move real xarm7 dual arm with moveit not work

Hi,

I run a dual xarm7 launch file as below but it outputs an error and moveit doesn't work.

ros2 launch xarm_moveit_config dual_xarm7_moveit_realmove.launch.py robot_ip_1:=192.168.10.220 robot_ip_2:=192.168.10.211 add_gripper_1:=true add_gripper_2:=true

The logs are below.

If anyone knows how to solve this, please tell me, Thank you in advance.

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-29-17-42-04-158774-xarm-dual-ros2-14545 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [14553] [INFO] [rviz2-2]: process started with pid [14555] [INFO] [static_transform_publisher-3]: process started with pid [14557] [INFO] [move_group-4]: process started with pid [14559] [INFO] [joint_state_publisher-5]: process started with pid [14561] [INFO] [ros2_control_node-6]: process started with pid [14563] [INFO] [spawner.py-7]: process started with pid [14565] [INFO] [spawner.py-8]: process started with pid [14567] [static_transform_publisher-3] [INFO] [1669743725.571346982] [static_transform_publisher]: Spinning until killed publishing transform from 'ground' to 'link_base' [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link L_link_base had 1 children [robot_state_publisher-1] Link L_link1 had 1 children [robot_state_publisher-1] Link L_link2 had 1 children [robot_state_publisher-1] Link L_link3 had 1 children [robot_state_publisher-1] Link L_link4 had 1 children [robot_state_publisher-1] Link L_link5 had 1 children [robot_state_publisher-1] Link L_link6 had 1 children [robot_state_publisher-1] Link L_link7 had 1 children [robot_state_publisher-1] Link L_link_eef had 1 children [robot_state_publisher-1] Link L_xarm_gripper_base_link had 5 children [robot_state_publisher-1] Link L_left_outer_knuckle had 1 children [robot_state_publisher-1] Link L_left_finger had 0 children [robot_state_publisher-1] Link L_link_tcp had 0 children [robot_state_publisher-1] Link L_left_inner_knuckle had 0 children [robot_state_publisher-1] Link L_right_inner_knuckle had 0 children [robot_state_publisher-1] Link L_right_outer_knuckle had 1 children [robot_state_publisher-1] Link L_right_finger had 0 children [robot_state_publisher-1] Link R_link_base had 1 children [robot_state_publisher-1] Link R_link1 had 1 children [robot_state_publisher-1] Link R_link2 had 1 children [robot_state_publisher-1] Link R_link3 had 1 children [robot_state_publisher-1] Link R_link4 had 1 children [robot_state_publisher-1] Link R_link5 had 1 children [robot_state_publisher-1] Link R_link6 had 1 children [robot_state_publisher-1] Link R_link7 had 1 children [robot_state_publisher-1] Link R_link_eef had 1 children [robot_state_publisher-1] Link R_xarm_gripper_base_link had 5 children [robot_state_publisher-1] Link R_left_outer_knuckle had 1 children [robot_state_publisher-1] Link R_left_finger had 0 children [robot_state_publisher-1] Link R_link_tcp had 0 children [robot_state_publisher-1] Link R_left_inner_knuckle had 0 children [robot_state_publisher-1] Link R_right_inner_knuckle had 0 children [robot_state_publisher-1] Link R_right_outer_knuckle had 1 children [robot_state_publisher-1] Link R_right_finger had 0 children [robot_state_publisher-1] [INFO] [1669743725.577911461] [robot_state_publisher]: got segment L_left_finger [robot_state_publisher-1] [INFO] [1669743725.578072792] [robot_state_publisher]: got segment L_left_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578089845] [robot_state_publisher]: got segment L_left_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578097805] [robot_state_publisher]: got segment L_link1 [robot_state_publisher-1] [INFO] [1669743725.578105326] [robot_state_publisher]: got segment L_link2 [robot_state_publisher-1] [INFO] [1669743725.578112115] [robot_state_publisher]: got segment L_link3 [robot_state_publisher-1] [INFO] [1669743725.578118464] [robot_state_publisher]: got segment L_link4 [robot_state_publisher-1] [INFO] [1669743725.578125466] [robot_state_publisher]: got segment L_link5 [robot_state_publisher-1] [INFO] [1669743725.578131911] [robot_state_publisher]: got segment L_link6 [robot_state_publisher-1] [INFO] [1669743725.578138055] [robot_state_publisher]: got segment L_link7 [robot_state_publisher-1] [INFO] [1669743725.578144695] [robot_state_publisher]: got segment L_link_base [robot_state_publisher-1] [INFO] [1669743725.578150968] [robot_state_publisher]: got segment L_link_eef [robot_state_publisher-1] [INFO] [1669743725.578157334] [robot_state_publisher]: got segment L_link_tcp [robot_state_publisher-1] [INFO] [1669743725.578163611] [robot_state_publisher]: got segment L_right_finger [robot_state_publisher-1] [INFO] [1669743725.578169866] [robot_state_publisher]: got segment L_right_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578176186] [robot_state_publisher]: got segment L_right_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578182511] [robot_state_publisher]: got segment L_xarm_gripper_base_link [robot_state_publisher-1] [INFO] [1669743725.578189105] [robot_state_publisher]: got segment R_left_finger [robot_state_publisher-1] [INFO] [1669743725.578195625] [robot_state_publisher]: got segment R_left_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578201718] [robot_state_publisher]: got segment R_left_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578208055] [robot_state_publisher]: got segment R_link1 [robot_state_publisher-1] [INFO] [1669743725.578214270] [robot_state_publisher]: got segment R_link2 [robot_state_publisher-1] [INFO] [1669743725.578220784] [robot_state_publisher]: got segment R_link3 [robot_state_publisher-1] [INFO] [1669743725.578227179] [robot_state_publisher]: got segment R_link4 [robot_state_publisher-1] [INFO] [1669743725.578233535] [robot_state_publisher]: got segment R_link5 [robot_state_publisher-1] [INFO] [1669743725.578239668] [robot_state_publisher]: got segment R_link6 [robot_state_publisher-1] [INFO] [1669743725.578246113] [robot_state_publisher]: got segment R_link7 [robot_state_publisher-1] [INFO] [1669743725.578252819] [robot_state_publisher]: got segment R_link_base [robot_state_publisher-1] [INFO] [1669743725.578259471] [robot_state_publisher]: got segment R_link_eef [robot_state_publisher-1] [INFO] [1669743725.578266182] [robot_state_publisher]: got segment R_link_tcp [robot_state_publisher-1] [INFO] [1669743725.578273841] [robot_state_publisher]: got segment R_right_finger [robot_state_publisher-1] [INFO] [1669743725.578281212] [robot_state_publisher]: got segment R_right_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578288700] [robot_state_publisher]: got segment R_right_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578296031] [robot_state_publisher]: got segment R_xarm_gripper_base_link [robot_state_publisher-1] [INFO] [1669743725.578303488] [robot_state_publisher]: got segment ground [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [ros2_control_node-6] [INFO] [1669743725.602242949] [UFACTORY.L_RobotHW]: [192.168.10.220] namespace: / [ros2_control_node-6] [INFO] [1669743725.602286701] [UFACTORY.L_RobotHW]: [192.168.10.220] robot_type: xarm, hw_ns: L_xarm, prefix: L_, report_type: normal [ros2_control_node-6] [INFO] [1669743725.602490659] [UFACTORY.L_RobotHW]: [192.168.10.220] dof: 7, velocity_control: 0, add_gripper: 1, baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] [INFO] [1669743725.602697060] [ufactory_driver]: robot_ip=192.168.10.220, report_type=normal, dof=7 [ros2_control_node-6] [INFO] [1669743725.602753055] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] SDK_VERSION: 1.11.5 [move_group-4] [WARN] [1669743725.632130137] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [move_group-4] [WARN] [1669743725.633080281] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] Parsing robot urdf xml string. [move_group-4] [INFO] [1669743725.642995370] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00514015 seconds [move_group-4] [INFO] [1669743725.643047901] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [move_group-4] [INFO] [1669743725.643058863] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [joint_state_publisher-5] [INFO] [1669743725.828528912] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [move_group-4] Link L_link_base had 1 children [move_group-4] Link L_link1 had 1 children [move_group-4] Link L_link2 had 1 children [move_group-4] Link L_link3 had 1 children [move_group-4] Link L_link4 had 1 children [move_group-4] Link L_link5 had 1 children [move_group-4] Link L_link6 had 1 children [move_group-4] Link L_link7 had 1 children [move_group-4] Link L_link_eef had 1 children [move_group-4] Link L_xarm_gripper_base_link had 5 children [move_group-4] Link L_left_outer_knuckle had 1 children [move_group-4] Link L_left_finger had 0 children [move_group-4] Link L_link_tcp had 0 children [move_group-4] Link L_left_inner_knuckle had 0 children [move_group-4] Link L_right_inner_knuckle had 0 children [move_group-4] Link L_right_outer_knuckle had 1 children [move_group-4] Link L_right_finger had 0 children [move_group-4] Link R_link_base had 1 children [move_group-4] Link R_link1 had 1 children [move_group-4] Link R_link2 had 1 children [move_group-4] Link R_link3 had 1 children [move_group-4] Link R_link4 had 1 children [move_group-4] Link R_link5 had 1 children [move_group-4] Link R_link6 had 1 children [move_group-4] Link R_link7 had 1 children [move_group-4] Link R_link_eef had 1 children [move_group-4] Link R_xarm_gripper_base_link had 5 children [move_group-4] Link R_left_outer_knuckle had 1 children [move_group-4] Link R_left_finger had 0 children [move_group-4] Link R_link_tcp had 0 children [move_group-4] Link R_left_inner_knuckle had 0 children [move_group-4] Link R_right_inner_knuckle had 0 children [move_group-4] Link R_right_outer_knuckle had 1 children [move_group-4] Link R_right_finger had 0 children [move_group-4] Link L_link_base had 1 children [move_group-4] Link L_link1 had 1 children [move_group-4] Link L_link2 had 1 children [move_group-4] Link L_link3 had 1 children [move_group-4] Link L_link4 had 1 children [move_group-4] Link L_link5 had 1 children [move_group-4] Link L_link6 had 1 children [move_group-4] Link L_link7 had 1 children [move_group-4] Link L_link_eef had 1 children [move_group-4] Link L_xarm_gripper_base_link had 5 children [move_group-4] Link L_left_outer_knuckle had 1 children [move_group-4] Link L_left_finger had 0 children [move_group-4] Link L_link_tcp had 0 children [move_group-4] Link L_left_inner_knuckle had 0 children [move_group-4] Link L_right_inner_knuckle had 0 children [move_group-4] Link L_right_outer_knuckle had 1 children [move_group-4] Link L_right_finger had 0 children [move_group-4] Link R_link_base had 1 children [move_group-4] Link R_link1 had 1 children [move_group-4] Link R_link2 had 1 