Moveit trajectory execution doesn't work
Hi everyone,
i created a moveit config for my ur10 with custom gripper. When i launch the demo.launch.py i can plan but not execute trajectories. When i hit execute i get the following in my terminal:
[rviz2-4] [INFO] [1688035966.649349884] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1688035967.649866740] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1688035967.649984408] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1688035967.650092339] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-4] [INFO] [1688035967.653340096] [move_group_interface]: Execute request aborted
[rviz2-4] [ERROR] [1688035967.748292166] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[rviz2-4] [WARN] [1688035968.393292976] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1688035946.111s
Please note that this is not the full terminal printout while running the launch file.(if needed i'd be happy to share the rest)
Help would really be appreciated, because im stuck on that problem for quit a while now and don't know what to do.
EDIT: Here is the output from the log of my gazebo simlation:
ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur10_assembly assembly_sim.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-30-10-28-11-393100-ubuntu-8822
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [8831]
[INFO] [spawner-2]: process started with pid [8833]
[INFO] [spawner-3]: process started with pid [8835]
[INFO] [gzserver-4]: process started with pid [8837]
[INFO] [gzclient-5]: process started with pid [8850]
[INFO] [spawn_entity.py-6]: process started with pid [8852]
[robot_state_publisher-1] [INFO] [1688113693.140210522] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1688113693.140367997] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1688113693.140388396] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1688113693.140399304] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1688113693.140410778] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-1] [INFO] [1688113693.140420650] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-1] [INFO] [1688113693.140430292] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-1] [INFO] [1688113693.140439640] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-1] [INFO] [1688113693.140449041] [robot_state_publisher]: got segment finger2_link
[robot_state_publisher-1] [INFO] [1688113693.140458200] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1688113693.140467452] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1688113693.140477837] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1688113693.140487279] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1688113693.140497253] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1688113693.140507406] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1688113693.140516916] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1688113693.140526629] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1688113693.140536414] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1688113693.140546708] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-6] [INFO] [1688113694.507214089] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1688113694.507690379] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-6] warnings.warn(
[spawn_entity.py-6] [INFO] [1688113694.510178106] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1688113694.523542641] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1688113694.524234070] [spawn_ur]: Waiting for service /spawn_entity
[spawn_entity.py-6] [INFO] [1688113695.531266895] [spawn_ur]: Calling service /spawn_entity
[spawner-2] [INFO] [1688113695.750913121] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1688113695.858239288] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawn_entity.py-6] [INFO] [1688113696.005845860] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur]
[gzserver-4] [INFO] [1688113696.072496842] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-4] [INFO] [1688113696.078867880] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-4] [INFO] [1688113696.079229027] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-4] [INFO] [1688113696.079303080] [gazebo_ros2_control]: Loading parameter files /home/ubuntu/Schreibtisch/ros2_ws/install/ur10_assembly/share/ur10_assembly/config/controllers.yaml
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 8852]
[gzserver-4] [ERROR] [1688113696.584328440] [gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-4] [ERROR] [1688113697.084479661] [gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[gzserver-4] [INFO] [1688113697.298201814] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-4] [INFO] [1688113697.302369135] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-4] [INFO] [1688113697.374676036] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-4] [INFO] [1688113697.374798147] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.374821326] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.374844799] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1688113697.374868432] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.374889173] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.374904205] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.374923091] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375212703] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375252345] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-4] [INFO] [1688113697.375270318] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.375283192] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375297331] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-4] [INFO] [1688113697.375314327] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375331848] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.375344814] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.375359207] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375400563] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375419065] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-4] [INFO] [1688113697.375436799] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.375469978] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375483544] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1688113697.375500664] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375515642] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.375532956] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.375547566] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375580954] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375602914] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-4] [INFO] [1688113697.375618503] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.375632501] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375644085] [gazebo_ros2_control]: found initial value: -1.570000
