Exercise 2.4 - Not able to start MoveIt2 without any warnings

Hello,

I have difficulty with bridging the ROS 1 nodes to ROS 2.

Shell #1

user:~$ source /opt/ros/noetic/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
user:~$ source /home/simulations/ros2_sims_ws/install/setup.bash
ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
user:~$ ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory

Shell #2

user:~$ source /opt/ros/foxy/setup.bash
user:~$ ros2 action list
/arm_controller/follow_joint_trajectory
user:~$ source /opt/ros/noetic/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
user:~$ cd ~/catkin_ws
user:~/catkin_ws$ catkin_make
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/user/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/user/catkin_ws/build"
####
user:~/catkin_ws$ source devel/setup.bash
user:~/catkin_ws$ roslaunch load_params load_params.launch
... logging to /home/user/.ros/log/72a7f0d6-0cdc-11ed-b742-0242ac1e0008/roslaunch-1_xterm-25076.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://1_xterm:38239/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /topics: [{'topic': '/join...

NODES

ROS_MASTER_URI=http://1_simulation:11311

No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
user:~/catkin_ws$

Shell #3

user:~$ source ~/ros2_ws/install/setup.bash
user:~$ ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2022-07-26-14-25-54-843494-1_xterm-25165
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [25169]
[INFO] [rviz2-2]: process started with pid [25171]
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
[move_group-1] [WARN] [1658845555.458758727] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1658845555.458833093] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] Parsing robot urdf xml string.
[move_group-1] [INFO] [1658845555.463536756] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1658845555.463598196] [moveit_robot_model.robot_model]: Loading robot model 'ur3e'...
[move_group-1] [WARN] [1658845555.463622662] [moveit_robot_model.robot_model]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[move_group-1] [INFO] [1658845555.463633972] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] Link ground_plane_box had 0 children
[move_group-1] Link base_link had 2 children
[move_group-1] Link base had 0 children
[move_group-1] Link shoulder_link had 1 children
[move_group-1] Link upper_arm_link had 1 children
[move_group-1] Link forearm_link had 1 children
[move_group-1] Link wrist_1_link had 1 children
[move_group-1] Link wrist_2_link had 1 children
[move_group-1] Link wrist_3_link had 2 children
[move_group-1] Link ee_link had 0 children
[move_group-1] Link tool0 had 1 children
[move_group-1] Link egh_gripper_base_link had 2 children
[move_group-1] Link egh_gripper_left_finger had 0 children
[move_group-1] Link egh_gripper_right_finger had 0 children
[rviz2-2] [INFO] [1658845555.611207078] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1658845555.611332048] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[move_group-1] [INFO] [1658845555.623706092] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1658845555.623890983] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[move_group-1] [INFO] [1658845555.624638618] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[move_group-1] [INFO] [1658845555.625081635] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[move_group-1] [INFO] [1658845555.625102357] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1658845555.625505981] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[move_group-1] [INFO] [1658845555.625525512] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1658845555.625883750] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1658845555.626246187] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1658845555.626293855] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1658845555.626373544] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-2] [INFO] [1658845555.670044062] [rviz2]: Stereo is NOT SUPPORTED
