i cannot successfully run "ros2 launch moveit2_tutorials motion_planning_pipeline_tutorial.launch.py",The terminal shows file was not found in the share

yangming517 commented 8 months ago

Your environment

ROS Distro: [Humble]
OS Version: Ubuntu 22.04
Source or Binary build?
If binary, which release version?
If source, which git commit or tag?

Description

I followed the offcial tutorial:getting started https://moveit.picknik.ai/main/doc/tutorials/tutorials.html However, the following operations are different from the official ones git clone https://github.com/ros-planning/moveit2_tutorials -b humble colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1

Obviously,command with "-b humble" will result in missing some packages,such as "motion_planning_pipeline、parallel planning...."。I want to know if humble doesn't support these packages or these functions?

Because if I execute the command "git clone https://github.com/ros-planning/moveit2_tutorials" without "-b humble" The process that colcon build will fail.

The terminal shows that: ym@ym-PC:~/ws_moveit2test2$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1 Starting >>> moveit_common Finished <<< moveit_common [0.20s]
Starting >>> moveit_msgs Finished <<< moveit_msgs [2.21s]
Starting >>> moveit_configs_utils --- stderr: moveit_configs_utils
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn(

Finished <<< moveit_configs_utils [0.78s] Starting >>> moveit_resources_panda_description Finished <<< moveit_resources_panda_description [0.19s]
Starting >>> moveit_resources_panda_moveit_config Finished <<< moveit_resources_panda_moveit_config [0.20s]
Starting >>> moveit_resources_fanuc_description Finished <<< moveit_resources_fanuc_description [0.20s]
Starting >>> moveit_resources_fanuc_moveit_config Finished <<< moveit_resources_fanuc_moveit_config [0.20s]
Starting >>> robotiq_description Finished <<< robotiq_description [0.19s]
Starting >>> moveit_task_constructor_msgs Finished <<< moveit_task_constructor_msgs [0.73s]
Starting >>> rviz_marker_tools Finished <<< rviz_marker_tools [0.24s]
Starting >>> kortex_description Finished <<< kortex_description [0.19s]
Starting >>> moveit_resources_pr2_description Finished <<< moveit_resources_pr2_description [0.21s]
Starting >>> moveit_core Finished <<< moveit_core [0.60s]
Starting >>> moveit_ros_occupancy_map_monitor Finished <<< moveit_ros_occupancy_map_monitor [0.28s]
Starting >>> moveit_ros_planning Finished <<< moveit_ros_planning [0.41s]
Starting >>> moveit_kinematics Finished <<< moveit_kinematics [0.31s]
