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:robot: MoveIt for ROS 2
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HOW TO SET UP MOVEIT2 SERVO #2112

Closed robertokcanale closed 1 year ago

robertokcanale commented 1 year ago

Hi, I am trying to set up a UR robot and control it with MoveIt2 servo. I am currently using ubuntu 22.04, Ros2 Humble. I am trying to control a UR10e. So far, I am connected to the robot and can control it via Moveit Simply. Here are the 2 terminals commands needed for me.

" os2 launch ur_robot_driver ur_control.launch.py robot_ip:=192.168.0.100 ur_type:=ur10e use_fake_hardware:=false launch_rviz:=false initial_joint_controller:=scaled_joint_trajectory_controller

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true use_fake_hardware:=false "

How do I control it with Moveit2 Servo? So far, moveit launches a defalt servo node, but how do I activate it, what do i do with it, how to actually control the robot with moveit servo? Is there any guide? the basic page doesnt really work.

ibrahiminfinite commented 1 year ago

Hi @robertokcanale,

First you must specify the configuration for your robot in a yaml like this

And then pass that in through the launch files so that Servo receives the right parameters.

  1. Load the yaml
  2. Pass the parameter dictionary in to servo node like this

With that done, you should be able to use Servo with your robot.

robertokcanale commented 1 year ago

I am struggling with the planning scene. published byt this topic:

/servo_node/publish_planning_scene

currently, I am trying to launch it with a UR robot, using this package and launchfile: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main/ur_moveit_config The servo node is inside.

I dont really get how to pass the planning scene to the servo node? Or what am I getting wrong? I paste here what my terminal says:

`[move_group-1] [WARN] [1681719053.924497363] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-1] [INFO] [1681719053.928454566] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00377854 seconds [move_group-1] [INFO] [1681719053.928526803] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [move_group-1] [INFO] [1681719053.928539156] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [servo_node_main-3] [WARN] [1681719053.934166320] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: [servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}] [servo_node_main-3] to the Servo composable node in the launch file [servo_node_main-3] [INFO] [1681719053.959099031] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0182896 seconds [servo_node_main-3] [INFO] [1681719053.959128695] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [servo_node_main-3] [INFO] [1681719053.959138612] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [servo_node_main-3] [WARN] [1681719053.973023990] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!

. . . [servo_node_main-3] [INFO] [1681719054.028497411] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [servo_node_main-3] [INFO] [1681719054.028518462] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [servo_node_main-3] [INFO] [1681719054.031021650] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [servo_node_main-3] [INFO] [1681719054.031535246] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' [servo_node_main-3] [WARN] [1681719054.047495118] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead. [servo_node_main-3] [WARN] [1681719054.047528338] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows

`

Pomorondza commented 1 year ago

Hey, any update on this? I am launching MoveIt Servo also through ur_moveit package, and my issue is that the JointGroupPositionController/commands topic is not receiving any input from MoveIt Servo.

robertokcanale commented 1 year ago

Hey @Pomorondza I did make some advances on that. You need to change the controller to Forward position controller. Have a look here:

https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/630

Pomorondza commented 1 year ago

Thank you, it solved my issue! I was not calling the service to activate servoing.

github-actions[bot] commented 1 year ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

sjahr commented 1 year ago

Closing this issue because it seems to be resolved. Please re-open if you have further questions

JaisonJose241 commented 1 year ago

Make sure that the required controller is active or not.

shrutic12 commented 6 months ago

Hi @Pomorondza I am also using a UR10e robot with ros2 humble. I am tetsing on simulation first, and on triggering the start_servo service I see the following warning : [servo_node-7] [WARN] [1712824658.751408148] [moveit_servo.servo_calcs]: run_duration: 0.00426235 (0.004) [servo_node-7] [WARN] [1712824661.890270723] [moveit_servo.servo_calcs]: run_duration: 0.00770749 (0.004) [servo_node-7] [WARN] [1712824671.724946763] [moveit_servo.servo_calcs]: run_duration: 0.011865 (0.004) [servo_node-7] [WARN] [1712824677.491944005] [moveit_servo.servo_calcs]: run_duration: 0.006623 (0.004) [servo_node-7] [WARN] [1712824687.287677807] [moveit_servo.servo_calcs]: run_duration: 0.00800217 (0.004) [servo_node-7] [WARN] [1712824692.290677743] [moveit_servo.servo_calcs]: run_duration: 0.00780874 (0.004) [servo_node-7] [WARN] [1712824753.091513444] [moveit_servo.servo_calcs]: run_duration: 0.00612926 (0.004)

