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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
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robot_state_publisher exit code -15 during launch xarm7 description and Moveit config #50

Closed Royo666 closed 1 month ago

Royo666 commented 8 months ago

Hi,

When I tried to run the package to view the xarm7 description, the error related to robot_state_publisher keeps coming out. Please see the detail in the screenshot below: Screenshot 2023-10-20 14:01:34

I ran the rqt to check if there is any fatal error, but there was not:

Screenshot 2023-10-20 14:05:16

So I tried to run the xarm_moveit_config package to see if there was same issue with call out the robot_state_publisher node. I thought there was the same issue as I had when I tried to call out the description node. Please see the detail below: Screenshot 2023-10-20 14:02:58

Is it due to the ID problem (since I haven't change anything related to ROS Domain)? Or it is something else.

Thank you

Best wishes

Royo666 commented 8 months ago

Sorry for the limited detail description for the issue. Here is the additional description for the issue.

When I tried to run the xarm_description package, the terminal shows:

/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/zo22/.ros/log/2023-10-20-14-24-00-241568-sie187-lap-4519
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'joint_state_publisher' not found, searching: ['/home/zo22/xarm_ws/install/xarm_planner', '/home/zo22/xarm_ws/install/xarm_moveit_servo', '/home/zo22/xarm_ws/install/xarm_moveit_config', '/home/zo22/xarm_ws/install/xarm_gazebo', '/home/zo22/xarm_ws/install/xarm_controller', '/home/zo22/xarm_ws/install/xarm_api', '/home/zo22/xarm_ws/install/xarm_sdk', '/home/zo22/xarm_ws/install/xarm_msgs', '/home/zo22/xarm_ws/install/xarm_description', '/home/zo22/xarm_ws/install/realsense_gazebo_plugin', '/opt/ros/foxy']")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
    raise LookupError(
LookupError: Could not find the resource 'joint_state_publisher' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 6 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
    package_prefix = super().perform(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
    return get_package_prefix(package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'joint_state_publisher' not found, searching: ['/home/zo22/xarm_ws/install/xarm_planner', '/home/zo22/xarm_ws/install/xarm_moveit_servo', '/home/zo22/xarm_ws/install/xarm_moveit_config', '/home/zo22/xarm_ws/install/xarm_gazebo', '/home/zo22/xarm_ws/install/xarm_controller', '/home/zo22/xarm_ws/install/xarm_api', '/home/zo22/xarm_ws/install/xarm_sdk', '/home/zo22/xarm_ws/install/xarm_msgs', '/home/zo22/xarm_ws/install/xarm_description', '/home/zo22/xarm_ws/install/realsense_gazebo_plugin', '/opt/ros/foxy']"
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [robot_state_publisher-1]: process started with pid [4522]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link link_base had 1 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 1 children
[robot_state_publisher-1] Link link6 had 1 children
[robot_state_publisher-1] Link link_eef had 0 children
[robot_state_publisher-1] [INFO] [1697808240.389872953] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1697808240.389972436] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1697808240.389979371] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1697808240.389989920] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1697808240.390000213] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1697808240.390010479] [robot_state_publisher]: got segment link6
[robot_state_publisher-1] [INFO] [1697808240.390019793] [robot_state_publisher]: got segment link_base
[robot_state_publisher-1] [INFO] [1697808240.390028257] [robot_state_publisher]: got segment link_eef
[robot_state_publisher-1] [INFO] [1697808240.390036320] [robot_state_publisher]: got segment world
[ERROR] [robot_state_publisher-1]: process[robot_state_publisher-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [robot_state_publisher-1]: sending signal 'SIGTERM' to process[robot_state_publisher-1]
[ERROR] [robot_state_publisher-1]: process has died [pid 4522, exit code -15, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_lwz0hwdj -r /tf:=tf -r /tf_static:=tf_static'].

I think what happens here is that the robot_state_publisher node is executed, but is crashed for an unknown reason.

Royo666 commented 8 months ago

For the moveit part, the terminal viewing is below:

