Comments (4)
I have the same problem, ubuntu22.04, humble version.
ubuntu@ubuntu-Standard-PC-Q35-ICH9-2009:~/ws_moveit$ ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-05-11-09-46-40-763357-ubuntu-Standard-PC-Q35-ICH9-2009-156950
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [156951]
[INFO] [static_transform_publisher-2]: process started with pid [156953]
[INFO] [robot_state_publisher-3]: process started with pid [156955]
[INFO] [move_group-4]: process started with pid [156975]
[INFO] [ros2_control_node-5]: process started with pid [156977]
[INFO] [spawner-6]: process started with pid [156979]
[INFO] [spawner-7]: process started with pid [156983]
[INFO] [spawner-8]: process started with pid [157002]
[static_transform_publisher-2] [INFO] [1715435201.051838275] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1715435201.054910897] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1715435201.054990405] [robot_state_publisher]: got segment bracelet_link
[robot_state_publisher-3] [INFO] [1715435201.055000388] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1715435201.055004020] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1715435201.055007024] [robot_state_publisher]: got segment half_arm_1_link
[robot_state_publisher-3] [INFO] [1715435201.055009760] [robot_state_publisher]: got segment half_arm_2_link
[robot_state_publisher-3] [INFO] [1715435201.055012627] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1715435201.055015779] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1715435201.055018607] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1715435201.055021909] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055025032] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055027867] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1715435201.055031468] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1715435201.055034213] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055037304] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1715435201.055040506] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1715435201.055043872] [robot_state_publisher]: got segment spherical_wrist_1_link
[robot_state_publisher-3] [INFO] [1715435201.055047065] [robot_state_publisher]: got segment spherical_wrist_2_link
[robot_state_publisher-3] [INFO] [1715435201.055049859] [robot_state_publisher]: got segment world
[ros2_control_node-5] [INFO] [1715435201.087527668] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-5] [INFO] [1715435201.088351481] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-5] [INFO] [1715435201.093244773] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-5] [INFO] [1715435201.107967081] [controller_manager]: Received robot description file.
[ros2_control_node-5] [INFO] [1715435201.108783284] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109308521] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [WARN] [1715435201.109332094] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [WARN] [1715435201.109359026] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-5] <state_interface name="velocity">
[ros2_control_node-5] <param name="initial_value">0.0</param>
[ros2_control_node-5] </state_interface>
[ros2_control_node-5] [INFO] [1715435201.109366891] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109384160] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109393737] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [WARN] [1715435201.109400751] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [INFO] [1715435201.109412709] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109458939] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109464649] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109469483] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109473175] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1715435201.109476603] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109480081] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109486212] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1715435201.109489433] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware'
[move_group-4] [INFO] [1715435201.110439395] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00353493 seconds
[move_group-4] [INFO] [1715435201.110494758] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'gen3'...
[move_group-4] [INFO] [1715435201.110501668] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] [INFO] [1715435201.217550721] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[move_group-4] Stack trace (most recent call last):
[move_group-4] #14 Object "", at 0xffffffffffffffff, in
[move_group-4] #13 Object "/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56086586b094, in _start
[ros2_control_node-5] [INFO] [1715435201.234446024] [controller_manager]: Received robot description file.
[ros2_control_node-5] [WARN] [1715435201.234511624] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file.
