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Demo.launch.py for Moveit 2 fails to load robot model after using Setup assistant

Hi everyone,

i've used the MoveIt setup assisitnat to create a config package for an ur10 and a custom made end effector. Unfortunatly when i folllow the steps in the Moveit 2 do by picknik robotics i can't launch the demo.launch.py at the end. i get the following error:

old output removed for better reading experience and now irrelevance!

UPDATE:

After some Bug fixing i get to see the Robot in moveit (thx for the help @gvdhoorn). Unfortunatly there still seem to be some bugs in the config, bc i cannot paln and execute trajctoreis or state changes. heres my console output:

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/2023-06-27-14-00-44-537168-ubuntu-6056
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [6058]
[INFO] [robot_state_publisher-2]: process started with pid [6060]
[INFO] [move_group-3]: process started with pid [6062]
[INFO] [rviz2-4]: process started with pid [6064]
[INFO] [ros2_control_node-5]: process started with pid [6066]
[INFO] [spawner-6]: process started with pid [6068]
[INFO] [spawner-7]: process started with pid [6079]
[INFO] [spawner-8]: process started with pid [6102]
[static_transform_publisher-1] [INFO] [1687867245.589006964] [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'
[robot_state_publisher-2] [INFO] [1687867245.603213959] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1687867245.603403483] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1687867245.603423876] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1687867245.603436412] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1687867245.603446911] [robot_state_publisher]: got segment camera_mount_link
[robot_state_publisher-2] [INFO] [1687867245.603456665] [robot_state_publisher]: got segment connector_link
[robot_state_publisher-2] [INFO] [1687867245.603466977] [robot_state_publisher]: got segment driver_link
[robot_state_publisher-2] [INFO] [1687867245.603476408] [robot_state_publisher]: got segment finger1_link
[robot_state_publisher-2] [INFO] [1687867245.603485800] [robot_state_publisher]: got segment finger2_link
[robot_state_publisher-2] [INFO] [1687867245.603494857] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1687867245.603504319] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1687867245.603513706] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1687867245.603523541] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1687867245.603533047] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1687867245.603542543] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1687867245.603552047] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1687867245.603561591] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1687867245.603571119] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1687867245.603581085] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-5] [INFO] [1687867245.674081038] [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 0x55aa10caad84, in 
[move_group-3] [INFO] [1687867245.783294368] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0142104 seconds
[move_group-3] [INFO] [1687867245.783385636] [moveit_robot_model.robot_model]: Loading robot model 'ur10_ass'...
[ros2_control_node-5] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f6daf38ae3f]
[ros2_control_node-5] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f6daf38ad8f]
[ros2_control_node-5] #12   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55aa10caa89e, in 
[ros2_control_node-5] #11   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7f6dafa49c27, 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 0x7f6dafa48dd7, 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 0x7f6daf28f207, 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 0x7f6daf297856, in 
[ros2_control_node-5] #7    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7f6daf26e858, in 
[ros2_control_node-5] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f6daf657517, in __cxa_throw
[ros2_control_node-5] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f6daf6572b6, in std::terminate()
[ros2_control_node-5] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f6daf65724b, in 
[ros2_control_node-5] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f6daf64bbbd, in 
[ros2_control_node-5] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f6daf3897f2]
[ros2_control_node-5] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f6daf3a3475]
[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 [0x7f6daf3f7a7c]
[ros2_control_node-5] Aborted (Signal sent by tkill() 6066 999)
[move_group-3] [INFO] [1687867245.887380692] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1687867245.888506138] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1687867245.889790332] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1687867245.890966045] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1687867245.891577044] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1687867245.892417275] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1687867245.892945355] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1687867245.893824841] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1687867245.894708852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1687867245.896116658] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1687867245.896616263] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1687867245.900434497] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-3] [INFO] [1687867245.930305372] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1687867245.945028257] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1687867245.948377969] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1687867245.951157888] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1687867245.957820484] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1687867245.958426323] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1687867245.962735428] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1687867245.963471778] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1687867245.970824581] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1687867245.989064411] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1687867245.989661946] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1687867245.990172616] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1687867245.990708549] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1687867246.030134067] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-3] [INFO] [1687867246.051976217] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-3] [INFO] [1687867246.056282095] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1687867246.056951708] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1687867246.057472556] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1687867246.058041752] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1687867246.058792600] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-3] [INFO] [1687867246.059431002] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1687867246.059991467] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-3] [INFO] [1687867246.060527717] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1687867246.061081249] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1687867246.065035030] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1687867246.065837373] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1687867246.066625983] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1687867246.068638817] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-3] [INFO] [1687867246.076412325] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [INFO] [1687867246.101197509] [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] [1687867246.101949670] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1687867246.105520317] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1687867246.106262936] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-3] [INFO] [1687867246.108167320] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1687867246.108793155] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1687867246.110632304] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1687867246.111308332] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-3] [INFO] [1687867246.196816333] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for manipulator_controller
[move_group-3] [INFO] [1687867246.199678125] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for gripper_controller
[move_group-3] [INFO] [1687867246.200498964] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1687867246.206333608] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1687867246.207523422] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1687867246.209682610] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-3] [INFO] [1687867246.263372726] [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] [1687867246.263431645] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1687867246.263449488] [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] 
[rviz2-4] [INFO] [1687867246.485278172] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1687867246.485368561] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1687867246.526047598] [rviz2]: Stereo is NOT SUPPORTED
[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
[ERROR] [ros2_control_node-5]: process has died [pid 6066, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_nskyyozb --params-file /home/ubuntu/Schreibtisch/ros2_ws/install/ur10_ass_moveit_config/share/ur10_ass_moveit_config/config/ros2_controllers.yaml'].
[spawner-8] [INFO] [1687867248.375344906] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1687867248.415116239] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1687867248.433641051] [spawner_manipulator_controller]: Waiting for '/controller_manager' node to exist
[rviz2-4] [ERROR] [1687867249.716944885] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-4] [INFO] [1687867249.736156516] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-4] [INFO] [1687867249.875250294] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0750562 seconds
[rviz2-4] [INFO] [1687867249.875327809] [moveit_robot_model.robot_model]: Loading robot model 'ur10_ass'...
[rviz2-4] [INFO] [1687867249.950053182] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-4] [INFO] [1687867249.950929997] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-4] [INFO] [1687867250.231073147] [interactive_marker_display_94099614660432]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-4] [INFO] [1687867250.238612652] [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] [1687867250.239401568] [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] [1687867250.281322390] [interactive_marker_display_94099614660432]: Sending request for interactive markers
[rviz2-4] [INFO] [1687867250.314872171] [interactive_marker_display_94099614660432]: Service response received for initialization
[rviz2-4] [INFO] [1687867250.327909944] [moveit_ros_visualization.motion_planning_frame]: group gripper
[rviz2-4] [INFO] [1687867250.327936974] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[rviz2-4] [INFO] [1687867250.339483465] [move_group_interface]: Ready to take commands for planning group gripper.
[rviz2-4] [INFO] [1687867250.340450317] [moveit_ros_visualization.motion_planning_frame]: group gripper
[spawner-8] [INFO] [1687867250.388288789] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1687867250.427189507] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1687867250.451090103] [spawner_manipulator_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1687867252.400342133] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1687867252.439497061] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1687867252.464068471] [spawner_manipulator_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1687867254.412604149] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1687867254.451579826] [spawner_gripper_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1687867254.476621942] [spawner_manipulator_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [ERROR] [1687867256.424497419] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-7] [ERROR] [1687867256.465386630] [spawner_gripper_controller]: Controller manager not available
[spawner-6] [ERROR] [1687867256.488560732] [spawner_manipulator_controller]: Controller manager not available
