I am trying to control just 1 motor with an arm attached to it. When I give a command using Rviz to the robot to move 1.57 radians, the robot doesn't move till 1.57. When I see the terminal, there it says that goal is executed. I checked my topics "/arm_controller/controller_state" and there also it shows that feedback position is different from desired position and an error exists, but the arm doesn't move to reduce the error. Can someone help me with this?
I am attaching a few pictures to better understand my system and some screenshots of the states.
!
This is my terminal output:
[INFO] [launch]: All log files can be found below /home/mustafa/.ros/log/2024-06-18-15-38-02-929207-mustafa-Victus-by-HP-Gaming-Laptop-15-fa0xxx-58716
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [58718]
[INFO] [move_group-2]: process started with pid [58720]
[INFO] [robot_state_publisher-3]: process started with pid [58722]
[INFO] [spawner-4]: process started with pid [58724]
[robot_state_publisher-3] [INFO] [1718705283.182442036] [robot_state_publisher]: got segment Link_1
[robot_state_publisher-3] [INFO] [1718705283.182490404] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1718705283.182498869] [robot_state_publisher]: got segment world
[move_group-2] [INFO] [1718705283.196282434] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-2] [INFO] [1718705283.196326872] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'...
[move_group-2] [INFO] [1718705283.196335857] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-1] [INFO] [1718705283.200611706] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-1] [INFO] [1718705283.201086691] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1718705283.201201665] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1718705283.202614076] [controller_manager]: Received robot description file.
[ros2_control_node-1] [INFO] [1718705283.202684671] [resource_manager]: Loading hardware 'one_arm_bot_ros2_control'
[ros2_control_node-1] [INFO] [1718705283.203096469] [resource_manager]: Initialize hardware 'one_arm_bot_ros2_control'
[ros2_control_node-1] [INFO] [1718705283.396196313] [controller_manager]: Loading controller 'joint_state_broadcaster'
[move_group-2] [INFO] [1718705283.476273802] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1718705283.476386198] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1718705283.476586148] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1718705283.476775481] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1718705283.476781852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1718705283.477107775] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1718705283.477112684] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1718705283.477243533] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1718705283.477390547] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1718705283.477850063] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1718705283.477857946] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1718705284.009758084] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-2] [INFO] [1718705284.018575405] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [INFO] [1718705284.020916793] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1718705284.020925548] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1718705284.020928143] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1718705284.020944073] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1718705284.020951395] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-2] [INFO] [1718705284.020955087] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1718705284.020961171] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1718705284.020964167] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-2] [INFO] [1718705284.020970880] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1718705284.020976861] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1718705284.020980155] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-2] [INFO] [1718705284.020981895] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1718705284.020983545] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1718705284.020985063] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1718705284.020986579] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-2] [INFO] [1718705284.021754484] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-2] [INFO] [1718705284.024613942] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-2] [INFO] [1718705284.026186588] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1718705284.026192474] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1718705284.026194918] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1718705284.026206299] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1718705284.026213750] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-2] [INFO] [1718705284.026216826] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1718705284.026222903] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1718705284.026225747] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-2] [INFO] [1718705284.026228122] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1718705284.026234010] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1718705284.026236174] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-2] [INFO] [1718705284.026237836] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1718705284.026239547] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1718705284.026241263] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1718705284.026242790] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-2] [INFO] [1718705284.026629156] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-2] [INFO] [1718705284.028845587] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1718705284.029374142] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1718705284.029380206] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-2] [INFO] [1718705284.030131029] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-2] [INFO] [1718705284.030136489] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-2] [INFO] [1718705284.030587563] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-2] [INFO] [1718705284.030591886] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1718705284.031054121] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-2] [INFO] [1718705284.031064646] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-2] [INFO] [1718705284.039671628] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller
[move_group-2] [INFO] [1718705284.039775112] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705284.039792690] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705284.039900989] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1718705284.039907255] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1718705284.049683014] [move_group.move_group]:
[move_group-2]
[move_group-2] ****
[move_group-2] MoveGroup using:
[move_group-2] - ApplyPlanningSceneService
[move_group-2] - ClearOctomapService
[move_group-2] - ExecuteTaskSolution
[move_group-2] - CartesianPathService
[move_group-2] - ExecuteTrajectoryAction
[move_group-2] - GetPlanningSceneService
[move_group-2] - KinematicsService
[move_group-2] - MoveAction
[move_group-2] - MotionPlanService
[move_group-2] - QueryPlannersService
[move_group-2] - StateValidationService
[move_group-2] ****
[move_group-2]
[move_group-2] [INFO] [1718705284.049705347] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-2] [INFO] [1718705284.049710121] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-2] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-2] Loading 'move_group/ClearOctomapService'...
