wc-richtech
commented
1 month ago I have the same problem, ubuntu22.04, humble version.
ubuntu@ubuntu-Standard-PC-Q35-ICH9-2009:~/ws_moveit$ ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-05-11-09-46-40-763357-ubuntu-Standard-PC-Q35-ICH9-2009-156950
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [156951]
[INFO] [static_transform_publisher-2]: process started with pid [156953]
[INFO] [robot_state_publisher-3]: process started with pid [156955]
[INFO] [move_group-4]: process started with pid [156975]
[INFO] [ros2_control_node-5]: process started with pid [156977]
[INFO] [spawner-6]: process started with pid [156979]
[INFO] [spawner-7]: process started with pid [156983]
[INFO] [spawner-8]: process started with pid [157002]
[static_transform_publisher-2] [INFO] [1715435201.051838275] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1715435201.054910897] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1715435201.054990405] [robot_state_publisher]: got segment bracelet_link
[robot_state_publisher-3] [INFO] [1715435201.055000388] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1715435201.055004020] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1715435201.055007024] [robot_state_publisher]: got segment half_arm_1_link
[robot_state_publisher-3] [INFO] [1715435201.055009760] [robot_state_publisher]: got segment half_arm_2_link
[robot_state_publisher-3] [INFO] [1715435201.055012627] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1715435201.055015779] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1715435201.055018607] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1715435201.055021909] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055025032] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055027867] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1715435201.055031468] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1715435201.055034213] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055037304] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055040506] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1715435201.055043872] [robot_state_publisher]: got segment spherical_wrist_1_link
[robot_state_publisher-3] [INFO] [1715435201.055047065] [robot_state_publisher]: got segment spherical_wrist_2_link
[robot_state_publisher-3] [INFO] [1715435201.055049859] [robot_state_publisher]: got segment world
[ros2_control_node-5] [INFO] [1715435201.087527668] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-5] [INFO] [1715435201.088351481] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-5] [INFO] [1715435201.093244773] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-5] [INFO] [1715435201.107967081] [controller_manager]: Received robot description file.
[ros2_control_node-5] [INFO] [1715435201.108783284] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109308521] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [WARN] [1715435201.109332094] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [WARN] [1715435201.109359026] [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] [1715435201.109366891] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109384160] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109393737] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [WARN] [1715435201.109400751] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [INFO] [1715435201.109412709] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109458939] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109464649] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109469483] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109473175] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109476603] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109480081] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109486212] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109489433] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware'
[move_group-4] [INFO] [1715435201.110439395] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00353493 seconds
[move_group-4] [INFO] [1715435201.110494758] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'gen3'...
[move_group-4] [INFO] [1715435201.110501668] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] [INFO] [1715435201.217550721] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[move_group-4] Stack trace (most recent call last):
[move_group-4] #14 Object "", at 0xffffffffffffffff, in
[move_group-4] #13 Object "/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56086586b094, in _start
[ros2_control_node-5] [INFO] [1715435201.234446024] [controller_manager]: Received robot description file.
[ros2_control_node-5] [WARN] [1715435201.234511624] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file.
[move_group-4] #12 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f4199458e3f]
[move_group-4] #11 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f4199458d8f]
[move_group-4] #10 Object "/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56086586a21e, in main
[move_group-4] #9 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.9.0", at 0x7f4199d85d5a, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-4] #8 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.9.0", at 0x7f4199d8571b, in moveit_cpp::MoveItCpp::loadPlanningSceneMonitor(moveit_cpp::MoveItCpp::PlanningSceneMonitorOptions const&)
[move_group-4] #7 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8b3f1, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #6 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8b366, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, std::shared_ptr<planning_scene::PlanningScene> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #5 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8af34, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, std::shared_ptr<planning_scene::PlanningScene> const&, std::shared_ptr<robot_model_loader::RobotModelLoader> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #4 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c89c44, in planning_scene_monitor::PlanningSceneMonitor::initialize(std::shared_ptr<planning_scene::PlanningScene> const&)
[move_group-4] #3 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_planning_scene.so.2.9.0", at 0x7f4198fe07a5, in planning_scene::PlanningScene::PlanningScene(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<collision_detection::World> const&)
[move_group-4] #2 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_planning_scene.so.2.9.0", at 0x7f4198fdfdae, in planning_scene::PlanningScene::initialize()
[move_group-4] #1 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_robot_state.so.2.9.0", at 0x7f419933e945, in moveit::core::RobotState::~RobotState()
[move_group-4] #0 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_robot_state.so.2.9.0", at 0x7f419933e83a, in moveit::core::RobotState::clearAttachedBodies()
[move_group-4] Bus error (Signal sent by the kernel [(nil)])
[ros2_control_node-5] [INFO] [1715435201.315774168] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1715435201.339367088] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1715435201.341486429] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1715435201.341586296] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1715435201.349051135] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ERROR] [move_group-4]: process has died [pid 156975, exit code -7, cmd '/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_qvut9iek'].