zo22@sie187-lap:~/xarm_ws$ ros2 launch xarm_moveit_config xarm7_moveit_realmove.launch.py robot_ip:=192.168.1.220
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/zo22/.ros/log/2023-10-20-15-29-27-680797-sie187-lap-6181
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'joint_state_publisher' not found, searching: ['/home/zo22/xarm_ws/install/xarm_planner', '/home/zo22/xarm_ws/install/xarm_moveit_servo', '/home/zo22/xarm_ws/install/xarm_moveit_config', '/home/zo22/xarm_ws/install/xarm_gazebo', '/home/zo22/xarm_ws/install/xarm_controller', '/home/zo22/xarm_ws/install/xarm_api', '/home/zo22/xarm_ws/install/xarm_sdk', '/home/zo22/xarm_ws/install/xarm_msgs', '/home/zo22/xarm_ws/install/xarm_description', '/home/zo22/xarm_ws/install/realsense_gazebo_plugin', '/opt/ros/foxy']")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
    raise LookupError(
LookupError: Could not find the resource 'joint_state_publisher' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 4 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
    package_prefix = super().perform(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
    return get_package_prefix(package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'joint_state_publisher' not found, searching: ['/home/zo22/xarm_ws/install/xarm_planner', '/home/zo22/xarm_ws/install/xarm_moveit_servo', '/home/zo22/xarm_ws/install/xarm_moveit_config', '/home/zo22/xarm_ws/install/xarm_gazebo', '/home/zo22/xarm_ws/install/xarm_controller', '/home/zo22/xarm_ws/install/xarm_api', '/home/zo22/xarm_ws/install/xarm_sdk', '/home/zo22/xarm_ws/install/xarm_msgs', '/home/zo22/xarm_ws/install/xarm_description', '/home/zo22/xarm_ws/install/realsense_gazebo_plugin', '/opt/ros/foxy']"
Task exception was never retrieved
future: <Task finished name='Task-20' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [robot_state_publisher-1]: process started with pid [6188]
[INFO] [rviz2-2]: process started with pid [6190]
[INFO] [static_transform_publisher-3]: process started with pid [6192]
[INFO] [move_group-4]: process started with pid [6194]
[INFO] [static_transform_publisher-3]: sending signal 'SIGINT' to process[static_transform_publisher-3]
[INFO] [rviz2-2]: sending signal 'SIGINT' to process[rviz2-2]
[INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1]
[ERROR] [static_transform_publisher-3]: process has died [pid 6192, exit code -2, cmd '/opt/ros/foxy/lib/tf2_ros/static_transform_publisher 0 0 0 0 0 0 world link_base --ros-args -r __node:=static_transform_publisher --params-file /tmp/launch_params_fkf2x60g'].
[ERROR] [rviz2-2]: process has died [pid 6190, exit code -2, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/zo22/xarm_ws/install/xarm_moveit_config/share/xarm_moveit_config/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_ig_i_m6w --params-file /tmp/launch_params_j0dyuwn2 --params-file /tmp/launch_params_9sr6_s5b -r /tf:=tf -r /tf_static:=tf_static'].
[robot_state_publisher-1] [INFO] [1697812168.101179007] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[robot_state_publisher-1]   what():  failed to create interrupt guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/guard_condition.c:67
[move_group-4] Parsing robot urdf xml string.
[move_group-4] [INFO] [1697812168.130244412] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000639543 seconds
[move_group-4] [INFO] [1697812168.130283404] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'...
[move_group-4] [INFO] [1697812168.130288267] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] Link link_base had 1 children
[move_group-4] Link link1 had 1 children
[move_group-4] Link link2 had 1 children
[move_group-4] Link link3 had 1 children
[move_group-4] Link link4 had 1 children
[move_group-4] Link link5 had 1 children
[move_group-4] Link link6 had 1 children
[move_group-4] Link link7 had 1 children
[move_group-4] Link link_eef had 0 children
[move_group-4] [INFO] [1697812168.253320462] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1697812168.253449159] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1697812168.253815846] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1697812168.253967503] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1697812168.253973798] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1697812168.254050348] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1697812168.254054229] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1697812168.254142555] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1697812168.254238295] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1697812168.254259610] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1697812168.254276172] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1697812168.272874391] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1697812168.283435223] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1697812168.284506620] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1697812168.284514434] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1697812168.284516771] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1697812168.284523639] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1697812168.284530078] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.050000
[move_group-4] [INFO] [1697812168.284556072] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1697812168.284561207] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1697812168.284563579] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1697812168.284569020] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1697812168.284574185] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1697812168.284576929] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1697812168.284578621] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1697812168.284580073] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1697812168.284581483] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ERROR] [robot_state_publisher-1]: process has died [pid 6188, exit code -6, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_coo3o_af -r /tf:=tf -r /tf_static:=tf_static'].
[ERROR] [move_group-4]: process[move_group-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [move_group-4]: sending signal 'SIGTERM' to process[move_group-4]
[ERROR] [move_group-4]: process has died [pid 6194, exit code -15, cmd '/opt/ros/foxy/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_xywfsq0c --params-file /tmp/launch_params_u5ip4w01 --params-file /tmp/launch_params_cuodv8sg --params-file /tmp/launch_params_m22qn7p0 --params-file /tmp/launch_params_k_16o9tb --params-file /tmp/launch_params_zu3x8l_j --params-file /tmp/launch_params_t477oyxr'].
vimior commented 8 months ago

@Royo666 After looking at the terminal output, it seems that the dependency joint_state_publisher is missing. You can try to completely recompile the dependency installation and then use it.