ros2 launch run_moveit_cpp run_moveit_cpp.launch.py

moveit_cpp_crash.log

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2021-04-28-22-50-35-020342-moon-18796
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [18798]
[INFO] [robot_state_publisher-2]: process started with pid [18800]
[INFO] [rviz2-3]: process started with pid [18802]
[INFO] [run_moveit_cpp-4]: process started with pid [18804]
[INFO] [ros2_control_node-5]: process started with pid [18806]
[INFO] [ros2 run controller_manager spawner.py panda_arm_controller-6]: process started with pid [18808]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process started with pid [18810]
[static_transform_publisher-1] [INFO] [1619643035.355964500] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link panda_link1 had 1 children
[robot_state_publisher-2] Link panda_link2 had 1 children
[robot_state_publisher-2] Link panda_link3 had 1 children
[robot_state_publisher-2] Link panda_link4 had 1 children
[robot_state_publisher-2] Link panda_link5 had 1 children
[robot_state_publisher-2] Link panda_link6 had 1 children
[robot_state_publisher-2] Link panda_link7 had 1 children
[robot_state_publisher-2] Link panda_link8 had 1 children
[robot_state_publisher-2] Link panda_hand had 2 children
[robot_state_publisher-2] Link panda_leftfinger had 0 children
[robot_state_publisher-2] Link panda_rightfinger had 0 children
[robot_state_publisher-2] [INFO] [1619643035.357700200] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-2] [INFO] [1619643035.357837500] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-2] [INFO] [1619643035.357854500] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-2] [INFO] [1619643035.357861100] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-2] [INFO] [1619643035.357866500] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-2] [INFO] [1619643035.357871900] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-2] [INFO] [1619643035.357877000] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-2] [INFO] [1619643035.357882300] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-2] [INFO] [1619643035.357887600] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-2] [INFO] [1619643035.357893200] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-2] [INFO] [1619643035.357898400] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-2] [INFO] [1619643035.357903800] [robot_state_publisher]: got segment panda_rightfinger
[run_moveit_cpp-4] [INFO] [1619643035.374533900] [moveit_cpp_demo]: Initialize node
[ros2_control_node-5] [INFO] [1619643035.375196700] [controller_manager]: update rate is 100 Hz
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR points to non-existing path '/run/user/1000', please create it with 0700 permissions.
[rviz2-3] [INFO] [1619643035.675912300] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1619643035.676139300] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-3] [INFO] [1619643035.700863300] [rviz2]: Stereo is NOT SUPPORTED
[ros2 run controller_manager spawner.py panda_arm_controller-6] [INFO] [1619643035.787179500] [spawner_panda_arm_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1619643035.789885300] [spawner_joint_state_controller]: Waiting for /controller_manager services
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643035.820185900] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0008959 seconds
[rviz2-3] [INFO] [1619643035.820292100] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[ros2_control_node-5] [INFO] [1619643035.992946900] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2 run controller_manager spawner.py panda_arm_controller-6] [INFO] [1619643036.013533100] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-5] [INFO] [1619643036.015125500] [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
[ros2_control_node-5] [INFO] [1619643036.033168100] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1619643036.033950000] [spawner_joint_state_controller]: Loaded joint_state_controller
[ros2_control_node-5] [INFO] [1619643036.034743000] [panda_arm_controller]: Controller state will be published at 50Hz.
[ros2_control_node-5] [INFO] [1619643036.036172600] [panda_arm_controller]: Action status changes will be monitored at 20Hz.
[ros2_control_node-5] [INFO] [1619643036.041739800] [controller_manager]: Configuring controller 'joint_state_controller'
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1619643036.054113700] [spawner_joint_state_controller]: Configured and started joint_state_controller
[ros2 run controller_manager spawner.py panda_arm_controller-6] [INFO] [1619643036.064360300] [spawner_panda_arm_controller]: Configured and started panda_arm_controller
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process has finished cleanly [pid 18810]
[INFO] [ros2 run controller_manager spawner.py panda_arm_controller-6]: process has finished cleanly [pid 18808]
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643036.602138800] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0008918 seconds
[rviz2-3] [INFO] [1619643036.602205600] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1619643036.622681800] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [INFO] [1619643036.659694800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1619643036.660705000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[run_moveit_cpp-4] [INFO] [1619643040.418379900] [moveit_cpp_demo]: Initialize MoveItCpp
[run_moveit_cpp-4] Parsing robot urdf xml string.