children [move_group-4] Link R_link3 had 1 children [move_group-4] Link R_link4 had 1 children [move_group-4] Link R_link5 had 1 children [move_group-4] Link R_link6 had 1 children [move_group-4] Link R_link7 had 1 children [move_group-4] Link R_link_eef had 1 children [move_group-4] Link R_xarm_gripper_base_link had 5 children [move_group-4] Link R_left_outer_knuckle had 1 children [move_group-4] Link R_left_finger had 0 children [move_group-4] Link R_link_tcp had 0 children [move_group-4] Link R_left_inner_knuckle had 0 children [move_group-4] Link R_right_inner_knuckle had 0 children [move_group-4] Link R_right_outer_knuckle had 1 children [move_group-4] Link R_right_finger had 0 children [move_group-4] [INFO] [1669743726.314985098] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1669743726.315171859] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1669743726.315954330] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1669743726.316704374] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1669743726.316744050] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1669743726.317250915] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1669743726.317284930] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1669743726.317900656] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1669743726.318500195] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1669743726.318590306] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1669743726.318653241] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [rviz2-2] [INFO] [1669743726.613885143] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1669743726.614128765] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1669743726.728280228] [rviz2]: Stereo is NOT SUPPORTED [move_group-4] [INFO] [1669743726.746984704] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-4] [INFO] [1669743726.766930195] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1669743726.768787284] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1669743726.768804063] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1669743726.768807982] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1669743726.768822924] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1669743726.768836808] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000 [move_group-4] [INFO] [1669743726.768841613] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1669743726.768849339] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1669743726.768853408] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1669743726.768861910] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1669743726.768870011] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1669743726.768875031] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1669743726.768877851] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1669743726.768902946] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1669743726.768906174] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [rviz2-2] 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. [rviz2-2] at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp [ros2_control_node-6] [net work] Error: connect, errno=115 [ros2_control_node-6] Error: Tcp control connection failed [ERROR] [ros2_control_node-6]: process has died [pid 14563, exit code -11, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_0e1ry21m --params-file /tmp/launch_params_p04_3u35 --params-file /root/xarm/dev_ws/install/xarm_api/share/xarm_api/config/xarm_params.yaml']. [rviz2-2] [ERROR] [1669743729.856909019] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] Parsing robot urdf xml string. [rviz2-2] [INFO] [1669743729.890238618] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00360062 seconds [rviz2-2] [INFO] [1669743729.890369623] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [rviz2-2] [INFO] [1669743729.890391653] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Parsing robot urdf xml string. [rviz2-2] Parsing robot urdf xml string. [rviz2-2] [INFO] [1669743730.765893434] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00492658 seconds [rviz2-2] [INFO] [1669743730.765941973] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [rviz2-2] [INFO] [1669743730.765948933] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] [INFO] [1669743731.469688344] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-2] [INFO] [1669743731.470696262] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-2] [INFO] [1669743731.543994945] [interactive_marker_display_94420952622864]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-2] [WARN] [1669743731.620012587] [moveit_robot_model.joint_model_group]: comparing input tip: L_link_tcp to this groups tip: L_link_tcp [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] [WARN] [1669743731.621582525] [moveit_robot_model.joint_model_group]: comparing input tip: L_link_tcp to this groups tip: L_link_tcp [rviz2-2] [INFO] [1669743731.654774337] [interactive_marker_display_94420952622864]: Sending request for interactive markers [rviz2-2] [INFO] [1669743731.687499725] [interactive_marker_display_94420952622864]: Service response received for initialization [move_group-4] [WARN] [1669743731.839111763] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for R_xarm7_traj_controller/follow_joint_trajectory to come up [spawner.py-7] Traceback (most recent call