Starting >>> moveit_ros_move_group Finished <<< moveit_ros_move_group [0.35s]
Starting >>> moveit_ros_warehouse Finished <<< moveit_ros_warehouse [0.31s]
Starting >>> moveit_ros_robot_interaction Finished <<< moveit_ros_robot_interaction [0.29s]
Starting >>> moveit_simple_controller_manager Finished <<< moveit_simple_controller_manager [0.25s]
Starting >>> moveit_ros_planning_interface Finished <<< moveit_ros_planning_interface [0.30s]
Starting >>> moveit_ros_visualization Finished <<< moveit_ros_visualization [0.56s]
Starting >>> moveit_planners_ompl Finished <<< moveit_planners_ompl [0.32s]
Starting >>> moveit_setup_framework Finished <<< moveit_setup_framework [0.31s]
Starting >>> moveit_planners_stomp Finished <<< moveit_planners_stomp [0.27s]
Starting >>> moveit_setup_app_plugins Finished <<< moveit_setup_app_plugins [0.38s]
Starting >>> moveit_setup_controllers Finished <<< moveit_setup_controllers [0.42s]
Starting >>> moveit_setup_core_plugins Finished <<< moveit_setup_core_plugins [0.34s]
Starting >>> moveit_setup_srdf_plugins Finished <<< moveit_setup_srdf_plugins [0.43s]
Starting >>> moveit_setup_assistant Finished <<< moveit_setup_assistant [0.31s]
Starting >>> moveit_resources_prbt_support Finished <<< moveit_resources_prbt_support [0.20s]
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [0.27s] Starting >>> moveit_plugins Finished <<< moveit_plugins [0.20s]
Starting >>> moveit_ros_benchmarks Finished <<< moveit_ros_benchmarks [0.30s]
Starting >>> kortex_api Finished <<< kortex_api [0.20s]
Starting >>> rviz_visual_tools Finished <<< rviz_visual_tools [0.44s]
Starting >>> serial Finished <<< serial [0.22s]
Starting >>> chomp_motion_planner Finished <<< chomp_motion_planner [0.28s]
Starting >>> moveit_ros_perception Finished <<< moveit_ros_perception [0.31s]
Starting >>> moveit_resources_prbt_moveit_config Finished <<< moveit_resources_prbt_moveit_config [0.21s]
Starting >>> moveit_ros Finished <<< moveit_ros [0.21s]
Starting >>> kortex_driver Finished <<< kortex_driver [0.25s]
Starting >>> robotiq_driver Finished <<< robotiq_driver [0.31s]
Starting >>> pick_ik --- stderr: pick_ik
/home/ym/ws_moveit2test2/build/pick_ik/tests/test-pick_ik: symbol lookup error: /opt/ros/humble/lib/libpick_ik_plugin.so: undefined symbol: _ZN10kinematics14KinematicsBase6LOGGERE CMake Error at /home/ym/ws_moveit2test2/build/pick_ik/_deps/catch2-src/extras/CatchAddTests.cmake:60 (message): Error running test executable '/home/ym/ws_moveit2test2/build/pick_ik/tests/test-pick_ik':

