os: ubuntu 22.04 ros: ros2 humble

logs: [INFO] [launch]: All log files can be found below /home/suleyman/.ros/log/2023-07-25-16-25-13-460215-air-106413 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [106414] [INFO] [statictransformpublisher-2]: process started with pid [106416] [INFO] [robotstatepublisher-3]: process started with pid [106418] [INFO] [movegroup-4]: process started with pid [106420] [INFO] [ros2controlnode-5]: process started with pid [106422] [INFO] [spawner-6]: process started with pid [106434] [INFO] [spawner-7]: process started with pid [106443] [INFO] [spawner-8]: process started with pid [106446] [rviz2-1] Warning: Ignoring XDGSESSIONTYPE=wayland on Gnome. Use QTQPAPLATFORM=wayland to run on Wayland anyway. [statictransformpublisher-2] [WARN] [1690291514.137547662] []: Old-style arguments are deprecated; see --help for new-style arguments [statictransformpublisher-2] [INFO] [1690291514.146734144] [statictransformpublisher]: Spinning until stopped - publishing transform [statictransformpublisher-2] translation: ('0.000000', '0.000000', '0.000000') [statictransformpublisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [statictransformpublisher-2] from 'world' to 'pandalink0' [robotstatepublisher-3] [WARN] [1690291514.194201034] [kdlparser]: The root link pandalink0 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. [robotstatepublisher-3] [INFO] [1690291514.194372937] [robotstatepublisher]: got segment pandahand [robotstatepublisher-3] [INFO] [1690291514.194453767] [robotstatepublisher]: got segment pandaleftfinger [robotstatepublisher-3] [INFO] [1690291514.194474604] [robotstatepublisher]: got segment pandalink0 [robotstatepublisher-3] [INFO] [1690291514.194488436] [robotstatepublisher]: got segment pandalink1 [robotstatepublisher-3] [INFO] [1690291514.194500191] [robotstatepublisher]: got segment pandalink2 [robotstatepublisher-3] [INFO] [1690291514.194512227] [robotstatepublisher]: got segment pandalink3 [robotstatepublisher-3] [INFO] [1690291514.194523970] [robotstatepublisher]: got segment pandalink4 [robotstatepublisher-3] [INFO] [1690291514.194535870] [robotstatepublisher]: got segment pandalink5 [robotstatepublisher-3] [INFO] [1690291514.194547852] [robotstatepublisher]: got segment pandalink6 [robotstatepublisher-3] [INFO] [1690291514.194559386] [robotstatepublisher]: got segment pandalink7 [robotstatepublisher-3] [INFO] [1690291514.194571843] [robotstatepublisher]: got segment pandalink8 [robotstatepublisher-3] [INFO] [1690291514.194583612] [robotstatepublisher]: got segment pandarightfinger [ros2controlnode-5] [INFO] [1690291514.246180563] [resourcemanager]: Loading hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247469101] [resource_manager]: Initialize hardware 'PandaFakeSystem' [ros2controlnode-5] [WARN] [1690291514.247536728] [mockgenericsystem]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2control.xacro. For example: [ros2controlnode-5] [ros2controlnode-5] 0.0 [ros2controlnode-5] [ros2controlnode-5] [INFO] [1690291514.247561784] [resourcemanager]: Successful initialization of hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247600832] [resource_manager]: Loading hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247624799] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247648987] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247729687] [resource_manager]: 'configure' hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247745297] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247761103] [resource_manager]: 'activate' hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247771577] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247780142] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247788452] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247796912] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.247805115] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem' [ros2controlnode-5] [INFO] [1690291514.271724925] [controller_manager]: update rate is 100 Hz [ros2controlnode-5] [INFO] [1690291514.278015500] [controller_manager]: RT kernel is recommended for better performance [movegroup-4] [INFO] [1690291514.353884210] [moveitrdfloader.rdfloader]: Loaded robot model in 0.0086544 seconds [movegroup-4] [INFO] [1690291514.354026069] [moveitrobotmodel.robotmodel]: Loading robot model 'panda'... [movegroup-4] [WARN] [1690291514.402040867] [kdlparser]: The root link pandalink0 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. [movegroup-4] [INFO] [1690291514.402286989] [moveitkinematicsbase.kinematicsbase]: Joint weights for group 'pandaarm': 1 1 1 1 1 1 1 [movegroup-4] [INFO] [1690291514.451287336] [moveitros.planningscenemonitor.planningscenemonitor]: Publishing maintained planning scene on 'monitoredplanningscene' [movegroup-4] [INFO] [1690291514.451574742] [moveit.rosplanninginterface.moveitcpp]: Listening to 'jointstates' for joint states [movegroup-4] [INFO] [1690291514.454134079] [moveitros.currentstatemonitor]: Listening to joint states on topic 'jointstates' [movegroup-4] [INFO] [1690291514.455412548] [moveitros.planningscenemonitor.planningscenemonitor]: Listening to '/attachedcollisionobject' for attached collision objects [movegroup-4] [INFO] [1690291514.455452648] [moveitros.planningscenemonitor.planningscenemonitor]: Starting planning scene monitor [movegroup-4] [INFO] [1690291514.457751161] [moveitros.planningscenemonitor.planningscenemonitor]: Listening to '/planningscene' [movegroup-4] [INFO] [1690291514.457793268] [moveitros.planningscenemonitor.planningscenemonitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [movegroup-4] [INFO] [1690291514.458743864] [moveitros.planningscenemonitor.planningscenemonitor]: Listening to 'collisionobject' [movegroup-4] [INFO] [1690291514.459792286] [moveitros.planningscenemonitor.planningscenemonitor]: Listening to 'planningsceneworld' for planning scene world geometry [movegroup-4] [WARN] [1690291514.461611162] [moveit.ros.occupancymapmonitor.middlewarehandle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [movegroup-4] [ERROR] [1690291514.461652276] [moveit.ros.occupancymapmonitor.middlewarehandle]: No 3D sensor plugin(s) defined for octomap updates [movegroup-4] [INFO] [1690291514.515001807] [moveit.rosplanning.planning_pipeline]: Using planning interface 'OMPL' [movegroup-4] [INFO] [1690291514.527687586] [moveitros.addtimeoptimal_parameterization]: Param 'ompl.pathtolerance' was not set. Using default value: 0.100000 [movegroup-4] [INFO] [1690291514.527738510] [moveitros.addtimeoptimalparameterization]: Param 'ompl.resampledt' was not set. Using default value: 0.100000 [movegroup-4] [INFO] [1690291514.527753586] [moveitros.addtimeoptimalparameterization]: Param 'ompl.minanglechange' was not set. Using default value: 0.001000 [movegroup-4] [INFO] [1690291514.527815361] [moveitros.fixworkspacebounds]: Param 'ompl.defaultworkspacebounds' was not set. Using default value: 10.000000 [movegroup-4] [INFO] [1690291514.527850369] [moveitros.fixstartstate_bounds]: Param 'ompl.startstatemaxboundserror' was set to 0.100000 [movegroup-4] [INFO] [1690291514.527862374] [moveitros.fixstartstate_bounds]: Param 'ompl.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.527887984] [moveitros.fixstartstatecollision]: Param 'ompl.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.527899245] [moveitros.fixstartstatecollision]: Param 'ompl.jigglefraction' was not set. Using default value: 0.020000 [movegroup-4] [INFO] [1690291514.527939551] [moveitros.fixstartstatecollision]: Param 'ompl.maxsamplingattempts' was not set. Using default value: 100 [movegroup-4] [INFO] [1690291514.527965883] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [movegroup-4] [INFO] [1690291514.527991140] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [movegroup-4] [INFO] [1690291514.527999674] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [movegroup-4] [INFO] [1690291514.528005716] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [movegroup-4] [INFO] [1690291514.528012174] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [movegroup-4] [INFO] [1690291514.528069471] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [movegroup-4] [INFO] [1690291514.548688587] [moveit.rosplanning.planning_pipeline]: Using planning interface 'CHOMP' [movegroup-4] Stack trace (most recent call last) in thread 106476: [movegroup-4] [INFO] [1690291514.559692438] [moveitros.addtimeoptimalparameterization]: Param 'chomp.pathtolerance' was not set. Using default value: 0.100000 [movegroup-4] [INFO] [1690291514.559728249] [moveitros.addtimeoptimalparameterization]: Param 'chomp.resampledt' was not set. Using default value: 0.100000 [movegroup-4] [INFO] [1690291514.559740870] [moveitros.addtimeoptimalparameterization]: Param 'chomp.minanglechange' was not set. Using default value: 0.001000 [movegroup-4] [INFO] [1690291514.559771160] [moveitros.fixworkspacebounds]: Param 'chomp.defaultworkspacebounds' was not set. Using default value: 10.000000 [movegroup-4] [INFO] [1690291514.559798634] [moveitros.fixstartstate_bounds]: Param 'chomp.startstatemaxboundserror' was set to 0.100000 [movegroup-4] [INFO] [1690291514.559811073] [moveitros.fixstartstate_bounds]: Param 'chomp.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.559833488] [moveitros.fixstartstatecollision]: Param 'chomp.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.559843475] [moveitros.fixstartstatecollision]: Param 'chomp.jigglefraction' was not set. Using default value: 0.020000 [movegroup-4] [INFO] [1690291514.559853858] [moveitros.fixstartstatecollision]: Param 'chomp.maxsamplingattempts' was not set. Using default value: 100 [movegroup-4] [INFO] [1690291514.559874846] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [movegroup-4] [INFO] [1690291514.559883989] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [movegroup-4] [INFO] [1690291514.559890925] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [movegroup-4] [INFO] [1690291514.559897547] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [movegroup-4] [INFO] [1690291514.559904093] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [movegroup-4] [INFO] [1690291514.573936544] [moveit.pilzindustrialmotionplanner.jointlimitsaggregator]: Reading limits from namespace robotdescriptionplanning [movegroup-4] [WARN] [1690291514.579812941] [moveit.pilzindustrialmotionplanner.jointlimitsaggregator]: Multi-DOF-Joint 'virtualjoint' not supported. [movegroup-4] [WARN] [1690291514.579876854] [moveit.pilzindustrialmotionplanner.jointlimitsaggregator]: Multi-DOF-Joint 'virtualjoint' not supported. [movegroup-4] [INFO] [1690291514.600659191] [moveit.pilzindustrialmotionplanner]: Available plugins: pilzindustrialmotionplanner/PlanningContextLoaderCIRC pilzindustrialmotionplanner/PlanningContextLoaderLIN pilzindustrialmotionplanner/PlanningContextLoaderPTP [movegroup-4] [INFO] [1690291514.600722595] [moveit.pilzindustrialmotionplanner]: About to load: pilzindustrialmotionplanner/PlanningContextLoaderCIRC [movegroup-4] [INFO] [1690291514.608612701] [moveit.pilzindustrialmotionplanner]: Registered Algorithm [CIRC] [move_group-4] [INFO] [1690291514.608665969] [moveit.pilzindustrialmotionplanner]: About to load: pilzindustrialmotionplanner/PlanningContextLoaderLIN [movegroup-4] [INFO] [1690291514.611788910] [moveit.pilzindustrialmotionplanner]: Registered Algorithm [LIN] [move_group-4] [INFO] [1690291514.611846085] [moveit.pilzindustrialmotionplanner]: About to load: pilzindustrialmotionplanner/PlanningContextLoaderPTP [movegroup-4] [INFO] [1690291514.613890169] [moveit.pilzindustrialmotionplanner]: Registered Algorithm [PTP] [move_group-4] [INFO] [1690291514.613950011] [moveit.rosplanning.planningpipeline]: Using planning interface 'Pilz Industrial Motion Planner' [movegroup-4] [INFO] [1690291514.623541765] [moveitros.fixworkspacebounds]: Param 'pilzindustrialmotionplanner.defaultworkspacebounds' was not set. Using default value: 10.000000 [movegroup-4] [INFO] [1690291514.623615585] [moveitros.fixstartstatebounds]: Param 'pilzindustrialmotionplanner.startstatemaxboundserror' was not set. Using default value: 0.050000 [movegroup-4] [INFO] [1690291514.623674802] [moveitros.fixstartstatebounds]: Param 'pilzindustrialmotionplanner.