[move_group-1] [INFO] [1658845555.679114088] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1658845555.711052486] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1658845555.713796105] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1658845555.713824241] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1658845555.713830931] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1658845555.713848389] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1658845555.713865041] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-1] [INFO] [1658845555.713871906] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1658845555.713884033] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1658845555.713891034] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1658845555.713905841] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1658845555.713918591] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1658845555.713925920] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1658845555.713953300] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1658845555.713959013] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1658845555.713963205] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1658845555.770551423] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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.
[rviz2-2]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1658845558.841427477] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] Parsing robot urdf xml string.
[rviz2-2] [INFO] [1658845558.969890486] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00238252 seconds
[rviz2-2] [INFO] [1658845558.970029896] [moveit_robot_model.robot_model]: Loading robot model 'ur3e'...
[rviz2-2] [WARN] [1658845558.970062925] [moveit_robot_model.robot_model]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[rviz2-2] [INFO] [1658845558.970074864] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link ground_plane_box had 0 children
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link ee_link had 0 children
[rviz2-2] Link tool0 had 1 children
[rviz2-2] Link egh_gripper_base_link had 2 children
[rviz2-2] Link egh_gripper_left_finger had 0 children
[rviz2-2] Link egh_gripper_right_finger had 0 children
[rviz2-2] [INFO] [1658845559.145555590] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1658845559.146747335] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [WARN] [1658845559.173686464] [rviz2]: The STL file 'package://ur_e_description/meshes/egh_base.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so itis either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[rviz2-2] [WARN] [1658845559.261681600] [rviz2]: The STL file 'package://ur_e_description/meshes/egh_finger.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[rviz2-2] [INFO] [1658845560.155079635] [interactive_marker_display_94786390909728]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] Link ground_plane_box had 0 children
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link ee_link had 0 children
[rviz2-2] Link tool0 had 1 children
[rviz2-2] Link egh_gripper_base_link had 2 children
[rviz2-2] Link egh_gripper_left_finger had 0 children
[rviz2-2] Link egh_gripper_right_finger had 0 children
[rviz2-2] [WARN] [1658845560.178354374] [moveit_robot_model.joint_model_group]: comparing input tip: wrist_3_link to this groups tip: tool0
[rviz2-2] [INFO] [1658845560.301313438] [interactive_marker_display_94786390909728]: Sending request for interactive markers
[rviz2-2] [INFO] [1658845560.352559768] [interactive_marker_display_94786390909728]: Service response received for initialization
[move_group-1] [WARN] [1658845560.773146810] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[rviz2-2] [INFO] [1658845565.181395383] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1658845565.181566757] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1658845565.181583301] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [WARN] [1658845565.181780910] [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.
[rviz2-2] [INFO] [1658845565.197482637] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1658845565.197550253] [move_group_interface]: Looking around: no
[rviz2-2] [INFO] [1658845565.197575702] [move_group_interface]: Replanning: no
[move_group-1] [WARN] [1658845565.773344577] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[move_group-1] [ERROR] [1658845570.773555562] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: gripper_controller/gripper_cmd
[move_group-1] [INFO] [1658845570.776471206] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1658845570.777510453] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1658845570.777551307] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1658845570.798912146] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1658845570.798984829] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1658845570.799005255] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]