Result: 127
Output:

gmake[2]: [tests/CMakeFiles/test-pick_ik.dir/build.make:340：tests/test-pick_ik] 错误 1 gmake[2]: 正在删除文件“tests/test-pick_ik” gmake[1]: [CMakeFiles/Makefile2:244：tests/CMakeFiles/test-pick_ik.dir/all] 错误 2 gmake: [Makefile:146：all] 错误 2

Failed <<< pick_ik [0.37s, exited with code 2]

Summary: 43 packages finished [17.8s] 1 package failed: pick_ik 2 packages had stderr output: moveit_configs_utils pick_ik 25 packages not processed

who can tell me How to experience all the features of moveit2_tutotials,thanks in advance.

sea-bass commented 8 months ago

As discussed in https://github.com/PickNikRobotics/pick_ik/issues/65 and https://github.com/PickNikRobotics/pick_ik/issues/64, could you try removing your Pick IK binary installs that may be lingering? Thanks!

sudo apt-get remove ros-humble-pick-ik

and then build again?

yangming517 commented 8 months ago

@sea-bass cool!The previous error is missing.However,after building again,the terminal show others errors.Do I need to remove moveit_task_constructor by sudo apt-get remove ros-humble-moveit_task_constructor like before?

The following is the terminal message: `In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /home/ym/ws_moveit2test2/install/moveit_core/include/moveit_core/moveit/kinematics_base/kinematics_base.h:42, from /home/ym/ws_moveit2test2/install/moveit_core/include/moveit_core/moveit/robot_model/joint_model_group.h:42, from /home/ym/ws_moveit2test2/install/moveit_core/include/moveit_core/moveit/robot_model/robot_model.h:45, from /home/ym/ws_moveit2test2/install/moveit_core/include/moveit_core/moveit/robot_state/robot_state.h:40, from /home/ym/ws_moveit2test2/install/moveit_core/include/moveit_core/moveit/robot_state/conversions.h:39, from /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_robot_state.cpp:34: /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_robot_state.cpp: In function ‘bool {anonymous}::isIKStateValid(const planning_scene::PlanningScene, bool, bool, const MoveItVisualToolsPtr&, moveit::core::RobotState, const moveit::core::JointModelGroup, const double)’: /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_robot_state.cpp:101:48: warning: use of old-style cast to ‘rcutils_duration_value_t’ {aka ‘long int’} [-Wold-style-cast] 101 | RCLCPP_WARN_THROTTLE(LOGGER, steady_clock, 2000, "Collision in IK CC callback"); | ^~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer_interface.h:48, from /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h:42, from /opt/ros/humble/include/tf2_eigen/tf2_eigen/tf2_eigen.hpp:42, from /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_end_effector.cpp:41: /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_end_effector.cpp: In function ‘bool {anonymous}::isStateValid(const planning_scene::PlanningScene, bool, bool, const MoveItVisualToolsPtr&, moveit::core::RobotState, const moveit::core::JointModelGroup, const double)’: /home/ym/ws_moveit2test2/src/moveit_visual_tools/src/imarker_end_effector.cpp:101:46: warning: use of old-style cast to ‘rcutils_duration_value_t’ {aka ‘long int’} [-Wold-style-cast] 101 | RCLCPP_WARN_THROTTLE(LOGGER, steady_clock, 2000, "Collision"); | ^~

Finished <<< moveit_visual_tools [3min 15s] Starting >>> moveit_hybrid_planning [Processing: moveit_hybrid_planning]
[Processing: moveit_hybrid_planning]
Finished <<< moveit_hybrid_planning [1min 30s]
Starting >>> moveit_py [Processing: moveit_py]
--- stderr: moveit_py
/usr/include/pybind11/stl.h:172:49: note: type ‘struct type_caster’ itself violates the C++ One Definition Rule 172 | template <typename Type, typename Alloc> struct type_caster<std::vector<Type, Alloc>> | ^ /usr/include/pybind11/cast.h:33:56: note: the incompatible type is defined here 33 | template <typename type, typename SFINAE = void> class type_caster : public type_caster_base { }; | ^ lto-wrapper: warning: using serial compilation of 7 LTRANS jobs lto-wrapper: warning: using serial compilation of 9 LTRANS jobs

Finished <<< moveit_py [36.2s] Starting >>> moveit_resources_prbt_pg70_support Finished <<< moveit_resources_prbt_pg70_support [0.84s]
Starting >>> pilz_industrial_motion_planner [Processing: pilz_industrial_motion_planner]
Finished <<< pilz_industrial_motion_planner [46.6s]
Starting >>> moveit_planners Finished <<< moveit_planners [0.71s]
Starting >>> moveit_task_constructor_core [Processing: moveit_task_constructor_core]
--- stderr: moveit_task_constructor_core
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /home/ym/ws_moveit2test2/src/moveit_task_constructor/core/src/properties.cpp:42: /home/ym/ws_moveit2test2/src/moveit_task_constructor/core/src/properties.cpp: In member function ‘const moveit::task_constructor::PropertyTypeRegistry::Entry& moveit::task_constructor::PropertyTypeRegistry::entry(const std::type_index&) const’: /home/ym/ws_moveit2test2/src/moveit_task_constructor/core/src/properties.cpp:78:75: warning: use of old-style cast to ‘rcutils_duration_value_t’ {aka ‘long int’} [-Wold-style-cast] 78 | RCLCPP_WARN_STREAM_THROTTLE(LOGGER, steady_clock, 10'000, | ^~

