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:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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OMPL <unspecified> | failed trajectory execution #2265

Closed KlausLex closed 1 year ago

KlausLex commented 1 year ago

Description

Overview of your issue here.

Your environment

Steps to reproduce

Expected behaviour

1) Set goal state & move robot clicking Plan & Execute. 2) Selecting different planners from OMPL, CHOMP & STOMP.

Actual behaviour

1) Clicking planning & executing loops the planner visualization endlessly & never executes. 2) OMPL dropdown is empty displaying , only pilz_industrial_motion_planner available.

Console output demo.launch.py

[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 [841]
[INFO] [robot_state_publisher-2]: process started with pid [843]
[INFO] [move_group-3]: process started with pid [845]
[INFO] [rviz2-4]: process started with pid [847]
[INFO] [ros2_control_node-5]: process started with pid [849]
[INFO] [spawner-6]: process started with pid [861]
[INFO] [spawner-7]: process started with pid [870]
[static_transform_publisher-1] [INFO] [1689159227.593508918] [static_transform_publisher0]: 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 'base_link'
[rviz2-4] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[robot_state_publisher-2] [INFO] [1689159227.767741663] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1689159227.768959852] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1689159227.770029704] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1689159227.770920410] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1689159227.771795905] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1689159227.772661799] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1689159227.773490381] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1689159227.774402627] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1689159227.775365990] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1689159227.776351010] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1689159227.777315733] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1689159227.777340364] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1689159227.777354637] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-5] text not specified in the script_filename tag
[ros2_control_node-5] text not specified in the output_recipe_filename tag
[ros2_control_node-5] text not specified in the input_recipe_filename tag
[ros2_control_node-5] text not specified in the tf_prefix tag
[ros2_control_node-5] [INFO] [1689159227.808073264] [resource_manager]: Loading hardware 'ur10e' 
[ros2_control_node-5] [INFO] [1689159227.815744638] [resource_manager]: Initialize hardware 'ur10e' 
[ros2_control_node-5] [INFO] [1689159227.815907042] [resource_manager]: Successful initialization of hardware 'ur10e'
[ros2_control_node-5] [INFO] [1689159227.816144483] [resource_manager]: Loading hardware 'FakeSystem' 
[ros2_control_node-5] [INFO] [1689159227.819588829] [resource_manager]: Initialize hardware 'FakeSystem' 
[ros2_control_node-5] [WARN] [1689159227.820961406] [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] [1689159227.824117467] [resource_manager]: Successful initialization of hardware 'FakeSystem'
[ros2_control_node-5] [INFO] [1689159227.825606194] [resource_manager]: 'configure' hardware 'ur10e' 
[ros2_control_node-5] [INFO] [1689159227.826897342] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ros2_control_node-5] [INFO] [1689159227.830161050] [resource_manager]: 'activate' hardware 'ur10e' 
[ros2_control_node-5] [INFO] [1689159227.830197999] [URPositionHardwareInterface]: Starting ...please wait...
[ros2_control_node-5] [INFO] [1689159227.830235127] [URPositionHardwareInterface]: Initializing driver...
[ros2_control_node-5] [ERROR] [1689159227.830348148] [UR_Client_Library]: Opening file '' failed with error: No such file or directory
[ros2_control_node-5] [FATAL] [1689159227.830446572] [URPositionHardwareInterface]: Opening file '' failed with error: No such file or directory
[ros2_control_node-5] [INFO] [1689159227.830471634] [resource_manager]: Failed to 'activate' hardware 'ur10e'
[ros2_control_node-5] [INFO] [1689159227.830484832] [resource_manager]: 'configure' hardware 'FakeSystem' 
[ros2_control_node-5] [INFO] [1689159227.830494406] [resource_manager]: Successful 'configure' of hardware 'FakeSystem'
[ros2_control_node-5] [WARN] [1689159227.830501958] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_pan_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830508699] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_pan_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830514166] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_lift_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830519490] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_lift_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830524962] [resource_manager]: (hardware 'FakeSystem'): 'elbow_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830530303] [resource_manager]: (hardware 'FakeSystem'): 'elbow_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830536273] [resource_manager]: (hardware 'FakeSystem'): 'wrist_1_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830542402] [resource_manager]: (hardware 'FakeSystem'): 'wrist_1_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830549249] [resource_manager]: (hardware 'FakeSystem'): 'wrist_2_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830555787] [resource_manager]: (hardware 'FakeSystem'): 'wrist_2_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830561840] [resource_manager]: (hardware 'FakeSystem'): 'wrist_3_joint/position' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830568026] [resource_manager]: (hardware 'FakeSystem'): 'wrist_3_joint/velocity' state interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830619457] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_pan_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830628631] [resource_manager]: (hardware 'FakeSystem'): 'shoulder_lift_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830634993] [resource_manager]: (hardware 'FakeSystem'): 'elbow_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830641063] [resource_manager]: (hardware 'FakeSystem'): 'wrist_1_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830647512] [resource_manager]: (hardware 'FakeSystem'): 'wrist_2_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [WARN] [1689159227.830656623] [resource_manager]: (hardware 'FakeSystem'): 'wrist_3_joint/position' command interface already in available list. This can happen due to multiple calls to 'configure'
[ros2_control_node-5] [INFO] [1689159227.830663124] [resource_manager]: 'activate' hardware 'FakeSystem' 
[ros2_control_node-5] [INFO] [1689159227.830671037] [resource_manager]: Successful 'activate' of hardware 'FakeSystem'
[ros2_control_node-5] [INFO] [1689159227.914636245] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1689159227.931462019] [controller_manager]: RT kernel is recommended for better performance
[move_group-3] [INFO] [1689159228.000627759] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.130787 seconds