[gzserver-4] [INFO] [1688113697.375661006] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375674031] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.375687822] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.375702687] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375736229] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375756204] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-4] [INFO] [1688113697.375771278] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.375784081] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375799738] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1688113697.375826621] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375839687] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.375851659] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.375863703] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375889041] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.375906047] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-4] [INFO] [1688113697.375919407] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.375979671] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.375997067] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-4] [INFO] [1688113697.376011345] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.376024900] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.376036949] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.376048930] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.376072999] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.376226112] [resource_manager]: Initialize hardware 'ur'
[gzserver-4] [INFO] [1688113697.376463312] [resource_manager]: Successful initialization of hardware 'ur'
[gzserver-4] [INFO] [1688113697.376683368] [resource_manager]: 'configure' hardware 'ur'
[gzserver-4] [INFO] [1688113697.376700121] [resource_manager]: Successful 'configure' of hardware 'ur'
[gzserver-4] [INFO] [1688113697.376715727] [resource_manager]: 'activate' hardware 'ur'
[gzserver-4] [INFO] [1688113697.376724761] [resource_manager]: Successful 'activate' of hardware 'ur'
[gzserver-4] [INFO] [1688113697.376776537] [gazebo_ros2_control]: Loading joint: driver_finger1_joint
[gzserver-4] [INFO] [1688113697.376810623] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.376823543] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.376838625] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.376866327] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.376879502] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.376891544] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.377002011] [gazebo_ros2_control]: Loading joint: driver_finger2_joint
[gzserver-4] [INFO] [1688113697.377039793] [gazebo_ros2_control]: State:
[gzserver-4] [INFO] [1688113697.377053635] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.377066393] [gazebo_ros2_control]: velocity
[gzserver-4] [INFO] [1688113697.377079507] [gazebo_ros2_control]: effort
[gzserver-4] [INFO] [1688113697.377091553] [gazebo_ros2_control]: Command:
[gzserver-4] [INFO] [1688113697.377103734] [gazebo_ros2_control]: position
[gzserver-4] [INFO] [1688113697.377145929] [resource_manager]: Initialize hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377166454] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377207715] [resource_manager]: 'configure' hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377216944] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377226958] [resource_manager]: 'activate' hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377235116] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[gzserver-4] [INFO] [1688113697.377373632] [gazebo_ros2_control]: Loading controller_manager
[gzserver-4] [WARN] [1688113697.485792178] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1688113697.486050299] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-4] [INFO] [1688113697.787751102] [controller_manager]: Loading controller 'joint_trajectory_controller'
[gzserver-4] [INFO] [1688113697.890677660] [controller_manager]: Setting use_sim_time=True for joint_trajectory_controller to match controller manager (see ros2_control#325 for details)
[gzserver-4] [INFO] [1688113697.906389733] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1688113697.911196016] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[gzserver-4] [INFO] [1688113697.958995885] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[gzserver-4] [INFO] [1688113697.965622789] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[gzserver-4] [INFO] [1688113697.966201542] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-4] [INFO] [1688113697.966271608] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-4] [INFO] [1688113697.966338062] [joint_trajectory_controller]: Using 'splines' interpolation method.
[spawner-2] [INFO] [1688113697.966582905] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-4] [INFO] [1688113697.970033262] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[gzserver-4] [INFO] [1688113697.983751521] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-3] [INFO] [1688113698.012963563] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[gzserver-4] [INFO] [1688113698.049252268] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-4] [INFO] [1688113698.049479887] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-2] [INFO] [1688113698.071677191] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 8835]
[INFO] [spawner-2]: process has finished cleanly [pid 8833]
[INFO] [rviz2-7]: process started with pid [9012]
[rviz2-7] [INFO] [1688113699.241142932] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1688113699.241536962] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-7] [INFO] [1688113699.299017023] [rviz2]: Stereo is NOT SUPPORTED
[gzserver-4] [INFO] [1688113715.317570095] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-4] [ERROR] [1688113715.317744886] [controller_manager]: Controller 'joint_state_broadcaster' can not be configured from 'active' state.