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.623710200] [moveitros.fixstartstate_collision]: Param 'pilzindustrialmotionplanner.startstatemaxdt' was not set. Using default value: 0.500000 [movegroup-4] [INFO] [1690291514.623721737] [moveitros.fixstartstate_collision]: Param 'pilzindustrialmotionplanner.jigglefraction' was not set. Using default value: 0.020000 [movegroup-4] [INFO] [1690291514.623733109] [moveitros.fixstartstate_collision]: Param 'pilzindustrialmotionplanner.maxsamplingattempts' was not set. Using default value: 100 [movegroup-4] [INFO] [1690291514.623760481] [moveit.rosplanning.planningpipeline]: Using planning request adapter 'Fix Workspace Bounds' [movegroup-4] [INFO] [1690291514.623771681] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [movegroup-4] [INFO] [1690291514.623778325] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [movegroup-4] [INFO] [1690291514.623784607] [moveit.rosplanning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [movegroup-4] #10 Object "/usr/lib/x8664-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in [movegroup-4] [INFO] [1690291514.750631667] [moveit.plugins.moveitsimplecontrollermanager]: Added FollowJointTrajectory controller for pandaarmcontroller [movegroup-4] [INFO] [1690291514.750764369] [moveit.plugins.moveitsimplecontrollermanager]: Max effort set to 0.0 [movegroup-4] [INFO] [1690291514.763813950] [moveit.plugins.moveitsimplecontrollermanager]: Added GripperCommand controller for pandahandcontroller [movegroup-4] [INFO] [1690291514.777663816] [moveit.plugins.moveitsimplecontrollermanager]: Returned 2 controllers in list [movegroup-4] [INFO] [1690291514.778826581] [moveit.plugins.moveitsimplecontrollermanager]: Returned 2 controllers in list [movegroup-4] [INFO] [1690291514.780420423] [moveitros.trajectoryexecutionmanager]: Trajectory execution is managing controllers [movegroup-4] [INFO] [1690291514.781581191] [movegroup.move_group]: MoveGroup debug mode is ON [movegroup-4] #9 Source "../sysdeps/unix/sysv/linux/x8664/clone3.S", line 81, in _clone3 [0x7f450db269ff] [movegroup-4] #8 Source "./nptl/pthreadcreate.c", line 442, in startthread [0x7f450da94b42] [move_group-4] #7 Object "/usr/lib/x8664-linux-gnu/libstdc++.so.6.0.30", at 0x7f450dedc2b2, in [movegroup-4] #6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f450e2db6cf, in rclcpp::executors::SingleThreadedExecutor::spin() [movegroup-4] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f450e2d3e3e, in rclcpp::Executor::executeanyexecutable(rclcpp::AnyExecutable&) [movegroup-4] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f450e2d363b, in rclcpp::Executor::executesubscription(std::sharedptrrclcpp::SubscriptionBase) [movegroup-4] #3 Object "/home/suleyman/wsmoveit2/install/moveitrosplanning/lib/libmoveitplanningscenemonitor.so.2.7.4", at 0x7f450e604f24, in rclcpp::Subscription >, std::allocator, tf2msgs::msg::TFMessagestd::allocator<void >, tf2msgs::msg::TFMessagestd::allocator<void >, rclcpp::messagememorystrategy::MessageMemoryStrategy >, std::allocator > >::handlemessage(std::sharedptr&, rclcpp::MessageInfo const&) [movegroup-4] #2 Object "/home/suleyman/wsmoveit2/install/moveitrosplanning/lib/libmoveitplanningscenemonitor.so.2.7.4", at 0x7f450e5f5611, in std::detail::variant::genvtableimpl<std::detail::variant::Multiarray<std::detail::variant::deducevisitresult (*)(rclcpp::AnySubscriptionCallback<tf2msgs::msg::TFMessagestd::allocator<void >, std::allocator >::dispatch(std::sharedptr > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant > const&)>, std::function > const&, rclcpp::MessageInfo const&)>, std::function, std::function, std::function >, std::defaultdelete<tf2msgs::msg::TFMessagestd::allocator<void > > >)>, std::function<void (std::uniqueptr >, std::defaultdelete<tf2msgs::msg::TFMessagestd::allocator<void > > >, rclcpp::MessageInfo const&)>, std::function<void (std::uniqueptr >)>, std::function >, rclcpp::MessageInfo const&)>, std::function > const>)>, std::function > const>, rclcpp::MessageInfo const&)>, std::function)>, std::function, rclcpp::MessageInfo const&)>, std::function > const> const&)>, std::function > const> const&, rclcpp::MessageInfo const&)>, std::function const&)>, std::function const&, rclcpp::MessageInfo const&)>, std::function > >)>, std::function > >, rclcpp::MessageInfo const&)>, std::function)>, std::function, rclcpp::MessageInfo const&)> >&)>, std::integersequence >::visitinvoke(rclcpp::AnySubscriptionCallback >, std::allocator >::dispatch(std::sharedptr<tf2msgs::msg::TFMessagestd::allocator<void > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (tf2msgs::msg::TFMessagestd::allocator<void > const&)>, std::function<void (tf2msgs::msg::TFMessagestd::allocator<void > const&, rclcpp::MessageInfo const&)>, std::function, std::function, std::function<void (std::uniqueptr >, std::defaultdelete<tf2msgs::msg::TFMessagestd::allocator<void > > >)>, std::function<void (std::uniqueptr >, std::defaultdelete<tf2msgs::msg::TFMessagestd::allocator<void > > >, rclcpp::MessageInfo const&)>, std::function<void (std::uniqueptr >)>, std::function >, rclcpp::MessageInfo const&)>, std::function > const>)>, std::function > const>, rclcpp::MessageInfo const&)>, std::function)>, std::function, rclcpp::MessageInfo const&)>, std::function > const> const&)>, std::function > const> const&, rclcpp::MessageInfo const&)>, std::function const&)>, std::function const&, rclcpp::MessageInfo const&)>, std::function > >)>, std::function > >, rclcpp::MessageInfo const&)>, std::function)>, std::function, rclcpp::MessageInfo const&)> >&) [movegroup-4] #1 Object "/home/suleyman/wsmoveit2/install/moveitrosplanning/lib/libmoveitplanningscenemonitor.so.2.7.4", at 0x7f450e5e5129, in planningscenemonitor::CurrentStateMonitor::updateMultiDofJoints() [movegroup-4] #0 Object "/home/suleyman/wsmoveit2/install/moveitcore/lib/libmoveitrobotmodel.so.2.7.4", at 0x7f450d869494, in moveit::core::JointModel::satisfiesJerkBounds(double const*, std::vector > const&, double) const [movegroup-4] Segmentation fault (Address not mapped to object [(nil)]) [ERROR] [move_group-4]: process has died [pid 106420, exit code -11, cmd '/home/suleyman/wsmoveit2/install/moveitrosmovegroup/lib/moveitrosmovegroup/movegroup --ros-args --params-file /tmp/launchparamsalk9ipgy']. [rviz2-1] [INFO] [1690291515.130358479] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1690291515.132127395] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [ros2controlnode-5] [INFO] [1690291515.146816592] [controller_manager]: Loading controller 'jointstatebroadcaster' [rviz2-1] [INFO] [1690291515.203663974] [rviz2]: Stereo is NOT SUPPORTED [spawner-6] [INFO] [1690291515.220803216] [spawnerjointstate_broadcaster]: Loaded jointstatebroadcaster [ros2controlnode-5] [INFO] [1690291515.224567328] [controller_manager]: Configuring controller 'jointstatebroadcaster' [ros2controlnode-5] [INFO] [1690291515.224729723] [jointstatebroadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1690291515.260363642] [spawnerjointstate_broadcaster]: Configured and activated jointstatebroadcaster [ros2controlnode-5] [INFO] [1690291515.278667864] [controller_manager]: Loading controller 'pandahandcontroller' [spawner-8] [INFO] [1690291515.345160355] [spawnerpandahand_controller]: Loaded pandahandcontroller [ros2controlnode-5] [INFO] [1690291515.347748353] [controller_manager]: Configuring controller 'pandahandcontroller' [ros2controlnode-5] [INFO] [1690291515.347943529] [pandahandcontroller]: Action status changes will be monitored at 20Hz. [spawner-8] [INFO] [1690291515.379823317] [spawnerpandahand_controller]: Configured and activated pandahandcontroller [ros2controlnode-5] [INFO] [1690291515.443449566] [controller_manager]: Loading controller 'pandaarmcontroller' [spawner-7] [INFO] [1690291515.499149445] [spawnerpandaarm_controller]: Loaded pandaarmcontroller [ros2controlnode-5] [INFO] [1690291515.500926174] [controller_manager]: Configuring controller 