after building finish, how to run?

[cncowboy]

i have builded the project ok,
then i run the command : ros2 launch dual_plan dual_plan.launch.py i got the message blow:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-02-29-08-11-31-047402-yd-MS-7D11-19741 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [dual_plan-1]: process started with pid [19742] [dual_plan-1] [INFO] [1709194291.663714524] [dual_plan_node]: Waiting for action server [dual_plan-1] [ERROR] [1709194301.668119743] [dual_plan_node]: Action server not available after waiting [dual_plan-1] terminate called after throwing an instance of 'std::runtime_error' [dual_plan-1] what(): Action server not available [ERROR] [dual_plan-1]: process has died [pid 19742, exit code -6, cmd '/root/ros2_ws/install/dual_plan/lib/dual_plan/dual_plan --ros-args -r __node:=dual_plan_node --params-file /tmp/launch_params_sgsw7wuc --params-file /root/ros2_ws/install/dual_ur_robotiq_rs_description/share/dual_ur_robotiq_rs_description/moveit2/kinematics.yaml

anything else that i shource run before?

[zitongbai]

sorry for late reply

you should launch bringup.launch.py before launching dual_plan.launch.py. Hope it would help you.

Best regards

[cncowboy]

thank you for your reply！ i installed ur_project_ros2 in ros2 humble release in ubuntu 22.04! then run the command first: ros2 launch dual_plan bringup.launch.py i got the error messages blow every time:

[rviz2-4] [ERROR] [1709633041.732551921] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-4] [WARN] [1709633041.750132599] [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. [spawner-7] [INFO] [1709633042.357298430] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1709633044.368437106] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1709633046.377039859] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-7] [INFO] [1709633048.386941442] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-7] [ERROR] [1709633050.406180354] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner-7]: process has died [pid 31074, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager controller_manager --ros-args'].

please help me! i run demos in ros2-controls-demos, no error occur!

[cncowboy]

才想起咱们都是中国人：），是不是我的环境安装的有问题？我全部用你的名下的依赖包，也安装过，都没搞通。 期待大牛的帮助！

[zitongbai]

哈哈哈确实。

事实上这个问题也一直困扰我，有的时候会出现而有的时候不会出现。你可以看看我这里的尝试解决的记录，https://github.com/zitongbai/ur_project_ros2/issues/1

另外，你上面的输出中显示你重复launch某些节点，你试着把所有的节点都关了再重新launch呢？

BUAA小白哥​ 中国，北京

---

From: cncowboy @.> Sent: Tuesday, March 5, 2024 8:52:22 PM To: zitongbai/ur_project_ros2 @.> Cc: zitong @.>; Comment @.> Subject: Re: [zitongbai/ur_project_ros2] after building finish, how to run? (Issue #4)

才想起咱们都是中国人：），是不是我的环境安装的有问题？我全部用你的名下的依赖包，也安装过，都没搞通。 期待大牛的帮助！

— Reply to this email directly, view it on GitHubhttps://github.com/zitongbai/ur_project_ros2/issues/4#issuecomment-1978712877, or unsubscribehttps://github.com/notifications/unsubscribe-auth/A6VTICS5IZK2FSYWQMIDB3DYWW5YNAVCNFSM6AAAAABD7QXZCCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSNZYG4YTEOBXG4. You are receiving this because you commented.Message ID: @.***>

[zitongbai]

另外你尝试把gazebo的所有模型都下载到本地？可以参考： https://blog.csdn.net/BlacKingZ/article/details/112647264

gazebo有时候也会造成一些奇怪的问题🥲

[cncowboy]

嗯嗯，谢谢回复， 是的，我已经把所有的模型下载到本地了，没有解决！ 你的环境，是docker的吗？可以把你的镜像提交到hub.docker.com上去吗？可能是我安装环境的问题。

[zitongbai]

emmm不太懂docker

[cncowboy]

谢谢！