[gzserver-4] [INFO] [1688113715.433955660] [controller_manager]: Loading controller 'gripper_controller'
[gzserver-4] [INFO] [1688113715.473022833] [controller_manager]: Setting use_sim_time=True for gripper_controller to match controller manager (see ros2_control#325 for details)
[gzserver-4] [INFO] [1688113715.575366607] [controller_manager]: Configuring controller 'gripper_controller'
[gzserver-4] [INFO] [1688113715.576287926] [gripper_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-4] [INFO] [1688113715.576859301] [gripper_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-4] [INFO] [1688113715.577415577] [gripper_controller]: Using 'splines' interpolation method.
[gzserver-4] [INFO] [1688113715.579207213] [gripper_controller]: Controller state will be published at 50.00 Hz.
[gzserver-4] [INFO] [1688113715.590820637] [gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-4] [ERROR] [1688113715.653078368] [controller_manager]: Resource conflict for controller 'gripper_controller'. Command interface 'driver_finger1_joint/position' is already claimed.
[gzserver-4] [INFO] [1688113715.664252007] [controller_manager]: Loading controller 'manipulator_controller'
[gzserver-4] [INFO] [1688113715.728746224] [controller_manager]: Setting use_sim_time=True for manipulator_controller to match controller manager (see ros2_control#325 for details)
[gzserver-4] [INFO] [1688113715.761723876] [controller_manager]: Configuring controller 'manipulator_controller'
[gzserver-4] [INFO] [1688113715.761869498] [manipulator_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-4] [INFO] [1688113715.761938255] [manipulator_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-4] [INFO] [1688113715.761964034] [manipulator_controller]: Using 'splines' interpolation method.
[gzserver-4] [INFO] [1688113715.763306944] [manipulator_controller]: Controller state will be published at 50.00 Hz.
[gzserver-4] [INFO] [1688113715.769851822] [manipulator_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-4] [ERROR] [1688113715.821038685] [controller_manager]: Resource conflict for controller 'manipulator_controller'. Command interface 'shoulder_pan_joint/position' is already claimed.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-7] [INFO] [1688113760.098242417] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-1] [INFO] [1688113760.099450824] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 8831]
[INFO] [rviz2-7]: process has finished cleanly [pid 9012]
[ERROR] [gzclient-5]: process has died [pid 8850, exit code -11, cmd 'gzclient'].
[ERROR] [gzserver-4]: process[gzserver-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-4]: sending signal 'SIGTERM' to process[gzserver-4]
[ERROR] [gzserver-4]: process has died [pid 8837, exit code -15, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
And here is the output from the Moveit log:
ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ LC_NUMERIC=en_US.UTF-8 ros2 launch ur10_ass_moveit_config demo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-30-10-28-26-705224-ubuntu-9095
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [9134]
[INFO] [robot_state_publisher-2]: process started with pid [9136]
[INFO] [move_group-3]: process started with pid [9138]
[INFO] [rviz2-4]: process started with pid [9140]
[INFO] [ros2_control_node-5]: process started with pid [9143]
[INFO] [spawner-6]: process started with pid [9155]
[INFO] [spawner-7]: process started with pid [9157]
[INFO] [spawner-8]: process started with pid [9159]
[robot_state_publisher-2] [INFO] [1688113711.813890161] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1688113711.814176930] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1688113711.814223958] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1688113711.814245210] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1688113711.814262314] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-2] [INFO] [1688113711.814274561] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-2] [INFO] [1688113711.814286196] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-2] [INFO] [1688113711.814299366] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-2] [INFO] [1688113711.814311255] [robot_state_publisher]: got segment finger2_link
[robot_state_publisher-2] [INFO] [1688113711.814329451] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1688113711.814352809] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1688113711.814379569] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1688113711.814406674] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1688113711.814433528] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1688113711.814458178] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1688113711.814473626] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1688113711.814501734] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1688113711.814519813] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1688113711.814538724] [robot_state_publisher]: got segment wrist_3_link
[static_transform_publisher-1] [INFO] [1688113714.021572110] [static_transform_publisher0]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'world' to 'base_link_inertia'
[ros2_control_node-5] [INFO] [1688113714.984507992] [resource_manager]: Loading hardware 'ur10_ass'
[ros2_control_node-5] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-5] what(): According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system ur_robot_driver/URPositionHardwareInterface
[ros2_control_node-5] Stack trace (most recent call last):
[ros2_control_node-5] #16 Object "", at 0xffffffffffffffff, in
[ros2_control_node-5] #15 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56483c22dd84, in
[ros2_control_node-5] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f96e1a35e3f]
[ros2_control_node-5] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f96e1a35d8f]
[ros2_control_node-5] #12 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x56483c22d89e, in
[ros2_control_node-5] #11 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f96e20f4c27, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[ros2_control_node-5] #10 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f96e20f3dd7, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-5] #9 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f96e193a207, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
[ros2_control_node-5] #8 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f96e1942856, in
[ros2_control_node-5] #7 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f96e1919858, in
[ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f96e1d02517, in __cxa_throw
[ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f96e1d022b6, in std::terminate()
[ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f96e1d0224b, in
[ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f96e1cf6bbd, in
[ros2_control_node-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x7f96e1a347f2]
[ros2_control_node-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f96e1a4e475]
[ros2_control_node-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f96e1aa2a7c]
[ros2_control_node-5] Aborted (Signal sent by tkill() 9143 999)
[spawner-8] [WARN] [1688113715.208745463] [spawner_joint_state_broadcaster]: Controller already loaded, skipping load_controller
[spawner-8] [ERROR] [1688113715.319903348] [spawner_joint_state_broadcaster]: Failed to configure controller
[move_group-3] [INFO] [1688113715.479929937] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0393942 seconds
[move_group-3] [INFO] [1688113715.480047881] [moveit_robot_model.robot_model]: Loading robot model 'ur10_ass'...
[spawner-7] [INFO] [1688113715.563383108] [spawner_gripper_controller]: Loaded gripper_controller
[spawner-7] [INFO] [1688113715.670334105] [spawner_gripper_controller]: Configured and activated gripper_controller
[move_group-3] [INFO] [1688113715.692500996] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1688113715.692713759] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1688113715.697366241] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1688113715.700000683] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1688113715.700035362] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1688113715.701992443] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1688113715.702041158] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1688113715.703240844] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1688113715.705021701] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1688113715.706199131] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1688113715.706235172] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1688113715.720414132] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[spawner-6] [INFO] [1688113715.735983529] [spawner_manipulator_controller]: Loaded manipulator_controller
[rviz2-4] [INFO] [1688113715.746209755] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1688113715.747452149] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[ERROR] [spawner-8]: process has died [pid 9159, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --ros-args'].
[move_group-3] [INFO] [1688113715.785280882] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1688113715.806608436] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1688113715.807864585] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1688113715.808568407] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1688113715.809460136] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1688113715.810730221] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1688113715.812232225] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1688113715.813723626] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1688113715.814617179] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1688113715.814641578] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1688113715.814650847] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1688113715.814658237] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1688113715.814667315] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1688113715.822613291] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[rviz2-4] [INFO] [1688113715.827796907] [rviz2]: Stereo is NOT SUPPORTED
[move_group-3] [INFO] [1688113715.835828112] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-3] [INFO] [1688113715.842987967] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1688113715.843096284] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1688113715.843109556] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1688113715.843207028] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1688113715.843226525] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1688113715.843238817] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1688113715.843268739] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1688113715.843278273] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1688113715.843287246] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1688113715.843295352] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1688113715.843302661] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1688113715.843310005] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1688113715.845966515] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[spawner-6] [INFO] [1688113715.851840512] [spawner_manipulator_controller]: Configured and activated manipulator_controller
[move_group-3] [INFO] [1688113715.854210699] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [INFO] [1688113715.901175699] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1688113715.910040185] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1688113715.913286608] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1688113715.914252377] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-3] [INFO] [1688113715.916813666] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1688113715.918734137] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1688113715.922132957] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1688113715.923073205] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[INFO] [spawner-7]: process has finished cleanly [pid 9157]
[INFO] [spawner-6]: process has finished cleanly [pid 9155]
[move_group-3] [INFO] [1688113716.163138481] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller
[move_group-3] [INFO] [1688113716.171289984] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for gripper_controller
[move_group-3] [INFO] [1688113716.171519505] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1688113716.171562782] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1688113716.172489974] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1688113716.172516503] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-3] [INFO] [1688113716.209853978] [move_group.move_group]:
[move_group-3]
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using:
[move_group-3] * - ApplyPlanningSceneService
[move_group-3] * - ClearOctomapService
[move_group-3] * - CartesianPathService
[move_group-3] * - ExecuteTrajectoryAction
[move_group-3] * - GetPlanningSceneService
[move_group-3] * - KinematicsService
[move_group-3] * - MoveAction
[move_group-3] * - MotionPlanService
[move_group-3] * - QueryPlannersService
[move_group-3] * - StateValidationService
[move_group-3] ********************************************************
[move_group-3]
[move_group-3] [INFO] [1688113716.210341506] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1688113716.210369125] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3]
[move_group-3] You can start planning now!