[move_group-4] #12 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f4199458e3f]
[move_group-4] #11 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f4199458d8f]
[move_group-4] #10 Object "/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x56086586a21e, in main
[move_group-4] #9 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.9.0", at 0x7f4199d85d5a, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-4] #8 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.9.0", at 0x7f4199d8571b, in moveit_cpp::MoveItCpp::loadPlanningSceneMonitor(moveit_cpp::MoveItCpp::PlanningSceneMonitorOptions const&)
[move_group-4] #7 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8b3f1, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, 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&)
[move_group-4] #6 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8b366, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, std::shared_ptr<planning_scene::PlanningScene> const&, 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&)
[move_group-4] #5 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c8af34, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptr<rclcpp::Node> const&, std::shared_ptr<planning_scene::PlanningScene> const&, std::shared_ptr<robot_model_loader::RobotModelLoader> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #4 Object "/home/ubuntu/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_scene_monitor.so.2.9.0", at 0x7f4199c89c44, in planning_scene_monitor::PlanningSceneMonitor::initialize(std::shared_ptr<planning_scene::PlanningScene> const&)
[move_group-4] #3 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_planning_scene.so.2.9.0", at 0x7f4198fe07a5, in planning_scene::PlanningScene::PlanningScene(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<collision_detection::World> const&)
[move_group-4] #2 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_planning_scene.so.2.9.0", at 0x7f4198fdfdae, in planning_scene::PlanningScene::initialize()
[move_group-4] #1 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_robot_state.so.2.9.0", at 0x7f419933e945, in moveit::core::RobotState::~RobotState()
[move_group-4] #0 Object "/home/ubuntu/ws_moveit/install/moveit_core/lib/libmoveit_robot_state.so.2.9.0", at 0x7f419933e83a, in moveit::core::RobotState::clearAttachedBodies()
[move_group-4] Bus error (Signal sent by the kernel [(nil)])
[ros2_control_node-5] [INFO] [1715435201.315774168] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1715435201.339367088] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1715435201.341486429] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1715435201.341586296] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1715435201.349051135] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ERROR] [move_group-4]: process has died [pid 156975, exit code -7, cmd '/home/ubuntu/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_qvut9iek'].
[rviz2-1] [INFO] [1715435201.472734219] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1715435201.472880209] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1715435201.507004228] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [spawner-6]: process has finished cleanly [pid 156979]
[rviz2-1] [WARN] [1715435201.570524947] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] 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.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1715435201.594473322] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00217773 seconds
[rviz2-1] [INFO] [1715435201.594526357] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1715435201.594533837] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-5] [INFO] [1715435201.601957055] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-5] [WARN] [1715435201.610360357] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1715435201.615007500] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-5] [INFO] [1715435201.616677860] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-5] [INFO] [1715435201.616785383] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1715435201.616797266] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1715435201.616803106] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1715435201.617301516] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-5] [INFO] [1715435201.618109692] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [INFO] [1715435201.621484384] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[spawner-8] [INFO] [1715435201.626203181] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller
[spawner-7] [INFO] [1715435201.628813360] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[ros2_control_node-5] [INFO] [1715435201.629690454] [controller_manager]: Configuring controller 'robotiq_gripper_controller'
[ros2_control_node-5] [INFO] [1715435201.629832098] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz.
[spawner-8] [INFO] [1715435201.637395858] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller
[INFO] [spawner-7]: process has finished cleanly [pid 156983]
[INFO] [spawner-8]: process has finished cleanly [pid 157002]
[rviz2-1] [ERROR] [1715435204.819206618] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1715435204.830181631] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1715435204.879404330] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.0014988 seconds
[rviz2-1] [INFO] [1715435204.879438909] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1715435204.879442489] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1715435204.974377194] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[rviz2-1] rviz2: malloc.c:4302: _int_malloc: Assertion `(unsigned long) (size) >= (unsigned long) (nb)' failed.
[ERROR] [rviz2-1]: process has died [pid 156951, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/ubuntu/ws_moveit/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_1bvpscs1 --params-file /tmp/launch_params_4_54utj0 --params-file /tmp/launch_params_ig1s_f5q --params-file /tmp/launch_params_eercvu_u --params-file /tmp/launch_params_tjiqeoih'].
from moveit2.
