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:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Launch Error #2734

Open aagiser opened 6 months ago

aagiser commented 6 months ago

Description

I have a problem with launcher. This problem is in source build installation, not binary. When I use binary, it works correctly. But when I install MoveIt 2 from source, it doesn't work. Note, tutorials launch files works without problems.

My environment

Steps to reproduce

I created a moveit package using setup_assistant. Its name is moveit2_package. After building and sourcing the workspace, I launched the launch file. $ ros2 launch moveit2_package demo.launch.py

Expected behaviour

Opening RViz2 with the robot It is correct when I install MoveIt 2 from binary!

Actual behaviour

An error occured.

Backtrace or Console output

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'

aagiser commented 6 months ago

The output of ros2 launch moveit2_package demo.launch.py --debug is:

[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/aagiser/.ros/log/2024-03-10-09-36-20-886303-DP5540-5655
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7bc621cb04c0>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7bc621cb04c0>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7bc6231653c0>'
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/aagiser/FUM6R-WS/install/moveit2_package/share/moveit2_package/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/aagiser/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.566 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/aagiser/FUM6R-WS/install/moveit2_package/share/moveit2_package/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/aagiser/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7bc6231653f0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7bc6231653f0>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7bc62165acb0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7bc6231653f0>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7bc623165d80>'
BillyMazotti commented 6 months ago

Getting the same error on iron too, my environment:

Project is a custom urdf. Haven't tried moveit2 with binary, will now!

Jakubivan commented 6 months ago

The output of ros2 launch moveit2_package demo.launch.py --debug is: ...

I got the same error on the same setup.

Probably because of https://github.com/ros-planning/moveit2/pull/2696 ?

mink007 commented 6 months ago

any luck with this issue?

I am having the same issue when launching "ros2 launch demo.launch.py rviz_tutorial:=true "

mink007 commented 6 months ago

when i install moveit2 from build from source, then i don't get this error "[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'". But it is causing the robot model to not load in rviz.

i was looking for previous version number than "ros-iron-moveit/jammy,now 2.8.0-1jammy.20240213.190919 amd64 [installed]" but was unable to figure out which the previous version number is. Was thinking of installing an older version to get around the issue.

apt list -a ros-iron-moveit Listing... Done ros-iron-moveit/jammy,now 2.8.0-1jammy.20240213.190919 amd64 [installed]

roshea6 commented 5 months ago

I recently experienced the same error when building a custom panda setup with the moveit_setup_assistant. I eventually traced my error to having built the colcon moveit_ws as instructed in their tutorial here: https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html. After removing the old log, install, and build folders from that old workspace in addition to my new workspace, I was able to launch my custom configuration based on the panda arm. My new workspace just included the panda_description package and my newly generated package that was generated by the setup_assistant and based on panda description package.

cananella commented 5 months ago

I also had a similar problem


~$ ros2 launch mycobot_moveit demo.launch.py --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/kairos/.ros/log/2024-04-15-14-29-22-598832-kairos-ubuntu22-109096
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f45a82b0400>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f45a82b0400>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f45a973af80>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/kairos/ros2WS/install/mycobot_moveit/share/mycobot_moveit/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/kairos/ros2WS/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 204, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.363 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/kairos/ros2WS/install/mycobot_moveit/share/mycobot_moveit/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/kairos/ros2WS/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 204, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a7b1e9b0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a55314b0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a97385b0>'

I don't know if it's the right solution, but I solved it by editing the moveit_configs_utils code.

at ~/ros_ws/src/moveit2/moveit_configs_utils/moveit_configs_utils/launches.py line203 스크린샷 2024-04-15 14-28-16

default_value=moveit_config.move_group_capabilities["capabilities"], -> default_value=moveit_config.move_group_capabilities,

스크린샷 2024-04-15 14-39-02

Vincenzo-Saffioti commented 4 months ago

I also have the same problem and could not solve it with the solutions provided so far, any other ideas?

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
yuan0623 commented 4 months ago

eit2/moveit_c

Too bad, this does not fix the same issue on my end.

Schteve-Earl commented 4 months ago

Also getting this issue. Here's my console output, with and without the debug flags:

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x717c5e8ea2c0>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.615 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x717c5e12a380>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '

I'm on ros2 humble and using I'm using a ur10e moveit config that I just created, with no additions to the urdf. I did not set virtual joints or an end effector.

yuan0623 commented 4 months ago

Also getting this issue. Here's my console output, with and without the debug flags:

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x717c5e8ea2c0>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.615 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x717c5e12a380>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '

I'm on ros2 humble and using I'm using a ur10e moveit config that I just created, with no additions to the urdf. I did not set virtual joints or an end effector.

