ros2 launch moveit2_tutorials demo.launch.py

gistfile1.txt

ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2021-04-28-20-26-17-888083-moon-2330
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [2332]
[INFO] [static_transform_publisher-2]: process started with pid [2334]
[INFO] [robot_state_publisher-3]: process started with pid [2336]
[INFO] [move_group-4]: process started with pid [2338]
[INFO] [ros2_control_node-5]: process started with pid [2340]
[INFO] [mongo_wrapper_ros.py-6]: process started with pid [2342]
[INFO] [ros2 run controller_manager spawner.py panda_arm_controller-7]: process started with pid [2344]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-8]: process started with pid [2346]
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link panda_link1 had 1 children
[robot_state_publisher-3] Link panda_link2 had 1 children
[robot_state_publisher-3] Link panda_link3 had 1 children
[robot_state_publisher-3] Link panda_link4 had 1 children
[robot_state_publisher-3] Link panda_link5 had 1 children
[robot_state_publisher-3] Link panda_link6 had 1 children
[robot_state_publisher-3] Link panda_link7 had 1 children
[robot_state_publisher-3] Link panda_link8 had 1 children
[robot_state_publisher-3] Link panda_hand had 2 children
[robot_state_publisher-3] Link panda_leftfinger had 0 children
[robot_state_publisher-3] Link panda_rightfinger had 0 children
[robot_state_publisher-3] [INFO] [1619634378.374881700] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-3] [INFO] [1619634378.375025400] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-3] [INFO] [1619634378.375048000] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-3] [INFO] [1619634378.375060200] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-3] [INFO] [1619634378.375069300] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-3] [INFO] [1619634378.375078200] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-3] [INFO] [1619634378.375087400] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-3] [INFO] [1619634378.375095800] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-3] [INFO] [1619634378.375104900] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-3] [INFO] [1619634378.375114700] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-3] [INFO] [1619634378.375124100] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-3] [INFO] [1619634378.375133000] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [INFO] [1619634378.393199700] [controller_manager]: update rate is 100 Hz
[static_transform_publisher-2] [INFO] [1619634378.396884400] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR points to non-existing path '/run/user/1000', please create it with 0700 permissions.
[move_group-4] Parsing robot urdf xml string.
[move_group-4] [INFO] [1619634378.790969600] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0015041 seconds
[move_group-4] [INFO] [1619634378.791124900] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[move_group-4] Link panda_link1 had 1 children
[move_group-4] Link panda_link2 had 1 children
[move_group-4] Link panda_link3 had 1 children
[move_group-4] Link panda_link4 had 1 children
[move_group-4] Link panda_link5 had 1 children
[move_group-4] Link panda_link6 had 1 children
[move_group-4] Link panda_link7 had 1 children
[move_group-4] Link panda_link8 had 1 children
[move_group-4] Link panda_hand had 2 children
[move_group-4] Link panda_leftfinger had 0 children
[move_group-4] Link panda_rightfinger had 0 children
[move_group-4] [INFO] [1619634378.861730900] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1619634378.862009800] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1619634378.862050000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1619634378.862668700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1619634378.862690100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1619634378.863376700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1619634378.863919200] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1619634378.863965000] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1619634378.864010500] [moveit.ros.occupancy_map_monitor]: Failed to find 3D sensor plugin parameters for octomap generation
[move_group-4] [INFO] [1619634378.868038400] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1619634378.875603100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[mongo_wrapper_ros.py-6] [INFO] [1619634378.905473500] [mongodb]: Starting mongodb with db location /tmp/db listening on localhost:33829
[move_group-4] [INFO] [1619634378.924456700] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1619634378.930380700] [moveit_ros.fix_workspace_bounds]: Param 'default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1619634378.930487500] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1619634378.930511900] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1619634378.930543900] [moveit_ros.fix_start_state_collision]: Param 'start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1619634378.930556400] [moveit_ros.fix_start_state_collision]: Param 'jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1619634378.930570600] [moveit_ros.fix_start_state_collision]: Param 'max_sampling_attempts' was not set. Using default value: 0.000000,