[move_group-3] [INFO] [1689159228.000748954] [moveit_robot_model.robot_model]: Loading robot model 'ur10e'...
[rviz2-4] [INFO] [1689159228.142542585] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1689159228.142675178] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[move_group-3] [INFO] [1689159228.154110473] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1689159228.154330749] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1689159228.155288678] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1689159228.155944477] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1689159228.155974893] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1689159228.156420235] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1689159228.156449584] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1689159228.157099114] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1689159228.157824951] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1689159228.158799501] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1689159228.158835820] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1689159228.166921448] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-3] [INFO] [1689159228.175182306] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [INFO] [1689159228.209323873] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-3] [INFO] [1689159228.209470397] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1689159228.213287507] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1689159228.213328492] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[rviz2-4] [INFO] [1689159228.214753652] [rviz2]: Stereo is NOT SUPPORTED
[move_group-3] [INFO] [1689159228.215356492] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1689159228.219040526] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1689159228.220775982] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1689159228.220816482] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-3] [INFO] [1689159228.230372618] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-3] [ERROR] [1689159228.237901633] [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/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-3] [INFO] [1689159228.247380444] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1689159228.249114680] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1689159228.250319021] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1689159228.251422896] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1689159228.252437134] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1689159228.253657575] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1689159228.254840579] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1689159228.255938378] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1689159228.256916149] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1689159228.257597332] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1689159228.257646828] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1689159228.257657002] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [ERROR] [1689159228.261258839] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-3] [INFO] [1689159228.264343936] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-3] [INFO] [1689159228.301034611] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1689159228.309252887] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1689159228.310540050] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1689159228.311316044] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1689159228.311917173] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1689159228.312438741] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1689159228.312907223] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1689159228.313403994] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1689159228.313863495] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1689159228.314318788] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1689159228.314770548] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1689159228.315224533] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1689159228.315676910] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1689159228.483185221] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller
[move_group-3] [INFO] [1689159228.484595250] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159228.486627239] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159228.488684857] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1689159228.489953876] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-3] [INFO] [1689159228.532577601] [move_group.move_group]: 
[move_group-3] 
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using: 
[move_group-3] *     - ApplyPlanningSceneService
[move_group-3] *     - ClearOctomapService
[move_group-3] *     - CartesianPathService
[move_group-3] *     - ExecuteTrajectoryAction
[move_group-3] *     - GetPlanningSceneService
[move_group-3] *     - KinematicsService
[move_group-3] *     - MoveAction
[move_group-3] *     - MotionPlanService
[move_group-3] *     - QueryPlannersService
[move_group-3] *     - StateValidationService
[move_group-3] ********************************************************
[move_group-3] 
[move_group-3] [INFO] [1689159228.533252068] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1689159228.533302838] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3] 
[move_group-3] You can start planning now!
[move_group-3] 
[rviz2-4] 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.
[rviz2-4]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2_control_node-5] [INFO] [1689159228.588481118] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1689159228.634266124] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1689159228.636248080] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1689159228.636419293] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1689159228.666887934] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-5] [INFO] [1689159228.737165909] [controller_manager]: Loading controller 'manipulator_controller'
[spawner-6] [INFO] [1689159228.775863104] [spawner_manipulator_controller]: Loaded manipulator_controller
[ros2_control_node-5] [INFO] [1689159228.777964611] [controller_manager]: Configuring controller 'manipulator_controller'
[ros2_control_node-5] [INFO] [1689159228.778144740] [manipulator_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1689159228.778214717] [manipulator_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1689159228.778257510] [manipulator_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1689159228.779912392] [manipulator_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1689159228.783032664] [manipulator_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-6] [INFO] [1689159228.805842344] [spawner_manipulator_controller]: Configured and activated manipulator_controller
[INFO] [spawner-7]: process has finished cleanly [pid 870]
[INFO] [spawner-6]: process has finished cleanly [pid 861]
[rviz2-4] [ERROR] [1689159231.577186063] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-4] [INFO] [1689159231.608405484] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-4] [INFO] [1689159231.806154040] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.13718 seconds