[move_group-3]
[ERROR] [ros2_control_node-5]: process has died [pid 9143, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_1zvrjn6u --params-file /home/ubuntu/Schreibtisch/ros2_ws/install/ur10_ass_moveit_config/share/ur10_ass_moveit_config/config/ros2_controllers.yaml'].
[rviz2-4] 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.
[rviz2-4] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-4] [ERROR] [1688113722.897654493] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-4] [INFO] [1688113722.924535256] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-4] [INFO] [1688113723.122013245] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.136347 seconds
[rviz2-4] [INFO] [1688113723.124017980] [moveit_robot_model.robot_model]: Loading robot model 'ur10_ass'...
[rviz2-4] [INFO] [1688113723.301825783] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-4] [INFO] [1688113723.303297689] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-4] [INFO] [1688113723.834994409] [interactive_marker_display_93865520216512]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-4] [INFO] [1688113723.843924750] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-4] [INFO] [1688113723.845423889] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-4] [INFO] [1688113723.866392609] [moveit_ros_visualization.motion_planning_frame]: group gripper
[rviz2-4] [INFO] [1688113723.866439283] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[rviz2-4] [INFO] [1688113723.890752611] [move_group_interface]: Ready to take commands for planning group gripper.
[rviz2-4] [INFO] [1688113723.891829304] [moveit_ros_visualization.motion_planning_frame]: group gripper
[rviz2-4] [INFO] [1688113723.957183725] [interactive_marker_display_93865520216512]: Sending request for interactive markers
[rviz2-4] [INFO] [1688113724.018108293] [interactive_marker_display_93865520216512]: Service response received for initialization
[rviz2-4] [INFO] [1688113739.278094041] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-4] [INFO] [1688113739.278133260] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-4] [INFO] [1688113739.293709244] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-4] [INFO] [1688113743.977395816] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1688113743.980560181] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1688113743.981374356] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-4] [INFO] [1688113743.981346628] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1688113744.981624262] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1688113744.981942324] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-3] [INFO] [1688113744.982002348] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1688113744.982038733] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1688113744.984077829] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [INFO] [1688113745.210272521] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-4] [INFO] [1688113745.212004735] [move_group_interface]: Planning request complete!
[rviz2-4] [INFO] [1688113745.279588408] [move_group_interface]: time taken to generate plan: 0.0455816 seconds
[move_group-3] [INFO] [1688113747.060647027] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1688113747.061003794] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1688113747.061100857] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1688113747.061142097] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1688113747.061412805] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-4] [INFO] [1688113747.062100493] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1688113748.061513344] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-3] Check clock synchronization if your are running ROS across multiple machines!
