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moveit / moveit2_tutorials

A sphinx-based centralized documentation repo for MoveIt 2
https://moveit.picknik.ai
BSD 3-Clause "New" or "Revised" License
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Why does the demo run unsuccessfully？Just following the tutorials and the installing progress has no error shows? #963

Open goodmanchd opened 2 months ago

goodmanchd commented 2 months ago

Description

hello, just the demo doesn't run Correctly I just follow the guide to install,and successed, then run the demo, but in rviz doesn't work properly.

Your environment

1726051949402

here's what happenned `$ ros2 launch moveit2_tutorials demo.launch.py

……………… ndlisten] MongoDB starting : pid=68984 port=33829 dbpath=/tmp/db 64-bit host=VM [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] db version v3.6.8 [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] OpenSSL version: OpenSSL 1.1.1f 31 Mar 2020 [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] allocator: tcmalloc [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] modules: none [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] build environment: [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] distarch: x86_64 [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] target_arch: x86_64 [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.182+0800 I CONTROL [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } } [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.183+0800 I - [initandlisten] Detected data files in /tmp/db created by the 'wiredTiger' storage engine, so setting the active storage engine to 'wiredTiger'. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.183+0800 I STORAGE [initandlisten] [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.183+0800 I STORAGE [initandlisten] WARNING: Using the XFS filesystem is strongly recommended with the WiredTiger storage engine [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.183+0800 I STORAGE [initandlisten] See http://dochub.mongodb.org/core/prodnotes-filesystem [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.183+0800 I STORAGE [initandlisten] wiredtiger_open config: create,cache_size=3438M,session_max=20000,eviction=(threads_min=4,threads_max=4),config_base=false,statistics=(fast),cache_cursors=false,compatibility=(release="3.0",require_max="3.0"),log=(enabled=true,archive=true,path=journal,compressor=snappy),file_manager=(close_idle_time=100000),statistics_log=(wait=0),verbose=(recovery_progress), [ERROR] [move_group-4]: process has died [pid 68908, exit code -11, cmd '/opt/ros/foxy/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_skdmosqv --params-file /tmp/launch_params_z37mqu2x --params-file /tmp/launch_params_px3srzpd --params-file /tmp/launch_params_hui6f_or --params-file /tmp/launch_params_pmmg5mmz --params-file /tmp/launch_params_54ogoizx --params-file /tmp/launch_params_gcov71_q']. [ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1726051899.547095007] [spawner_panda_hand_controller]: Waiting for /controller_manager services [ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1726051899.571140283] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services [ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1726051899.581647486] [spawner_panda_arm_controller]: Waiting for /controller_manager services [ros2_control_node-5] [INFO] [1726051899.781583757] [controller_manager]: Loading controller 'joint_state_broadcaster' [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.785+0800 I STORAGE [initandlisten] WiredTiger message [1726051899:785074][68984:0x7fad4830eac0], txn-recover: Main recovery loop: starting at 5/6528 [ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1726051899.801302187] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-5] [INFO] [1726051899.803384938] [controller_manager]: Loading controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1726051899.820522638] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1726051899.821228984] [spawner_panda_arm_controller]: Loaded panda_arm_controller [ros2_control_node-5] [INFO] [1726051899.824233959] [controller_manager]: Configuring controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1726051899.824348123] [panda_arm_controller]: Command interfaces are [position] and and state interfaces are [position velocity]. [ros2_control_node-5] [INFO] [1726051899.825090436] [panda_arm_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-5] [INFO] [1726051899.826031454] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz. [ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1726051899.851113454] [spawner_panda_arm_controller]: Configured and started panda_arm_controller [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.855+0800 I STORAGE [initandlisten] WiredTiger message [1726051899:855533][68984:0x7fad4830eac0], txn-recover: Recovering log 5 through 6 [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.900+0800 I STORAGE [initandlisten] WiredTiger message [1726051899:900407][68984:0x7fad4830eac0], txn-recover: Recovering log 6 through 6 [INFO] [ros2 run controller_manager spawner.py panda_arm_controller-7]: process has finished cleanly [pid 68914] [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.929+0800 I STORAGE [initandlisten] WiredTiger message [1726051899:929018][68984:0x7fad4830eac0], txn-recover: Set global recovery timestamp: 0 [ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1726051899.930457234] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] WARNING: Access control is not enabled for the database. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] Read and write access to data and configuration is unrestricted. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] WARNING: This server is bound to localhost. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] Remote systems will be unable to connect to this server. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] Start the server with --bind_ip