[move_group-2] Loading 'move_group/ExecuteTaskSolutionCapability'...
[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-2] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-2] Loading 'move_group/MoveGroupMoveAction'...
[move_group-2] Loading 'move_group/MoveGroupPlanService'...
[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-2] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-2]
[move_group-2] You can start planning now!
[move_group-2]
[spawner-4] [INFO] [1718705284.490595870] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1718705284.491222466] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1718705284.491285081] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-4] [INFO] [1718705286.706886530] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 58724]
[INFO] [spawner-5]: process started with pid [58846]
[INFO] [rviz2-6]: process started with pid [58848]
[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-6] [INFO] [1718705287.244307320] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1718705287.244387670] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1718705287.255993298] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [WARN] [1718705287.334076644] [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.
[ros2_control_node-1] [INFO] [1718705287.352900514] [controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-1] [WARN] [1718705287.356495725] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-5] [INFO] [1718705287.426618376] [spawner_arm_controller]: Loaded arm_controller
[ros2_control_node-1] [INFO] [1718705287.427591573] [controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-1] [INFO] [1718705287.427760121] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1718705287.427800237] [arm_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1718705287.427826853] [arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1718705287.428439156] [arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-1] [INFO] [1718705287.430661066] [arm_controller]: Action status changes will be monitored at 50.00 Hz.
[rviz2-6] [INFO] [1718705287.566013714] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.232092 seconds
[rviz2-6] [INFO] [1718705287.566093412] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'...
[rviz2-6] [INFO] [1718705287.566110705] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-6] [INFO] [1718705288.139438965] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.208126 seconds
[rviz2-6] [INFO] [1718705288.139481086] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'...
[rviz2-6] [INFO] [1718705288.139485883] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-6] [WARN] [1718705288.201564393] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-6] [INFO] [1718705288.407164990] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-6] [INFO] [1718705288.408095941] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[spawner-5] [INFO] [1718705289.615717876] [spawner_arm_controller]: Configured and activated arm_controller
[INFO] [spawner-5]: process has finished cleanly [pid 58846]
[rviz2-6] 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.
[rviz2-6] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-6] [ERROR] [1718705298.162795615] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-6] [INFO] [1718705298.171788280] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-6] [INFO] [1718705298.374532632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-6] [INFO] [1718705298.375132060] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-6] [INFO] [1718705298.378471780] [interactive_marker_display_104748004077456]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-6] [INFO] [1718705298.380249061] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-6] [INFO] [1718705298.380664404] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-6] [INFO] [1718705298.392947009] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-6] [INFO] [1718705298.392967422] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-6] [INFO] [1718705298.396437705] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-6] [INFO] [1718705298.396764042] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-6] [INFO] [1718705298.406386697] [interactive_marker_display_104748004077456]: Sending request for interactive markers
[rviz2-6] [INFO] [1718705298.438564292] [interactive_marker_display_104748004077456]: Service response received for initialization
[move_group-2] [INFO] [1718705361.297891234] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705361.298333117] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[rviz2-6] [INFO] [1718705361.298403289] [move_group_interface]: Plan and Execute request accepted
[move_group-2] [INFO] [1718705361.298614997] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-2] [INFO] [1718705361.298655444] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp'
[move_group-2] [INFO] [1718705361.666590124] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-2] [INFO] [1718705361.666624956] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-2] [INFO] [1718705361.732622796] [chomp_optimizer]: First coll check took 0.065985 sec
[move_group-2] [INFO] [1718705361.734234789] [chomp_optimizer]: Collision cost 3.836448, smoothness cost: 7.305507
[move_group-2] [INFO] [1718705361.734266528] [chomp_optimizer]: iteration: 0
[move_group-2] [INFO] [1718705361.734459943] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[move_group-2] [INFO] [1718705361.734462552] [chomp_optimizer]: cCost 3.836448 over threshold 0.070000
[move_group-2] [INFO] [1718705361.734465011] [chomp_optimizer]: Chomp path is collision free
[move_group-2] [INFO] [1718705361.734466680] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0
[move_group-2] [INFO] [1718705361.734468494] [chomp_optimizer]: Optimization core finished in 0.000629 sec
[move_group-2] [INFO] [1718705361.734470329] [chomp_optimizer]: Time per iteration 0.000631 sec
[move_group-2] [INFO] [1718705361.734472136] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1
[move_group-2] [INFO] [1718705361.734474280] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200
[move_group-2] [INFO] [1718705361.738885191] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705361.738897545] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705361.738946326] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1718705361.739006532] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-2] [INFO] [1718705361.739055104] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705361.739063524] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705361.739167481] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller
[ros2_control_node-1] [INFO] [1718705361.739349360] [arm_controller]: Received new action goal
[ros2_control_node-1] [INFO] [1718705361.739392374] [arm_controller]: Accepted new action goal
[move_group-2] [INFO] [1718705361.739496769] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution
[move_group-2] [INFO] [1718705361.739512672] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-1] [INFO] [1718705366.347596803] [arm_controller]: Goal reached, success!