[move_group-3] [WARN] [1688113748.061552675] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1688113748.061590970] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-4] [INFO] [1688113748.062063393] [move_group_interface]: Execute request aborted
[rviz2-4] [ERROR] [1688113748.062157356] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[rviz2-4] [WARN] [1688113748.709876691] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1688113699.971s
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-3] [INFO] [1688113757.381463497] [rclcpp]: signal_handler(signum=2)
[rviz2-4] [INFO] [1688113757.381499742] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-1] [INFO] [1688113757.381589048] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1688113757.417349146] [rclcpp]: signal_handler(signum=2)
[rviz2-4] [WARN] [1688113757.517636367] [interactive_marker_display_93865520216512]: Server not available while running, resetting
[move_group-3] [INFO] [1688113757.632391028] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-3] [INFO] [1688113757.639332737] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-3] [INFO] [1688113757.652300667] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-3] [INFO] [1688113757.658537654] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [static_transform_publisher-1]: process has finished cleanly [pid 9134]
[move_group-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.
[move_group-3] at line 127 in ./src/class_loader.cpp
[rviz2-4]
[rviz2-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-4] This error state is being overwritten:
[rviz2-4]
[rviz2-4] 'rcl node's context is invalid, at ./src/rcl/node.c:428'
[rviz2-4]
[rviz2-4] with this new error message:
[rviz2-4]
[rviz2-4] 'publisher's context is invalid, at ./src/rcl/publisher.c:389'
[rviz2-4]
[rviz2-4] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-4] <<<
[rviz2-4] [INFO] [1688113757.706055778] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 9136]
[move_group-3] Stack trace (most recent call last):
[move_group-3] #16 Object "", at 0xffffffffffffffff, in
[move_group-3] #15 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55dab97b3784, in _start
[move_group-3] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7ff5e7508e3f]
[move_group-3] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7ff5e7508d8f]
[move_group-3] #12 | Source "./src/move_group.cpp", line 317, in ~shared_ptr
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr.h", line 122, in ~__shared_ptr
[move_group-3] | 120: */
[move_group-3] | 121: template<typename _Tp>
[move_group-3] | > 122: class shared_ptr : public __shared_ptr<_Tp>
[move_group-3] | 123: {
[move_group-3] | 124: template<typename... _Args>
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 1154, in ~__shared_count
[move_group-3] | 1152: __shared_ptr(const __shared_ptr&) noexcept = default;
[move_group-3] | 1153: __shared_ptr& operator=(const __shared_ptr&) noexcept = default;
[move_group-3] | >1154: ~__shared_ptr() = default;
[move_group-3] | 1155:
[move_group-3] | 1156: template<typename _Yp, typename = _Compatible<_Yp>>
[move_group-3] Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 705, in main [0x55dab97b26bb]
[move_group-3] 702: ~__shared_count() noexcept
[move_group-3] 703: {
[move_group-3] 704: if (_M_pi != nullptr)
[move_group-3] > 705: _M_pi->_M_release();
[move_group-3] 706: }
[move_group-3] 707:
[move_group-3] 708: __shared_count(const __shared_count& __r) noexcept
[move_group-3] #11 Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 168, in _M_release [0x55dab97b4769]
[move_group-3] 165: if (__gnu_cxx::__exchange_and_add_dispatch(&_M_use_count, -1) == 1)
[move_group-3] 166: {
[move_group-3] 167: _GLIBCXX_SYNCHRONIZATION_HAPPENS_AFTER(&_M_use_count);
[move_group-3] > 168: _M_dispose();
[move_group-3] 169: // There must be a memory barrier between dispose() and destroy()
[move_group-3] 170: // to ensure that the effects of dispose() are observed in the
[move_group-3] 171: // thread that runs destroy().
