servo-1] [INFO] [1669638842.311258859] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[minimal_example_servo-1] Link panda_link1 had 1 children
[minimal_example_servo-1] Link panda_link2 had 1 children
[minimal_example_servo-1] Link panda_link3 had 1 children
[minimal_example_servo-1] Link panda_link4 had 1 children
[minimal_example_servo-1] Link panda_link5 had 1 children
[minimal_example_servo-1] Link panda_link6 had 1 children
[minimal_example_servo-1] Link panda_link7 had 1 children
[minimal_example_servo-1] Link panda_link8 had 1 children
[minimal_example_servo-1] Link panda_hand had 2 children
[minimal_example_servo-1] Link panda_leftfinger had 0 children
[minimal_example_servo-1] Link panda_rightfinger had 0 children
[minimal_example_servo-1] [INFO] [1669638842.340703485] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[minimal_example_servo-1] [INFO] [1669638842.340887938] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[minimal_example_servo-1] [INFO] [1669638842.342383519] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[minimal_example_servo-1] [INFO] [1669638842.342911798] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[minimal_example_servo-1] [INFO] [1669638842.342929842] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[minimal_example_servo-1] [INFO] [1669638842.343153511] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[minimal_example_servo-1] [INFO] [1669638842.343168024] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[minimal_example_servo-1] [INFO] [1669638842.343436720] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[minimal_example_servo-1] [INFO] [1669638842.343680358] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[minimal_example_servo-1] [WARN] [1669638842.343847912] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[minimal_example_servo-1] [ERROR] [1669638842.343860882] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[minimal_example_servo-1] [INFO] [1669638842.345256809] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[minimal_example_servo-1] [INFO] [1669638842.356502717] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[minimal_example_servo-1] [INFO] [1669638842.368523361] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[minimal_example_servo-1] [INFO] [1669638842.368540938] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[minimal_example_servo-1] [INFO] [1669638842.368544197] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[minimal_example_servo-1] [INFO] [1669638842.368559660] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[minimal_example_servo-1] [INFO] [1669638842.368570194] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[minimal_example_servo-1] [INFO] [1669638842.368573715] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[minimal_example_servo-1] [INFO] [1669638842.368581377] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[minimal_example_servo-1] [INFO] [1669638842.368584454] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[minimal_example_servo-1] [INFO] [1669638842.368587748] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[minimal_example_servo-1] [INFO] [1669638842.368595453] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[minimal_example_servo-1] [INFO] [1669638842.368598330] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[minimal_example_servo-1] [INFO] [1669638842.368600496] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[minimal_example_servo-1] [INFO] [1669638842.368602768] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[minimal_example_servo-1] [INFO] [1669638842.368604821] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[minimal_example_servo-1] [INFO] [1669638842.368606910] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[minimal_example_servo-1] [WARN] [1669638842.371972758] [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.
[minimal_example_servo-1] [INFO] [1669638842.421940332] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[minimal_example_servo-1] [INFO] [1669638842.421986334] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[minimal_example_servo-1] [INFO] [1669638842.423514437] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[minimal_example_servo-1] [INFO] [1669638842.423646872] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638842.423664216] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638842.424115338] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[minimal_example_servo-1] [INFO] [1669638842.425652870] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00104905 seconds
[minimal_example_servo-1] [INFO] [1669638842.425666880] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[minimal_example_servo-1] Link panda_link1 had 1 children
[minimal_example_servo-1] Link panda_link2 had 1 children
[minimal_example_servo-1] Link panda_link3 had 1 children
[minimal_example_servo-1] Link panda_link4 had 1 children
[minimal_example_servo-1] Link panda_link5 had 1 children
[minimal_example_servo-1] Link panda_link6 had 1 children
[minimal_example_servo-1] Link panda_link7 had 1 children
[minimal_example_servo-1] Link panda_link8 had 1 children
[minimal_example_servo-1] Link panda_hand had 2 children
[minimal_example_servo-1] Link panda_leftfinger had 0 children
[minimal_example_servo-1] Link panda_rightfinger had 0 children
[minimal_example_servo-1] [INFO] [1669638842.446195583] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[minimal_example_servo-1] [INFO] [1669638842.447939937] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[minimal_example_servo-1] [INFO] [1669638842.448268547] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[minimal_example_servo-1] [INFO] [1669638842.448282607] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[minimal_example_servo-1] [INFO] [1669638842.448541517] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[minimal_example_servo-1] [INFO] [1669638842.448552488] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[minimal_example_servo-1] [INFO] [1669638842.448794951] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[minimal_example_servo-1] [INFO] [1669638842.449037642] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[minimal_example_servo-1] [WARN] [1669638842.449198934] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[minimal_example_servo-1] [ERROR] [1669638842.449211014] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[minimal_example_servo-1] [INFO] [1669638843.488432715] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[minimal_example_servo-1] [WARN] [1669638843.551631918] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[minimal_example_servo-1] [INFO] [1669638843.555607123] [minimal_example]: Pick plan ready
[minimal_example_servo-1] [INFO] [1669638843.555659927] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.555674514] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.555715153] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.555720934] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.555743863] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[minimal_example_servo-1] [INFO] [1669638843.557983994] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[minimal_example_servo-1] [INFO] [1669638843.558031670] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.558091550] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[minimal_example_servo-1] [INFO] [1669638843.558244771] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to panda_arm_controller
[minimal_example_servo-1] [INFO] [1669638843.558656816] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: panda_arm_controller started execution
[minimal_example_servo-1] [INFO] [1669638843.558672041] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[minimal_example_servo-1] [WARN] [1669638848.937244355] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out
[minimal_example_servo-1] [ERROR] [1669638848.937276656] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 5.378446 seconds). Stopping trajectory.
[minimal_example_servo-1] [INFO] [1669638848.937300654] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for panda_arm_controller