ubuntu@ubuntu-Standard-PC-Q35-ICH9-2009:~/ws_moveit$ /opt/ros/humble/lib/rviz2/rviz2 -d /home/ubuntu/ws_moveit/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_s_tr_6ui --params-file /tmp/launch_params_qj_zj12k --params-file /tmp/launch_params_jsmb5xa7 --params-file /tmp/launch_params_3muz7i0m --params-file /tmp/launch_params_zsv4jlms
[INFO] [1715435547.244263470] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1715435547.244428955] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[INFO] [1715435547.281778136] [rviz2]: Stereo is NOT SUPPORTED
[WARN] [1715435547.340889894] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
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.
at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[INFO] [1715435547.359902349] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00192538 seconds
[INFO] [1715435547.359950110] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[INFO] [1715435547.359959649] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1715435550.562246892] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[INFO] [1715435550.567374320] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[INFO] [1715435550.612593267] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00146892 seconds
[INFO] [1715435550.612633271] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[INFO] [1715435550.612640799] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[INFO] [1715435550.705596087] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
Segmentation fault (core dumped)
Run failed command, it shows
from moveit2.
Ubuntu22.04, humble version.facing the same problem
zpvisen@zp-vm:/ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true/robot_description' topic for robot description file.
[INFO] [launch]: All log files can be found below /home/zpvisen/.ros/log/2024-06-17-22-26-15-109065-zp-vm-48806
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [48807]
[INFO] [static_transform_publisher-2]: process started with pid [48809]
[INFO] [robot_state_publisher-3]: process started with pid [48811]
[INFO] [move_group-4]: process started with pid [48813]
[INFO] [ros2_control_node-5]: process started with pid [48815]
[INFO] [spawner-6]: process started with pid [48817]
[INFO] [spawner-7]: process started with pid [48819]
[INFO] [spawner-8]: process started with pid [48821]
[static_transform_publisher-2] [INFO] [1718634375.718782641] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1718634375.766960137] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1718634375.767126057] [robot_state_publisher]: got segment bracelet_link
[robot_state_publisher-3] [INFO] [1718634375.767145927] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1718634375.767158114] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1718634375.767170220] [robot_state_publisher]: got segment half_arm_1_link
[robot_state_publisher-3] [INFO] [1718634375.767182037] [robot_state_publisher]: got segment half_arm_2_link
[robot_state_publisher-3] [INFO] [1718634375.767192632] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1718634375.767204618] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1718634375.767216329] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1718634375.767227809] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1718634375.767238963] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1718634375.767248648] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1718634375.767261143] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1718634375.767273085] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1718634375.767285099] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1718634375.767295150] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1718634375.767307005] [robot_state_publisher]: got segment spherical_wrist_1_link
[robot_state_publisher-3] [INFO] [1718634375.767318909] [robot_state_publisher]: got segment spherical_wrist_2_link
[robot_state_publisher-3] [INFO] [1718634375.767330272] [robot_state_publisher]: got segment world
[move_group-4] [INFO] [1718634375.780841098] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.0114496 seconds
[move_group-4] [INFO] [1718634375.781016668] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'gen3'...
[move_group-4] [INFO] [1718634375.781037417] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-5] [INFO] [1718634375.783697892] [controller_manager]: Subscribing to '
[ros2_control_node-5] [INFO] [1718634375.785721648] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-5] [INFO] [1718634375.786133704] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-5] [INFO] [1718634375.797202258] [controller_manager]: Received robot description file.
[ros2_control_node-5] [INFO] [1718634375.797973851] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.799097638] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [WARN] [1718634375.799185936] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [WARN] [1718634375.799232600] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-5] <state_interface name="velocity">
[ros2_control_node-5] 0.0
[ros2_control_node-5] </state_interface>
[ros2_control_node-5] [INFO] [1718634375.799252521] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.799286525] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799306056] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [WARN] [1718634375.799322637] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [INFO] [1718634375.799349853] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799422362] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799433417] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799442709] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799449418] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1718634375.799456227] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.799465584] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.799476367] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.799486275] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1718634375.811625924] [controller_manager]: Received robot description file.
[ros2_control_node-5] [WARN] [1718634375.811709241] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file.