Any suggestions where I might have slipped up?

Thanks for considering this.

Best,
Vetle

Unless something is not working as it should, you can just ignore the warnings.

Tried to execute a plan and rviz just shut down.

Shell #3

[move_group-1] You can start planning now!
[move_group-1]
[rviz2-2] terminate called after throwing an instance of 'std::runtime_error'
[move_group-1] [INFO] [1658921101.291417417] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1658921101.291771242] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1658921101.291911529] [move_group_interface]: Plan and Execute request accepted
[rviz2-2]   what():  Node has already been added to an executor.
[ERROR] [rviz2-2]: process has died [pid 1215, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/user/ros2_ws/install/my_moveit2_config/share/my_moveit2_config/rviz/view_robot.rviz --ros-args -r __node:=rviz2_moveit --params-file /tmp/launch_params_vg5szhb2 --params-file /tmp/launch_params_f23kbsba --params-file /tmp/launch_params__g0urdl2 --params-file /tmp/launch_params_lq3eas4r'].

Facing the same issue:

Shell #1 rviz&moveit2 launcher
user:~/ros2_ws$ ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2022-09-28-07-56-54-684876-3_xterm-10765
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [10769]
[INFO] [rviz2-2]: process started with pid [10771]
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
[move_group-1] [WARN] [1664351815.658377070] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1664351815.659303687] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] Parsing robot urdf xml string.
[move_group-1] [INFO] [1664351815.667329476] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1664351815.667384289] [moveit_robot_model.robot_model]: Loading robot model 'ur3e'...
[move_group-1] [WARN] [1664351815.667402150] [moveit_robot_model.robot_model]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[move_group-1] [INFO] [1664351815.667412558] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] Link ground_plane_box had 0 children
[move_group-1] Link base_link had 2 children
[move_group-1] Link base had 0 children
[move_group-1] Link shoulder_link had 1 children
[move_group-1] Link upper_arm_link had 1 children
[move_group-1] Link forearm_link had 1 children
[move_group-1] Link wrist_1_link had 1 children
[move_group-1] Link wrist_2_link had 1 children
[move_group-1] Link wrist_3_link had 2 children
[move_group-1] Link ee_link had 0 children
[move_group-1] Link tool0 had 1 children
[move_group-1] Link egh_gripper_base_link had 2 children
[move_group-1] Link egh_gripper_left_finger had 0 children
[move_group-1] Link egh_gripper_right_finger had 0 children
[move_group-1] [INFO] [1664351815.850943455] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1664351815.852178039] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[move_group-1] [INFO] [1664351815.854122570] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[move_group-1] [INFO] [1664351815.855330701] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[move_group-1] [INFO] [1664351815.855803599] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1664351815.857107143] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[move_group-1] [INFO] [1664351815.857546138] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1664351815.858598810] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1664351815.859903401] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1664351815.860395204] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1664351815.860448304] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-2] [INFO] [1664351815.876419492] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1664351815.876573744] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[move_group-1] [INFO] [1664351815.919848489] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[rviz2-2] [INFO] [1664351815.926556040] [rviz2]: Stereo is NOT SUPPORTED
[move_group-1] [INFO] [1664351815.978458385] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1664351815.984852705] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1664351815.985500409] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1664351815.985944593] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1664351815.985993946] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1664351815.986025228] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-1] [INFO] [1664351815.986037606] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1664351815.986060747] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1664351815.986072754] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1664351815.986099095] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1664351815.986123505] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1664351815.986135943] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1664351815.986175396] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1664351815.986185561] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1664351815.986193372] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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.
[rviz2-2]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1664351819.172874961] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] Parsing robot urdf xml string.
[rviz2-2] [INFO] [1664351819.373260360] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00756378 seconds
[rviz2-2] [INFO] [1664351819.374739836] [moveit_robot_model.robot_model]: Loading robot model 'ur3e'...
[rviz2-2] [WARN] [1664351819.374796421] [moveit_robot_model.robot_model]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[rviz2-2] [INFO] [1664351819.374807960] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link ground_plane_box had 0 children
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link ee_link had 0 children
[rviz2-2] Link tool0 had 1 children
[rviz2-2] Link egh_gripper_base_link had 2 children
[rviz2-2] Link egh_gripper_left_finger had 0 children
[rviz2-2] Link egh_gripper_right_finger had 0 children
[rviz2-2] [INFO] [1664351819.601710238] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1664351819.604454852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [WARN] [1664351819.651335497] [rviz2]: The STL file 'package://ur_e_description/meshes/egh_base.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it asa binary STL file instead.
