JinHyeok99
commented
7 months ago ros2 launch 실행 시 "indy_sw"를 3으로 설정하여 motion planning 확인 부탁드립니다.
Open Neder opened 8 months ago
JinHyeok99
commented
7 months ago ros2 launch 실행 시 "indy_sw"를 3으로 설정하여 motion planning 확인 부탁드립니다.
Neder
commented
7 months ago indy_sw를 3으로 설정하여도 Execute는 동일하게 실패합니다. NOTE) http://docs.neuromeka.com/3.0.0/kr/ROS2/section4/ 에서 확인할 수 있는 Conty 앱 디자인으로 봤을 때 현재 환경은 Framework 2인 것으로 파악됩니다.
neder@neder-ThinkCentre-M720q:~$ ros2 launch indy_moveit indy_moveit_real_robot.launch.py indy_type:=indy7 indy_sw:=3 indy_ip:=192.168.0.109 [INFO] [launch]: All log files can be found below /home/neder/.ros/log/2024-02-21-16-30-53-675871-neder-ThinkCentre-M720q-2506 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [indy_driver.py-1]: process started with pid [2512] [INFO] [robot_state_publisher-2]: process started with pid [2514] [INFO] [move_group-3]: process started with pid [2516] [INFO] [rviz2-4]: process started with pid [2518] [robot_state_publisher-2] [INFO] [1708500654.931976905] [robot_state_publisher]: got segment link0 [robot_state_publisher-2] [INFO] [1708500654.932049426] [robot_state_publisher]: got segment link1 [robot_state_publisher-2] [INFO] [1708500654.932063062] [robot_state_publisher]: got segment link2 [robot_state_publisher-2] [INFO] [1708500654.932071329] [robot_state_publisher]: got segment link3 [robot_state_publisher-2] [INFO] [1708500654.932078565] [robot_state_publisher]: got segment link4 [robot_state_publisher-2] [INFO] [1708500654.932086157] [robot_state_publisher]: got segment link5 [robot_state_publisher-2] [INFO] [1708500654.932093290] [robot_state_publisher]: got segment link6 [robot_state_publisher-2] [INFO] [1708500654.932100393] [robot_state_publisher]: got segment tcp [robot_state_publisher-2] [INFO] [1708500654.932108548] [robot_state_publisher]: got segment world [rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [move_group-3] [WARN] [1708500654.952056231] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-3] [INFO] [1708500654.954565513] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00180761 seconds [move_group-3] [INFO] [1708500654.954612386] [moveit_robot_model.robot_model]: Loading robot model 'indy'... [move_group-3] [INFO] [1708500654.982540021] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-3] [INFO] [1708500654.982754663] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-3] [INFO] [1708500654.983229593] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-3] [INFO] [1708500654.983785225] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-3] [INFO] [1708500654.983801662] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-3] [INFO] [1708500654.984856595] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-3] [INFO] [1708500654.984896604] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-3] [INFO] [1708500654.985345848] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-3] [INFO] [1708500654.985831490] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-3] [WARN] [1708500654.986222046] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-3] [ERROR] [1708500654.986235871] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-3] [INFO] [1708500654.987118580] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-3] [INFO] [1708500655.000120237] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-3] [INFO] [1708500655.002300409] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-3] [INFO] [1708500655.002314250] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-3] [INFO] [1708500655.002319805] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-3] [INFO] [1708500655.002333701] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-3] [INFO] [1708500655.002348632] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.500000 [move_group-3] [INFO] [1708500655.002354916] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-3] [INFO] [1708500655.002366801] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-3] [INFO] [1708500655.002372477] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-3] [INFO] [1708500655.002377674] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-3] [INFO] [1708500655.002389582] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-3] [INFO] [1708500655.002394859] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-3] [INFO] [1708500655.002399079] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-3] [INFO] [1708500655.002402911] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-3] [INFO] [1708500655.002406787] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-3] [INFO] [1708500655.014445354] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller [move_group-3] [INFO] [1708500655.014576154] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500655.014596978] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500655.014854867] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers [move_group-3] [INFO] [1708500655.014869845] [move_group.move_group]: MoveGroup debug mode is ON [move_group-3] [INFO] [1708500655.035194632] [move_group.move_group]: [move_group-3] [move_group-3] **** [move_group-3] MoveGroup using: [move_group-3] - ApplyPlanningSceneService [move_group-3] - ClearOctomapService [move_group-3] - CartesianPathService [move_group-3] - ExecuteTrajectoryAction [move_group-3] - GetPlanningSceneService [move_group-3] - KinematicsService [move_group-3] - MoveAction [move_group-3] - MotionPlanService [move_group-3] - QueryPlannersService [move_group-3] * - StateValidationService [move_group-3] **** [move_group-3] [move_group-3] [INFO] [1708500655.035246174] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-3] [INFO] [1708500655.035255872] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-3] Loading 'move_group/ApplyPlanningSceneService'... [move_group-3] Loading 'move_group/ClearOctomapService'... [move_group-3] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-3] Loading 'move_group/MoveGroupKinematicsService'... [move_group-3] Loading 'move_group/MoveGroupMoveAction'... [move_group-3] Loading 'move_group/MoveGroupPlanService'... [move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-3] Loading 'move_group/MoveGroupStateValidationService'... [move_group-3] [move_group-3] You can start planning now! [move_group-3] [rviz2-4] [INFO] [1708500655.256841950] [rviz2]: Stereo is NOT SUPPORTED [rviz2-4] [INFO] [1708500655.256912626] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-4] [INFO] [1708500655.277423998] [rviz2]: Stereo is NOT SUPPORTED [indy_driver.py-1] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: ReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE is deprecated. Use ReliabilityPolicy.RELIABLE instead. [indy_driver.py-1] warnings.warn( [indy_driver.py-1] Indy connector has been initialised. [indy_driver.py-1] IndyDCP ROBOT IP: 192.168.0.109 [indy_driver.py-1] IndyDCP ROBOT TYPE: indy7 [rviz2-4] 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. [rviz2-4] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [indy_driver.py-1] Connect: Server IP (192.168.0.109) [rviz2-4] [ERROR] [1708500658.406215723] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-4] [INFO] [1708500658.423478093] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-4] [INFO] [1708500658.474558246] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00249705 seconds [rviz2-4] [INFO] [1708500658.474596469] [moveit_robot_model.robot_model]: Loading robot model 'indy'... [rviz2-4] [INFO] [1708500658.530858195] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-4] [INFO] [1708500658.532041216] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-4] [INFO] [1708500658.853011498] [interactive_marker_display_94520854219632]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-4] [INFO] [1708500658.861880671] [moveit_ros_visualization.motion_planning_frame]: group indy_manipulator [rviz2-4] [INFO] [1708500658.861900769] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'indy_manipulator' in namespace '' [rviz2-4] [INFO] [1708500658.870086500] [interactive_marker_display_94520854219632]: Sending request for interactive markers [rviz2-4] [INFO] [1708500658.873803048] [move_group_interface]: Ready to take commands for planning group indy_manipulator. [rviz2-4] [INFO] [1708500658.903311467] [interactive_marker_display_94520854219632]: Service response received for initialization [move_group-3] [INFO] [1708500712.977739907] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-4] [INFO] [1708500712.978345407] [move_group_interface]: Plan and Execute request accepted [move_group-3] [INFO] [1708500713.063110665] [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-3] [INFO] [1708500713.063282005] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-3] [INFO] [1708500713.063307523] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' [move_group-3] [INFO] [1708500713.064534269] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'indy_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-3] [WARN] [1708500713.129118944] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [move_group-3] [INFO] [1708500713.135244525] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500713.135270671] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500713.135337817] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.5 [move_group-3] [INFO] [1708500713.163646722] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-3] [INFO] [1708500713.163709571] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500713.163728732] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1708500713.163889747] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to joint_trajectory_controller [indy_driver.py-1] [INFO] [1708500713.191057863] [indy_driver]: Received goal request :) [move_group-3] [INFO] [1708500713.191620902] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: joint_trajectory_controller started execution [move_group-3] [INFO] [1708500713.191659104] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [indy_driver.py-1] FollowJointTrajectory callback... [indy_driver.py-1] Header check fail (cmdId): Request 90, Response 9999 [indy_driver.py-1] ErrorCode 12: Not matched data size [indy_driver.py-1] Header check fail (cmdId): Request 90, Response 9999 [indy_driver.py-1] ErrorCode 12: Not matched data size [indy_driver.py-1] Header check fail (cmdId): Request 90, Response 9999 [indy_driver.py-1] ErrorCode 12: Not matched data size [indy_driver.py-1] Header check fail (cmdId): Request 94, Response 9999 [indy_driver.py-1] ErrorCode 12: Not matched data size [indy_driver.py-1] [INFO] [1708500713.743210615] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] [INFO] [1708500713.856087751] [indy_driver]: Wait for robot start to move...