[rviz2-1] [INFO] [1715435201.472734219] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1715435201.472880209] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1715435201.507004228] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [spawner-6]: process has finished cleanly [pid 156979]
[rviz2-1] [WARN] [1715435201.570524947] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1715435201.594473322] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00217773 seconds
[rviz2-1] [INFO] [1715435201.594526357] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1715435201.594533837] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-5] [INFO] [1715435201.601957055] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-5] [WARN] [1715435201.610360357] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1715435201.615007500] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-5] [INFO] [1715435201.616677860] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-5] [INFO] [1715435201.616785383] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1715435201.616797266] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1715435201.616803106] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1715435201.617301516] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-5] [INFO] [1715435201.618109692] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [INFO] [1715435201.621484384] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[spawner-8] [INFO] [1715435201.626203181] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller
[spawner-7] [INFO] [1715435201.628813360] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[ros2_control_node-5] [INFO] [1715435201.629690454] [controller_manager]: Configuring controller 'robotiq_gripper_controller'
[ros2_control_node-5] [INFO] [1715435201.629832098] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz.
[spawner-8] [INFO] [1715435201.637395858] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller
[INFO] [spawner-7]: process has finished cleanly [pid 156983]
[INFO] [spawner-8]: process has finished cleanly [pid 157002]
[rviz2-1] [ERROR] [1715435204.819206618] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1715435204.830181631] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1715435204.879404330] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.0014988 seconds
[rviz2-1] [INFO] [1715435204.879438909] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1715435204.879442489] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1715435204.974377194] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[rviz2-1] rviz2: malloc.c:4302: _int_malloc: Assertion `(unsigned long) (size) >= (unsigned long) (nb)' failed.
[ERROR] [rviz2-1]: process has died [pid 156951, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/ubuntu/ws_moveit/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_1bvpscs1 --params-file /tmp/launch_params_4_54utj0 --params-file /tmp/launch_params_ig1s_f5q --params-file /tmp/launch_params_eercvu_u --params-file /tmp/launch_params_tjiqeoih'].
zp1915
Description
When I launch the demo: ros2 launch moveit2_tutorials demo.launch.py the rviz appeared and immediately crush with the output below:
Your environment
Steps to reproduce
follow the tutorials to build the wrokspace
Expected behaviour
see a world in RViz:
Actual behaviour
the rviz appeared and immediately crush
Backtrace or Console output
[rviz2-1] [WARN] [1714221707.900148700] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [INFO] [spawner-8]: process has finished cleanly [pid 75722] [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-1] [INFO] [1714221708.048480698] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00976645 seconds [rviz2-1] [INFO] [1714221708.048611607] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1714221708.048642619] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [ERROR] [1714221711.646211568] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] [INFO] [1714221711.692594016] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1714221711.801968741] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00811746 seconds [rviz2-1] [INFO] [1714221711.802047709] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1714221711.802060435] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [INFO] [1714221713.347932223] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1 [rviz2-1] malloc(): invalid size (unsorted) [ERROR] [rviz2-1]: process has died [pid 75708, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/yo/ws_moveit/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_yhgzlh04 --params-file /tmp/launch_params_qx59vxtl --params-file /tmp/launch_params_vxl13f2h --params-file /tmp/launch_params_p8ppoifw --params-file /tmp/launch_params_ftwc50pj'].