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:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Error while Demo launch - on ROS2 Humble and 22.04 Ubuntu #1814

Closed ClaBirk closed 1 year ago

ClaBirk commented 1 year ago

Hello,

i am trying to use Moveit2 on ROS2 Humble for a Project at university. First goal: get a 6DOF Robot running in RVIZ and Moveit2 Installation of ROS2 and Moveit went fine as far as i can tell. But i can´t see the robot in Rviz:

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true From the moveit_ros_visualization folder, choose “MotionPlanning” as the DisplayType. Press “Ok”.

-> No Robot visible

I tried: https://github.com/ros-planning/moveit2/issues/1596 I changed this: LC_NUMERIC=en_US.UTF-8 but still no Robot visible sudo apt install ros-rolling-rmw-cyclonedds-cpp export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

This is the Terminal output:

cb@cb-vb:~$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true

[INFO] [launch]: All log files can be found below /home/cb/.ros/log/2022-12-17-20-37-18-197913-cb-vb-14381

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [rviz2-1]: process started with pid [14382]

[INFO] [static_transform_publisher-2]: process started with pid [14384]

[INFO] [robot_state_publisher-3]: process started with pid [14386]

[INFO] [move_group-4]: process started with pid [14388]

[INFO] [ros2_control_node-5]: process started with pid [14390]

[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process started with pid [14392]

[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process started with pid [14395]

[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process started with pid [14397]

[static_transform_publisher-2] [WARN] [1671305838.815661095] []: Old-style arguments are deprecated; see --help for new-style arguments

[rviz2-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

[static_transform_publisher-2] [INFO] [1671305838.861997555] [static_transform_publisher]: Spinning until stopped - publishing transform

[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')

[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')

[static_transform_publisher-2] from 'world' to 'panda_link0'

[move_group-4] [INFO] [1671305838.975413848] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0479865 seconds

[move_group-4] [INFO] [1671305838.975631262] [moveit_robot_model.robot_model]: Loading robot model 'panda'...

[ros2_control_node-5] [INFO] [1671305838.987486640] [resource_manager]: Loading hardware 'PandaFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990608752] [resource_manager]: Initialize hardware 'PandaFakeSystem' 

[ros2_control_node-5] [WARN] [1671305838.990660318] [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] <state_interface name="velocity"> 

[ros2_control_node-5]   <param name="initial_value">0.0</param> 

[ros2_control_node-5] </state_interface>

[ros2_control_node-5] [INFO] [1671305838.990669681] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'

[ros2_control_node-5] [INFO] [1671305838.990686914] [resource_manager]: Loading hardware 'PandaHandFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990694737] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990702875] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'

[ros2_control_node-5] [INFO] [1671305838.990733188] [resource_manager]: 'configure' hardware 'PandaFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990737325] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'

[ros2_control_node-5] [INFO] [1671305838.990743330] [resource_manager]: 'activate' hardware 'PandaFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990746708] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'

[ros2_control_node-5] [INFO] [1671305838.990749609] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990752491] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'

[ros2_control_node-5] [INFO] [1671305838.990755946] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' 

[ros2_control_node-5] [INFO] [1671305838.990758949] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'

[robot_state_publisher-3] Link panda_link1 had 1 children

[robot_state_publisher-3] Link panda_link2 had 1 children

[robot_state_publisher-3] Link panda_link3 had 1 children

[robot_state_publisher-3] Link panda_link4 had 1 children

[robot_state_publisher-3] Link panda_link5 had 1 children

[robot_state_publisher-3] Link panda_link6 had 1 children

[robot_state_publisher-3] Link panda_link7 had 1 children

[robot_state_publisher-3] Link panda_link8 had 1 children

[robot_state_publisher-3] Link panda_hand had 2 children

[robot_state_publisher-3] Link panda_leftfinger had 0 children

[robot_state_publisher-3] Link panda_rightfinger had 0 children

[robot_state_publisher-3] [INFO] [1671305839.008581301] [robot_state_publisher]: got segment panda_hand

[robot_state_publisher-3] [INFO] [1671305839.009609186] [robot_state_publisher]: got segment panda_leftfinger