[ERROR] [spawner-8]: process has died [pid 6102, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --ros-args'].
[ERROR] [spawner-7]: process has died [pid 6079, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner gripper_controller --ros-args'].
[ERROR] [spawner-6]: process has died [pid 6068, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner manipulator_controller --ros-args'].
[rviz2-4] [INFO] [1687867258.411031185] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-4] [INFO] [1687867258.411101422] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-4] [INFO] [1687867258.420454832] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-4] [INFO] [1687867269.285445313] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1687867269.286520830] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-4] [INFO] [1687867269.286838569] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1687867269.286873771] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-3] [INFO] [1687867270.287370231] [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] [1687867270.287445679] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[move_group-3] [INFO] [1687867270.287542991] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1687867270.287649515] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1687867270.288990737] [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] [1687867270.383210861] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-4] [INFO] [1687867270.384001524] [move_group_interface]: Planning request complete!
[rviz2-4] [INFO] [1687867270.388645160] [move_group_interface]: time taken to generate plan: 0.0212378 seconds
[move_group-3] [INFO] [1687867275.434666861] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1687867275.434818829] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1687867275.434874570] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1687867275.434899746] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-3] [INFO] [1687867275.435022338] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-4] [INFO] [1687867275.435092885] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1687867276.435144251] [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] [1687867276.435202756] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-3] [INFO] [1687867276.435245441] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-4] [INFO] [1687867276.435738661] [move_group_interface]: Execute request aborted
[rviz2-4] [ERROR] [1687867276.436976936] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1687867304.439352133] [rclcpp]: signal_handler(signum=2)
[rviz2-4] [INFO] [1687867304.439363118] [rclcpp]: signal_handler(signum=2)
[move_group-3] [INFO] [1687867304.439422163] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-1] [INFO] [1687867304.439473023] [rclcpp]: signal_handler(signum=2)
[rviz2-4] [WARN] [1687867304.450764594] [interactive_marker_display_94099614660432]: Server not available while running, resetting
[move_group-3] [INFO] [1687867304.465912609] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-3] [INFO] [1687867304.466587520] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-3] [INFO] [1687867304.468649152] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-3] [INFO] [1687867304.469111187] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[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
[move_group-3] Stack trace (most recent call last):
[move_group-3] #16   Object "", at 0xffffffffffffffff, in 
[INFO] [static_transform_publisher-1]: process has finished cleanly [pid 6058]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 6060]
[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] [1687867304.555972207] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-3] #15   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x556dd1772784, in _start
[move_group-3] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7ff559acae3f]
[move_group-3] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7ff559acad8f]
[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 [0x556dd17716bb]
[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 [0x556dd1773769]
[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 [0x7ff55a409a46]
[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 [0x7ff55a407999]
[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] #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 [0x7ff5597f45b5]
[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 [0x7ff5598071a9]
[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 0x7ff55a06fcec, in rclcpp::Node::~Node()
[move_group-3] #5    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a06fcbe, in rclcpp::Node::~Node()
[move_group-3] #4    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a04b7c9, in 
[move_group-3] #3    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a0792d9, in 
[move_group-3] #2    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a079220, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-3] #1    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a04b7c9, in 
[move_group-3] #0    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7ff55a050511, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-3] Segmentation fault (Address not mapped to object [0x7ff5323cb7a8])
[ERROR] [rviz2-4]: process has died [pid 6064, 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_3d9iq1y1 --params-file /tmp/launch_params_0cp5c91u'].
[ERROR] [move_group-3]: process has died [pid 6062, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_5zyx1ivo --params-file /tmp/launch_params__x8xrebl'].
[move_group-3]

Asked by Icon45 on 2023-06-27 02:24:44 UTC

Comments

quick comment: this is a problem:

parameter 'robot_description_planning.joint_limits.driver_finger1_joint.max_velocity' has invalid type: expected [double] got [integer]

I don't know where the limits are specified, but if (just example numbers) a limit says 1 instead of 1.0, the parameter loading code will see an integer, but it requires/expects a floating point number.

Asked by gvdhoorn on 2023-06-27 02:54:33 UTC

hi @gvdhoorn , i fixed this but this didn't change the error. But it got rid of the line you've mentioned.

Asked by Icon45 on 2023-06-27 04:16:55 UTC

Please see update above now!

Asked by Icon45 on 2023-06-27 07:02:25 UTC

Answers