...
[indy_driver.py-1] [INFO] [1708500721.618554407] [indy_driver]: Wait for robot start to move... [move_group-3] [WARN] [1708500721.707013551] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out [move_group-3] [ERROR] [1708500721.707098575] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 8.515091 seconds). Stopping trajectory. [move_group-3] [INFO] [1708500721.707149028] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for joint_trajectory_controller [indy_driver.py-1] [INFO] [1708500721.713036984] [indy_driver]: Received cancel request :( [move_group-3] [INFO] [1708500721.713824253] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status TIMED_OUT ... [move_group-3] [INFO] [1708500721.724053030] [moveit_move_group_default_capabilities.move_action_capability]: Timeout reached [rviz2-4] [INFO] [1708500721.726336602] [move_group_interface]: Plan and Execute request aborted [rviz2-4] [ERROR] [1708500721.726565336] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached [indy_driver.py-1] [INFO] [1708500721.728683453] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] [INFO] [1708500721.838703704] [indy_driver]: Wait for robot start to move...
...
[indy_driver.py-1] [INFO] [1708500727.402414671] [indy_driver]: Wait for robot start to move...
[CTRL+C]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[indy_driver.py-1] Traceback (most recent call last): [indy_driver.py-1] File "/home/neder/colcon_ws/install/indy_driver/lib/indy_driver/indy_driver.py", line 252, in
[indy_driver.py-1] main() [indy_driver.py-1] File "/home/neder/colcon_ws/install/indy_driver/lib/indy_driver/indy_driver.py", line 245, in main [indy_driver.py-1] rclpy.spin(indy_driver, executor=executor) [indy_driver.py-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 222, in spin [indy_driver.py-1] executor.spin_once() [indy_driver.py-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 794, in spin_once [indy_driver.py-1] self._spin_once_impl(timeout_sec) [indy_driver.py-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 775, in _spin_once_impl [indy_driver.py-1] handler, entity, node = self.wait_for_ready_callbacks( [indy_driver.py-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [indy_driver.py-1] return next(self._cb_iter) [indy_driver.py-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [indy_driver.py-1] wait_set.wait(timeout_nsec) [indy_driver.py-1] KeyboardInterrupt [rviz2-4] [WARN] [1708500727.458659666] [interactive_marker_display_94520854219632]: Server not available while running, resetting [move_group-3] [INFO] [1708500727.479514543] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp [indy_driver.py-1] [INFO] [1708500727.512646445] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [rviz2-4] [rviz2-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [rviz2-4] This error state is being overwritten: [rviz2-4] [rviz2-4] 'rcl node's context is invalid, at ./src/rcl/node.c:428' [rviz2-4] [rviz2-4] with this new error message: [rviz2-4] [rviz2-4] 'publisher's context is invalid, at ./src/rcl/publisher.c:389' [rviz2-4] [rviz2-4] rcutils_reset_error() should be called after error handling to avoid this. [rviz2-4] <<< [rviz2-4] [INFO] [1708500727.591253111] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [indy_driver.py-1] [INFO] [1708500727.622699095] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [move_group-3] [INFO] [1708500727.694143299] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene. [move_group-3] [INFO] [1708500727.695435479] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor [move_group-3] [INFO] [1708500727.695639257] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [move_group-3] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [move_group-3] at line 127 in ./src/class_loader.cpp [move_group-3] Stack trace (most recent call last): [move_group-3] #16 Object "", at 0xffffffffffffffff, in [move_group-3] #15 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x558b3a767724, in [indy_driver.py-1] [INFO] [1708500727.730864124] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [move_group-3] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fc61be29e3f] [move_group-3] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fc61be29d8f] [move_group-3] #12 