[robot_state_publisher-3] [INFO] [1671305839.009741350] [robot_state_publisher]: got segment panda_link0

[robot_state_publisher-3] [INFO] [1671305839.009749126] [robot_state_publisher]: got segment panda_link1

[robot_state_publisher-3] [INFO] [1671305839.009754826] [robot_state_publisher]: got segment panda_link2

[robot_state_publisher-3] [INFO] [1671305839.009760736] [robot_state_publisher]: got segment panda_link3

[robot_state_publisher-3] [INFO] [1671305839.009766692] [robot_state_publisher]: got segment panda_link4

[robot_state_publisher-3] [INFO] [1671305839.009772128] [robot_state_publisher]: got segment panda_link5

[robot_state_publisher-3] [INFO] [1671305839.009777929] [robot_state_publisher]: got segment panda_link6

[robot_state_publisher-3] [INFO] [1671305839.011224867] [robot_state_publisher]: got segment panda_link7

[robot_state_publisher-3] [INFO] [1671305839.011235544] [robot_state_publisher]: got segment panda_link8

[robot_state_publisher-3] [INFO] [1671305839.011242679] [robot_state_publisher]: got segment panda_rightfinger

[ros2_control_node-5] [INFO] [1671305839.029638004] [controller_manager]: update rate is 100 Hz

[ros2_control_node-5] [INFO] [1671305839.030040504] [controller_manager]: RT kernel is recommended for better performance

[move_group-4] Link panda_link1 had 1 children

[move_group-4] Link panda_link2 had 1 children

[move_group-4] Link panda_link3 had 1 children

[move_group-4] Link panda_link4 had 1 children

[move_group-4] Link panda_link5 had 1 children

[move_group-4] Link panda_link6 had 1 children

[move_group-4] Link panda_link7 had 1 children

[move_group-4] Link panda_link8 had 1 children

[move_group-4] Link panda_hand had 2 children

[move_group-4] Link panda_leftfinger had 0 children

[move_group-4] Link panda_rightfinger had 0 children

[move_group-4] [INFO] [1671305839.082971566] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'

[move_group-4] [INFO] [1671305839.083163257] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states

[move_group-4] [INFO] [1671305839.085865460] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'

[move_group-4] [INFO] [1671305839.086884221] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects

[move_group-4] [INFO] [1671305839.086915255] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor

[move_group-4] [INFO] [1671305839.087348788] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'

[move_group-4] [INFO] [1671305839.087365560] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.

[move_group-4] [INFO] [1671305839.088730750] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'

[move_group-4] [INFO] [1671305839.090388523] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry

[move_group-4] [WARN] [1671305839.097547573] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead

[move_group-4] [ERROR] [1671305839.097597942] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates

[move_group-4] [INFO] [1671305839.101599338] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'lerp'

[move_group-4] [ERROR] [1671305839.106883337] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'lerp_interface/LERPPlanner': According to the loaded plugin descriptions the class lerp_interface/LERPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

[move_group-4] [INFO] [1671305839.117460027] [moveit_ros.add_time_optimal_parameterization]: Param 'lerp.path_tolerance' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.117505590] [moveit_ros.add_time_optimal_parameterization]: Param 'lerp.resample_dt' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.117510598] [moveit_ros.add_time_optimal_parameterization]: Param 'lerp.min_angle_change' was not set. Using default value: 0.001000

[move_group-4] [INFO] [1671305839.117546734] [moveit_ros.fix_workspace_bounds]: Param 'lerp.default_workspace_bounds' was not set. Using default value: 10.000000

[move_group-4] [INFO] [1671305839.117560327] [moveit_ros.fix_start_state_bounds]: Param 'lerp.start_state_max_bounds_error' was set to 0.100000

[move_group-4] [INFO] [1671305839.117565207] [moveit_ros.fix_start_state_bounds]: Param 'lerp.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.117574263] [moveit_ros.fix_start_state_collision]: Param 'lerp.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.117578056] [moveit_ros.fix_start_state_collision]: Param 'lerp.jiggle_fraction' was not set. Using default value: 0.020000

[move_group-4] [INFO] [1671305839.117912330] [moveit_ros.fix_start_state_collision]: Param 'lerp.max_sampling_attempts' was not set. Using default value: 100

[move_group-4] [INFO] [1671305839.117936048] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'

[move_group-4] [INFO] [1671305839.117942650] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'

[move_group-4] [INFO] [1671305839.117945616] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'

[move_group-4] [INFO] [1671305839.117948148] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'

[move_group-4] [INFO] [1671305839.117978788] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

[move_group-4] [ERROR] [1671305839.120611293] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'lerp'.