Finished <<< moveit_task_constructor_core [59.6s] Starting >>> moveit_servo [Processing: moveit_servo]
Finished <<< moveit_servo [49.9s]
Starting >>> kinova_gen3_7dof_robotiq_2f_85_moveit_config Finished <<< kinova_gen3_7dof_robotiq_2f_85_moveit_config [1.75s] Starting >>> moveit Finished <<< moveit [0.83s]
Starting >>> moveit_task_constructor_capabilities --- stderr: moveit_task_constructor_capabilities
/home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In member function ‘bool move_group::ExecuteTaskSolutionCapability::constructMotionPlan(const Solution&, plan_execution::ExecutableMotionPlan&)’: /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:148:14: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plancomponents’? 148 | plan.plan_components.reserve(solution.sub_trajectory.size()); | ^~~ | plancomponents /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:152:22: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plancomponents’? 152 | plan.plan_components.emplace_back(); | ^ | plancomponents /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:153:72: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plancomponents’? 153 | plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back(); | ^ | plancomponents /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:157:27: error: ‘struct planexecution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description’? 157 | exectraj.description = description; | ^ | description /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:174:27: error: ‘struct planexecution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory’? 174 | exec_traj.trajectory = std::make_shared(model, group); | ^~ | trajectory_ /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:175:27: error: ‘struct planexecution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory’? 175 | exec_traj.trajectory->setRobotTrajectoryMsg(state, subtraj.trajectory); | ^~ | trajectory /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:184:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘controller_name’; did you mean ‘controllernames’? 184 | exec_traj.controller_name = sub_traj.execution_info.controller_names; | ^ | controllernames /home/ym/ws_moveit2test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:187:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘effect_on_success’; did you mean ‘effect_onsuccess’? 187 | exec_traj.effect_on_success = [this, | ^ | effect_onsuccess gmake[2]: [CMakeFiles/moveit_task_constructor_capabilities.dir/build.make:76：CMakeFiles/moveit_task_constructor_capabilities.dir/src/execute_task_solution_capability.cpp.o] 错误 1 gmake[1]: [CMakeFiles/Makefile2:137：CMakeFiles/moveit_task_constructor_capabilities.dir/all] 错误 2 gmake: *** [Makefile:146：all] 错误 2

Failed <<< moveit_task_constructor_capabilities [11.1s, exited with code 2]

Summary: 56 packages finished [9min 48s] 1 package failed: moveit_task_constructor_capabilities 5 packages had stderr output: moveit_configs_utils moveit_py moveit_task_constructor_capabilities moveit_task_constructor_core moveit_visual_tools 12 packages not processed `

sea-bass commented 8 months ago

There are no binaries for MoveIt Task Constructor. But it seems like you may have mismatched versions of both that repo and moveit_visual_tools. Can you make sure you've got the ros2 branches of both of those, respectively?

yangming517 commented 8 months ago

thank you guys,I have successfully build after referring to #https://github.com/ros-planning/moveit2_tutorials/issues/719 thank you very much again.You've been a great help to me. @sea-bass