The move_group node also doesn't show any errors.

I did notice tho that the driver node says that the goal was reached @sjahr :

[ros2_control_node-4] [INFO] [1669638843.558513199] [panda_arm_controller]: Received new action goal
[ros2_control_node-4] [INFO] [1669638843.558559844] [panda_arm_controller]: Accepted new action goal
[ros2_control_node-4] [INFO] [1669638847.625324078] [panda_arm_controller]: Goal reached, success!

[sjahr]

Ok, the planning_components->execute() calls moveit_cpp->execute() here. Can you take a look into moveit_cpp->execute() and check if this returns? this is the code.

[vatanaksoytezer]

I just tested this with a fresh container. Seems like MoveGroupInterface works but I can reproduce what @skaeringur97 sees here with MoveItCpp. It fails in the execution step with the same error. I will go deeper into this, in the meantime, I recommend using a source build of the latest MoveIt2 main branch (main supports both humble and rolling).

[skaeringur97]

Issue seems to be fixed for me. Thanks for the help @vatanaksoytezer and @sjahr ! I'll close this for now, feel free to re-open it if it isn't fixed for you

[ronniethehood]

Hi @skaeringur97, I'm encountering the same issue since updating to the latest version of Humble. I've tried running with a binary build of Moveit2 and also the source build of the Moveit2 main branch. Mind explaining how/what fixed your issue?

[skaeringur97]

@ronniethehood I just ran :

sudo apt update
sudo apt dist-upgrade
sudo apt autoremove

every morning and tested my demo. One morning it just worked after some update. I also have a binary install of ROS2 Humble btw

[gordon-n-stevenson]

+1 Same issue as @ronniethehood @skaeringur97 -- built in linux on WSL using humble binaries and moveit main. Rolling seems to work

[pinorobotics]

We also encountered it here https://github.com/ros-planning/moveit_resources/issues/157 Possibly duplicate issue.

[gordon-n-stevenson]

Seems that moving to rolling binaries and moveit2 binaries (not source build) has solved the issue for us.

[skaeringur97]

After the update, I now found that servo doesn't work for me. It either doesn't move at all, or moves a little bit before stopping. This is similar to the original issue, so I'll open this issue again instead of making a new one.

[yeyanlei]

i met the same problem in the latest version of humble. Panda arm never finishes.