'pandaarmcontroller' [ros2controlnode-5] [INFO] [1690291515.501148322] [pandaarmcontroller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2controlnode-5] [INFO] [1690291515.501238346] [pandaarmcontroller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2controlnode-5] [INFO] [1690291515.501290036] [pandaarmcontroller]: Using 'splines' interpolation method. [ros2controlnode-5] [INFO] [1690291515.504504075] [pandaarmcontroller]: Controller state will be published at 50.00 Hz. [ros2controlnode-5] [INFO] [1690291515.509607310] [pandaarmcontroller]: Action status changes will be monitored at 20.00 Hz. [INFO] [spawner-6]: process has finished cleanly [pid 106434] [spawner-7] [INFO] [1690291515.539592716] [spawnerpandaarmcontroller]: Configured and activated pandaarmcontroller [rviz2-1] Warning: classloader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rvizdefaultplugins::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 classloader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-1] at line 253 in /opt/ros/humble/include/classloader/classloader/classloadercore.hpp [INFO] [spawner-8]: process has finished cleanly [pid 106446] [INFO] [spawner-7]: process has finished cleanly [pid 106443] [rviz2-1] [ERROR] [1690291518.601382030] [moveitrosvisualization.motionplanningframe]: Action server: /recognizeobjects not available [rviz2-1] [INFO] [1690291518.623196524] [moveitrosvisualization.motionplanningframe]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1690291518.641133031] [moveitrdfloader.rdf_loader]: Loaded robot model in 0.00593358 seconds [rviz2-1] [INFO] [1690291518.641210179] [moveitrobotmodel.robot_model]: Loading robot model 'panda'... [rviz2-1] [INFO] [1690291519.022050202] [moveitrdfloader.rdf_loader]: Loaded robot model in 0.0039307 seconds [rviz2-1] [INFO] [1690291519.022132763] [moveitrobotmodel.robot_model]: Loading robot model 'panda'... [rviz2-1] [WARN] [1690291519.054259608] [kdl_parser]: The root link pandalink0 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. [rviz2-1] [INFO] [1690291519.056066599] [moveitkinematicsbase.kinematicsbase]: Joint weights for group 'pandaarm': 1 1 1 1 1 1 1 [rviz2-1] [INFO] [1690291519.154569785] [moveitros.planningscenemonitor.planningscenemonitor]: Starting planning scene monitor [rviz2-1] [INFO] [1690291519.162834689] [moveitros.planningscenemonitor.planningscene_monitor]: Listening to '/monitoredplanningscene' [rviz2-1] [INFO] [1690291519.197004447] [interactivemarkerdisplay_94504622680112]: Connected on namespace: /rvizmoveitmotionplanningdisplay/robotinteractioninteractivemarkertopic [rviz2-1] [WARN] [1690291519.210614846] [kdl_parser]: The root link pandalink0 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. [rviz2-1] [INFO] [1690291519.245394156] [moveitros.planningscenemonitor.planningscenemonitor]: Starting planning scene monitor [rviz2-1] [INFO] [1690291519.251017906] [moveitros.planningscenemonitor.planningscene_monitor]: Listening to '/monitoredplanningscene' [rviz2-1] [INFO] [1690291519.259009236] [interactivemarkerdisplay_94504622680112]: Sending request for interactive markers [rviz2-1] [INFO] [1690291519.279901907] [interactivemarkerdisplay_94504622680112]: Service response received for initialization [rviz2-1] [INFO] [1690291524.221774441] [moveitros.planningscenemonitor.planningscene_monitor]: GetPlanningScene service call to getplanningscene timed out. at /home/suleyman/wsmoveit2/src/moveit2/moveitros/planning/planningscenemonitor/src/planningscenemonitor.cpp:580 [rviz2-1] [INFO] [1690291524.221947369] [moveitrosvisualization.motionplanningframe]: group pandaarm [rviz2-1] [INFO] [1690291524.221970446] [moveitrosvisualization.motionplanningframe]: Constructing new MoveGroup connection for group 'pandaarm' in namespace '' [rviz2-1] [INFO] [1690291524.261243433] [moveitros.planningscenemonitor.planningscene_monitor]: GetPlanningScene service call to getplanningscene timed out. at /home/suleyman/wsmoveit2/src/moveit2/moveitros/planning/planningscenemonitor/src/planningscenemonitor.cpp:580 [rviz2-1] [INFO] [1690291584.252867954] [movegroupinterface]: Ready to take commands for planning group pandaarm.