[rviz2-4] [INFO] [1689159231.806348028] [moveit_robot_model.robot_model]: Loading robot model 'ur10e'...
[rviz2-4] [INFO] [1689159231.938918513] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-4] [INFO] [1689159231.941136019] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-4] [INFO] [1689159232.477801822] [interactive_marker_display_94288389798896]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-4] [INFO] [1689159232.491539261] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-4] [INFO] [1689159232.491572896] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-4] [INFO] [1689159232.513715884] [interactive_marker_display_94288389798896]: Sending request for interactive markers
[rviz2-4] [INFO] [1689159232.531522712] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-4] [INFO] [1689159232.535572292] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-4] [INFO] [1689159232.546590191] [interactive_marker_display_94288389798896]: Service response received for initialization
[rviz2-4] [INFO] [1689159269.111409514] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1689159269.113448758] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1689159269.114011972] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-3] [INFO] [1689159269.117912959] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1689159269.117983469] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1689159269.120042765] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[rviz2-4] [INFO] [1689159269.125564591] [move_group_interface]: Planning request accepted
[rviz2-4] [ERROR] [1689159269.125712320] [rviz.rclcpp_action]: unknown goal response, ignoring...
[rviz2-4] [INFO] [1689159269.201414866] [move_group_interface]: Planning request complete!
[rviz2-4] [INFO] [1689159269.212780521] [move_group_interface]: time taken to generate plan: 0.0173596 seconds
[move_group-3] [INFO] [1689159269.214861212] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-4] [ERROR] [1689159269.217001443] [rviz.rclcpp_action]: unknown result response, ignoring...
[move_group-3] [INFO] [1689159276.232687519] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1689159276.232842116] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1689159276.232893071] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159276.232920307] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159276.233068797] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-4] [INFO] [1689159276.233530510] [move_group_interface]: Execute request accepted
[rviz2-4] [ERROR] [1689159276.233674652] [rviz.rclcpp_action]: unknown goal response, ignoring...
[move_group-3] [INFO] [1689159276.235651215] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-3] [INFO] [1689159276.235738497] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159276.235772434] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159276.235961565] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to manipulator_controller
[ros2_control_node-5] [INFO] [1689159276.236447568] [manipulator_controller]: Received new action goal
[ros2_control_node-5] [INFO] [1689159276.236518954] [manipulator_controller]: Accepted new action goal
[ros2_control_node-5] [INFO] [1689159276.237219139] [manipulator_controller]: Received new action goal
[ros2_control_node-5] [INFO] [1689159276.237357771] [manipulator_controller]: Accepted new action goal
[move_group-3] [INFO] [1689159276.237330681] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: manipulator_controller started execution
[move_group-3] [INFO] [1689159276.237924121] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-3] [INFO] [1689159276.239137603] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'manipulator_controller' successfully finished
[move_group-3] [WARN] [1689159276.239195657] [moveit_ros.trajectory_execution_manager]: Controller handle manipulator_controller reports status PREEMPTED
[move_group-3] [INFO] [1689159276.239217432] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status PREEMPTED ...
[move_group-3] [INFO] [1689159276.239289692] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: PREEMPTED
[rviz2-4] [INFO] [1689159276.240090561] [move_group_interface]: Execute request aborted
[rviz2-4] [ERROR] [1689159276.332517483] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[ros2_control_node-5] [INFO] [1689159283.754647408] [manipulator_controller]: Goal reached, success!
[rviz2-4] [ERROR] [1689159283.820690654] [rviz.rclcpp_action]: unknown result response, ignoring...
[move_group-3] [INFO] [1689159292.287640004] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1689159292.287840802] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-4] [INFO] [1689159292.288406317] [move_group_interface]: Plan and Execute request accepted
[rviz2-4] [ERROR] [1689159292.288545512] [rviz.rclcpp_action]: unknown goal response, ignoring...
[move_group-3] [INFO] [1689159292.297437335] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-3] [INFO] [1689159292.297563240] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-3] [INFO] [1689159292.297598233] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1689159292.298892674] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [INFO] [1689159292.371055427] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159292.371092688] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159292.371153224] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-3] [INFO] [1689159292.375170105] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-3] [INFO] [1689159292.375240353] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159292.375275704] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1689159292.375467747] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to manipulator_controller
[ros2_control_node-5] [INFO] [1689159292.375964948] [manipulator_controller]: Received new action goal
[ros2_control_node-5] [INFO] [1689159292.376839745] [manipulator_controller]: Accepted new action goal
[ros2_control_node-5] [INFO] [1689159292.377396125] [manipulator_controller]: Received new action goal
[ros2_control_node-5] [INFO] [1689159292.377440766] [manipulator_controller]: Accepted new action goal
[move_group-3] [INFO] [1689159292.378425961] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: manipulator_controller started execution
[move_group-3] [INFO] [1689159292.378461002] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-3] [INFO] [1689159292.379337871] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'manipulator_controller' successfully finished
[move_group-3] [WARN] [1689159292.379384067] [moveit_ros.trajectory_execution_manager]: Controller handle manipulator_controller reports status PREEMPTED
[move_group-3] [INFO] [1689159292.379408711] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status PREEMPTED ...
[move_group-3] [INFO] [1689159292.385307022] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-4] [INFO] [1689159292.385785808] [move_group_interface]: Plan and Execute request aborted
[rviz2-4] [ERROR] [1689159292.387514243] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[ros2_control_node-5] [INFO] [1689159299.894565325] [manipulator_controller]: Goal reached, success!
[rviz2-4] [ERROR] [1689159299.955957710] [rviz.rclcpp_action]: unknown result response, ignoring...