[AndyZe]

If anybody is still building MoveIt2 from source, this would be some helpful information:

Bisect the issue by rolling back one commit at a time until the issue goes away. git reset --hard

Let us know what that commit is.

[yeyanlei]

Seems that moving to rolling binaries and moveit2 binaries (not source build) has solved the issue for us.

rolling binary is ok, thanks, and i still consider ros2 version of humble.

[yeyanlei]

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true moveit2 humble binary version, system stuck all the time. can you give me some help.

[henningkayser]

I've just tried running humble on a fresh system, both source build and the binary succeeded for me without a crash whatsoever. The only thing I'm experiencing is a certain flakiness with the launch bringup, where sometimes controllers or the RViz panel fail to initialize (caused by FastDDS, added to Troubleshooting). If that's good, planning+execution just work. I'm leaning towards a workspace issue. Are you sure you don't have any build artifacts from before the update? Do you have any upstream dependencies of MoveIt in your workspace (moveit_msgs, srdfdom, geometric_shapes, etc...)?

[skaeringur97]

@henningkayser did you get MoveIt Servo running? Because that's the reason I re-opened this issue.

[henningkayser]

@skaeringur97 I just tried it, Servo just works for me without issues. Would you mind sharing the output of vcs branch from your workspace? Also, are you running CycloneDDS or FastDDS?

[skaeringur97]

@henningkayser I just updated again and still the Servo doesn't work for me. Here is the output of vcs branch

vcs branch
=== . (git) ===
master

It looks like I'm using FastDDS: ros-humble-fastrtps/jammy,now 2.6.3-1jammy.20221202.001034 amd64 [installed,automatic]

[AndyZe]

Can you try switching to Cyclone? It should be a very easy switch:

sudo apt install ros-rolling-rmw-cyclonedds-cpp
# You may want to add this to ~/.bashrc to source it automatically
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

We just updated the Rolling tutorial to recommend this, but it hasn't made it to the Humble tutorial yet. Sorry about that. I'll try to update the tutorials today.

[skaeringur97]

I get this error when switching to Cyclone:

[INFO] [pick_and_place_demo-2]: process started with pid [52840]
[pick_and_place_demo-2] 1672328023.799129 [0] pick_and_p: selected interface "lo" is not multicast-capable: disabling multicast
[pick_and_place_demo-2] 1672328023.799260 [0] pick_and_p: Failed to find a free participant index for domain 0
[pick_and_place_demo-2] [ERROR] [1672328023.799324925] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[pick_and_place_demo-2] 
[pick_and_place_demo-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[pick_and_place_demo-2] This error state is being overwritten:
[pick_and_place_demo-2] 
[pick_and_place_demo-2]   'error not set, at ./src/rcl/node.c:263'
[pick_and_place_demo-2] 
[pick_and_place_demo-2] with this new error message:
[pick_and_place_demo-2] 
[pick_and_place_demo-2]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[pick_and_place_demo-2] 
[pick_and_place_demo-2] rcutils_reset_error() should be called after error handling to avoid this.
[pick_and_place_demo-2] <<<
[pick_and_place_demo-2] [ERROR] [1672328023.799365666] [rcl]: Failed to fini publisher for node: 1
[pick_and_place_demo-2] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[pick_and_place_demo-2]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[pick_and_place_demo-2] Stack trace (most recent call last):
[pick_and_place_demo-2] #15   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
[pick_and_place_demo-2] #14   Object "/home/elias/riwo/hybrid-planning/install/demos/lib/demos/pick_and_place_demo", at 0x55b9db4172a4, in _start
[pick_and_place_demo-2] #13   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f9ce23f4e3f]
[pick_and_place_demo-2] #12   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f9ce23f4d8f]
[pick_and_place_demo-2] #11   Object "/home/elias/riwo/hybrid-planning/install/demos/lib/demos/pick_and_place_demo", at 0x55b9db416d98, in main
[pick_and_place_demo-2] #10   Object "/home/elias/riwo/hybrid-planning/install/demos/lib/demos/pick_and_place_demo", at 0x55b9db4253c8, in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, char const (&) [25], char const (&) [1], rclcpp::NodeOptions&>(std::_Sp_alloc_shared_tag<std::allocator<rclcpp::Node> >, char const (&) [25], char const (&) [1], rclcpp::NodeOptions&)
[pick_and_place_demo-2] #9    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9ce2b51c26, in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[pick_and_place_demo-2] #8    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9ce2b51530, in rclcpp::node_interfaces::NodeBase::NodeBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<rclcpp::Context>, rcl_node_options_s const&, bool, bool)
[pick_and_place_demo-2] #7    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9ce2b31278, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcutils_error_state_s const*, void (*)())
[pick_and_place_demo-2] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f9ce26c323d, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[pick_and_place_demo-2] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f9ce26c32b6, in std::terminate()
[pick_and_place_demo-2] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f9ce26c324b, in 
[pick_and_place_demo-2] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f9ce26b7bbd, in 
[pick_and_place_demo-2] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f9ce23f37f2]
[pick_and_place_demo-2] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f9ce240d475]
[pick_and_place_demo-2] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[pick_and_place_demo-2]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[pick_and_place_demo-2]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f9ce2461a7c]
[pick_and_place_demo-2] Aborted (Signal sent by tkill() 52840 1000)