I have fixed this issue by changing the line 199-206 into ld.add_action(DeclareLaunchArgument("capabilities", default_value="")) in the file ws_moveit/src/moveit2/moveit_configs_utils/moveit_configs_utils/launches.py

Schteve-Earl commented 4 months ago

Also getting this issue. Here's my console output, with and without the debug flags:

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x717c5e8ea2c0>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.615 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x717c5e12a380>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '

I'm on ros2 humble and using I'm using a ur10e moveit config that I just created, with no additions to the urdf. I did not set virtual joints or an end effector.

I have fixed this issue by changing the line 199-206 into ld.add_action(DeclareLaunchArgument("capabilities", default_value="")) in the file ws_moveit/src/moveit2/moveit_configs_utils/moveit_configs_utils/launches.py

Same here.

def generate_move_group_launch(moveit_config):
    ld = LaunchDescription()

    ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
    ld.add_action(
        DeclareBooleanLaunchArg("allow_trajectory_execution", default_value=True)
    )
    ld.add_action(
        DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True)
    )
    # load non-default MoveGroup capabilities (space separated)
    # commented here
    # ld.add_action(
    #     DeclareLaunchArgument(
    #         "capabilities",
    #         default_value=moveit_config.move_group_capabilities["capabilities"],
    #     )
    # )
    # inhibit these default MoveGroup capabilities (space separated)
    ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))

    # do not copy dynamics information from /joint_states to internal robot monitoring
    # default to false, because almost nothing in move_group relies on this information
    ld.add_action(DeclareBooleanLaunchArg("monitor_dynamics", default_value=False))

    should_publish = LaunchConfiguration("publish_monitored_planning_scene")

    move_group_configuration = {
        "publish_robot_description_semantic": True,
        "allow_trajectory_execution": LaunchConfiguration("allow_trajectory_execution"),
        # Note: Wrapping the following values is necessary so that the parameter value can be the empty string
        # Commented here
        # "capabilities": ParameterValue(
        #     LaunchConfiguration("capabilities"), value_type=str
        # ),
        "disable_capabilities": ParameterValue(
            LaunchConfiguration("disable_capabilities"), value_type=str
        ),
        # Publish the planning scene of the physical robot so that rviz plugin can know actual robot
        "publish_planning_scene": should_publish,
        "publish_geometry_updates": should_publish,
        "publish_state_updates": should_publish,
        "publish_transforms_updates": should_publish,
        "monitor_dynamics": False,
    }

    move_group_params = [
        moveit_config.to_dict(),
        move_group_configuration,
    ]

    add_debuggable_node(
        ld,
        package="moveit_ros_move_group",
        executable="move_group",
        commands_file=str(moveit_config.package_path / "launch" / "gdb_settings.gdb"),
        output="screen",
        parameters=move_group_params,
        extra_debug_args=["--debug"],
        # Set the display variable, in case OpenGL code is used internally
        additional_env={"DISPLAY": os.environ["DISPLAY"]},
    )
    return ld

I removed the launch argument as well as the capabilities parameter, and it works fine now. Do you know what the parameter is supposed to control?

yuan0623 commented 4 months ago

Also getting this issue. Here's my console output, with and without the debug flags:

[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x717c5e501810>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x717c5e8ea2c0>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.615 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ros/ros2_ws/install/ur10e_moveit_config/share/ur10e_moveit_config/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/ros/ros2_ws/build/moveit_configs_utils/moveit_configs_utils/launches.py", line 203, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x717c5e12a380>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x717c5e500820>' ✓ '

I'm on ros2 humble and using I'm using a ur10e moveit config that I just created, with no additions to the urdf. I did not set virtual joints or an end effector.

I have fixed this issue by changing the line 199-206 into ld.add_action(DeclareLaunchArgument("capabilities", default_value="")) in the file ws_moveit/src/moveit2/moveit_configs_utils/moveit_configs_utils/launches.py

Same here.

def generate_move_group_launch(moveit_config):
    ld = LaunchDescription()

    ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
    ld.add_action(
        DeclareBooleanLaunchArg("allow_trajectory_execution", default_value=True)
    )
    ld.add_action(
        DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True)
    )
    # load non-default MoveGroup capabilities (space separated)
    # commented here
    # ld.add_action(
    #     DeclareLaunchArgument(
    #         "capabilities",
    #         default_value=moveit_config.move_group_capabilities["capabilities"],
    #     )
    # )
    # inhibit these default MoveGroup capabilities (space separated)
    ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))