I have successfully switched controller to /forward_position_controller. On publishing essages to the servo_node/delta_twist_cmds topic nothing is received by /forward_position_controller/commands.. Here is a capture of the node graph :

Screenshot from 2024-04-11 10-41-17

I have tested by witching to different controllers and moving the robot, so it does move and receive these commands. But somehow when the servo is on it doesn't move or receive anything. /servo_node/status gives out data: 0.

I have a feeling the issue might be from moveit itself. Here are the logs on launching the robot drivers in simulation with moveit :

`[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-04-11-10-44-14-331605-user-OptiPlex-790-44513 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ur_ros2_control_node-1]: process started with pid [44522] [INFO] [robot_state_publisher-2]: process started with pid [44524] [INFO] [rviz2-3]: process started with pid [44526] [INFO] [spawner-4]: process started with pid [44528] [INFO] [move_group-5]: process started with pid [44531] [INFO] [rviz2-6]: process started with pid [44544] [INFO] [servo_node-7]: process started with pid [44548] [INFO] [spawner-8]: process started with pid [44550] [INFO] [spawner-9]: process started with pid [44552] [INFO] [spawner-10]: process started with pid [44555] [INFO] [spawner-11]: process started with pid [44557] [INFO] [spawner-12]: process started with pid [44559] [INFO] [spawner-13]: process started with pid [44561] [INFO] [spawner-14]: process started with pid [44568] [INFO] [spawner-15]: process started with pid [44572] [robot_state_publisher-2] [INFO] [1712825056.559476678] [robot_state_publisher]: got segment base [robot_state_publisher-2] [INFO] [1712825056.559648346] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1712825056.559663504] [robot_state_publisher]: got segment base_link_inertia [robot_state_publisher-2] [INFO] [1712825056.559672545] [robot_state_publisher]: got segment camera_bottom_screw_frame [robot_state_publisher-2] [INFO] [1712825056.559680960] [robot_state_publisher]: got segment camera_link [robot_state_publisher-2] [INFO] [1712825056.559688827] [robot_state_publisher]: got segment flange [robot_state_publisher-2] [INFO] [1712825056.559696752] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-2] [INFO] [1712825056.559704522] [robot_state_publisher]: got segment ft_frame [robot_state_publisher-2] [INFO] [1712825056.559712173] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-2] [INFO] [1712825056.559719949] [robot_state_publisher]: got segment tcp_screwdriver [robot_state_publisher-2] [INFO] [1712825056.559727671] [robot_state_publisher]: got segment tool0 [robot_state_publisher-2] [INFO] [1712825056.559735457] [robot_state_publisher]: got segment upper_arm_link [robot_state_publisher-2] [INFO] [1712825056.559743322] [robot_state_publisher]: got segment world [robot_state_publisher-2] [INFO] [1712825056.559750831] [robot_state_publisher]: got segment wrist_1_link [robot_state_publisher-2] [INFO] [1712825056.559758435] [robot_state_publisher]: got segment wrist_2_link [robot_state_publisher-2] [INFO] [1712825056.559765985] [robot_state_publisher]: got segment wrist_3_link [ur_ros2_control_node-1] [WARN] [1712825056.742102344] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ur_ros2_control_node-1] [INFO] [1712825056.755884203] [resource_manager]: Loading hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1712825056.760685811] [resource_manager]: Initialize hardware 'ur10e' [ur_ros2_control_node-1] [WARN] [1712825056.760935652] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ur_ros2_control_node-1] [WARN] [1712825056.761110002] [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: [ur_ros2_control_node-1] [ur_ros2_control_node-1] 0.0 [ur_ros2_control_node-1] [ur_ros2_control_node-1] [INFO] [1712825056.762481847] [resource_manager]: Successful initialization of hardware 'ur10e' [ur_ros2_control_node-1] [INFO] [1712825056.766194728] [resource_manager]: 'configure' hardware 'ur10e'