to specify which IP [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] addresses it should serve responses from, or with --bind_ip_all to [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] bind to all interfaces. If this behavior is desired, start the [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] server with --bind_ip 127.0.0.1 to disable this warning. [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.941+0800 I CONTROL [initandlisten] [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.951+0800 I FTDC [initandlisten] Initializing full-time diagnostic data capture with directory '/tmp/db/diagnostic.data' [mongo_wrapper_ros.py-6] 2024-09-11T18:51:39.952+0800 I NETWORK [initandlisten] waiting for connections on port 33829 [INFO] [ros2 run controller_manager spawner.py joint_state_broadcaster-9]: process has finished cleanly [pid 68919] [rviz2-1] [INFO] [1726051900.225109675] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1726051900.225330666] [rviz2]: OpenGl version: 4.1 (GLSL 4.1) [rviz2-1] [INFO] [1726051900.272570248] [rviz2]: Stereo is NOT SUPPORTED [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/foxy/include/class_loader/class_loader_core.hpp [rviz2-1] Parsing robot urdf xml string. [rviz2-1] [INFO] [1726051900.425144765] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00124989 seconds [rviz2-1] [INFO] [1726051900.425241539] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1726051901.558949332] [spawner_panda_hand_controller]: Waiting for /controller_manager services [ros2_control_node-5] [INFO] [1726051901.965991117] [controller_manager]: Loading controller 'panda_hand_controller' [ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1726051901.980067216] [spawner_panda_hand_controller]: Loaded panda_hand_controller [ros2_control_node-5] [INFO] [1726051901.981350228] [controller_manager]: Configuring controller 'panda_hand_controller' [ros2_control_node-5] [INFO] [1726051901.981441809] [panda_hand_controller]: Action status changes will be monitored at 20Hz. [ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1726051902.000170423] [spawner_panda_hand_controller]: Configured and started panda_hand_controller [INFO] [ros2 run controller_manager spawner.py panda_hand_controller-8]: process has finished cleanly [pid 68916] [rviz2-1] [ERROR] [1726051904.203993808] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] Parsing robot urdf xml string. [rviz2-1] [INFO] [1726051904.283458720] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00103036 seconds [rviz2-1] [INFO] [1726051904.283529857] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [rviz2-1] Link panda_link1 had 1 children [rviz2-1] Link panda_link2 had 1 children [rviz2-1] Link panda_link3 had 1 children [rviz2-1] Link panda_link4 had 1 children [rviz2-1] Link panda_link5 had 1 children [rviz2-1] Link panda_link6 had 1 children [rviz2-1] Link panda_link7 had 1 children [rviz2-1] Link panda_link8 had 1 children [rviz2-1] Link panda_hand had 2 children [rviz2-1] Link panda_leftfinger had 0 children [rviz2-1] Link panda_rightfinger had 0 children [rviz2-1] [WARN] [1726051904.309086268] [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] [INFO] [1726051904.338653834] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1726051904.339604398] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1726051904.348259698] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1726051904.349267681] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1726051904.377143659] [interactive_marker_display_94074856288304]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] Link panda_link1 had 1 children [rviz2-1] Link panda_link2 had 1 children [rviz2-1] Link panda_link3 had 1 children [rviz2-1] Link panda_link4 had 1 children [rviz2-1] Link panda_link5 had 1 children [rviz2-1] Link panda_link6 had 1 children [rviz2-1] Link panda_link7 had 1 children [rviz2-1] Link panda_link8 had 1 children [rviz2-1] Link panda_hand had 2 children [rviz2-1] Link panda_leftfinger had 0 children [rviz2-1] Link panda_rightfinger had 0 children [rviz2-1] [WARN] [1726051904.396307595] [moveit_robot_model.joint_model_group]: comparing input tip: panda_link8 to this groups tip: panda_link8 [rviz2-1] [INFO] [1726051904.437605871] [interactive_marker_display_94074856288304]: Sending request for interactive markers [rviz2-1] [INFO] [1726051904.469997529] [interactive_marker_display_94074856288304]: Service response received for initialization [rviz2-1] [INFO] [1726051909.350977468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1726051909.400054415] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1726051909.400190279] [moveit_ros_visualization.motion_planning_frame]: group panda_arm [rviz2-1] [INFO] [1726051909.400203800] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [rviz2-1] [WARN] [1726051909.400475483] [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] [INFO] [1726051909.426423645] [move_group_interface]: Ready to take commands for planning group panda_arm. [rviz2-1] [INFO] [1726051909.426557461] [move_group_interface]: Looking around: no [rviz2-1] [INFO] [1726051909.426591701] [move_group_interface]: Replanning: no

`

rhaschke commented 2 months ago

Which demo/tutorial are you referring to?

goodmanchd commented 2 months ago

Which demo/tutorial are you referring to?

demo.launch.py

sea-bass commented 2 months ago

Also noting that Foxy is no longer supported, so it's very likely something else might simply no longer work due to this.

Which branch of this repo did you clone? I see no information on the source vs binary install questions in the issue.