NO PLANNING LIBRARY LOADED and RTPS_MSG_IN Error with ROS HUMBLE and moveit2
Hi
We experienced several issues with using MoveIt after we did an update yesterday (sudo apt update) and we had this error with almost everything we do: RTPS_MSG_IN Problem reserving CacheChange (I don't remember it literally because it's not present now. EDIT: it is back again, see below)
So we decided to uninstall ROS and install again. To test if everything is resolved, we use the demo launch file from MoveIt tutorials package (here), but we get the NO PLANNING LIBRARY LOADED error inside rviz and the robot model is flickering between 2 states (I can't attach pictures to show it, but you can see it here and here). To add more confusion, this behavior is completely gone sometimes; the robot model is loaded successfully and the OMPL is loaded without any problems.
System Information: Ubuntu 22.04.1 jammy 5.15.0-50-generic and ROS2 Humble
ROS was installed according to the instruction here by using sudo apt install ros-humble-desktop-full and then MoveIt2 was installed from source according to the instruction here
EDIT: After I built the UNIVERSALROBOTSROS2DRIVER according to the instructions here, when I do: `ros2 launch urmoveitconfig urmoveit.launch.py urtype:=ur10e launchrviz:=true`, I get the same behaviour and I when I try to click on plan button anyways in rviz, I get the RTPSMSGIN error again as below.
Any help on how to handle this problem is much appreciated
Thanks
mango@mango-fly18:~/pymoveit_ws_new$ ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/mango/.ros/log/2022-10-19-20-41-12-479256-mango-fly18-207698
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [207705]
[INFO] [rviz2-2]: process started with pid [207707]
[INFO] [servo_node_main-3]: process started with pid [207709]
[servo_node_main-3] [WARN] [1666204872.981735407] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [WARN] [1666204872.982403361] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[servo_node_main-3] [INFO] [1666204873.002976412] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.020434 seconds
[servo_node_main-3] [INFO] [1666204873.002998501] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1666204873.003005425] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1666204873.003083304] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0206056 seconds
[move_group-1] [INFO] [1666204873.003098626] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1666204873.003102327] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1666204873.010472833] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[move_group-1] Link base_link had 2 children
[move_group-1] Link base had 0 children
[move_group-1] Link base_link_inertia had 1 children
[move_group-1] Link shoulder_link had 1 children
[move_group-1] Link upper_arm_link had 1 children
[move_group-1] Link forearm_link had 1 children
[move_group-1] Link wrist_1_link had 1 children
[move_group-1] Link wrist_2_link had 1 children
[move_group-1] Link wrist_3_link had 2 children
[move_group-1] Link flange had 1 children
[move_group-1] Link tool0 had 0 children
[move_group-1] Link ft_frame had 0 children
[move_group-1] [INFO] [1666204873.145644184] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1666204873.145764635] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1666204873.146233496] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1666204873.146495164] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1666204873.146507249] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1666204873.146711520] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1666204873.146721255] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1666204873.146942234] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1666204873.147134608] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1666204873.147965329] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1666204873.147979362] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1666204873.151413043] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1666204873.160482328] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[servo_node_main-3] [INFO] [1666204873.162001939] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[move_group-1] [INFO] [1666204873.162701373] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1666204873.162709797] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1666204873.162712397] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1666204873.162720269] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1666204873.162726946] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1666204873.162728895] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1666204873.162734137] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1666204873.162736214] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1666204873.162741490] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1666204873.162746626] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1666204873.162749119] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1666204873.162750531] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1666204873.162751709] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1666204873.162769226] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[servo_node_main-3] [INFO] [1666204873.194333881] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1666204873.194354500] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-3] [INFO] [1666204873.195482475] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-3] [INFO] [1666204873.195795183] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[move_group-1] [INFO] [1666204873.220933150] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1666204873.256121986] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1666204873.256190718] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1666204873.256211289] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1666204873.256462195] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1666204873.256469566] [move_group.move_group]: MoveGroup debug mode is ON
[servo_node_main-3] [WARN] [1666204873.268663620] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1666204873.268679691] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[rviz2-2] [INFO] [1666204873.353950414] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1666204873.353999172] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1666204873.390706402] [rviz2]: Stereo is NOT SUPPORTED
[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/humble/include/class_loader/class_loader/class_loader_core.hpp