[ur_ros2_control_node-1] [INFO] [1712825056.766426487] [resource_manager]: 'activate' hardware 'ur10e'

[move_group-5] [INFO] [1712825056.829831704] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0160848 seconds [move_group-5] [INFO] [1712825056.829938127] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [move_group-5] [INFO] [1712825056.829956553] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [servo_node-7] [WARN] [1712825056.987047874] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: [servo_node-7] extra_arguments=[{'use_intra_process_comms' : True}] [servo_node-7] to the Servo composable node in the launch file [servo_node-7] [INFO] [1712825057.068814313] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0360173 seconds [servo_node-7] [INFO] [1712825057.068856999] [moveit_robot_model.robot_model]: Loading robot model 'ur'... [servo_node-7] [INFO] [1712825057.068872062] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-5] [INFO] [1712825057.478477772] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-5] [INFO] [1712825057.484416301] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-5] [INFO] [1712825057.485402536] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-5] [INFO] [1712825057.485988439] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-5] [INFO] [1712825057.486006883] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-5] [INFO] [1712825057.486420371] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-5] [INFO] [1712825057.486435726] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-5] [INFO] [1712825057.486883179] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-5] [INFO] [1712825057.503613802] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-5] [WARN] [1712825057.505129779] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-5] [ERROR] [1712825057.505154592] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-5] [INFO] [1712825057.542195815] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-5] [INFO] [1712825057.568820068] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [servo_node-7] [INFO] [1712825057.604559117] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states' [move_group-5] [INFO] [1712825057.617046784] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-5] [INFO] [1712825057.617081093] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-5] [INFO] [1712825057.630765808] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-5] [INFO] [1712825057.630800701] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-5] [INFO] [1712825057.636714826] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-5] [INFO] [1712825057.636750592] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-5] [INFO] [1712825057.646098057] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-5] [INFO] [1712825057.646152353] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [servo_node-7] [INFO] [1712825057.664614446] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [servo_node-7] [INFO] [1712825057.664645878] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [servo_node-7] [INFO] [1712825057.679738004] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-5] [INFO] [1712825057.680756252] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [servo_node-7] [INFO] [1712825057.682899959] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene' [move_group-5] [INFO] [1712825057.738650056] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [servo_node-7] [WARN] [1712825057.790737449] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows [move_group-5] [INFO] [1712825057.797121306] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000 [move_group-5] [INFO] [1712825057.797153918] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000 [move_group-5] [INFO] [1712825057.797161785] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000 [move_group-5] [INFO] [1712825057.797202537] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-5] [INFO] [1712825057.797225351] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-5] [INFO] [1712825057.797281573] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-5] [INFO] [1712825057.797302508] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-5] [INFO] [1712825057.797311418] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000 [move_group-5] [INFO] [1712825057.797325488] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-5] [INFO] [1712825057.797342907] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-5] [INFO] [1712825057.797351120] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-5] [INFO] [1712825057.797355822] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-5] [INFO] [1712825057.797360199] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-5] [INFO] [1712825057.797364371] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-5] [INFO] [1712825057.797368631] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-5] [INFO] [1712825057.798474835] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-5] [INFO] [1712825057.977805103] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-5] [INFO] [1712825058.018698108] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-5] [INFO] [1712825058.018730155] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-5] [INFO] [1712825058.018738564] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-5] [INFO] [1712825058.018770007] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-5] [INFO] [1712825058.018792977] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-5] [INFO] [1712825058.018801303] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-5] [INFO] [1712825058.018819305] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-5] [INFO] [1712825058.018827679] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000 [move_group-5] [INFO] [1712825058.018834858] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-5] [INFO] [1712825058.018851163] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-5] [INFO] [1712825058.018857803] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-5] [INFO] [1712825058.018862301] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-5] [INFO] [1712825058.018866799] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-5] [INFO] [1712825058.018871100] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-5] [INFO] [1712825058.018875446] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [ur_ros2_control_node-1] [INFO] [1712825058.136877537] [controller_manager]: Loading controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1712825058.222389117] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster' [spawner-8] [INFO] [1712825058.374867059] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ur_ros2_control_node-1] [INFO] [1712825058.487755753] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ur_ros2_control_node-1] [INFO] [1712825058.487954393] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [move_group-5] [INFO] [1712825058.501695242] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller [move_group-5] [INFO] [1712825058.501923794] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-5] [INFO] [1712825058.501960627] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-5] [INFO] [1712825058.506994692] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers [move_group-5] [INFO] [1712825058.507025999] [move_group.move_group]: MoveGroup debug mode is ON [spawner-8] [INFO] [1712825058.559178828] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-11] [INFO] [1712825058.566067861] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster [ur_ros2_control_node-1] [INFO] [1712825058.574821801] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster' [rviz2-3] [INFO] [1712825058.594157236] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1712825058.598527161] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [spawner-11] [INFO] [1712825058.603191252] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster [rviz2-3] [INFO] [1712825058.764977394] [rviz2]: Stereo is NOT SUPPORTED [ur_ros2_control_node-1] [INFO] [1712825058.803776250] [controller_manager]: Loading controller 'cartesian_force_controller' [spawner-13] [INFO] [1712825059.224753768] [spawner_cartesian_force_controller]: Loaded cartesian_force_controller [INFO] [spawner-11]: process has finished cleanly [pid 44557] [rviz2-6] [INFO] [1712825059.320381321] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1712825059.320472382] [rviz2]: OpenGl version: 4.3 (GLSL 4.3) [INFO] [spawner-8]: process has finished cleanly [pid 44550] [ur_ros2_control_node-1] [INFO] [1712825059.464552169] [controller_manager]: Configuring controller 'cartesian_force_controller' [rviz2-6] [INFO] [1712825059.466709826] [rviz2]: Stereo is NOT SUPPORTED [ur_ros2_control_node-1] [INFO] [1712825059.564867435] [cartesian_force_controller]: Forward dynamics solver initialized [ur_ros2_control_node-1] [INFO] [1712825059.564911640] [cartesian_force_controller]: Forward dynamics solver has control over 6 joints [move_group-5] [INFO] [1712825059.590203422] [move_group.move_group]: [move_group-5] [move_group-5] **** [move_group-5] MoveGroup using: [move_group-5] - ApplyPlanningSceneService [move_group-5] - ClearOctomapService [move_group-5] - ExecuteTaskSolution [move_group-5] - CartesianPathService [move_group-5] - ExecuteTrajectoryAction [move_group-5] - GetPlanningSceneService [move_group-5] - KinematicsService [move_group-5] - MoveAction [move_group-5] - MotionPlanService [move_group-5] - QueryPlannersService [move_group-5] - StateValidationService [move_group-5] **** [move_group-5] [move_group-5] [INFO] [1712825059.590259931] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-5] [INFO] [1712825059.590270992] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-5] Loading 'move_group/ApplyPlanningSceneService'... [move_group-5] Loading 'move_group/ClearOctomapService'... [move_group-5] Loading 'move_group/ExecuteTaskSolutionCapability'... [move_group-5] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-5] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-5] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-5] Loading 'move_group/MoveGroupKinematicsService'... [move_group-5] Loading 'move_group/MoveGroupMoveAction'... [move_group-5] Loading 