yangming517 commented 8 months ago

@sea-bass Hi,I have big problem.Though I successfully build,I find that I almost meet the same problem " planning scene requesting initial scene failed"every time when i launch the "demo.launch.py""mtc_demo.launch.py"and so forth. when i launch demo.launch.py,the terminal shows above `ym@ym-PC:~/ws_moveit2test2$ ros2 launch moveit2_tutorials demo.launch.py [INFO] [launch]: All log files can be found below /home/ym/.ros/log/2024-03-12-18-44-23-219971-ym-PC-54476 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [54477] [INFO] [static_transform_publisher-2]: process started with pid [54479] [INFO] [robot_state_publisher-3]: process started with pid [54481] [INFO] [move_group-4]: process started with pid [54483] [INFO] [ros2_control_node-5]: process started with pid [54485] [INFO] [spawner-6]: process started with pid [54487] [INFO] [spawner-7]: process started with pid [54489] [INFO] [spawner-8]: process started with pid [54491] [static_transform_publisher-2] [INFO] [1710240263.707630945] [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] [1710240263.714744396] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1710240263.714831188] [robot_state_publisher]: got segment bracelet_link [robot_state_publisher-3] [INFO] [1710240263.714844536] [robot_state_publisher]: got segment end_effector_link [robot_state_publisher-3] [INFO] [1710240263.714853070] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-3] [INFO] [1710240263.714860779] [robot_state_publisher]: got segment half_arm_1_link [robot_state_publisher-3] [INFO] [1710240263.714868104] [robot_state_publisher]: got segment half_arm_2_link [robot_state_publisher-3] [INFO] [1710240263.714875550] [robot_state_publisher]: got segment robotiq_85_base_link [robot_state_publisher-3] [INFO] [1710240263.714883530] [robot_state_publisher]: got segment robotiq_85_left_finger_link [robot_state_publisher-3] [INFO] [1710240263.714891318] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link [robot_state_publisher-3] [INFO] [1710240263.714899085] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link [robot_state_publisher-3] [INFO] [1710240263.714906223] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link [robot_state_publisher-3] [INFO] [1710240263.714913488] [robot_state_publisher]: got segment robotiq_85_right_finger_link [robot_state_publisher-3] [INFO] [1710240263.714921052] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link [robot_state_publisher-3] [INFO] [1710240263.714928568] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link [robot_state_publisher-3] [INFO] [1710240263.714935950] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link [robot_state_publisher-3] [INFO] [1710240263.714943704] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-3] [INFO] [1710240263.714950948] [robot_state_publisher]: got segment spherical_wrist_1_link [robot_state_publisher-3] [INFO] [1710240263.714958836] [robot_state_publisher]: got segment spherical_wrist_2_link [robot_state_publisher-3] [INFO] [1710240263.714966297] [robot_state_publisher]: got segment world [ros2_control_node-5] [INFO] [1710240263.726391030] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ros2_control_node-5] [INFO] [1710240263.728860363] [controller_manager]: update rate is 1000 Hz [ros2_control_node-5] [INFO] [1710240263.728981494] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-5] [INFO] [1710240263.729455679] [controller_manager]: Received robot description file. [ros2_control_node-5] [INFO] [1710240263.729743812] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1710240263.730274349] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware' [ros2_control_node-5] [WARN] [1710240263.730290356] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ros2_control_node-5] [WARN] [1710240263.730302076] [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] [ros2_control_node-5] 0.0 [ros2_control_node-5] [ros2_control_node-5] [INFO] [1710240263.730309566] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1710240263.730324238] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-5] [INFO] [1710240263.730331867] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-5] [WARN] [1710240263.730337605] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ros2_control_node-5] [INFO] [1710240263.730346725] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-5] [INFO] [1710240263.730384239] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware'

[ros2_control_node-5] [INFO] [1710240263.730397493] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware'

[ros2_control_node-5] [INFO] [1710240263.730402931] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface'

[ros2_control_node-5] [INFO] [1710240263.730409242] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface'