[servo_node_main-3] [ERROR] [1666204873.621167770] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204873.764601194] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] * - ApplyPlanningSceneService
[move_group-1] * - ClearOctomapService
[move_group-1] * - CartesianPathService
[move_group-1] * - ExecuteTrajectoryAction
[move_group-1] * - GetPlanningSceneService
[move_group-1] * - KinematicsService
[move_group-1] * - MoveAction
[move_group-1] * - MotionPlanService
[move_group-1] * - QueryPlannersService
[move_group-1] * - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1666204873.764708422] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1666204873.764731384] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]
[move_group-1] [ERROR] [1666204873.922201615] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204874.658487231] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204874.959314896] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204875.659411542] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204875.969968775] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[rviz2-2] [ERROR] [1666204876.495347810] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1666204876.608737193] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1666204876.847637809] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0416573 seconds
[rviz2-2] [INFO] [1666204876.847666028] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1666204876.847677175] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link base_link_inertia had 1 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link flange had 1 children
[rviz2-2] Link tool0 had 0 children
[rviz2-2] Link ft_frame had 0 children
[rviz2-2] [INFO] [1666204877.156643885] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1666204877.157397877] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1666204877.407213946] [interactive_marker_display_94602124071936]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link base_link_inertia had 1 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link flange had 1 children
[rviz2-2] Link tool0 had 0 children
[rviz2-2] Link ft_frame had 0 children
[servo_node_main-3] [ERROR] [1666204877.413380295] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204877.413490521] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[rviz2-2] [INFO] [1666204877.413676715] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1666204877.413692755] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1666204877.422158929] [interactive_marker_display_94602124071936]: Sending request for interactive markers
[rviz2-2] [INFO] [1666204877.455294763] [interactive_marker_display_94602124071936]: Service response received for initialization
[rviz2-2] [INFO] [1666204877.605978800] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[move_group-1] [ERROR] [1666204878.442478539] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204878.442476520] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204879.458070447] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204879.458117269] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204880.471452081] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204880.471493550] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204881.559421062] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204881.559474020] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204882.581362002] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204882.581468416] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204883.673866186] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204883.673940760] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204884.779181642] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204884.779253942] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204885.858557454] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204885.858584137] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204886.959513808] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204886.959537864] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204887.959690654] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204887.959749794] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204888.965246017] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204888.965363142] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204890.059248565] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204890.059368981] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204891.070337981] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204891.070381643] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204892.072703712] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204892.072959374] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204893.158484805] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204893.159452320] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204894.259029091] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204895.259286659] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204896.270039914] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204896.881708821] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204897.403400529] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204897.958931107] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204898.435935803] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204899.077360482] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204899.460750069] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204900.165853528] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204900.477660060] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204901.558574555] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204901.984970808] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204902.574082287] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204903.058472209] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204903.304658608] [moveit_move_group_default_capabilities.plan_service_capability]: Received new planning service request...
[move_group-1] [INFO] [1666204903.305551705] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator[ESTkConfigDefault]' will use planner 'geometric::EST'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1666204903.305929736] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204903.305931315] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204903.306035664] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204903.306035985] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [WARN] [1666204903.316995439] [moveit.ompl_planning.constrained_goal_sampler]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly?