I installed sudo apt install ros-humble-rmw-cyclonedds-cpp instead of the rolling version you commented with btw.

[AndyZe]

OK. This is definitely a RMW issue. Aka networking nightmare that not too many people understand.

Are you working from home with your personal wifi or somewhere public like a coffee shop?

I'll attach my RMW config file shortly for you to try.

[skaeringur97]

I'm working from home

[AndyZe]

OK, here are some instructions I just tested, albeit on Rolling.

Create this Cyclone config file in /home/${USER}/cyclonedds.xml:

  <?xml version="1.0" encoding="UTF-8" ?>
  <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>wifi0</NetworkInterfaceAddress>
        </General>
    </Domain>
</CycloneDDS>

Replace wifi0 with your wifi interface name. You can find that with ip link show. Mine is wlp0s20f3 for example.

I found this example here: https://dds-demonstrators.readthedocs.io/en/latest/Teams/1.Hurricane/setupCycloneDDS.html

Now add this to your bashrc to source it:

export CYCLONEDDS_URI=file:///home/${USER}/cyclonedds.xml

Of course, open a new terminal after this.

Any luck?

[skaeringur97]

Now the driver node won't even start:

[ros2_control_node-1] 1672330856.014875 [0] ros2_contr: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[ros2_control_node-1] 1672330856.014936 [0] ros2_contr: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[ros2_control_node-1] [ERROR] [1672330856.014961640] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[ros2_control_node-1] 
[ros2_control_node-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[ros2_control_node-1] This error state is being overwritten:
[ros2_control_node-1] 
[ros2_control_node-1]   'error not set, at ./src/rcl/node.c:263'
[ros2_control_node-1] 
[ros2_control_node-1] with this new error message:
[ros2_control_node-1] 
[ros2_control_node-1]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[ros2_control_node-1] 
[ros2_control_node-1] rcutils_reset_error() should be called after error handling to avoid this.
[ros2_control_node-1] <<<
[ros2_control_node-1] [ERROR] [1672330856.015009572] [rcl]: Failed to fini publisher for node: 1
[ros2_control_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[ros2_control_node-1]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[robot_state_publisher-2] 1672330856.019453 [0] robot_stat: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[robot_state_publisher-2] 1672330856.019552 [0] robot_stat: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[robot_state_publisher-2] [ERROR] [1672330856.019588468] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[robot_state_publisher-2] 
[robot_state_publisher-2] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[robot_state_publisher-2] This error state is being overwritten:
[robot_state_publisher-2] 
[robot_state_publisher-2]   'error not set, at ./src/rcl/node.c:263'
[robot_state_publisher-2] 
[robot_state_publisher-2] with this new error message:
[robot_state_publisher-2] 
[robot_state_publisher-2]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[robot_state_publisher-2] 
[robot_state_publisher-2] rcutils_reset_error() should be called after error handling to avoid this.
[robot_state_publisher-2] <<<
[robot_state_publisher-2] [ERROR] [1672330856.019662510] [rcl]: Failed to fini publisher for node: 1
[robot_state_publisher-2] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[robot_state_publisher-2]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[rviz2-3] 1672330856.191790 [0]      rviz2: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[rviz2-3] 1672330856.191930 [0]      rviz2: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[rviz2-3] [ERROR] [1672330856.191988301] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[rviz2-3] 
[rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-3] This error state is being overwritten:
[rviz2-3] 
[rviz2-3]   'error not set, at ./src/rcl/node.c:263'
[rviz2-3] 
[rviz2-3] with this new error message:
[rviz2-3] 
[rviz2-3]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[rviz2-3] 
[rviz2-3] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-3] <<<
[rviz2-3] [ERROR] [1672330856.192082789] [rcl]: Failed to fini publisher for node: 1
[rviz2-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-3]   what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-9] 1672330856.192873 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-9] 1672330856.192947 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-9] [ERROR] [1672330856.192986601] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-9] 
[spawner-9] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-9] This error state is being overwritten:
[spawner-9] 
[spawner-9]   'error not set, at ./src/rcl/node.c:263'
[spawner-9] 
[spawner-9] with this new error message:
[spawner-9] 
[spawner-9]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-9] 
[spawner-9] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-9] <<<
[spawner-9] [ERROR] [1672330856.193009232] [rcl]: Failed to fini publisher for node: 1
[spawner-6] 1672330856.197495 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-6] 1672330856.197638 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-6] [ERROR] [1672330856.197708510] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-6] 
[spawner-6] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-6] This error state is being overwritten:
[spawner-6] 
[spawner-6]   'error not set, at ./src/rcl/node.c:263'
[spawner-6] 
[spawner-6] with this new error message:
[spawner-6] 
[spawner-6]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-6] 
[spawner-6] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-6] <<<
[spawner-6] [ERROR] [1672330856.197749878] [rcl]: Failed to fini publisher for node: 1
[spawner-5] 1672330856.227963 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-5] 1672330856.228035 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-5] [ERROR] [1672330856.228072651] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-5] 
[spawner-5] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-5] This error state is being overwritten:
[spawner-5] 
[spawner-5]   'error not set, at ./src/rcl/node.c:263'