last): [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module> [spawner.py-7] sys.exit(main()) [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main [spawner.py-7] if is_controller_loaded(node, controller_manager_name, controller_name): [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded [spawner.py-7] controllers = list_controllers(node, controller_manager).controller [spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers [spawner.py-7] return service_caller(node, f'{controller_manager_name}/list_controllers', [spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 29, in service_caller [spawner.py-7] raise RuntimeError(f'Could not contact service {service_name}') [spawner.py-7] RuntimeError: Could not contact service /controller_manager/list_controllers [spawner.py-8] Traceback (most recent call last): [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module> [spawner.py-8] sys.exit(main()) [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main [spawner.py-8] if is_controller_loaded(node, controller_manager_name, controller_name): [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded [spawner.py-8] controllers = list_controllers(node, controller_manager).controller [spawner.py-8] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers [spawner.py-8] return service_caller(node, f'{controller_manager_name}/list_controllers', [spawner.py-8] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 29, in service_caller [spawner.py-8] raise RuntimeError(f'Could not contact service {service_name}') [spawner.py-8] RuntimeError: Could not contact service /controller_manager/list_controllers [ERROR] [spawner.py-7]: process has died [pid 14565, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py L_xarm7_traj_controller --controller-manager /controller_manager --ros-args']. [ERROR] [spawner.py-8]: process has died [pid 14567, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py R_xarm7_traj_controller --controller-manager /controller_manager --ros-args']. [rviz2-2] [INFO] [1669743736.627613731] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-2] [INFO] [1669743736.627750365] [moveit_ros_visualization.motion_planning_frame]: group L_xarm7 [rviz2-2] [INFO] [1669743736.627764610] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'L_xarm7' in namespace '' [rviz2-2] [WARN] [1669743736.628034854] [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. [rviz2-2] [INFO] [1669743736.648623139] [move_group_interface]: Ready to take commands for planning group L_xarm7. [rviz2-2] [INFO] [1669743736.648716265] [move_group_interface]: Looking around: no [rviz2-2] [INFO] [1669743736.648744261] [move_group_interface]: Replanning: no [move_group-4] [WARN] [1669743736.839312525] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for R_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [ERROR] [1669743741.839599242] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: R_xarm7_traj_controller/follow_joint_trajectory [move_group-4] [WARN] [1669743746.845328940] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for R_xarm_gripper/gripper_action to come up [move_group-4] [WARN] [1669743751.845514790] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for R_xarm_gripper/gripper_action to come up [move_group-4] [ERROR] [1669743756.845785760] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: R_xarm_gripper/gripper_action [move_group-4] [WARN] [1669743761.853828764] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for L_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [WARN] [1669743766.854052921] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for L_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [ERROR] [1669743771.854291401] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: L_xarm7_traj_controller/follow_joint_trajectory [move_group-4] [WARN] [1669743776.859157119] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for L_xarm_gripper/gripper_action to come up [move_group-4] [WARN] [1669743781.859332223] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for L_xarm_gripper/gripper_action to come up [move_group-4] [ERROR] [1669743786.859528720] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: L_xarm_gripper/gripper_action [move_group-4] [INFO] [1669743786.862546461] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list [move_group-4] [INFO] [1669743786.863577830] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1669743786.863763329] [move_group.move_group]: MoveGroup debug mode is ON [move_group-4] [INFO] [1669743786.887752956] [move_group.move_group]: [move_group-4] [move_group-4] ******************************************************** [move_group-4] * MoveGroup using: [move_group-4] * - ApplyPlanningSceneService [move_group-4] * - ClearOctomapService [move_group-4] * - CartesianPathService [move_group-4] * - ExecuteTrajectoryAction [move_group-4] * - GetPlanningSceneService [move_group-4] * - KinematicsService [move_group-4] * - MoveAction [move_group-4] * - MotionPlanService [move_group-4] * - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] ******************************************************** [move_group-4] [move_group-4] [INFO] [1669743786.887832844] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1669743786.887851477] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4] Screenshot from 2022-11-30 02-45-56

xArm-Developer / xarm_ros2

move real xarm7 dual arm with moveit not work #19