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ERROR when trying to open robot model made with moveit in gazebo and rviz

Hello, I am trying to run robot arm model with rviz and gazebo but every time I try to launch it I get this error and I have tried different robot models from other githubs but they show the same error I tried to find a solution but I can't find it. I apologize if the problem may seem simple as I am still new to ros, gazebo and rviz.

This is the github link to the robot: https://github.com/andrewneill/abb_ir...

This is the launch code: roslaunch abbmoveitmobile1 demo_gazebo.launch

This is the following error:

SUMMARY

PARAMETERS * /armcontroller/gains/joint1/d: 1 * /armcontroller/gains/joint1/i: 1 * /armcontroller/gains/joint1/iclamp: 1 * /armcontroller/gains/joint1/p: 100 * /armcontroller/gains/joint2/d: 1 * /armcontroller/gains/joint2/i: 1 * /armcontroller/gains/joint2/iclamp: 1 * /armcontroller/gains/joint2/p: 100 * /armcontroller/gains/joint3/d: 1 * /armcontroller/gains/joint3/i: 1 * /armcontroller/gains/joint3/iclamp: 1 * /armcontroller/gains/joint3/p: 100 * /armcontroller/gains/joint4/d: 1 * /armcontroller/gains/joint4/i: 1 * /armcontroller/gains/joint4/iclamp: 1 * /armcontroller/gains/joint4/p: 100 * /armcontroller/gains/joint5/d: 1 * /armcontroller/gains/joint5/i: 1 * /armcontroller/gains/joint5/iclamp: 1 * /armcontroller/gains/joint5/p: 100 * /armcontroller/gains/joint6/d: 1 * /armcontroller/gains/joint6/i: 1 * /armcontroller/gains/joint6/iclamp: 1 * /armcontroller/gains/joint6/p: 100 * /armcontroller/joints: ['joint1', 'join... * /armcontroller/type: effortcontroller... * /gazebo/enablerosnetwork: True * /jointstatecontroller/publishrate: 50 * /jointstatecontroller/type: jointstatecontr... * /movegroup/allowtrajectoryexecution: True * /movegroup/capabilities: * /movegroup/defaultplanningpipeline: ompl * /movegroup/disablecapabilities: * /movegroup/maxrange: 5.0 * /movegroup/monitordynamics: False * /movegroup/moveitcontrollermanager: moveitroscontro... * /movegroup/moveitmanagecontrollers: True * /movegroup/octomapresolution: 0.025 * /movegroup/planningpipelines/chomp/collisionclearance: 0.2 * /movegroup/planningpipelines/chomp/collisionthreshold: 0.07 * /movegroup/planningpipelines/chomp/enablefailurerecovery: False * /movegroup/planningpipelines/chomp/jigglefraction: 0.05 * /movegroup/planningpipelines/chomp/jointupdatelimit: 0.1 * /movegroup/planningpipelines/chomp/learningrate: 0.01 * /movegroup/planningpipelines/chomp/maxiterations: 200 * /movegroup/planningpipelines/chomp/maxiterationsaftercollisionfree: 5 * /movegroup/planningpipelines/chomp/maxrecoveryattempts: 5 * /movegroup/planningpipelines/chomp/obstaclecostweight: 1.0 * /movegroup/planningpipelines/chomp/planningplugin: chompinterface/C... * /movegroup/planningpipelines/chomp/planningtimelimit: 10.0 * /movegroup/planningpipelines/chomp/pseudoinverseridgefactor: 1e-4 * /movegroup/planningpipelines/chomp/requestadapters: defaultplannerr... * /movegroup/planningpipelines/chomp/ridgefactor: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostacceleration: 1.0 * /movegroup/planningpipelines/chomp/smoothnesscostjerk: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostvelocity: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostweight: 0.1 * /movegroup/planningpipelines/chomp/startstatemaxboundserror: 0.1 * /movegroup/planningpipelines/chomp/usepseudoinverse: False * /movegroup/planningpipelines/chomp/usestochasticdescent: True * /movegroup/planningpipelines/ompl/arm/longestvalidsegmentfraction: 0.005 * /movegroup/planningpipelines/ompl/arm/plannerconfigs: ['AnytimePathShor... * /movegroup/planningpipelines/ompl/arm/projectionevaluator: joints(joint1,jo... * /movegroup/planningpipelines/ompl/grippingtool/plannerconfigs: ['AnytimePathShor... * /movegroup/planningpipelines/ompl/jigglefraction: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/hybridize: True * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/maxhybridpaths: 24 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/numplanners: 4 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/planners: * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/shortcut: True * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/type: geometric::Anytim... * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/balanced: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/cachecc: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/extendedfmt: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/heuristics: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/nearestk: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/numsamples: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/optimality: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/radiusmultiplier: 1.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/type: geometric::BFMT * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/failedexpansionscorefactor: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/type: geometric::BKPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/BiEST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiEST/type: geometric::BiEST * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/costthreshold: 1e300 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/frountiernoderatio: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/frountierthreshold: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/inittemperature: 100 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/tempchangefactor: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/type: geometric::BiTRRT * /movegroup/planningpipelines/ompl/plannerconfigs/EST/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/EST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/EST/type: geometric::EST * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/cachecc: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/extendedfmt: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/heuristics: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/nearestk: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/numsamples: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/radiusmultiplier: 1.1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/type: geometric::FMT * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/failedexpansionscorefactor: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/type: geometric::KPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/type: geometric::LBKPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/epsilon: 0.4 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/type: geometric::LBTRRT * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRM/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRM/type: geometric::LazyPRM * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRMstar/type: geometric::LazyPR... * /movegroup/planningpipelines/ompl/plannerconfigs/PDST/type: geometric::PDST * /movegroup/planningpipelines/ompl/plannerconfigs/PRM/maxnearestneighbors: 10 * /movegroup/planningpipelines/ompl/plannerconfigs/PRM/type: geometric::PRM * /movegroup/planningpipelines/ompl/plannerconfigs/PRMstar/type: geometric::PRMstar * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/type: geometric::ProjEST * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/type: geometric::RRT * /movegroup/planningpipelines/ompl/plannerconfigs/RRTConnect/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTConnect/type: geometric::RRTCon... * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/delaycollisionchecking: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/type: geometric::RRTstar * /movegroup/planningpipelines/ompl/plannerconfigs/SBL/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SBL/type: geometric::SBL * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/densedeltafraction: 0.001 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/maxfailures: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/sparsedeltafraction: 0.25 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/stretchfactor: 3.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/type: geometric::SPARS * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/densedeltafraction: 0.001 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/maxfailures: 5000 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/sparsedeltafraction: 0.25 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/stretchfactor: 3.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/type: geometric::SPARStwo * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/degree: 16 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/estimateddimension: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/maxdegree: 18 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/maxptsperleaf: 6 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/mindegree: 12 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/minvalidpathfraction: 0.2 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/type: geometric::STRIDE * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/useprojecteddistance: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/frountierNodeRatio: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/frountierthreshold: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/inittemperature: 10e-6 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/kconstant: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/maxstatesfailed: 10 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/mintemperature: 10e-10 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/tempchangefactor: 2.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/type: geometric::TRRT * /movegroup/planningpipelines/ompl/planningplugin: omplinterface/OM... * /movegroup/planningpipelines/ompl/requestadapters: defaultplannerr... * /movegroup/planningpipelines/ompl/startstatemaxboundserror: 0.1 * /movegroup/planningpipelines/pilzindustrialmotionplanner/capabilities: pilzindustrialm... * /movegroup/planningpipelines/pilzindustrialmotionplanner/defaultplannerconfig: PTP * /movegroup/planningpipelines/pilzindustrialmotionplanner/planningplugin: pilzindustrialm... * /movegroup/planningpipelines/pilzindustrialmotionplanner/requestadapters: * /movegroup/planningscenemonitor/publishgeometryupdates: True * /movegroup/planningscenemonitor/publishplanningscene: True * /movegroup/planningscenemonitor/publishstateupdates: True * /movegroup/planningscenemonitor/publishtransformsupdates: True * /movegroup/senseforplan/maxsafepathcost: 1 * /movegroup/sensors: [] * /movegroup/trajectoryexecution/allowedexecutiondurationscaling: 1.2 * /movegroup/trajectoryexecution/allowedgoaldurationmargin: 0.5 * /movegroup/trajectoryexecution/allowedstarttolerance: 0.01 * /robotdescription: <?xml version="1.... * /robotdescriptionkinematics/arm/kinematicssolver: kdlkinematicspl... * /robotdescriptionkinematics/arm/kinematicssolversearchresolution: 0.005 * /robotdescriptionkinematics/arm/kinematicssolvertimeout: 0.005 * /robotdescriptionplanning/cartesianlimits/maxrotvel: 1.57 * /robotdescriptionplanning/cartesianlimits/maxtransacc: 2.25 * /robotdescriptionplanning/cartesianlimits/maxtransdec: -5 * /robotdescriptionplanning/cartesianlimits/maxtransvel: 1 * /robotdescriptionplanning/defaultaccelerationscalingfactor: 0.1 * /robotdescriptionplanning/defaultvelocityscalingfactor: 0.1 * /robotdescriptionplanning/jointlimits/joint1/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint1/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint1/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint1/maxvelocity: 3.142 * /robotdescriptionplanning/jointlimits/joint2/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint2/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint2/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint2/maxvelocity: 3.142 * /robotdescriptionplanning/jointlimits/joint3/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint3/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint3/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint3/maxvelocity: 3.142 * /robotdescriptionplanning/jointlimits/joint4/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint4/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint4/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint4/maxvelocity: 5.585 * /robotdescriptionplanning/jointlimits/joint5/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint5/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint5/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint5/maxvelocity: 6.632 * /robotdescriptionplanning/jointlimits/joint6/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint6/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint6/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint6/maxvelocity: 8.029 * /robotdescriptionsemantic: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.15.15 * /usesim_time: True