[move_group-2] [INFO] [1718705366.360131460] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished
[move_group-2] [INFO] [1718705366.360200751] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-2] [INFO] [1718705366.369139635] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-6] [INFO] [1718705366.369503579] [move_group_interface]: Plan and Execute request complete!
[move_group-2] [INFO] [1718705377.245135638] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705377.245256365] [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-2] [INFO] [1718705377.245286329] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-2] [INFO] [1718705377.245293132] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp'
[rviz2-6] [INFO] [1718705377.245318081] [move_group_interface]: Plan and Execute request accepted
[move_group-2] [INFO] [1718705377.467109081] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-2] [INFO] [1718705377.467134156] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-2] [INFO] [1718705377.528789249] [chomp_optimizer]: First coll check took 0.061650 sec
[move_group-2] [INFO] [1718705377.530226723] [chomp_optimizer]: Collision cost 3.780909, smoothness cost: 7.095467
[move_group-2] [INFO] [1718705377.530240245] [chomp_optimizer]: iteration: 0
[move_group-2] [INFO] [1718705377.530376021] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[move_group-2] [INFO] [1718705377.530377939] [chomp_optimizer]: cCost 3.780909 over threshold 0.070000
[move_group-2] [INFO] [1718705377.530380165] [chomp_optimizer]: Chomp path is collision free
[move_group-2] [INFO] [1718705377.530381677] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0
[move_group-2] [INFO] [1718705377.530383311] [chomp_optimizer]: Optimization core finished in 0.000487 sec
[move_group-2] [INFO] [1718705377.530385037] [chomp_optimizer]: Time per iteration 0.000488 sec
[move_group-2] [INFO] [1718705377.530387085] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1
[move_group-2] [INFO] [1718705377.530389187] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200
[move_group-2] [INFO] [1718705377.534215060] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705377.534223511] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705377.534240557] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1718705377.534276900] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-2] [INFO] [1718705377.534300662] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705377.534307858] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705377.534376959] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller
[ros2_control_node-1] [INFO] [1718705377.534501518] [arm_controller]: Received new action goal
[ros2_control_node-1] [INFO] [1718705377.534550865] [arm_controller]: Accepted new action goal
[move_group-2] [INFO] [1718705377.534669577] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution
[move_group-2] [INFO] [1718705377.534679429] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-1] [INFO] [1718705382.690530986] [arm_controller]: Goal reached, success!
[move_group-2] [INFO] [1718705382.695291007] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished
[move_group-2] [INFO] [1718705382.695392253] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-2] [INFO] [1718705382.704411769] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-6] [INFO] [1718705382.704788112] [move_group_interface]: Plan and Execute request complete!
[move_group-2] [INFO] [1718705390.231467608] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705390.231799419] [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-2] [INFO] [1718705390.231854436] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-2] [INFO] [1718705390.231864623] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp'
[rviz2-6] [INFO] [1718705390.231763174] [move_group_interface]: Plan and Execute request accepted
[move_group-2] [INFO] [1718705390.619466167] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-2] [INFO] [1718705390.619488657] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-2] [INFO] [1718705390.681217423] [chomp_optimizer]: First coll check took 0.061722 sec
[move_group-2] [INFO] [1718705390.682731329] [chomp_optimizer]: Collision cost 3.951885, smoothness cost: 7.211193
[move_group-2] [INFO] [1718705390.682743492] [chomp_optimizer]: iteration: 0
[move_group-2] [INFO] [1718705390.682904070] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[move_group-2] [INFO] [1718705390.682906348] [chomp_optimizer]: cCost 3.951885 over threshold 0.070000
[move_group-2] [INFO] [1718705390.682908677] [chomp_optimizer]: Chomp path is collision free
[move_group-2] [INFO] [1718705390.682910337] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0
[move_group-2] [INFO] [1718705390.682912000] [chomp_optimizer]: Optimization core finished in 0.000544 sec
[move_group-2] [INFO] [1718705390.682913896] [chomp_optimizer]: Time per iteration 0.000546 sec
[move_group-2] [INFO] [1718705390.682915838] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1
[move_group-2] [INFO] [1718705390.682917887] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200
[move_group-2] [INFO] [1718705390.687230168] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705390.687242268] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705390.687259512] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1718705390.687290053] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-2] [INFO] [1718705390.687311752] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705390.687319696] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705390.687388338] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller
[ros2_control_node-1] [INFO] [1718705390.687513021] [arm_controller]: Received new action goal
[ros2_control_node-1] [INFO] [1718705390.687546987] [arm_controller]: Accepted new action goal
[move_group-2] [INFO] [1718705390.687655128] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution
[move_group-2] [INFO] [1718705390.687667278] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-1] [INFO] [1718705395.286629651] [arm_controller]: Goal reached, success!