[move_group-4] [INFO] [1671305839.121405122] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'

[move_group-4] [INFO] [1671305839.137518995] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'

[move_group-4] [INFO] [1671305839.150685115] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.150717934] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.150722690] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000

[move_group-4] [INFO] [1671305839.150736088] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000

[move_group-4] [INFO] [1671305839.150749537] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000

[move_group-4] [INFO] [1671305839.150754227] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.150763618] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.150767650] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000

[move_group-4] [INFO] [1671305839.150772157] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100

[move_group-4] [INFO] [1671305839.150780774] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'

[move_group-4] [INFO] [1671305839.150784522] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'

[move_group-4] [INFO] [1671305839.150787297] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'

[move_group-4] [INFO] [1671305839.150789732] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'

[move_group-4] [INFO] [1671305839.150792315] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

[move_group-4] [INFO] [1671305839.151585386] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'trajopt'

[move_group-4] [ERROR] [1671305839.159261344] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'trajopt_interface/TrajOptPlanner': According to the loaded plugin descriptions the class trajopt_interface/TrajOptPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

[move_group-4] [INFO] [1671305839.178571673] [moveit_ros.add_time_optimal_parameterization]: Param 'trajopt.path_tolerance' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.178602223] [moveit_ros.add_time_optimal_parameterization]: Param 'trajopt.resample_dt' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.178606453] [moveit_ros.add_time_optimal_parameterization]: Param 'trajopt.min_angle_change' was not set. Using default value: 0.001000

[move_group-4] [INFO] [1671305839.178619822] [moveit_ros.fix_workspace_bounds]: Param 'trajopt.default_workspace_bounds' was not set. Using default value: 10.000000

[move_group-4] [INFO] [1671305839.178633775] [moveit_ros.fix_start_state_bounds]: Param 'trajopt.start_state_max_bounds_error' was set to 0.100000

[move_group-4] [INFO] [1671305839.178638615] [moveit_ros.fix_start_state_bounds]: Param 'trajopt.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.178647837] [moveit_ros.fix_start_state_collision]: Param 'trajopt.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.178677915] [moveit_ros.fix_start_state_collision]: Param 'trajopt.jiggle_fraction' was not set. Using default value: 0.020000

[move_group-4] [INFO] [1671305839.178686568] [moveit_ros.fix_start_state_collision]: Param 'trajopt.max_sampling_attempts' was not set. Using default value: 100

[move_group-4] [INFO] [1671305839.178704998] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'

[move_group-4] [INFO] [1671305839.178711121] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'

[move_group-4] [INFO] [1671305839.178714012] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'

[move_group-4] [INFO] [1671305839.178716476] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'

[move_group-4] [INFO] [1671305839.178719197] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

[move_group-4] [ERROR] [1671305839.180017781] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'trajopt'.

[move_group-4] [INFO] [1671305839.180817707] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'

[move_group-4] [INFO] [1671305839.225213235] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'

[move_group-4] [INFO] [1671305839.237156760] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.237185882] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000

[move_group-4] [INFO] [1671305839.237190173] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000

[move_group-4] [INFO] [1671305839.237209427] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000

[move_group-4] [INFO] [1671305839.237222546] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000

[move_group-4] [INFO] [1671305839.237228109] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.237237001] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.237241376] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000

[move_group-4] [INFO] [1671305839.237245871] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100

[move_group-4] [INFO] [1671305839.237255044] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'

[move_group-4] [INFO] [1671305839.237258810] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'

[move_group-4] [INFO] [1671305839.237261384] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'

[move_group-4] [INFO] [1671305839.237264095] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'

[move_group-4] [INFO] [1671305839.237266693] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'

[move_group-4] [INFO] [1671305839.237269257] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

[move_group-4] [INFO] [1671305839.243628370] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'

[move_group-4] [INFO] [1671305839.261655939] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning

[move_group-4] [WARN] [1671305839.262636059] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.