Console outputmove_group.launch.py:

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [move_group-1]: process started with pid [821]
[move_group-1] [INFO] [1689159221.602903239] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0478236 seconds
[move_group-1] [INFO] [1689159221.602985448] [moveit_robot_model.robot_model]: Loading robot model 'ur10e'...
[move_group-1] [INFO] [1689159221.667764823] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1689159221.667922356] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1689159221.668634241] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1689159221.669036839] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1689159221.669060353] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1689159221.669350541] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1689159221.669384826] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1689159221.669745027] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1689159221.670084599] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1689159221.670918890] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1689159221.670939430] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1689159221.674936608] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1689159221.679491386] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1689159221.682780621] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1689159221.682804893] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1689159221.684567174] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1689159221.684596729] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1689159221.685777410] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1689159221.685795224] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1689159221.686916355] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1689159221.686937691] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1689159221.689336740] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1689159221.692104096] [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/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1689159221.696478812] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1689159221.696545800] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1689159221.696561904] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.696644498] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.696658340] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1689159221.696668478] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1689159221.696690481] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-1] [INFO] [1689159221.696697781] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1689159221.696703846] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1689159221.696709789] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1689159221.696715679] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1689159221.696721695] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1689159221.697401815] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1689159221.699624416] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1689159221.717122951] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1689159221.721681578] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1689159221.721715349] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1689159221.721724523] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.721738484] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.721750007] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1689159221.721760494] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1689159221.721775994] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-1] [INFO] [1689159221.721780849] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1689159221.721785205] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1689159221.721791037] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1689159221.721796584] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1689159221.721802227] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1689159221.743299270] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller
[move_group-1] [INFO] [1689159221.743475620] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159221.743511144] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159221.743909058] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1689159221.743932315] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1689159221.757962589] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1689159221.758159868] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1689159221.758175295] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[move_group-1] [INFO] [1689159269.113501640] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1689159269.114010356] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1689159269.116072646] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1689159269.116150591] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1689159269.120674346] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1689159269.200557207] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[move_group-1] [INFO] [1689159276.232700731] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-1] [INFO] [1689159276.232859543] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-1] [INFO] [1689159276.232914094] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159276.232951875] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159276.233094546] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1689159276.235884186] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1689159276.235940287] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159276.235973431] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159276.236421187] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to manipulator_controller
[move_group-1] [INFO] [1689159276.237767684] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: manipulator_controller started execution
[move_group-1] [INFO] [1689159276.237813365] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-1] [INFO] [1689159283.789169823] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'manipulator_controller' successfully finished
[move_group-1] [INFO] [1689159283.817550109] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-1] [INFO] [1689159283.818044698] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[move_group-1] [INFO] [1689159292.287637151] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1689159292.287832330] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1689159292.295023842] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1689159292.295151926] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1689159292.295191222] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1689159292.295739818] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1689159292.370533648] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159292.370609340] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159292.370667336] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1689159292.375169810] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1689159292.375240656] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159292.375288242] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1689159292.375839783] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to manipulator_controller
[move_group-1] [INFO] [1689159292.377908108] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: manipulator_controller started execution
[move_group-1] [INFO] [1689159292.377931382] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-1] [INFO] [1689159299.927907635] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'manipulator_controller' successfully finished
[move_group-1] [INFO] [1689159299.954979518] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-1] [INFO] [1689159299.955317734] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.