[move_group-2] [INFO] [1718705395.288223236] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished
[move_group-2] [INFO] [1718705395.288317940] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-2] [INFO] [1718705395.297413588] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-6] [INFO] [1718705395.297830987] [move_group_interface]: Plan and Execute request complete!
[move_group-2] [INFO] [1718705398.960231439] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705398.960375807] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[rviz2-6] [INFO] [1718705398.960344737] [move_group_interface]: Plan and Execute request accepted
[move_group-2] [INFO] [1718705398.960408529] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-2] [INFO] [1718705398.960415973] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp'
[move_group-2] [INFO] [1718705399.353889713] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline
[move_group-2] [INFO] [1718705399.353916927] [chomp_optimizer]: Active collision detector is: HYBRID
[move_group-2] [INFO] [1718705399.415635501] [chomp_optimizer]: First coll check took 0.061712 sec
[move_group-2] [INFO] [1718705399.417157260] [chomp_optimizer]: Collision cost 7.580661, smoothness cost: 10.787014
[move_group-2] [INFO] [1718705399.417172219] [chomp_optimizer]: iteration: 0
[move_group-2] [INFO] [1718705399.417328685] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[move_group-2] [INFO] [1718705399.417330755] [chomp_optimizer]: cCost 7.580661 over threshold 0.070000
[move_group-2] [INFO] [1718705399.417332904] [chomp_optimizer]: Chomp path is collision free
[move_group-2] [INFO] [1718705399.417334434] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0
[move_group-2] [INFO] [1718705399.417336121] [chomp_optimizer]: Optimization core finished in 0.000578 sec
[move_group-2] [INFO] [1718705399.417337897] [chomp_optimizer]: Time per iteration 0.000580 sec
[move_group-2] [INFO] [1718705399.417339761] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1
[move_group-2] [INFO] [1718705399.417341630] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200
[move_group-2] [INFO] [1718705399.424895716] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705399.424905837] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705399.424919141] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-2] [INFO] [1718705399.425088709] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-2] [INFO] [1718705399.425122275] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705399.425130521] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-2] [INFO] [1718705399.425205628] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller
[ros2_control_node-1] [INFO] [1718705399.425390144] [arm_controller]: Received new action goal
[ros2_control_node-1] [INFO] [1718705399.425440388] [arm_controller]: Accepted new action goal
[move_group-2] [INFO] [1718705399.425512904] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution
[move_group-2] [INFO] [1718705399.425523348] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-1] [INFO] [1718705406.388835437] [arm_controller]: Goal reached, success!
[move_group-2] [INFO] [1718705406.406331427] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished
[move_group-2] [INFO] [1718705406.406461915] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-2] [INFO] [1718705406.415068086] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-6] [INFO] [1718705406.415586853] [move_group_interface]: Plan and Execute request complete!
I am trying to control just 1 motor with an arm attached to it. When I give a command using Rviz to the robot to move 1.57 radians, the robot doesn't move till 1.57. When I see the terminal, there it says that goal is executed. I checked my topics "/arm_controller/controller_state" and there also it shows that feedback position is different from desired position and an error exists, but the arm doesn't move to reduce the error. Can someone help me with this? I am attaching a few pictures to better understand my system and some screenshots of the states.
!