[move_group-4] [WARN] [1671305839.262664038] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.

[move_group-4] [INFO] [1671305839.284434176] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 

[move_group-4] [INFO] [1671305839.284550413] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC

[move_group-4] [INFO] [1671305839.294316244] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]

[move_group-4] [INFO] [1671305839.294349994] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN

[move_group-4] [INFO] [1671305839.296185482] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]

[move_group-4] [INFO] [1671305839.296218206] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP

[move_group-4] [INFO] [1671305839.298449668] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]

[move_group-4] [INFO] [1671305839.298497486] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'

[move_group-4] [INFO] [1671305839.302478276] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000

[move_group-4] [INFO] [1671305839.302533285] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000

[move_group-4] [INFO] [1671305839.302551056] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.302562105] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000

[move_group-4] [INFO] [1671305839.302566191] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000

[move_group-4] [INFO] [1671305839.302571838] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100

[move_group-4] [INFO] [1671305839.302581917] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'

[move_group-4] [INFO] [1671305839.302586217] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'

[move_group-4] [INFO] [1671305839.302588674] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'

[move_group-4] [INFO] [1671305839.302591192] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

[move_group-4] [INFO] [1671305839.473771003] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller

[move_group-4] [INFO] [1671305839.474421159] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0

[move_group-4] [INFO] [1671305839.480413881] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller

[move_group-4] [INFO] [1671305839.481178645] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list

[move_group-4] [INFO] [1671305839.481645657] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list

[move_group-4] [INFO] [1671305839.485655916] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers

[move_group-4] [INFO] [1671305839.486344293] [move_group.move_group]: MoveGroup debug mode is ON

[move_group-4] [INFO] [1671305839.550617063] [move_group.move_group]: 

[move_group-4] 

[move_group-4] ********************************************************

[move_group-4] * MoveGroup using: 

[move_group-4] *     - ApplyPlanningSceneService

[move_group-4] *     - ClearOctomapService

[move_group-4] *     - CartesianPathService

[move_group-4] *     - ExecuteTrajectoryAction

[move_group-4] *     - GetPlanningSceneService

[move_group-4] *     - KinematicsService

[move_group-4] *     - MoveAction

[move_group-4] *     - MotionPlanService

[move_group-4] *     - QueryPlannersService

[move_group-4] *     - StateValidationService

[move_group-4] ********************************************************

[move_group-4] 

[move_group-4] [INFO] [1671305839.551766085] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner

[move_group-4] [INFO] [1671305839.552104607] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete

[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...

[move_group-4] Loading 'move_group/ClearOctomapService'...

[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...

[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...

[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...

[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...

[move_group-4] Loading 'move_group/MoveGroupMoveAction'...

[move_group-4] Loading 'move_group/MoveGroupPlanService'...

[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...

[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...

[move_group-4] 

[move_group-4] You can start planning now!

[move_group-4] 

[ros2_control_node-5] [INFO] [1671305839.675301567] [controller_manager]: Loading controller 'panda_arm_controller'

[ros2_control_node-5] [INFO] [1671305839.703012327] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.

[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1671305839.756551550] [spawner_panda_arm_controller]: Loaded panda_arm_controller

[ros2_control_node-5] [INFO] [1671305839.759061518] [controller_manager]: Configuring controller 'panda_arm_controller'

[ros2_control_node-5] [INFO] [1671305839.759229008] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.

[ros2_control_node-5] [INFO] [1671305839.759264164] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].

[ros2_control_node-5] [INFO] [1671305839.759278458] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.

[ros2_control_node-5] [INFO] [1671305839.759282240] [panda_arm_controller]: Using 'splines' interpolation method.

[ros2_control_node-5] [INFO] [1671305839.761932752] [panda_arm_controller]: Controller state will be published at 50.00 Hz.