[spawner-5] 
[spawner-5] with this new error message:
[spawner-5] 
[spawner-5]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-5] 
[spawner-5] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-5] <<<
[spawner-5] [ERROR] [1672330856.228095642] [rcl]: Failed to fini publisher for node: 1
[spawner-7] 1672330856.228246 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-7] 1672330856.228395 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-7] [ERROR] [1672330856.228460768] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-7] 
[spawner-7] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-7] This error state is being overwritten:
[spawner-7] 
[spawner-7]   'error not set, at ./src/rcl/node.c:263'
[spawner-7] 
[spawner-7] with this new error message:
[spawner-7] 
[spawner-7]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-7] 
[spawner-7] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-7] <<<
[spawner-7] [ERROR] [1672330856.228498277] [rcl]: Failed to fini publisher for node: 1
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-9]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-9]     node = Node('spawner_' + controller_name)
[spawner-9]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-9]     self.__node = _rclpy.Node(
[spawner-9] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-6] Traceback (most recent call last):
[spawner-6]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-6]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-6]     node = Node('spawner_' + controller_name)
[spawner-6]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-6]     self.__node = _rclpy.Node(
[spawner-6] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [spawner-9]: process has died [pid 55971, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --ros-args'].
[spawner-5] Traceback (most recent call last):
[spawner-5]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-5]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-5]     node = Node('spawner_' + controller_name)
[spawner-5]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-5]     self.__node = _rclpy.Node(
[spawner-5] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-7]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-7]     node = Node('spawner_' + controller_name)
[spawner-7]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-7]     self.__node = _rclpy.Node(
[spawner-7] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-4] 1672330856.275576 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-4] 1672330856.275711 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-4] [ERROR] [1672330856.275782874] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-4] 
[spawner-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-4] This error state is being overwritten:
[spawner-4] 
[spawner-4]   'error not set, at ./src/rcl/node.c:263'
[spawner-4] 
[spawner-4] with this new error message:
[spawner-4] 
[spawner-4]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-4] 
[spawner-4] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-4] <<<
[spawner-4] [ERROR] [1672330856.275827389] [rcl]: Failed to fini publisher for node: 1
[spawner-8] 1672330856.280926 [0]    spawner: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///home/elias/cyclonedds.xml line 5)
[spawner-8] 1672330856.281036 [0]    spawner: config: General/Interfaces: do not pass deprecated configuration General/{NetworkAddressString,MulticastRecvNetworkInterfaceAddresses,AssumeMulticastCapable}
[spawner-8] [ERROR] [1672330856.281092136] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
[spawner-8] 
[spawner-8] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-8] This error state is being overwritten:
[spawner-8] 
[spawner-8]   'error not set, at ./src/rcl/node.c:263'
[spawner-8] 
[spawner-8] with this new error message:
[spawner-8] 
[spawner-8]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-8] 
[spawner-8] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-8] <<<
[spawner-8] [ERROR] [1672330856.281133821] [rcl]: Failed to fini publisher for node: 1
[ERROR] [spawner-6]: process has died [pid 55965, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner speed_scaling_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-5]: process has died [pid 55963, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner io_and_status_controller -c /controller_manager --ros-args'].
[ERROR] [spawner-7]: process has died [pid 55967, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner force_torque_sensor_broadcaster --controller-manager /controller_manager --ros-args'].
[spawner-4] Traceback (most recent call last):
[spawner-4]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-4]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-4]     node = Node('spawner_' + controller_name)
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-4]     self.__node = _rclpy.Node(
[spawner-4] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-8]     sys.exit(load_entry_point('controller-manager==2.18.0', 'console_scripts', 'spawner')())
[spawner-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 160, in main
[spawner-8]     node = Node('spawner_' + controller_name)
[spawner-8]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-8]     self.__node = _rclpy.Node(
[spawner-8] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [spawner-4]: process has died [pid 55961, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-8]: process has died [pid 55969, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner forward_position_controller -c /controller_manager --inactive --ros-args'].
[ERROR] [ros2_control_node-1]: process has died [pid 55955, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_ttrylyp3 --params-file /opt/ros/humble/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /opt/ros/humble/share/ur_robot_driver/config/ur_controllers.yaml'].
[ERROR] [robot_state_publisher-2]: process has died [pid 55957, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_xh9ckkv8'].
[ERROR] [rviz2-3]: process has died [pid 55959, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/ur_description/rviz/view_robot.rviz --ros-args -r __node:=rviz2'].