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x558b3a76665b, in [move_group-3] #11 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x558b3a768709, in [move_group-3] #10 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.5", at 0x7fc61cafd846, in moveit_cpp::MoveItCpp::~MoveItCpp() [move_group-3] #9 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.5", at 0x7fc61cafb7a9, in [move_group-3] #8 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.5", at 0x7fc61c0d13d5, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager() [move_group-3] #7 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.5", at 0x7fc61c0e3fe9, in [move_group-3] #6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c76066c, in rclcpp::Node::~Node() [move_group-3] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c76060e, in rclcpp::Node::~Node() [move_group-3] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c73bc59, in [move_group-3] #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c769c99, in [move_group-3] #2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c769be0, in rclcpp::node_interfaces::NodeBase::~NodeBase() [move_group-3] #1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c73bc59, in [move_group-3] #0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7fc61c7409d1, in rclcpp::CallbackGroup::~CallbackGroup() [move_group-3] Segmentation fault (Address not mapped to object [0x7fc6142b2798]) [indy_driver.py-1] [INFO] [1708500727.843108013] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 [indy_driver.py-1] [INFO] [1708500727.952360547] [indy_driver]: Wait for robot start to move... [indy_driver.py-1] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring... [indy_driver.py-1] Exception ignored in: <module 'threading' from '/usr/lib/python3.10/threading.py'> [indy_driver.py-1] Traceback (most recent call last): [indy_driver.py-1] File "/usr/lib/python3.10/threading.py", line 1537, in _shutdown [indy_driver.py-1] atexit_call() [indy_driver.py-1] File "/usr/lib/python3.10/concurrent/futures/thread.py", line 31, in _python_exit [indy_driver.py-1] t.join() [indy_driver.py-1] File "/usr/lib/python3.10/threading.py", line 1096, in join [indy_driver.py-1] self._wait_for_tstate_lock() [indy_driver.py-1] File "/usr/lib/python3.10/threading.py", line 1116, in _wait_for_tstate_lock [indy_driver.py-1] if lock.acquire(block, timeout): [indy_driver.py-1] KeyboardInterrupt: [ERROR] [indy_driver.py-1]: process has died [pid 2512, exit code -2, cmd '/home/neder/colcon_ws/install/indy_driver/lib/indy_driver/indy_driver.py --ros-args -r __node:=indy_driver --params-file /tmp/launch_params_epe620ib --params-file /tmp/launch_params_pv1qfi7t --params-file /tmp/launch_params_veivx0u8']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 2514] ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring... [ERROR] [rviz2-4]: process[rviz2-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [move_group-3]: process[move_group-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [rviz2-4]: sending signal 'SIGTERM' to process[rviz2-4] [INFO] [move_group-3]: sending signal 'SIGTERM' to process[move_group-3] [ERROR] [rviz2-4]: process has died [pid 2518, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/neder/colcon_ws/install/indy_moveit/share/indy_moveit/rviz_config/indy_moveit.rviz --ros-args -r __node:=rviz2_moveit --params-file /tmp/launch_params_vjwllmea --params-file /tmp/launch_params_xrsnhpvi --params-file /tmp/launch_params_vxqsixnh --params-file /home/neder/colcon_ws/install/indy_moveit/share/indy_moveit/moveit_config/kinematics.yaml']. [ERROR] [move_group-3]: process has died [pid 2516, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_gnwiolwx --params-file /tmp/launch_params_s5ufvt1n --params-file /home/neder/colcon_ws/install/indy_moveit/share/indy_moveit/moveit_config/kinematics.yaml --params-file /tmp/launch_params_6lrms2hb --params-file /tmp/launch_params_k9e50961 --params-file /tmp/launch_params_obfnhvg3 --params-file /tmp/launch_params_bs_kohm2 --params-file /tmp/launch_params_paaxjf2t']. [move_group-3]
ROS2 Humble 환경에서 Moveit Motion planning이 작동하지 않아 문의드립니다. 로봇은 Indy7, Framework는 2.3.0입니다.
https://github.com/neuromeka-robotics/indy-ros2/assets/4814810/68b5f35c-fdd1-497b-8cde-d6c3135a2924
[Moveit logs]