[move_group-4] [INFO] [1619634378.930601700] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1619634378.930620400] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1619634378.930625800] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1619634378.930629800] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1619634378.930634400] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] MongoDB starting : pid=2447 port=33829 dbpath=/tmp/db 64-bit host=moon
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] db version v3.6.8
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] OpenSSL version: OpenSSL 1.1.1f  31 Mar 2020
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] allocator: tcmalloc
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] modules: none
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] build environment:
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten]     distarch: x86_64
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten]     target_arch: x86_64
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.941+0200 I CONTROL  [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } }
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.951+0200 I STORAGE  [initandlisten] exception in initAndListen: DBPathInUse: Unable to lock the lock file: /tmp/db/mongod.lock (Resource temporarily unavailable). Another mongod instance is already running on the /tmp/db directory, terminating
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.951+0200 I CONTROL  [initandlisten] now exiting
[mongo_wrapper_ros.py-6] 2021-04-28T20:26:18.951+0200 I CONTROL  [initandlisten] shutting down with code:100
[ros2 run controller_manager spawner.py joint_state_controller-8] [INFO] [1619634378.952719300] [spawner_joint_state_controller]: Waiting for /controller_manager services
[mongo_wrapper_ros.py-6] [ERROR] [1619634378.955685300] [mongodb]: Mongo process exited with error code 100
[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1619634378.990455400] [spawner_panda_arm_controller]: Controller already loaded, skipping load_controller
[ros2_control_node-5] [INFO] [1619634378.995551200] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [ERROR] [1619634378.995617300] [controller_manager]: Could not configure controller with name 'panda_arm_controller' because no controller with this name exists
[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1619634378.999414100] [spawner_panda_arm_controller]: Failed to configure controller
[move_group-4] [INFO] [1619634379.021414000] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-4] [INFO] [1619634379.022106200] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-4] [INFO] [1619634379.025094300] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[INFO] [mongo_wrapper_ros.py-6]: process has finished cleanly [pid 2342]
[move_group-4] [INFO] [1619634379.102862200] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] *     - ApplyPlanningSceneService
[move_group-4] *     - ClearOctomapService
[move_group-4] *     - CartesianPathService
[move_group-4] *     - ExecuteTrajectoryAction
[move_group-4] *     - GetPlanningSceneService
[move_group-4] *     - KinematicsService
[move_group-4] *     - MoveAction
[move_group-4] *     - MotionPlanService
[move_group-4] *     - QueryPlannersService
[move_group-4] *     - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1619634379.103015200] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1619634379.103039900] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Starting planning scene monitors...
[move_group-4] Planning scene monitors started.
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[ERROR] [ros2 run controller_manager spawner.py panda_arm_controller-7]: process has died [pid 2344, exit code 1, cmd 'ros2 run controller_manager spawner.py panda_arm_controller'].
[ros2_control_node-5] [INFO] [1619634379.166060400] [controller_manager]: Loading controller 'joint_state_controller'
[ros2_control_node-5] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class joint_state_broadcaster::JointStateBroadcaster. 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.
[ros2_control_node-5]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1619634379.197200300] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1619634379.197518600] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-1] [INFO] [1619634379.229467600] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [ros2 run controller_manager spawner.py joint_state_controller-8]: process has died [pid 2346, exit code 1, cmd 'ros2 run controller_manager spawner.py joint_state_controller'].
[rviz2-1] 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.