[AndyZe]

Hmm. I'm basically out of ideas. I'd post your Cyclone config and that^ output to an issue on the Cyclone repo and see what they say. Sorry.

https://github.com/eclipse-cyclonedds/cyclonedds

[AndyZe]

skaeringur97 i must ask, have you tried to update then do a clean build?

• Delete the build/install/log folders from your workspace. rm -rf ./build ./install ./log
• sudo apt update
• sudo apt upgrade
• colcon build

[skaeringur97]

@AndyZe yes, this was also pointed out by @gavanderhoorn

I´ve done these steps after each update to see if it has been fixed.

[peterdavidfagan]

Hi @skaeringur97, have you also tried updating all ROS dependencies? I was facing the errors you mentioned above but following @gavanderhoorn's suggestion helped resolve the issues in my workspace.

I am working on MoveIt today, if you feel it would be worthwhile I'd be happy to look to recreate the errors you mention in Docker.

[skaeringur97]

@peterdavidfagan I update the dependencies in my workspace with rosdep install -r --from-paths . --ignore-src --rosdistro humble -y and tried again now to do the steps @AndyZe suggested. The only packages not upgraded are:

The following packages have been kept back:
  gnome-remote-desktop grub-common grub-pc grub-pc-bin grub2-common
  libnautilus-extension1a nautilus nautilus-data python3-update-manager
  update-manager update-manager-core

I still get the issue, similar to the original issue, that servo starts but is not able to finish the movement. This has been proven to work on another laptop with an older binary install btw.

[sjahr]

@skaeringur97 Is this still an issue? If yes, feel free to re-open the issue