[ros2_control_node-5] [INFO] [1671305839.773220280] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.

[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1671305839.791851217] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller

[ros2_control_node-5] [INFO] [1671305839.874257686] [controller_manager]: Loading controller 'joint_state_broadcaster'

[ros2_control_node-5] [INFO] [1671305839.890533123] [controller_manager]: Loading controller 'panda_hand_controller'

[ros2 run controller_manager spawner joint_state_broadcaster-8] [INFO] [1671305839.912630892] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster

[ros2_control_node-5] [INFO] [1671305839.914413479] [controller_manager]: Configuring controller 'joint_state_broadcaster'

[ros2_control_node-5] [INFO] [1671305839.914503907] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published

[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1671305839.925709936] [spawner_panda_hand_controller]: Loaded panda_hand_controller

[ros2_control_node-5] [INFO] [1671305839.930931499] [controller_manager]: Configuring controller 'panda_hand_controller'

[ros2_control_node-5] [INFO] [1671305839.931064965] [panda_hand_controller]: Action status changes will be monitored at 20Hz.

[ros2 run controller_manager spawner joint_state_broadcaster-8] [INFO] [1671305839.931919076] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster

[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1671305839.957923725] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller

[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process has finished cleanly [pid 14392]

[rviz2-1] [INFO] [1671305839.976950729] [rviz2]: Stereo is NOT SUPPORTED

[rviz2-1] [INFO] [1671305839.978311560] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)

[rviz2-1] [INFO] [1671305840.072377653] [rviz2]: Stereo is NOT SUPPORTED

[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process has finished cleanly [pid 14397]

[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process has finished cleanly [pid 14395]

[rviz2-1] 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.

[rviz2-1]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp

[rviz2-1] [ERROR] [1671305853.382136582] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available

[rviz2-1] [INFO] [1671305853.414680474] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.

[rviz2-1] [INFO] [1671305853.494084358] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0540943 seconds

[rviz2-1] [INFO] [1671305853.494162475] [moveit_robot_model.robot_model]: Loading robot model 'panda'...

[rviz2-1] [ERROR] [1671305853.521849018] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_kinematics.panda_arm.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {robot_description_kinematics.panda_arm.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.

[rviz2-1] [ERROR] [1671305917.881814249] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available

[rviz2-1] [INFO] [1671305917.899123944] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.

[rviz2-1] [INFO] [1671305917.971941664] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0537786 seconds

[rviz2-1] [INFO] [1671305917.971977593] [moveit_robot_model.robot_model]: Loading robot model 'panda'...

[rviz2-1] [ERROR] [1671305917.980618104] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_kinematics.panda_arm.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {robot_description_kinematics.panda_arm.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.
henningkayser commented 1 year ago

The last line of your log is showing you the reason why the robot model couldn't be loaded: an invalid parameter. Please review your kinematics.yaml and fix the value type of kinematics_solver_timeout.

ClaBirk commented 1 year ago

Seems like this is a consequential error. I checked it it is of type float.

sjahr commented 1 year ago

@ClaBirk I hope that your problem is resolved. In case you run into further problems, you can also check out the Troubleshooting issue and if that does not help, re-open this issue or a new one

develiberta commented 1 year ago

I'm having the similar problem. On my server, Rviz opens well and I can see robots, but the No Planning Library loaded. Especially, I think the problem is the log of this issue I have in common. It is as follows. [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlanner stomp_moveit/StompPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner

Mustafaalam99 commented 8 months ago

i'm having similar problem, in my case the robot model is not loaded.

[rviz2-3] [ERROR] [1711174126.096524814] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-3] [INFO] [1711174126.125103229] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-3] [ERROR] [1711174136.286465461] [rviz]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds. [rviz2-3] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0 [rviz2-3] at line 732 in /home/mustafa/ws_moveit2/src/srdfdom/src/model.cpp [rviz2-3] [ERROR] [1711174136.292062514] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF [rviz2-3] [ERROR] [1711174136.321760382] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded

This is what my terminal gives. Any help would be appreciated.

Thanks

zhuxiyu24 commented 3 weeks ago

俺也一样