[rviz2-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1619634382.411500100] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1619634382.444028000] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0017886 seconds
[rviz2-1] [INFO] [1619634382.444330800] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1619634383.422222700] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0010473 seconds
[rviz2-1] [INFO] [1619634383.422329900] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1619634383.427836200] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0011332 seconds
[rviz2-1] [INFO] [1619634383.427873900] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [ERROR] [1619634383.454901100] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'panda_arm.kinematics_solver_ik_links' has already been declared
[rviz2-1] Link panda_link1 had 1 children
[rviz2-1] Link panda_link2 had 1 children
[rviz2-1] Link panda_link3 had 1 children
[rviz2-1] Link panda_link4 had 1 children
[rviz2-1] Link panda_link5 had 1 children
[rviz2-1] Link panda_link6 had 1 children
[rviz2-1] Link panda_link7 had 1 children
[rviz2-1] Link panda_link8 had 1 children
[rviz2-1] Link panda_hand had 2 children
[rviz2-1] Link panda_leftfinger had 0 children
[rviz2-1] Link panda_rightfinger had 0 children
[rviz2-1] [INFO] [1619634383.506083900] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1619634383.507205700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1619634383.533224100] [interactive_marker_display_94094208846832]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] Link panda_link1 had 1 children
[rviz2-1] Link panda_link2 had 1 children
[rviz2-1] Link panda_link3 had 1 children
[rviz2-1] Link panda_link4 had 1 children
[rviz2-1] Link panda_link5 had 1 children
[rviz2-1] Link panda_link6 had 1 children
[rviz2-1] Link panda_link7 had 1 children
[rviz2-1] Link panda_link8 had 1 children
[rviz2-1] Link panda_hand had 2 children
[rviz2-1] Link panda_leftfinger had 0 children
[rviz2-1] Link panda_rightfinger had 0 children
[rviz2-1] [WARN] [1619634383.549667800] [moveit_robot_model.joint_model_group]: comparing input tip: panda_link8 to this groups tip: panda_link8
[rviz2-1] [INFO] [1619634383.559687000] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
[rviz2-1] [INFO] [1619634383.559751000] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[rviz2-1] [WARN] [1619634383.559995200] [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] [INFO] [1619634383.609255500] [move_group_interface]: Ready to take commands for planning group panda_arm.
[rviz2-1] [INFO] [1619634383.609373200] [move_group_interface]: Looking around: no
[rviz2-1] [INFO] [1619634383.609408400] [move_group_interface]: Replanning: no
[rviz2-1] [WARN] [1619634383.611520900] [interactive_marker_display_94094208846832]: Update sequence number is out of order. 1199 (expected) vs. 1 (received)
[rviz2-1] [WARN] [1619634383.611684000] [interactive_marker_display_94094208846832]: Update sequence number is out of order. 1199 (expected) vs. 2 (received)
[rviz2-1] [WARN] [1619634383.611878900] [interactive_marker_display_94094208846832]: Update sequence number is out of order. 1199 (expected) vs. 3 (received)
[rviz2-1] [INFO] [1619634383.637728600] [interactive_marker_display_94094208846832]: Sending request for interactive markers
[rviz2-1] [WARN] [1619634383.639828800] [interactive_marker_display_94094208846832]: Update sequence number is out of order. 1199 (expected) vs. 4 (received)
[rviz2-1] [INFO] [1619634383.641283500] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 3 grp: panda_arm
[rviz2-1] [INFO] [1619634383.641661000] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand
[rviz2-1] [INFO] [1619634383.641680600] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm
[rviz2-1] [INFO] [1619634383.641687900] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand
[rviz2-1] [INFO] [1619634383.688033400] [interactive_marker_display_94094208846832]: Service response received for initialization
[rviz2-1] [INFO] [1619634383.688211100] [interactive_marker_display_94094208846832]: Sending request for interactive markers
[rviz2-1] [INFO] [1619634383.726603800] [interactive_marker_display_94094208846832]: Service response received for initialization

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-5] [INFO] [1619634717.474413700] [rclcpp]: signal_handler(signal_value=2)
[move_group-4] [INFO] [1619634717.474420400] [rclcpp]: signal_handler(signal_value=2)
[rviz2-1] [INFO] [1619634717.474436400] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-3] [INFO] [1619634717.474444700] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-2] [INFO] [1619634717.474446600] [rclcpp]: signal_handler(signal_value=2)
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 2334]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 2336]
[INFO] [ros2_control_node-5]: process has finished cleanly [pid 2340]
[move_group-4] [INFO] [1619634717.523508500] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-4] [INFO] [1619634717.524986700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-4] [INFO] [1619634717.525722600] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-1] [WARN] [1619634717.538927000] [interactive_marker_display_94094208846832]: Server not available while running, resetting
[INFO] [move_group-4]: process has finished cleanly [pid 2338]
[move_group-4]
[rviz2-1]
[rviz2-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-1] This error state is being overwritten:
[rviz2-1]
[rviz2-1]   'rcl node's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/node.c:441'
[rviz2-1]
[rviz2-1] with this new error message:
[rviz2-1]
[rviz2-1]   'publisher's context is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.11/src/rcl/publisher.c:423'
[rviz2-1]
[rviz2-1] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-1] <<<
[rviz2-1] [INFO] [1619634717.658661600] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [rviz2-1]: process has finished cleanly [pid 2332]