    # do not copy dynamics information from /joint_states to internal robot monitoring
    # default to false, because almost nothing in move_group relies on this information
    ld.add_action(DeclareBooleanLaunchArg("monitor_dynamics", default_value=False))

    should_publish = LaunchConfiguration("publish_monitored_planning_scene")

    move_group_configuration = {
        "publish_robot_description_semantic": True,
        "allow_trajectory_execution": LaunchConfiguration("allow_trajectory_execution"),
        # Note: Wrapping the following values is necessary so that the parameter value can be the empty string
        # Commented here
        # "capabilities": ParameterValue(
        #     LaunchConfiguration("capabilities"), value_type=str
        # ),
        "disable_capabilities": ParameterValue(
            LaunchConfiguration("disable_capabilities"), value_type=str
        ),
        # Publish the planning scene of the physical robot so that rviz plugin can know actual robot
        "publish_planning_scene": should_publish,
        "publish_geometry_updates": should_publish,
        "publish_state_updates": should_publish,
        "publish_transforms_updates": should_publish,
        "monitor_dynamics": False,
    }

    move_group_params = [
        moveit_config.to_dict(),
        move_group_configuration,
    ]

    add_debuggable_node(
        ld,
        package="moveit_ros_move_group",
        executable="move_group",
        commands_file=str(moveit_config.package_path / "launch" / "gdb_settings.gdb"),
        output="screen",
        parameters=move_group_params,
        extra_debug_args=["--debug"],
        # Set the display variable, in case OpenGL code is used internally
        additional_env={"DISPLAY": os.environ["DISPLAY"]},
    )
    return ld

I removed the launch argument as well as the capabilities parameter, and it works fine now. Do you know what the parameter is supposed to control?

no idea.... sorry. :)

github-actions[bot] commented 2 months 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.

ukicomputers commented 2 months ago

+1 same issue here, just on Docker Rolling tutorial source image.

WilliamAStreamline commented 2 months ago

Same issue and the above changes to launches.py only seem to add more issues. Using Ubuntu 24.04 and Jazzy

b-adkins commented 1 month ago

I made a PR to revert the change: https://github.com/moveit/moveit2/pull/2912

In the meantime, 7ce2fa9 is the last working commit on the Humble branch.

claralunasa commented 1 month ago

I have the exact same issues and the changes to the launch file haven't solved it for me

OneOneLiu commented 1 month ago

I also had a similar problem


~$ ros2 launch mycobot_moveit demo.launch.py --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/kairos/.ros/log/2024-04-15-14-29-22-598832-kairos-ubuntu22-109096
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f45a82b0400>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f45a82b0400>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f45a973af80>'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 69, in try_get_launch_description_without_context
    return self._get_launch_description(expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/kairos/ros2WS/install/mycobot_moveit/share/mycobot_moveit/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/kairos/ros2WS/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 204, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: 'capabilities'
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> exception=KeyError('capabilities') created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.363 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
    return get_launch_description_from_python_launch_file(location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/kairos/ros2WS/install/mycobot_moveit/share/mycobot_moveit/launch/move_group.launch.py", line 7, in generate_launch_description
    return generate_move_group_launch(moveit_config)
  File "/home/kairos/ros2WS/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/launches.py", line 204, in generate_move_group_launch
    default_value=moveit_config.move_group_capabilities["capabilities"],
KeyError: 'capabilities'

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a7b1e9b0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a55314b0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f45a9738a90>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f45a97385b0>'

I don't know if it's the right solution, but I solved it by editing the moveit_configs_utils code.

at ~/ros_ws/src/moveit2/moveit_configs_utils/moveit_configs_utils/launches.py line203 스크린샷 2024-04-15 14-28-16

default_value=moveit_config.move_group_capabilities["capabilities"], -> default_value=moveit_config.move_group_capabilities,

스크린샷 2024-04-15 14-39-02

Thanks, this solution works for me.

To provide more context, I am working on Ubuntu 22.04, ROS humble in a docker container. I installed moveit2 from binary and used setup assistant to create config files for a customized robot arm and gripper, the ros2 launch my_robot_moveit_config demo.launch worked well, but when I built moveit2 from source (to use Python binding), the same launch file produced the error

[ERROR] [launch]: Caught exception in launch (see debug for traceback): 'capabilities'
mikeferguson commented 3 days ago

I've opened https://github.com/moveit/moveit2/pull/3018 to fix this - looks like we need to backport to both humble and iron as well