[move_group-1] [ERROR] [1666204903.658805886] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204903.885194090] [moveit_kinematic_constraints.kinematic_constraints]: Constraint violated:: Joint name: 'shoulder_pan_joint', actual value: 3.875808, desired value: 0.000000, tolerance_above: 3.141593, tolerance_below: 3.141593
[move_group-1] [INFO] [1666204903.885207338] [moveit_kinematic_constraints.kinematic_constraints]: Constraint violated:: Joint name: 'shoulder_lift_joint', actual value: 4.040194, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 3.141593
[move_group-1] [INFO] [1666204903.885223714] [moveit_kinematic_constraints.kinematic_constraints]: Constraint violated:: Joint name: 'wrist_1_joint', actual value: -4.990457, desired value: 0.000000, tolerance_above: 0.872665, tolerance_below: 2.443461
[move_group-1] [INFO] [1666204903.885225982] [moveit_kinematic_constraints.kinematic_constraints]: Constraint violated:: Joint name: 'wrist_2_joint', actual value: 4.711524, desired value: 0.000000, tolerance_above: 3.141593, tolerance_below: -0.000000
[move_group-1] [INFO] [1666204903.885227803] [moveit_kinematic_constraints.kinematic_constraints]: Constraint satisfied:: Joint name: 'wrist_3_joint', actual value: 2.305499, desired value: 0.000000, tolerance_above: 3.141593, tolerance_below: 3.141593
[move_group-1] [INFO] [1666204903.885229990] [moveit_kinematic_constraints.kinematic_constraints]: Position constraint satisfied on link 'tool0'. Desired: 0.719000, 0.414000, 0.700000, current: 0.718880, 0.414361, 0.700314
[move_group-1] [INFO] [1666204903.885233104] [moveit_kinematic_constraints.kinematic_constraints]: Differences 0.000119865 -0.000360929 -0.000313974
[move_group-1] [INFO] [1666204903.885238909] [moveit_kinematic_constraints.kinematic_constraints]: Orientation constraint satisfied for link 'tool0'. Quaternion desired: 1.000000 0.000000 0.000000 0.000000, quaternion actual: 1.000000 -0.000244 -0.000408 -0.000214, error: x=0.000429, y=0.000816, z=0.000488, tolerance: x=0.001000, y=0.001000, z=0.001000
[servo_node_main-3] [ERROR] [1666204904.060547413] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204904.061656559] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.062315083] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.062724559] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.063176474] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.072698670] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.072719784] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.075769921] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1666204904.076113304] [moveit.ompl_planning.model_based_planning_context]: ur_manipulator[ESTkConfigDefault]: Allocating specialized state sampler for state space
[move_group-1] [WARN] [1666204904.076648644] [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-1] [ERROR] [1666204904.658973044] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204905.158536297] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204905.661429140] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204906.164034992] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204906.765124788] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204907.196034978] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204907.858021565] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204908.258284606] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204908.887216008] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204909.207926628] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1666204909.208017494] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.002500 m and jump threshold 0.000000 (in global reference frame)
[move_group-1] [INFO] [1666204909.284765616] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 278 points (followed 100.000000% of requested trajectory)
[servo_node_main-3] [ERROR] [1666204909.558834676] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204910.270351894] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204910.665576482] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204911.429745664] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204911.744803088] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204912.458666345] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204912.795726005] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204913.482365972] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204913.821876030] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204914.477850234] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1666204914.477891952] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.002500 m and jump threshold 0.000000 (in global reference frame)
[move_group-1] [INFO] [1666204914.481283414] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 142 points (followed 100.000000% of requested trajectory)
[move_group-1] [ERROR] [1666204914.641568521] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204914.897922345] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204915.671395824] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204915.986911100] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204916.891506244] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204917.107288082] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204917.957915531] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204918.001808171] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1666204918.001870642] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.002500 m and jump threshold 0.000000 (in global reference frame)
[servo_node_main-3] [ERROR] [1666204918.133028090] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204918.256703772] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 301 points (followed 100.000000% of requested trajectory)
[move_group-1] [ERROR] [1666204918.959636069] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204919.159991045] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204920.058720450] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204920.161422354] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204921.059029774] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204921.267925664] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204922.158831053] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204922.361052685] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204922.792265456] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1666204922.792322485] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.002500 m and jump threshold 0.000000 (in global reference frame)
[move_group-1] [INFO] [1666204922.798223101] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 101 points (followed 100.000000% of requested trajectory)
[move_group-1] [ERROR] [1666204923.258595175] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204923.457835174] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204924.361308586] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204924.458913056] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204925.476049140] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204925.476058163] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204926.558195633] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204926.558198704] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [INFO] [1666204926.656368480] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1666204926.656429861] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.002500 m and jump threshold 0.000000 (in global reference frame)