Questions

Thanks & have a great day!

Edit:

I just tried the humble-source (a8f324ae9662) docker container & see no OMPL either? But at least there is CHOMP & STOMP, which I didn't get with the binary build.

Edit 2:

I just tried the noetic-source (e58035ce6c55) docker container & everything seems to be working as I expected. OMPL is loaded properly & I can execute Plan & Execute. I also noticed that the home pose I specified is loaded as initial joint configuration also - which also is not the case for MoveIt 2.

sjahr commented 1 year ago

Hi @KlausLex, for issues with the UR driver please open an issue in that repository.

For your MoveIt issues: Make sure you've installed/ build MoveIt2 correctly following the instructions on the website or the docker tutorial. Regarding any missing config files or issues you can compare your MoveIt config to an existing config to see what might be missing/ different.

Regarding your questions: Taking a look at the tutorials and concepts page might help you to get answers. Feel free to ask remaining questions but please try to be more respectful of other people's time and try to keep the number of questions small and precise, so it is easy to help you.

KlausLex commented 1 year ago

Thanks for your reply & sorry for taking up so much of your time @sjahr .

My questions essentially boil down to a single one: What extra steps are necessary after using MSA 2.0 to achieve the same configuration state as MSA 1.0?

As I mentioned in my edits, with the same URDF I can generate 2 config packages by pulling the official docker images:

noetic-source

generates a config package with OMPL, STOMP, CHOMP & Pilz planners I can Plan & Execute my package with demo.launch

humble-source

generates a config package with STOMP, CHOMP & Pilz planners I cannot Plan & Execute my package with demo.launch.py & OMPL staying at "<"unspecified">" even after manually creating ompl_planning.yaml & adding OMPL to the planning_pipeline in a new launch-file and also installing OMPL via apt.