[rviz2-2] [WARN] [1664351819.779031251] [rviz2]: The STL file 'package://ur_e_description/meshes/egh_finger.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[move_group-1] [WARN] [1664351821.043979329] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for arm_controller/follow_joint_trajectory to come up
[rviz2-2] [INFO] [1664351821.164546119] [interactive_marker_display_94863418280928]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] Link ground_plane_box had 0 children
[rviz2-2] Link base_link had 2 children
[rviz2-2] Link base had 0 children
[rviz2-2] Link shoulder_link had 1 children
[rviz2-2] Link upper_arm_link had 1 children
[rviz2-2] Link forearm_link had 1 children
[rviz2-2] Link wrist_1_link had 1 children
[rviz2-2] Link wrist_2_link had 1 children
[rviz2-2] Link wrist_3_link had 2 children
[rviz2-2] Link ee_link had 0 children
[rviz2-2] Link tool0 had 1 children
[rviz2-2] Link egh_gripper_base_link had 2 children
[rviz2-2] Link egh_gripper_left_finger had 0 children
[rviz2-2] Link egh_gripper_right_finger had 0 children
[rviz2-2] [WARN] [1664351821.207461884] [moveit_robot_model.joint_model_group]: comparing input tip: wrist_3_link to this groups tip: tool0
[rviz2-2] [INFO] [1664351821.380722916] [interactive_marker_display_94863418280928]: Sending request for interactive markers
[rviz2-2] [INFO] [1664351821.465951538] [interactive_marker_display_94863418280928]: Service response received for initialization
[move_group-1] [WARN] [1664351826.044214686] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for arm_controller/follow_joint_trajectory to come up
[rviz2-2] [INFO] [1664351826.211476014] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1664351826.211629226] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1664351826.211661781] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [WARN] [1664351826.211823621] [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.
[rviz2-2] [INFO] [1664351826.232319638] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1664351826.232392547] [move_group_interface]: Looking around: no
[rviz2-2] [INFO] [1664351826.232423094] [move_group_interface]: Replanning: no
[move_group-1] [ERROR] [1664351831.046612805] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: arm_controller/follow_joint_trajectory
[move_group-1] [WARN] [1664351836.051538153] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[move_group-1] [WARN] [1664351841.051822991] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[move_group-1] [ERROR] [1664351846.052113564] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: gripper_controller/gripper_cmd
[move_group-1] [INFO] [1664351846.055152352] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-1] [INFO] [1664351846.055981476] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1664351846.056007216] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1664351846.093816761] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1664351846.094612567] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1664351846.094636532] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]
Shell #2 Parameter bridge
user:~$ ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory[ERROR] [1664350700.478195474, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.483233907, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.502386429, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.508629107, 1117.916000000]: couldn't resolve publisher host [3_simulation]
Shell #3 Action bridge
user:~$ ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
Trying to create bidirectional bridge for topic '/joint_states' with ROS 2 type 'sensor_msgs/msg/JointState'
[INFO] [1664350613.224039553] [ros_bridge]: create bidirectional bridge for topic /joint_states
Trying to create bidirectional bridge for topic '/clock' with ROS 2 type 'rosgraph_msgs/msg/Clock'
[INFO] [1664350613.240909921] [ros_bridge]: create bidirectional bridge for topic /clock
Trying to create bidirectional bridge for topic '/tf_static' with ROS 2 type 'tf2_msgs/msg/TFMessage'
[INFO] [1664350613.252853563] [ros_bridge]: create bidirectional bridge for topic /tf_static
[INFO] [1664350613.252915484] [ros_bridge]: Setting QoS to keep all msgs for topic /tf_static.
Trying to create bidirectional bridge for topic '/tf' with ROS 2 type 'tf2_msgs/msg/TFMessage'
[INFO] [1664350613.266931312] [ros_bridge]: create bidirectional bridge for topic /tf
Trying to create bidirectional bridge for topic '/wrist_rgbd/depth/camera_info' with ROS 2 type 'sensor_msgs/msg/CameraInfo'
[INFO] [1664350613.282156651] [ros_bridge]: create bidirectional bridge for topic /wrist_rgbd/depth/camera_info
Trying to create bidirectional bridge for topic '/wrist_rgbd/depth/points' with ROS 2 type 'sensor_msgs/msg/PointCloud2'
[INFO] [1664350613.313140091] [ros_bridge]: create bidirectional bridge for topic /wrist_rgbd/depth/points
The parameter 'services_1_to_2' either doesn't exist or isn't an array
The parameter 'services_2_to_1' either doesn't exist or isn't an array
[INFO] [1664350613.428078138] [ros_bridge]: Passing message from ROS 1 rosgraph_msgs/Clock to ROS 2 rosgraph_msgs/msg/Clock (showing msg only once per type)
[INFO] [1664350613.437701852] [ros_bridge]: Passing message from ROS 1 tf2_msgs/TFMessage to ROS 2 tf2_msgs/msg/TFMessage (showing msg only once per type)
[INFO] [1664350613.438161769] [ros_bridge]: Passing message from ROS 1 sensor_msgs/JointState to ROS 2 sensor_msgs/msg/JointState (showing msg only once per type)
[INFO] [1664350613.696893137] [ros_bridge]: Passing message from ROS 1 sensor_msgs/CameraInfo to ROS 2 sensor_msgs/msg/CameraInfo (showing msg only once per type)
[INFO] [1664350613.724171150] [ros_bridge]: Passing message from ROS 1 sensor_msgs/PointCloud2 to ROS 2 sensor_msgs/msg/PointCloud2 (showing msg only once per type)
[ERROR] [1664350700.478203831, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.483548470, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.502842860, 1117.916000000]: couldn't resolve publisher host [3_simulation]
[ERROR] [1664350700.507298009, 1117.916000000]: couldn't resolve publisher host [3_simulation]