[move_group-1] [INFO] [1666204926.708334312] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 202 points (followed 100.000000% of requested trajectory)
[move_group-1] [ERROR] [1666204927.659562415] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204927.659571870] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204928.758652583] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204928.758675221] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204929.759193923] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204929.759195207] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204930.858842326] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204930.858845192] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204931.958400297] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204931.958431645] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204933.057876815] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204933.057884372] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204934.058004976] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204934.959094602] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204935.058733563] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204936.158686777] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204936.259691123] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[move_group-1] [ERROR] [1666204937.175267139] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
[servo_node_main-3] [ERROR] [1666204937.359428763] [moveit_ros.current_state_monitor]: State monitor received invalid joint state (number of joint names does not match number of positions)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-2] [INFO] [1666204938.035346572] [rclcpp]: signal_handler(signum=2)
[servo_node_main-3] [INFO] [1666204938.035346066] [rclcpp]: signal_handler(signum=2)
[move_group-1] [INFO] [1666204938.035348119] [rclcpp]: signal_handler(signum=2)
[servo_node_main-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.
[servo_node_main-3] at line 127 in ./src/class_loader.cpp
[servo_node_main-3] 2022-10-19 20:42:18.127 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.129 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.131 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.133 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.135 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.137 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.139 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.141 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.143 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.145 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.147 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.149 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.151 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.181 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.183 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.185 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.187 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.189 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.191 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.193 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.195 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.197 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.199 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.201 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.203 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.205 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] 2022-10-19 20:42:18.207 [RTPS_MSG_IN Error] (ID:140602703136320) Problem reserving CacheChange in reader: 01.0f.c8.a9.5d.2b.42.c0.01.00.00.00|0.0.2d.4 -> Function processDataMsg
[servo_node_main-3] [INFO] [1666204938.208107507] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[servo_node_main-3] [INFO] [1666204938.208451647] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.297 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.299 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.301 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.303 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.305 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.307 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.309 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.311 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.313 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.315 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.317 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.319 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.320 [RTPS_MSG_IN Error] (ID:140677032986176) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.321 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.323 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.325 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.327 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.329 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.331 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[rviz2-2] [ERROR] [1666204938.333035836] [moveit_background_processing.background_processing]: Exception caught while processing action 'Frame::changePlanningGroup': std::future_error: Broken promise
[move_group-1] 2022-10-19 20:42:18.333 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.335 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.337 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.339 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.341 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.343 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.345 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.347 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.349 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.351 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] 2022-10-19 20:42:18.353 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] [INFO] [1666204938.353562469] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-1] [INFO] [1666204938.353780990] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] 2022-10-19 20:42:18.355 [RTPS_MSG_IN Error] (ID:140677024540224) Problem reserving CacheChange in reader: 01.0f.c8.a9.59.2b.82.d2.01.00.00.00|0.0.26.4 -> Function processDataMsg
[move_group-1] [INFO] [1666204938.371847803] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1666204938.389477386] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] 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-1] at line 127 in ./src/class_loader.cpp
[rviz2-2] [INFO] [1666204938.436063399] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [servo_node_main-3]: process has finished cleanly [pid 207709]
[INFO] [rviz2-2]: process has finished cleanly [pid 207707]
[INFO] [move_group-1]: process has finished cleanly [pid 207705]
Asked by robra on 2022-10-19 13:13:32 UTC
Comments
I am having the same problem. What did you end up doing?
Asked by RCoverC on 2022-11-08 21:07:50 UTC
We rolled back to ROS1!
Asked by robra on 2022-11-11 06:06:23 UTC
It seems as unsolvable problem for the time being, check this: https://github.com/ros-planning/moveit2_tutorials/issues/536
Asked by robra on 2022-11-11 12:28:59 UTC