Installing ros-humble-moveit via APT

generates a config package with Pilz planners only that I cannot Plan & Execute my package with demo.launch.py either.

building MoveIt 2 from source

had 2 of the computers I have access to crash & reboot on building (1 laptop with 8GB of memory & one desktop PC with 24GB of memory), so I couldn't test this further.

Following the MSA 2.0 Example using the docker image humble-source generates a panda_moveit_config package that is very different from the one in the moveit_resources repo with *_planning.yaml missing (incl. OMPL), as well as contents of demo.launch.py differ greatly. So I don't think panda_moveit_config inside moveit_resources repo was created with any of the currently available MSA 2.0?

_I may have possibly overlooked where the docs mention the outcome from MSA 2.0 differs from MSA 1.0, or MSA 2.0 not creating packages similar to the ones inside moveit_resources & would be greatful for being pointed into the right direction._

sjahr commented 1 year ago

@KlausLex no worries :relaxed: I'll try to reproduce your issue by running the tutorial later. panda_moveit_config inside the moveit_resources repo was not created with MSA 2.0. Generally, it seems like OMPL is available as a planner plugin: Here it is loaded:

[move_group-1] [INFO] [1689159221.699624416] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1689159221.717122951] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1689159221.721681578] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1689159221.721715349] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1689159221.721724523] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.721738484] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1689159221.721750007] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1689159221.721760494] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1689159221.721775994] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-1] [INFO] [1689159221.721780849] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1689159221.721785205] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1689159221.721791037] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1689159221.721796584] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1689159221.721802227] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'

and this looks like it is used:

[move_group-1] [INFO] [1689159292.295151926] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1689159292.295191222] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1689159292.295739818] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

Maybe the visualization in RVIZ has issues :thinking: Have you tried to do it without the RVIZ plugin, for example by using the moveit_cpp tutorial ?

sjahr commented 1 year ago

Just adding the ompl_planning.yaml file is not sufficient. It requires to contain the following lines (see this file as reference):

planning_plugin: ompl_interface/OMPLPlanner
request_adapters: >-
  default_planner_request_adapters/AddTimeOptimalParameterization
  default_planner_request_adapters/ResolveConstraintFrames
  default_planner_request_adapters/FixWorkspaceBounds
  default_planner_request_adapters/FixStartStateBounds
  default_planner_request_adapters/FixStartStateCollision
  default_planner_request_adapters/FixStartStatePathConstraints

and you need to make sure that is loaded. The MoveItConfig in the demo.launch.py file needs to contain the pipeline names to be loaded

    moveit_config = (
        MoveItConfigsBuilder("moveit_resources_panda")
        .robot_description(
            file_path="config/panda.urdf.xacro",
            mappings={
                "ros2_control_hardware_type": LaunchConfiguration(
                    "ros2_control_hardware_type"
                )
            },
        )
        .robot_description_semantic(file_path="config/panda.srdf")
        .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
        .planning_pipelines(
            pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]
        )
        .to_moveit_configs()
    )

The .planning_pipelines(pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]) is the relevant part here. For each item in this list, the config class will look for a file called PIPELINENAME_planning.yaml in the config directory and load these parameters. When you initialize a move_group, MoveIt2 will look up the pipeline names in the I think planning_pipelines parameter and for each name in that list if there is a corresponding namespace a pipeline is loaded if that namespace contains a planning_plugin parameter and the parameters required by the planning plugin.

h-matatagi commented 1 year ago

Hi, I'm having a similar issue with the Pilz Industrial Motion Planner. My pilz_industrial_motion_planner_planning.yaml is the same as the file available in moveit_resources, but the planner is still "unspecified" even though the yaml file clearly specifies the default planner as PTP.

The MoveItConfig in my launch file is also very similar to demo.launch.py. I have .planning_pipelines("pilz_industrial_motion_planner", ["pilz_industrial_motion_planner", "chomp", "ompl"]).

Is there something wrong with the RViz visualization? Or am I missing something? Thank you in advance!

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github-actions[bot] commented 1 year ago

This issue was closed because it has been stalled for 45 days with no activity.