This is my terminal output: [INFO] [launch]: All log files can be found below /home/mustafa/.ros/log/2024-06-18-15-38-02-929207-mustafa-Victus-by-HP-Gaming-Laptop-15-fa0xxx-58716 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [58718] [INFO] [move_group-2]: process started with pid [58720] [INFO] [robot_state_publisher-3]: process started with pid [58722] [INFO] [spawner-4]: process started with pid [58724] [robot_state_publisher-3] [INFO] [1718705283.182442036] [robot_state_publisher]: got segment Link_1 [robot_state_publisher-3] [INFO] [1718705283.182490404] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1718705283.182498869] [robot_state_publisher]: got segment world [move_group-2] [INFO] [1718705283.196282434] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds [move_group-2] [INFO] [1718705283.196326872] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'... [move_group-2] [INFO] [1718705283.196335857] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-1] [INFO] [1718705283.200611706] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ros2_control_node-1] [INFO] [1718705283.201086691] [controller_manager]: update rate is 100 Hz [ros2_control_node-1] [INFO] [1718705283.201201665] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-1] [INFO] [1718705283.202614076] [controller_manager]: Received robot description file. [ros2_control_node-1] [INFO] [1718705283.202684671] [resource_manager]: Loading hardware 'one_arm_bot_ros2_control' [ros2_control_node-1] [INFO] [1718705283.203096469] [resource_manager]: Initialize hardware 'one_arm_bot_ros2_control'
[ros2_control_node-1] [INFO] [1718705283.203117693] [resource_manager]: Successful initialization of hardware 'one_arm_bot_ros2_control' [ros2_control_node-1] [INFO] [1718705283.203141204] [resource_manager]: 'configure' hardware 'one_arm_bot_ros2_control'
[ros2_control_node-1] [INFO] [1718705283.203147580] [resource_manager]: 'activate' hardware 'one_arm_bot_ros2_control' [ros2_control_node-1] [INFO] [1718705283.203149793] [HardwareInterface]: Starting Controller... [ros2_control_node-1] 0.0000002493 [ros2_control_node-1] [INFO] [1718705283.329078645] [HardwareInterface]: Controller Started Successfully...
[ros2_control_node-1] [INFO] [1718705283.396196313] [controller_manager]: Loading controller 'joint_state_broadcaster' [move_group-2] [INFO] [1718705283.476273802] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-2] [INFO] [1718705283.476386198] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-2] [INFO] [1718705283.476586148] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-2] [INFO] [1718705283.476775481] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-2] [INFO] [1718705283.476781852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-2] [INFO] [1718705283.477107775] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-2] [INFO] [1718705283.477112684] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-2] [INFO] [1718705283.477243533] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-2] [INFO] [1718705283.477390547] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-2] [WARN] [1718705283.477850063] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-2] [ERROR] [1718705283.477857946] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-2] [INFO] [1718705284.009758084] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-2] [INFO] [1718705284.018575405] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-2] [INFO] [1718705284.020916793] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1718705284.020925548] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1718705284.020928143] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1718705284.020944073] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1718705284.020951395] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1718705284.020955087] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1718705284.020961171] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1718705284.020964167] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000 [move_group-2] [INFO] [1718705284.020970880] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1718705284.020976861] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1718705284.020980155] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1718705284.020981895] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1718705284.020983545] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1718705284.020985063] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1718705284.020986579] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-2] [INFO] [1718705284.021754484] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [move_group-2] [INFO] [1718705284.024613942] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [move_group-2] [INFO] [1718705284.026186588] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1718705284.026192474] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000 [move_group-2] [INFO] [1718705284.026194918] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000 [move_group-2] [INFO] [1718705284.026206299] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-2] [INFO] [1718705284.026213750] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-2] [INFO] [1718705284.026216826] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1718705284.026222903] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-2] [INFO] [1718705284.026225747] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000 [move_group-2] [INFO] [1718705284.026228122] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-2] [INFO] [1718705284.026234010] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-2] [INFO] [1718705284.026236174] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-2] [INFO] [1718705284.026237836] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-2] [INFO] [1718705284.026239547] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-2] [INFO] [1718705284.026241263] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-2] [INFO] [1718705284.026242790] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-2] [INFO] [1718705284.026629156] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-2] [INFO] [1718705284.028845587] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-2] [INFO] [1718705284.029374142] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1718705284.029380206] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-2] [INFO] [1718705284.030131029] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-2] [INFO] [1718705284.030136489] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-2] [INFO] [1718705284.030587563] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-2] [INFO] [1718705284.030591886] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-2] [INFO] [1718705284.031054121] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-2] [INFO] [1718705284.031064646] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-2] [INFO] [1718705284.039671628] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller [move_group-2] [INFO] [1718705284.039775112] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705284.039792690] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705284.039900989] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-2] [INFO] [1718705284.039907255] [move_group.move_group]: MoveGroup debug mode is ON [move_group-2] [INFO] [1718705284.049683014] [move_group.move_group]: [move_group-2] [move_group-2] **** [move_group-2] MoveGroup using: [move_group-2] - ApplyPlanningSceneService [move_group-2] - ClearOctomapService [move_group-2] - ExecuteTaskSolution [move_group-2] - CartesianPathService [move_group-2] - ExecuteTrajectoryAction [move_group-2] - GetPlanningSceneService [move_group-2] - KinematicsService [move_group-2] - MoveAction [move_group-2] - MotionPlanService [move_group-2] - QueryPlannersService [move_group-2] - StateValidationService [move_group-2] **** [move_group-2] [move_group-2] [INFO] [1718705284.049705347] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-2] [INFO] [1718705284.049710121] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-2] Loading 'move_group/ApplyPlanningSceneService'... [move_group-2] Loading 'move_group/ClearOctomapService'... [move_group-2] Loading 'move_group/ExecuteTaskSolutionCapability'... [move_group-2] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-2] Loading 'move_group/MoveGroupKinematicsService'... [move_group-2] Loading 'move_group/MoveGroupMoveAction'... [move_group-2] Loading 'move_group/MoveGroupPlanService'... [move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-2] Loading 'move_group/MoveGroupStateValidationService'... [move_group-2] [move_group-2] You can start planning now! [move_group-2] [spawner-4] [INFO] [1718705284.490595870] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1718705284.491222466] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1718705284.491285081] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-4] [INFO] [1718705286.706886530] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-4]: process has finished cleanly [pid 58724] [INFO] [spawner-5]: process started with pid [58846] [INFO] [rviz2-6]: process started with pid [58848] [rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-6] [INFO] [1718705287.244307320] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1718705287.244387670] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-6] [INFO] [1718705287.255993298] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [WARN] [1718705287.334076644] [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. [ros2_control_node-1] [INFO] [1718705287.352900514] [controller_manager]: Loading controller 'arm_controller' [ros2_control_node-1] [WARN] [1718705287.356495725] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-5] [INFO] [1718705287.426618376] [spawner_arm_controller]: Loaded arm_controller [ros2_control_node-1] [INFO] [1718705287.427591573] [controller_manager]: Configuring controller 'arm_controller' [ros2_control_node-1] [INFO] [1718705287.427760121] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-1] [INFO] [1718705287.427800237] [arm_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1718705287.427826853] [arm_controller]: Using 'splines' interpolation method. [ros2_control_node-1] [INFO] [1718705287.428439156] [arm_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-1] [INFO] [1718705287.430661066] [arm_controller]: Action status changes will be monitored at 50.00 Hz. [rviz2-6] [INFO] [1718705287.566013714] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.232092 seconds [rviz2-6] [INFO] [1718705287.566093412] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'... [rviz2-6] [INFO] [1718705287.566110705] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-6] [INFO] [1718705288.139438965] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.208126 seconds [rviz2-6] [INFO] [1718705288.139481086] [moveit_robot_model.robot_model]: Loading robot model 'one_arm_bot'... [rviz2-6] [INFO] [1718705288.139485883] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-6] [WARN] [1718705288.201564393] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [rviz2-6] [INFO] [1718705288.407164990] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-6] [INFO] [1718705288.408095941] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [spawner-5] [INFO] [1718705289.615717876] [spawner_arm_controller]: Configured and activated arm_controller [INFO] [spawner-5]: process has finished cleanly [pid 58846] [rviz2-6] 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. [rviz2-6] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-6] [ERROR] [1718705298.162795615] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-6] [INFO] [1718705298.171788280] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-6] [INFO] [1718705298.374532632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-6] [INFO] [1718705298.375132060] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-6] [INFO] [1718705298.378471780] [interactive_marker_display_104748004077456]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-6] [INFO] [1718705298.380249061] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-6] [INFO] [1718705298.380664404] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-6] [INFO] [1718705298.392947009] [moveit_ros_visualization.motion_planning_frame]: group arm [rviz2-6] [INFO] [1718705298.392967422] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace '' [rviz2-6] [INFO] [1718705298.396437705] [move_group_interface]: Ready to take commands for planning group arm. [rviz2-6] [INFO] [1718705298.396764042] [moveit_ros_visualization.motion_planning_frame]: group arm [rviz2-6] [INFO] [1718705298.406386697] [interactive_marker_display_104748004077456]: Sending request for