NODES
/
controllerspawner (controllermanager/spawner)
gazebo (gazeboros/gzserver)
gazebocontrollerspawner (controllermanager/spawner)
gazebogui (gazeboros/gzclient)
movegroup (moveitrosmovegroup/movegroup)
robotstatepublisher (robotstatepublisher/robotstatepublisher)
rvizahmedMacBookPro2364257927351120863355215 (rviz/rviz)
spawngazebomodel (gazeboros/spawn_model)

auto-starting new master
process[master]: started with pid [236433]
ROSMASTERURI=http://localhost:11311

setting /runid to 64318994-bd31-11ed-a4e6-6ff0535576d5
process[rosout-1]: started with pid [236443]
started core service [/rosout]
process[gazebo-2]: started with pid [236450]
process[gazebogui-3]: started with pid [236455]
process[spawngazebomodel-4]: started with pid [236460]
process[controllerspawner-5]: started with pid [236461]
process[gazebocontrollerspawner-6]: started with pid [236462]
process[robotstatepublisher-7]: started with pid [236463]
process[movegroup-8]: started with pid [236464]
process[rvizahmedMacBookPro2364257927351120863355215-9]: started with pid [236465]
[ WARN] [1678225536.452012296]: The root link baselink has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1678225536.752219901]: Loading robot model 'abbirb1600id'...
[ INFO] [1678225536.753695825]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1678225537.055809271]: The root link baselink has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1678225537.320443577]: rviz version 1.14.19
[ INFO] [1678225537.320649498]: compiled against Qt version 5.12.8
[ INFO] [1678225537.320758178]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1678225537.340802063]: Publishing maintained planning scene on 'monitoredplanningscene'
[ INFO] [1678225537.368779325]: Listening to 'jointstates' for joint states
[ INFO] [1678225537.396601786]: Listening to '/attachedcollisionobject' for attached collision objects
[ INFO] [1678225537.396792147]: Starting planning scene monitor
[ INFO] [1678225537.408872373]: Listening to '/planningscene'
[ INFO] [1678225537.409071454]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1678225537.416408270]: Forcing OpenGl version 0.
[ INFO] [1678225537.423943087]: Listening to '/collisionobject'
[ INFO] [1678225537.446301776]: Listening to '/planningsceneworld' for planning scene world geometry
[ INFO] [1678225537.469171467]: Loading planning pipeline 'chomp'
[ INFO] [1678225537.569181529]: Using planning interface 'CHOMP'
[ INFO] [1678225537.579613312]: Param 'defaultworkspacebounds' was not set. Using default value: 10
[ INFO] [1678225537.581262395]: Param 'startstatemaxboundserror' was set to 0.1
[ INFO] [1678225537.581947037]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1678225537.582641838]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1678225537.585299004]: Param 'jigglefraction' was set to 0.05
[ INFO] [1678225537.586761407]: Param 'maxsamplingattempts' was not set. Using default value: 100
[ INFO] [1678225537.588597092]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1678225537.588987692]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1678225537.589247733]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1678225537.589524134]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1678225537.589798374]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1678225537.590057375]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1678225537.590308775]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1678225537.608578136]: Loading planning pipeline 'ompl'
[ INFO] [1678225537.932786854]: Using planning interface 'OMPL'
[ INFO] [1678225537.944242480]: Param 'defaultworkspacebounds' was not set. Using default value: 10
[ INFO] [1678225537.945319242]: Param 'startstatemaxboundserror' was set to 0.1
[ INFO] [1678225537.945881963]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1678225537.946470804]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1678225537.951297415]: Param 'jigglefraction' was set to 0.05
[ INFO] [1678225537.956292186]: Param 'maxsamplingattempts' was not set. Using default value: 100
[ INFO] [1678225537.956531347]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1678225537.956641387]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1678225537.956767507]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1678225537.956869868]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1678225537.956980028]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1678225537.957080708]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1678225537.957181628]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1678225537.957337749]: Loading planning pipeline 'pilzindustrialmotionplanner'
[ INFO] [1678225537.963883243]: Reading limits from namespace /robotdescriptionplanning
[ INFO] [1678225538.062333617]: Available plugins: pilzindustrialmotionplanner::PlanningContextLoaderCIRC pilzindustrialmotionplanner::PlanningContextLoaderLIN pilzindustrialmotionplanner::PlanningContextLoaderPTP
[ INFO] [1678225538.062533378]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderCIRC
[ INFO] [1678225538.065907105]: Registered Algorithm [CIRC]
[ INFO] [1678225538.066248866]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderLIN
[ INFO] [1678225538.068984791]: Registered Algorithm [LIN]
[ INFO] [1678225538.075466925]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderPTP
[ INFO] [1678225538.078384612]: Registered Algorithm [PTP]
[ INFO] [1678225538.088811994]: Using planning interface 'Pilz Industrial Motion Planner'
[ INFO] [1678225538.109704079]: Started moveitroscontrolinterface::MoveItControllerManager for namespace /
[ INFO] [1678225538.133795571]: Trajectory execution is managing controllers
[ INFO] [1678225538.134242332]: MoveGroup debug mode is ON
Loading 'movegroup/ApplyPlanningSceneService'...
Loading 'movegroup/ClearOctomapService'...
Loading 'movegroup/MoveGroupCartesianPathService'...
Loading 'movegroup/MoveGroupExecuteTrajectoryAction'...
[INFO] [1678225538.243117, 0.000000]: Waiting for /clock to be available...
Loading 'movegroup/MoveGroupGetPlanningSceneService'...
Loading 'movegroup/MoveGroupKinematicsService'...
Loading 'movegroup/MoveGroupMoveAction'...
Loading 'movegroup/MoveGroupPickPlaceAction'...
Loading 'movegroup/MoveGroupPlanService'...
Loading 'movegroup/MoveGroupQueryPlannersService'...
Loading 'movegroup/MoveGroupStateValidationService'...
Loading 'pilzindustrialmotionplanner/MoveGroupSequenceAction'...
[ INFO] [1678225538.320213771]: initialize move group sequence action
[ INFO] [1678225538.342630259]: Reading limits from namespace /robotdescriptionplanning
[INFO] [1678225538.366887, 0.000000]: Waiting for /clock to be available...
Loading 'pilzindustrialmotionplanner/MoveGroupSequenceService'...
[ INFO] [1678225538.393011647]: Reading limits from namespace /robotdescription_planning
[ INFO] [1678225538.415434216]:

[ INFO] [1678225538.416458978]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1678225538.416578138]: MoveGroup context initialization complete

You can start planning now!

[INFO] [1678225538.600022, 0.000000]: Loading model XML from ros parameter robotdescription
[INFO] [1678225538.625375, 0.000000]: Waiting for service /gazebo/spawnurdfmodel
[ INFO] [1678225538.752022979]: Stereo is NOT SUPPORTED
[ INFO] [1678225538.752776940]: OpenGL device: llvmpipe (LLVM 12.0.0, 128 bits)
[ INFO] [1678225538.753046661]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1678225539.289446074]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678225539.310224037]: waitForService: Service [/gazebo/setphysicsproperties] has not been advertised, waiting...
[ INFO] [1678225539.563382164]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678225539.566726130]: waitForService: Service [/gazebogui/setphysicsproperties] has not been advertised, waiting...
[ INFO] [1678225540.265867527]: waitForService: Service [/gazebo/setphysicsproperties] is now available.
[ INFO] [1678225540.369327136]: Physics dynamic reconfigure ready.
[INFO] [1678225540.461621, 0.000000]: Calling service /gazebo/spawnurdfmodel

Error [parser.cc:488] parse as old deprecated model file failed.
Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
Error Code 8 Msg: Error reading element (plugin)
Error Code 8 Msg: Error reading element (model)
Error Code 8 Msg: Error reading element (sdf)

I am running: -ROS-Noetic -Ubuntu20.04

Also it should be noted that it works fine if I only use demo.launch but then I wouldn't be able to use gazebo and only rviz

Asked by RegemLUDIUS on 2023-03-07 17:00:39 UTC

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