[move_group-4] [INFO] [1718634375.924352093] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[ERROR] [move_group-4]: process has died [pid 48813, exit code -11, cmd '/home/zpvisen/ws_moveit2/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_e3u8qb7g'].
[ros2_control_node-5] [INFO] [1718634376.147755393] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1718634376.181337699] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1718634376.183773186] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1718634376.183883512] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1718634376.196133857] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 48817]
[ros2_control_node-5] [INFO] [1718634376.364151697] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-5] [WARN] [1718634376.387628052] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1718634376.389693556] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-5] [INFO] [1718634376.391464076] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-5] [INFO] [1718634376.391611176] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1718634376.391628770] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1718634376.391638795] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1718634376.392710822] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-5] [INFO] [1718634376.394800525] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1718634376.405222684] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-7]: process has finished cleanly [pid 48819]
[rviz2-1] [INFO] [1718634376.657387652] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1718634376.658091518] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-1] [INFO] [1718634376.702575016] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [WARN] [1718634376.833416661] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] 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.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1718634376.873448847] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.0047066 seconds
[rviz2-1] [INFO] [1718634376.873643827] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1718634376.873661132] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawner-8] [INFO] [1718634378.243003555] [spawner_robotiq_gripper_controller]: Waiting for '/controller_manager' node to exist
[ros2_control_node-5] [INFO] [1718634378.855929003] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[spawner-8] [INFO] [1718634378.870372987] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller
[ros2_control_node-5] [INFO] [1718634378.872565692] [controller_manager]: Configuring controller 'robotiq_gripper_controller'
[ros2_control_node-5] [INFO] [1718634378.872677391] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz.
[spawner-8] [INFO] [1718634378.885307388] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller
[INFO] [spawner-8]: process has finished cleanly [pid 48821]
[rviz2-1] [ERROR] [1718634380.168807996] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1718634380.183186154] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1718634380.240912412] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00404321 seconds
[rviz2-1] [INFO] [1718634380.241021400] [rviz2.moveit.core.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1718634380.241032489] [rviz2.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1718634380.361503360] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[ERROR] [rviz2-1]: process has died [pid 48807, exit code -7, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/zpvisen/ws_moveit2/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_ducupnut --params-file /tmp/launch_params_xel2kged --params-file /tmp/launch_params_p1jxa0bf --params-file /tmp/launch_params_3uh81rmf --params-file /tmp/launch_params_11c0fi4y'].
from moveit2.
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
from moveit2.
Related Issues (20)
- Fix duplication of Pilz motion sequence trajectory points... the right way
- MoveIt logo at top of README is a broken link HOT 1
- typo "trajactory" in moveit_py HOT 2
- KDL IK Solver with SVD HOT 1
- Servo cannot reach the desired control rate HOT 4
- An early call to `planning_scene_monitor_->getStateMonitor()->getCurrentState()` returns `nan` accelerations
- Segfault in Depth Image Octomap Updater Plugin HOT 1
- Couldn't load kinematics.yaml when using hybrid_planning_demo_node.cpp
- Change the starting point of planning under the plug-in using a topic or service HOT 8
- Moveit Setup Assistant crashes in Robot Poses tab HOT 4
- executable 'servo_node' not found on the libexec directory HOT 6
- Pressing backspace on the first page of the MoveIt Setup Assistant crashes the application
- No kinematics plugins defined. Fill and load kinematics.yaml! HOT 6
- Adding MoveIt2 #include's stop VS Code Intellisense from working HOT 2
- Humble MoveIt2 Moveit_servo HOT 2
- RViz ignores 'joint_limits.yaml' in MoveIt Config when using moveit_rviz default launch file
- Isaac Panda Hand Controller Issue
- Hybrid planner from simulation to real hardware - speed control
- Writting a RUST wrapper for MoveIt2
- moveit_servo/pose_tracking.h: No such file or directory
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from moveit2.