interactive markers [rviz2-6] [INFO] [1718705298.438564292] [interactive_marker_display_104748004077456]: Service response received for initialization [move_group-2] [INFO] [1718705361.297891234] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705361.298333117] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [rviz2-6] [INFO] [1718705361.298403289] [move_group_interface]: Plan and Execute request accepted [move_group-2] [INFO] [1718705361.298614997] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-2] [INFO] [1718705361.298655444] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp' [move_group-2] [INFO] [1718705361.666590124] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline [move_group-2] [INFO] [1718705361.666624956] [chomp_optimizer]: Active collision detector is: HYBRID [move_group-2] [INFO] [1718705361.732622796] [chomp_optimizer]: First coll check took 0.065985 sec [move_group-2] [INFO] [1718705361.734234789] [chomp_optimizer]: Collision cost 3.836448, smoothness cost: 7.305507 [move_group-2] [INFO] [1718705361.734266528] [chomp_optimizer]: iteration: 0 [move_group-2] [INFO] [1718705361.734459943] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early. [move_group-2] [INFO] [1718705361.734462552] [chomp_optimizer]: cCost 3.836448 over threshold 0.070000 [move_group-2] [INFO] [1718705361.734465011] [chomp_optimizer]: Chomp path is collision free [move_group-2] [INFO] [1718705361.734466680] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0 [move_group-2] [INFO] [1718705361.734468494] [chomp_optimizer]: Optimization core finished in 0.000629 sec [move_group-2] [INFO] [1718705361.734470329] [chomp_optimizer]: Time per iteration 0.000631 sec [move_group-2] [INFO] [1718705361.734472136] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1 [move_group-2] [INFO] [1718705361.734474280] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200 [move_group-2] [INFO] [1718705361.738885191] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705361.738897545] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705361.738946326] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-2] [INFO] [1718705361.739006532] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-2] [INFO] [1718705361.739055104] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705361.739063524] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705361.739167481] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [ros2_control_node-1] [INFO] [1718705361.739349360] [arm_controller]: Received new action goal [ros2_control_node-1] [INFO] [1718705361.739392374] [arm_controller]: Accepted new action goal [move_group-2] [INFO] [1718705361.739496769] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-2] [INFO] [1718705361.739512672] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-1] [INFO] [1718705366.347596803] [arm_controller]: Goal reached, success! [move_group-2] [INFO] [1718705366.360131460] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished [move_group-2] [INFO] [1718705366.360200751] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-2] [INFO] [1718705366.369139635] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-6] [INFO] [1718705366.369503579] [move_group_interface]: Plan and Execute request complete! [move_group-2] [INFO] [1718705377.245135638] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705377.245256365] [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-2] [INFO] [1718705377.245286329] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-2] [INFO] [1718705377.245293132] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp' [rviz2-6] [INFO] [1718705377.245318081] [move_group_interface]: Plan and Execute request accepted [move_group-2] [INFO] [1718705377.467109081] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline [move_group-2] [INFO] [1718705377.467134156] [chomp_optimizer]: Active collision detector is: HYBRID [move_group-2] [INFO] [1718705377.528789249] [chomp_optimizer]: First coll check took 0.061650 sec [move_group-2] [INFO] [1718705377.530226723] [chomp_optimizer]: Collision cost 3.780909, smoothness cost: 7.095467 [move_group-2] [INFO] [1718705377.530240245] [chomp_optimizer]: iteration: 0 [move_group-2] [INFO] [1718705377.530376021] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early. [move_group-2] [INFO] [1718705377.530377939] [chomp_optimizer]: cCost 3.780909 over threshold 0.070000 [move_group-2] [INFO] [1718705377.530380165] [chomp_optimizer]: Chomp path is collision free [move_group-2] [INFO] [1718705377.530381677] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0 [move_group-2] [INFO] [1718705377.530383311] [chomp_optimizer]: Optimization core finished in 0.000487 sec [move_group-2] [INFO] [1718705377.530385037] [chomp_optimizer]: Time per iteration 0.000488 sec [move_group-2] [INFO] [1718705377.530387085] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1 [move_group-2] [INFO] [1718705377.530389187] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200 [move_group-2] [INFO] [1718705377.534215060] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705377.534223511] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705377.534240557] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-2] [INFO] [1718705377.534276900] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-2] [INFO] [1718705377.534300662] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705377.534307858] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705377.534376959] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [ros2_control_node-1] [INFO] [1718705377.534501518] [arm_controller]: Received new action goal [ros2_control_node-1] [INFO] [1718705377.534550865] [arm_controller]: Accepted new action goal [move_group-2] [INFO] [1718705377.534669577] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-2] [INFO] [1718705377.534679429] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-1] [INFO] [1718705382.690530986] [arm_controller]: Goal reached, success! [move_group-2] [INFO] [1718705382.695291007] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished [move_group-2] [INFO] [1718705382.695392253] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-2] [INFO] [1718705382.704411769] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-6] [INFO] [1718705382.704788112] [move_group_interface]: Plan and Execute request