I can’t drag the arm not plan/execute any trajectories.

I have pressed on the :x: and done a source install/setup.bash. No changes.

Then I deleted the build & install folders and did a colcon build. Everything compiled correclty except for some warnings in the simple_grasping package which it should have nothing to do. But I will include it here JIC.

simple_grasping colcon build warnings
[Processing: simple_grasping]
[Processing: simple_grasping]
[Processing: simple_grasping]
[Processing: simple_grasping]
--- stderr: simple_grasping
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
/home/user/ros2_ws/src/perception_ros2/simple_grasping/src/cloud_tools.cpp: In function 'void simple_grasping::colorizeCloud(pcl::PointCloud<pcl::PointXYZRGB>&, float)':
/home/user/ros2_ws/src/perception_ros2/simple_grasping/src/cloud_tools.cpp:75:31: warning: 'void pcl::getFields(const pcl::PointCloud<PointT>&, std::vector<pcl::PCLPointField>&) [with PointT = pcl::PointXYZRGB]' is deprecated: use getFields<PointT> () with return value instead [-Wdeprecated-declarations]
   75 |   pcl::getFields(cloud, fields);
      |                               ^
In file included from /usr/include/pcl-1.10/pcl/common/io.h:586,
                 from /home/user/ros2_ws/src/perception_ros2/simple_grasping/src/cloud_tools.cpp:38:
/usr/include/pcl-1.10/pcl/common/impl/io.hpp:81:1: note: declared here
   81 | pcl::getFields (const pcl::PointCloud<PointT> &, std::vector<pcl::PCLPointField> &fields)
      | ^~~
/home/user/ros2_ws/src/perception_ros2/simple_grasping/src/cloud_tools.cpp:75:31: warning: 'void pcl::getFields(const pcl::PointCloud<PointT>&, std::vector<pcl::PCLPointField>&) [with PointT = pcl::PointXYZRGB]' is deprecated: use getFields<PointT> () with return value instead [-Wdeprecated-declarations]
   75 |   pcl::getFields(cloud, fields);
      |                               ^
In file included from /usr/include/pcl-1.10/pcl/common/io.h:586,
                 from /home/user/ros2_ws/src/perception_ros2/simple_grasping/src/cloud_tools.cpp:38:
/usr/include/pcl-1.10/pcl/common/impl/io.hpp:81:1: note: declared here
   81 | pcl::getFields (const pcl::PointCloud<PointT> &, std::vector<pcl::PCLPointField> &fields)
      | ^~~
---
Finished <<< simple_grasping [2min 14s]

After another source install/setup.bash the issue is still the same.

Hello @GasPatxo ,

There are a couple of errors that are relevant in your Moveit2 output:

This indicates that Moveit2 has not been able to connect either to the arm controller or the gripper controller. This is very likely because you are not properly bridging the action server controllers for the arm and the gripper.

If you are in Exercise 2.4, then you have to comment out the gripper controller since you are not using it yet, as indicated in the notebook:

Then, to properly launch everything the steps are the following:

  1. Run the action bridge (for the arm controller only):
source /opt/ros/noetic/setup.bash
source /home/simulations/ros2_sims_ws/install/setup.bash
ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
  1. Run the parameter bridge:
source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
source /home/simulations/ros2_sims_ws/install/setup.bash
ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
  1. Run Moveit2:
source ~/ros2_ws/install/setup.bash
ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true

Hope this helps,

1 Like

Hello @vetle.tjohansen ,

In your case, I can also see the following error in your Moveit2 log:

This indicates that Moveit2 is failing to connect to the gripper controller action server. Probably, this is because you forgot to comment out the gripper part in your Moveit2 configuration:

Best,

Commenting out - gripper_controller in the ros2_ws/src/my_moveit2_config/config/controllers.yaml file solved my issue.

Many thanks!

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