'move_group/MoveGroupPlanService'... [move_group-5] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-5] Loading 'move_group/MoveGroupStateValidationService'... [move_group-5] [move_group-5] You can start planning now! [move_group-5] [ur_ros2_control_node-1] [INFO] [1712825059.795756572] [controller_manager]: Loading controller 'cartesian_motion_controller' [ur_ros2_control_node-1] [WARN] [1712825059.986900094] [controller_manager.rclcpp]: failed to send response to /controller_manager/list_controllers (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314 [ur_ros2_control_node-1] [INFO] [1712825059.988290599] [controller_manager]: Loading controller 'io_and_status_controller' [spawner-14] [INFO] [1712825060.033822200] [spawner_cartesian_motion_controller]: Loaded cartesian_motion_controller [INFO] [spawner-13]: process has finished cleanly [pid 44561] [spawner-9] [INFO] [1712825060.092824418] [spawner_io_and_status_controller]: Loaded io_and_status_controller [ur_ros2_control_node-1] [INFO] [1712825060.101736591] [controller_manager]: Loading controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1712825060.158989343] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller' [spawner-12] [INFO] [1712825060.253944598] [spawner_forward_position_controller]: Loaded forward_position_controller [ur_ros2_control_node-1] [WARN] [1712825060.257050839] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ur_ros2_control_node-1] [INFO] [1712825060.263765345] [controller_manager]: Configuring controller 'cartesian_motion_controller' [spawner-4] [INFO] [1712825060.269113931] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller [ur_ros2_control_node-1] [INFO] [1712825060.282966142] [cartesian_motion_controller]: Forward dynamics solver initialized [ur_ros2_control_node-1] [INFO] [1712825060.283013973] [cartesian_motion_controller]: Forward dynamics solver has control over 6 joints [ur_ros2_control_node-1] [INFO] [1712825060.312874205] [controller_manager]: Configuring controller 'io_and_status_controller' [ur_ros2_control_node-1] [INFO] [1712825060.313996227] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller' [ur_ros2_control_node-1] [INFO] [1712825060.314245082] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ur_ros2_control_node-1] [INFO] [1712825060.315580857] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ur_ros2_control_node-1] [INFO] [1712825060.316315818] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method. [ur_ros2_control_node-1] [INFO] [1712825060.335449980] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ur_ros2_control_node-1] [INFO] [1712825060.339543122] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ur_ros2_control_node-1] [INFO] [1712825060.363352000] [controller_manager]: Configuring controller 'forward_position_controller' [ur_ros2_control_node-1] [INFO] [1712825060.381416118] [forward_position_controller]: configure successful [spawner-9] [INFO] [1712825060.445299628] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller [spawner-4] [INFO] [1712825060.450740391] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller [INFO] [spawner-14]: process has finished cleanly [pid 44568] [ur_ros2_control_node-1] [INFO] [1712825060.624501943] [controller_manager]: Loading controller 'cartesian_compliance_controller' [INFO] [spawner-12]: process has finished cleanly [pid 44559] [spawner-15] [INFO] [1712825060.694986920] [spawner_cartesian_compliance_controller]: Loaded cartesian_compliance_controller [ur_ros2_control_node-1] [INFO] [1712825060.699290546] [controller_manager]: Configuring controller 'cartesian_compliance_controller' [ur_ros2_control_node-1] [INFO] [1712825060.710431412] [cartesian_compliance_controller]: Forward dynamics solver initialized [ur_ros2_control_node-1] [INFO] [1712825060.710473329] [cartesian_compliance_controller]: Forward dynamics solver has control over 6 joints [INFO] [spawner-4]: process has finished cleanly [pid 44528] [INFO] [spawner-9]: process has finished cleanly [pid 44552] [INFO] [spawner-15]: process has finished cleanly [pid 44572] `

However, when I start using the motion planning pipeline in rviz here are the errors I see :

[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 [rviz2-3] [ERROR] [1712825233.665134271] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-3] [INFO] [1712825233.690685214] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-3] [WARN] [1712825233.715614433] [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. [INFO] [rviz2-6]: process has finished cleanly [pid 44544] [rviz2-3] [ERROR] [1712825243.795577871] [rviz2]: 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/user/ws_moveit2/src/srdfdom/src/model.cpp [rviz2-3] [ERROR] [1712825243.805581839] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF [rviz2-3] [ERROR] [1712825243.846524653] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded

It seems to have some issues with the srdf and robot model, but on launch the robot model and srdf were identified and loaded so I am confused why this happens. I am wondering if this can cause issues with servo which leads to it not publishing to the robot? Any help from any of the members would be appreciated!