complete! [move_group-2] [INFO] [1718705390.231467608] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705390.231799419] [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-2] [INFO] [1718705390.231854436] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-2] [INFO] [1718705390.231864623] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp' [rviz2-6] [INFO] [1718705390.231763174] [move_group_interface]: Plan and Execute request accepted [move_group-2] [INFO] [1718705390.619466167] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline [move_group-2] [INFO] [1718705390.619488657] [chomp_optimizer]: Active collision detector is: HYBRID [move_group-2] [INFO] [1718705390.681217423] [chomp_optimizer]: First coll check took 0.061722 sec [move_group-2] [INFO] [1718705390.682731329] [chomp_optimizer]: Collision cost 3.951885, smoothness cost: 7.211193 [move_group-2] [INFO] [1718705390.682743492] [chomp_optimizer]: iteration: 0 [move_group-2] [INFO] [1718705390.682904070] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early. [move_group-2] [INFO] [1718705390.682906348] [chomp_optimizer]: cCost 3.951885 over threshold 0.070000 [move_group-2] [INFO] [1718705390.682908677] [chomp_optimizer]: Chomp path is collision free [move_group-2] [INFO] [1718705390.682910337] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0 [move_group-2] [INFO] [1718705390.682912000] [chomp_optimizer]: Optimization core finished in 0.000544 sec [move_group-2] [INFO] [1718705390.682913896] [chomp_optimizer]: Time per iteration 0.000546 sec [move_group-2] [INFO] [1718705390.682915838] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1 [move_group-2] [INFO] [1718705390.682917887] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200 [move_group-2] [INFO] [1718705390.687230168] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705390.687242268] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705390.687259512] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-2] [INFO] [1718705390.687290053] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-2] [INFO] [1718705390.687311752] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705390.687319696] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705390.687388338] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [ros2_control_node-1] [INFO] [1718705390.687513021] [arm_controller]: Received new action goal [ros2_control_node-1] [INFO] [1718705390.687546987] [arm_controller]: Accepted new action goal [move_group-2] [INFO] [1718705390.687655128] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-2] [INFO] [1718705390.687667278] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-1] [INFO] [1718705395.286629651] [arm_controller]: Goal reached, success! [move_group-2] [INFO] [1718705395.288223236] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished [move_group-2] [INFO] [1718705395.288317940] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-2] [INFO] [1718705395.297413588] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-6] [INFO] [1718705395.297830987] [move_group_interface]: Plan and Execute request complete! [move_group-2] [INFO] [1718705398.960231439] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1718705398.960375807] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [rviz2-6] [INFO] [1718705398.960344737] [move_group_interface]: Plan and Execute request accepted [move_group-2] [INFO] [1718705398.960408529] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-2] [INFO] [1718705398.960415973] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'chomp' [move_group-2] [INFO] [1718705399.353889713] [chomp_planner]: CHOMP trajectory initialized using method: quintic-spline [move_group-2] [INFO] [1718705399.353916927] [chomp_optimizer]: Active collision detector is: HYBRID [move_group-2] [INFO] [1718705399.415635501] [chomp_optimizer]: First coll check took 0.061712 sec [move_group-2] [INFO] [1718705399.417157260] [chomp_optimizer]: Collision cost 7.580661, smoothness cost: 10.787014 [move_group-2] [INFO] [1718705399.417172219] [chomp_optimizer]: iteration: 0 [move_group-2] [INFO] [1718705399.417328685] [chomp_optimizer]: Chomp Got mesh to mesh safety at iter 0. Breaking out early. [move_group-2] [INFO] [1718705399.417330755] [chomp_optimizer]: cCost 7.580661 over threshold 0.070000 [move_group-2] [INFO] [1718705399.417332904] [chomp_optimizer]: Chomp path is collision free [move_group-2] [INFO] [1718705399.417334434] [chomp_optimizer]: Terminated after 1 iterations, using path from iteration 0 [move_group-2] [INFO] [1718705399.417336121] [chomp_optimizer]: Optimization core finished in 0.000578 sec [move_group-2] [INFO] [1718705399.417337897] [chomp_optimizer]: Time per iteration 0.000580 sec [move_group-2] [INFO] [1718705399.417339761] [chomp_planner]: Planned with Chomp Parameters (learning_rate, ridge_factor, planning_time_limit, max_iterations), attempt: # 1 [move_group-2] [INFO] [1718705399.417341630] [chomp_planner]: Learning rate: 0.010000 ridge factor: 0.010000 planning time limit: 10.000000 max_iterations 200 [move_group-2] [INFO] [1718705399.424895716] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705399.424905837] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705399.424919141] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-2] [INFO] [1718705399.425088709] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-2] [INFO] [1718705399.425122275] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705399.425130521] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-2] [INFO] [1718705399.425205628] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [ros2_control_node-1] [INFO] [1718705399.425390144] [arm_controller]: Received new action goal [ros2_control_node-1] [INFO] [1718705399.425440388] [arm_controller]: Accepted new action goal [move_group-2] [INFO] [1718705399.425512904] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-2] [INFO] [1718705399.425523348] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-1] [INFO] [1718705406.388835437] [arm_controller]: Goal reached, success! [move_group-2] [INFO] [1718705406.406331427] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished [move_group-2] [INFO] [1718705406.406461915] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-2] [INFO] [1718705406.415068086] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-6] [INFO] [1718705406.415586853] [move_group_interface]: Plan and Execute request complete!