[move_group-3] #10 | Source "./moveit_cpp/src/moveit_cpp.cpp", line 90, in ~shared_ptr
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr.h", line 122, in ~__shared_ptr
[move_group-3] | 120: */
[move_group-3] | 121: template<typename _Tp>
[move_group-3] | > 122: class shared_ptr : public __shared_ptr<_Tp>
[move_group-3] | 123: {
[move_group-3] | 124: template<typename... _Args>
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 1154, in ~__shared_count
[move_group-3] | 1152: __shared_ptr(const __shared_ptr&) noexcept = default;
[move_group-3] | 1153: __shared_ptr& operator=(const __shared_ptr&) noexcept = default;
[move_group-3] | >1154: ~__shared_ptr() = default;
[move_group-3] | 1155:
[move_group-3] | 1156: template<typename _Yp, typename = _Compatible<_Yp>>
[move_group-3] Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 705, in ~MoveItCpp [0x7ff5e7e47a46]
[move_group-3] 702: ~__shared_count() noexcept
[move_group-3] 703: {
[move_group-3] 704: if (_M_pi != nullptr)
[move_group-3] > 705: _M_pi->_M_release();
[move_group-3] 706: }
[move_group-3] 707:
[move_group-3] 708: __shared_count(const __shared_count& __r) noexcept
[move_group-3] #9 Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 168, in _M_release [0x7ff5e7e45999]
[move_group-3] 165: if (__gnu_cxx::__exchange_and_add_dispatch(&_M_use_count, -1) == 1)
[move_group-3] 166: {
[move_group-3] 167: _GLIBCXX_SYNCHRONIZATION_HAPPENS_AFTER(&_M_use_count);
[move_group-3] > 168: _M_dispose();
[move_group-3] 169: // There must be a memory barrier between dispose() and destroy()
[move_group-3] 170: // to ensure that the effects of dispose() are observed in the
[move_group-3] 171: // thread that runs destroy().
[ERROR] [rviz2-4]: process has died [pid 9140, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/ubuntu/Schreibtisch/ros2_ws/install/ur10_ass_moveit_config/share/ur10_ass_moveit_config/config/moveit.rviz --ros-args --params-file /tmp/launch_params_vfgu_d3n --params-file /tmp/launch_params_n1cl3wcg'].
[move_group-3] #8 | Source "./trajectory_execution_manager/src/trajectory_execution_manager.cpp", line 82, in ~shared_ptr
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr.h", line 122, in ~__shared_ptr
[move_group-3] | 120: */
[move_group-3] | 121: template<typename _Tp>
[move_group-3] | > 122: class shared_ptr : public __shared_ptr<_Tp>
[move_group-3] | 123: {
[move_group-3] | 124: template<typename... _Args>
[move_group-3] | Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 1154, in ~__shared_count
[move_group-3] | 1152: __shared_ptr(const __shared_ptr&) noexcept = default;
[move_group-3] | 1153: __shared_ptr& operator=(const __shared_ptr&) noexcept = default;
[move_group-3] | >1154: ~__shared_ptr() = default;
[move_group-3] | 1155:
[move_group-3] | 1156: template<typename _Yp, typename = _Compatible<_Yp>>
[move_group-3] Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 705, in ~TrajectoryExecutionManager [0x7ff5e72325b5]
[move_group-3] 702: ~__shared_count() noexcept
[move_group-3] 703: {
[move_group-3] 704: if (_M_pi != nullptr)
[move_group-3] > 705: _M_pi->_M_release();
[move_group-3] 706: }
[move_group-3] 707:
[move_group-3] 708: __shared_count(const __shared_count& __r) noexcept
[move_group-3] #7 Source "/usr/include/c++/11/bits/shared_ptr_base.h", line 168, in _M_release [0x7ff5e72451a9]
[move_group-3] 165: if (__gnu_cxx::__exchange_and_add_dispatch(&_M_use_count, -1) == 1)
[move_group-3] 166: {
[move_group-3] 167: _GLIBCXX_SYNCHRONIZATION_HAPPENS_AFTER(&_M_use_count);
[move_group-3] > 168: _M_dispose();
[move_group-3] 169: // There must be a memory barrier between dispose() and destroy()
[move_group-3] 170: // to ensure that the effects of dispose() are observed in the
[move_group-3] 171: // thread that runs destroy().
[move_group-3] #6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7aadcec, in rclcpp::Node::~Node()
[move_group-3] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7aadcbe, in rclcpp::Node::~Node()
[move_group-3] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7a897c9, in
[move_group-3] #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7ab72d9, in
[move_group-3] #2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7ab7220, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-3] #1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7a897c9, in
[move_group-3] #0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff5e7a8e511, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-3] Segmentation fault (Address not mapped to object [0x7ff5b7ae47a8])
[ERROR] [move_group-3]: process has died [pid 9138, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_9ed2zl5c --params-file /tmp/launch_params_pqry2dbh'].