[move_group-4] [INFO] [1710240263.738222778] [move_group.moveit.RDFLoader]: Loaded robot model in 0.00286704 seconds [move_group-4] [INFO] [1710240263.738272664] [move_group.moveit.robot_model]: Loading robot model 'gen3'... [move_group-4] [INFO] [1710240263.738282160] [move_group.moveit.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-5] [INFO] [1710240263.739422999] [controller_manager]: Received robot description file. [ros2_control_node-5] [WARN] [1710240263.739450338] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file. [move_group-4] [INFO] [1710240263.827337886] [move_group.moveit.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1 [ros2_control_node-5] [INFO] [1710240263.912872569] [controller_manager]: Loading controller 'joint_trajectory_controller' [ros2_control_node-5] [WARN] [1710240263.919099618] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [spawner-7] [INFO] [1710240263.935921185] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-5] [INFO] [1710240263.936491145] [controller_manager]: Configuring controller 'joint_trajectory_controller' [ros2_control_node-5] [INFO] [1710240263.936621025] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-5] [INFO] [1710240263.936639162] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-5] [INFO] [1710240263.936648320] [joint_trajectory_controller]: Using 'splines' interpolation method. [ros2_control_node-5] [INFO] [1710240263.937306532] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ros2_control_node-5] [INFO] [1710240263.939357583] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-5] [INFO] [1710240263.944253718] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-7] [INFO] [1710240263.944744523] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [ros2_control_node-5] [INFO] [1710240263.949035440] [controller_manager]: Loading controller 'robotiq_gripper_controller' [spawner-6] [INFO] [1710240263.960162765] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-5] [INFO] [1710240263.960666739] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-5] [INFO] [1710240263.960714797] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1710240263.964604401] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-8] [INFO] [1710240263.965495807] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller [ros2_control_node-5] [INFO] [1710240263.966004396] [controller_manager]: Configuring controller 'robotiq_gripper_controller' [ros2_control_node-5] [INFO] [1710240263.966065365] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz. [spawner-8] [INFO] [1710240263.970682297] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller [move_group-4] [INFO] [1710240264.040375491] [move_group.moveit.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1710240264.040469198] [move_group.moveit.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1710240264.040715992] [move_group.moveit.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1710240264.041006669] [move_group.moveit.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1710240264.041014457] [move_group.moveit.planning_scene_monitor]: Stopping existing planning scene publisher. [move_group-4] [INFO] [1710240264.041094113] [move_group.moveit.planning_scene_monitor]: Stopped publishing maintained planning scene. [move_group-4] [INFO] [1710240264.041673948] [move_group.moveit.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1710240264.041729101] [move_group.moveit.planning_scene_monitor]: Starting planning scene monitor [move_group-4] Stack trace (most recent call last) in thread 54590: [move_group-4] [INFO] [1710240264.042347021] [move_group.moveit.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1710240264.042356734] [move_group.moveit.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1710240264.042600480] [move_group.moveit.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1710240264.042858382] [move_group.moveit.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] #9 Object "", at 0xffffffffffffffff, in [move_group-4] [WARN] [1710240264.043507000] [move_group.moveit.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1710240264.043518360] [move_group.moveit.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [move_group-4] #8 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in clone3 [0x7f901532684f] [move_group-4] #7 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7f9015294ac2] [move_group-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f90156dc252, in [move_group-4] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9015af88af, in rclcpp::executors::SingleThreadedExecutor::spin() [move_group-4] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9015af0fbe, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) [move_group-4] #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f9015af07bb, in rclcpp::Executor::execute_subscription(std::shared_ptr) [move_group-4] #2 Object "/home/ym/ws_moveit2test2/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f9015e0a944, in rclcpp::Subscription<sensormsgs::msg::JointState<std::allocator >, std::allocator, sensormsgs::msg::JointState<std::allocator >, sensormsgs::msg::JointState<std::allocator >, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensormsgs::msg::JointState<std::allocator >, std::allocator > >::handle_message(std::shared_ptr&, rclcpp::MessageInfo const&) [move_group-4] #1 Object "/home/ym/ws_moveit2test2/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f9015df8321, in std::detail::variant::gen_vtable_impl<std::detail::variant::_Multi_array<std::detail::variant::deduce_visit_result (*)(rclcpp::AnySubscriptionCallback<sensormsgs::msg::JointState<std::allocator >, std::allocator >::dispatch(std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensormsgs::msg::JointState<std::allocator > const&)>, std::function<void (sensormsgs::msg::JointState<std::allocator > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensormsgs::msg::JointState<std::allocator >, std::default_delete<sensormsgs::msg::JointState<std::allocator > > >)>, std::function<void (std::unique_ptr<sensormsgs::msg::JointState<std::allocator >, std::default_delete<sensormsgs::msg::JointState<std::allocator > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const>)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr)>, std::function<void (std::shared_ptr, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const> const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr const&)>, std::function<void (std::shared_ptr const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr)>, std::function<void (std::shared_ptr, rclcpp::MessageInfo const&)> >&)>, std::integer_sequence<unsigned long, 8ul> >::visit_invoke(rclcpp::AnySubscriptionCallback<sensormsgs::msg::JointState<std::allocator >, std::allocator >::dispatch(std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (sensormsgs::msg::JointState<std::allocator > const&)>, std::function<void (sensormsgs::msg::JointState<std::allocator > const&, rclcpp::MessageInfo const&)>, std::function<void (rclcpp::SerializedMessage const&)>, std::function<void (rclcpp::SerializedMessage const&, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<sensormsgs::msg::JointState<std::allocator >, std::default_delete<sensormsgs::msg::JointState<std::allocator > > >)>, std::function<void (std::unique_ptr<sensormsgs::msg::JointState<std::allocator >, std::default_delete<sensormsgs::msg::JointState<std::allocator > > >, rclcpp::MessageInfo const&)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete >)>, std::function<void (std::unique_ptr<rclcpp::SerializedMessage, std::default_delete >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const>)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const>, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr)>, std::function<void (std::shared_ptr, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const> const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const> const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr const&)>, std::function<void (std::shared_ptr const&, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >)>, std::function<void (std::shared_ptr<sensormsgs::msg::JointState<std::allocator > >, rclcpp::MessageInfo const&)>, std::function<void (std::shared_ptr)>, std::function<void (std::shared_ptr, rclcpp::MessageInfo const&)> >&) [move_group-4] #0 Object "/home/ym/ws_moveit2test2/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f9015de71ae, in planning_scene_monitor::CurrentStateMonitor::jointStateCallback(std::shared_ptr<sensormsgs::msg::JointState<std::allocator > const> const&) [move_group-4] Segmentation fault (Address not mapped to object [0x2]) [ERROR] [move_group-4]: process has died [pid 54483, exit code -11, cmd '/home/ym/ws_moveit2test2/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_uykhztpu']. [rviz2-1] [INFO] [1710240264.168374614] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1710240264.168470259] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1710240264.188281595] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [WARN] [1710240264.257618254] [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] [1710240264.279507382] [rviz2.RDFLoader]: Loaded robot model in 0.00250975 seconds [rviz2-1] [INFO] [1710240264.279544911] [rviz2.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1710240264.279556066] [rviz2.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [INFO] [spawner-7]: process has finished cleanly [pid 54489] [INFO] [spawner-6]: process has finished cleanly [pid 54487] [INFO] [spawner-8]: process has finished cleanly [pid 54491] [rviz2-1] [ERROR] [1710240267.514439739] [rviz2.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] [INFO] [1710240267.524213800] [rviz2.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1710240267.570740908] [rviz2.RDFLoader]: Loaded robot model in 0.00192848 seconds [rviz2-1] [INFO] [1710240267.570761371] [rviz2.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1710240267.570765426] [rviz2.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [INFO] [1710240267.657469920] [rviz2.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1 [rviz2-1] [INFO] [1710240267.885239385] [rviz2.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1710240267.885982787] [rviz2.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1710240267.888174483] [rviz2.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1710240267.888808974] [rviz2.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1710240267.894678020] [interactive_marker_display_94250389603632]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] [INFO] [1710240267.898246137] [rviz2.moveit_ros_robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-1] [INFO] [1710240267.898928858] [rviz2.moveit_ros_robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-1] [INFO] [1710240267.916629740] [interactive_marker_display_94250389603632]: Sending request for interactive markers [rviz2-1] [INFO] [1710240267.948643382] [interactive_marker_display_94250389603632]: Service response received for initialization [rviz2-1] [INFO] [1710240272.888635682] [rviz2.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1710240272.901257916] [rviz2.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1710240272.901300927] [rviz2.motion_planning_frame]: group gripper [rviz2-1] [INFO] [1710240272.901305756] [rviz2.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace '' and the rviz interface show that rviz

`does it related to the moveit2 installation method of binary.i install moveit2 by binary .

Mactarvish commented 4 months ago

Same error (havn't try https://github.com/moveit/moveit2_tutorials/issues/719 mentioned above yet) but I checked the source code and there're exactly trajectory description intead of trajectory_ descrition_ , why compiler found xx_ not xx ? Cannot understand

moveit / moveit2_tutorials