[move_group-3]
Rqt_graph follows!!!
Asked by Icon45 on 2023-06-29 06:01:25 UTC
Answers
There might be multiple reasons as to why your robot is not moving - it is difficult to say without having further context. But from previous experience with MoveIt2, I would suggest to check on your rqt_graph if you have someone publishing to the joint_states topic.
Something that might happen is that if you are in simulation, there could be a separate UR "emulator" program (Sorry I do not have any experience with URs), which sort of emulate the actual working of the robot controller. This controller typically publishes joint_state messages to the ROS layer, during normal operation. So, without having run this emulator first, it cannot have a feedback of the execute action. I mention this because I remember having this issue on the Doosan robot I worked on. For me, the fix was to start up the Doosan robot emulator, and I would see something being published on the /joint_states topic.
If you are testing directly on the real robot: Maybe check if you can indeed communicate between the robot controller and your computer - they might be on different networks.
Hope this helps.
Asked by sampreets3 on 2023-06-29 10:47:51 UTC
Comments
Hi @sampreets3, first of all thank you for your answer. I'm running a simulation indeed and this simulation publishes joint states, so unfortunatly this doesn't seem to be the issue. The only thing that kind of concerns me is thet all the Nodes and topics launched by moveit seem not to be connected to the ones launched by my simulation.
Asked by Icon45 on 2023-06-30 01:37:24 UTC
That might be an issue, as the move_group_interface node should be talking to /joint_states as far as I remember. Maybe you can step through your code and and find out why move_group_interface cannot see the rest of your systems - have you initialised everything properly? I would also encourage you to put up the full launch log file along with your rqt_graph so that we have a bit more context about what might be causing the issue. There could also be the possibility that something somewhere is dying abruptly, inspecting the logs would reveal that.
Asked by sampreets3 on 2023-06-30 02:55:29 UTC
@ sampreets3 So i've edited my question and provided the log files. The Rqt graph follows. Thanks for your help!
If you want to check out the code you can do so by checking out the Moveit Vizulisation Barnch in this repo https://github.com/Icon45/ROS2_Grasp.gitstrong text
Asked by Icon45 on 2023-06-30 03:57:59 UTC
From what it looks like ( I am not a 100% sure), this might be a problem more on the ros2_controller side of things. If you see this particular line of your log file: Controller 'joint_state_broadcaster' can not be configured from 'active' state., it is saying that the gazebo_ros2_control plugin is not able to configure the joint_state_broadcaster controller. I would advise you to take a look at any files pertaining to ros2_control you might have changed that might cause such an error.
It would make sense that the /joint_states is not being published to since the joint_state_broadcaster is not being able to be configured properly. Maybe try reverting back to a configuration you know that works, and keep doing small increments from there on.
Asked by sampreets3 on 2023-06-30 09:07:30 UTC
Hi @sampreets, reverting back to a configuration that works would have been my first try also, but as this is the initial test after creating the moveit_configuration there is no such thing as a "working state".
If you want to have a look at the rqt graoh y can do so by checking the readmy of my repo: https://github.com/Icon45/ROS2_Grasp/tree/master
Asked by Icon45 on 2023-07-02 02:56:38 UTC
Hey @Icon45, I took a look at your rqt_graph, and it seems to me like there is some problem with your gazebo_ros2_control plugin. You should examine the configuration files to see if you find any fault there. You can refer to those set up by UR's official Github repo, I guess.
Asked by sampreets3 on 2023-07-03 03:13:46 UTC
Hi @sampreets, I checked the ros2-control configuration and it really was the issue. In my original urdf, from which I created the movie config pkg, was a ros2-control tag which messed things up a bit. I deleted it and generated a new movie configuration from the updated urdf. Now the Planning and execution in MoveIt works. My simulation still doesn’t pick up the movement from the moveit execution, but I thing that issue isn’t in the scope of this question anymore. Thank you very much for your time and help!
Asked by Icon45 on 2023-07-04 09:06:41 UTC
Comments