[run_moveit_cpp-4] [INFO] [1619643040.425119900] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0019575 seconds
[run_moveit_cpp-4] [INFO] [1619643040.425254000] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[run_moveit_cpp-4] Link panda_link1 had 1 children
[run_moveit_cpp-4] Link panda_link2 had 1 children
[run_moveit_cpp-4] Link panda_link3 had 1 children
[run_moveit_cpp-4] Link panda_link4 had 1 children
[run_moveit_cpp-4] Link panda_link5 had 1 children
[run_moveit_cpp-4] Link panda_link6 had 1 children
[run_moveit_cpp-4] Link panda_link7 had 1 children
[run_moveit_cpp-4] Link panda_link8 had 1 children
[run_moveit_cpp-4] Link panda_hand had 2 children
[run_moveit_cpp-4] Link panda_leftfinger had 0 children
[run_moveit_cpp-4] Link panda_rightfinger had 0 children
[run_moveit_cpp-4] [INFO] [1619643040.479605400] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[run_moveit_cpp-4] [INFO] [1619643040.480509600] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[run_moveit_cpp-4] [INFO] [1619643040.481095000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[run_moveit_cpp-4] [INFO] [1619643040.481820000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/moveit_cpp/publish_planning_scene'
[run_moveit_cpp-4] [INFO] [1619643040.482114400] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[run_moveit_cpp-4] [INFO] [1619643040.482822000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/monitored_planning_scene'
[run_moveit_cpp-4] [INFO] [1619643040.482841200] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[run_moveit_cpp-4] [INFO] [1619643040.507407000] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[run_moveit_cpp-4] [INFO] [1619643040.510168300] [moveit_ros.fix_workspace_bounds]: Param 'default_workspace_bounds' was not set. Using default value: 10.000000
[run_moveit_cpp-4] [INFO] [1619643040.510254200] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[run_moveit_cpp-4] [INFO] [1619643040.510262300] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[run_moveit_cpp-4] [INFO] [1619643040.510273600] [moveit_ros.fix_start_state_collision]: Param 'start_state_max_dt' was not set. Using default value: 0.500000
[run_moveit_cpp-4] [INFO] [1619643040.510278800] [moveit_ros.fix_start_state_collision]: Param 'jiggle_fraction' was not set. Using default value: 0.020000
[run_moveit_cpp-4] [INFO] [1619643040.510287000] [moveit_ros.fix_start_state_collision]: Param 'max_sampling_attempts' was not set. Using default value: 0.000000,
[run_moveit_cpp-4] [INFO] [1619643040.510300300] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[run_moveit_cpp-4] [INFO] [1619643040.510318800] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[run_moveit_cpp-4] [INFO] [1619643040.510322400] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[run_moveit_cpp-4] [INFO] [1619643040.510325000] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[run_moveit_cpp-4] [INFO] [1619643040.510327800] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[run_moveit_cpp-4] [WARN] [1619643040.513829100] [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.[run_moveit_cpp-4] [INFO] [1619643040.547215100] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[run_moveit_cpp-4] [INFO] [1619643040.547512700] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[run_moveit_cpp-4] [INFO] [1619643040.548681100] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[run_moveit_cpp-4] [INFO] [1619643040.549838500] [moveit_cpp_demo]: Initialize PlanningComponent
[run_moveit_cpp-4] [INFO] [1619643043.550545000] [moveit_cpp_demo]: Set goal
[run_moveit_cpp-4] [INFO] [1619643043.550671000] [moveit_cpp_demo]: Plan to goal
[run_moveit_cpp-4] [INFO] [1619643043.551751700] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[run_moveit_cpp-4] [INFO] [1619643043.552448200] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.552570500] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.552644400] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.552700700] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.563287400] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[run_moveit_cpp-4] [INFO] [1619643043.563399000] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (3 start + 2 goal)
[run_moveit_cpp-4] [INFO] [1619643043.563444600] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (3 start + 2 goal)
[run_moveit_cpp-4] [INFO] [1619643043.564075100] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 6 states (3 start + 3 goal)
[run_moveit_cpp-4] [INFO] [1619643043.564280100] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.012272 seconds
[run_moveit_cpp-4] [INFO] [1619643043.564517400] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.564621100] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.564744000] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.564840700] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.565857600] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[run_moveit_cpp-4] [INFO] [1619643043.566195100] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[run_moveit_cpp-4] [INFO] [1619643043.566503000] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (3 start + 2 goal)
[run_moveit_cpp-4] [INFO] [1619643043.566787800] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 7 states (3 start + 4 goal)
[run_moveit_cpp-4] [INFO] [1619643043.566957500] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.002581 seconds
[run_moveit_cpp-4] [INFO] [1619643043.567189600] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.567273200] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[run_moveit_cpp-4] [INFO] [1619643043.567968500] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[run_moveit_cpp-4] [INFO] [1619643043.568700800] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - panda_arm/panda_arm: Created 5 states (3 start + 2 goal)
[run_moveit_cpp-4] [INFO] [1619643043.568882000] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.001850 seconds
[run_moveit_cpp-4] [INFO] [1619643043.572955100] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/src/SimpleSetup.cpp:179 - SimpleSetup: Path simplification took 0.003962 seconds and changed from 3 to 4 states
[run_moveit_cpp-4] [ERROR] [1619643043.576867500] [moveit.ros_planning.planning_pipeline]: Computed path is not valid. Invalid states at index locations: [22 ] out of 45. Explanations follow in command line. Contacts are published on /display_contacts
[run_moveit_cpp-4] [INFO] [1619643043.576927500] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'box' (type 'Object') and 'panda_hand' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[run_moveit_cpp-4] [INFO] [1619643043.576934500] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[run_moveit_cpp-4] [ERROR] [1619643043.577041600] [moveit.ros_planning.planning_pipeline]: Completed listing of explanations for invalid states.
[run_moveit_cpp-4] [ERROR] [1619643043.577240000] [moveit.ros_planning_interface.planning_component]: Could not compute plan successfully
[run_moveit_cpp-4] [INFO] [1619643043.577266700] [moveit.ros_planning_interface.planning_component]: Deleting PlanningComponent 'panda_arm'
[rviz2-3] 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.
[rviz2-3]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-3] [ERROR] [1619643105.737629100] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643105.814386700] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0011539 seconds
[rviz2-3] [INFO] [1619643105.814437800] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1619643105.830614800] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [WARN] [1619643105.834119300] [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.
[rviz2-3] [INFO] [1619643105.875385000] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1619643105.876341200] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-3] [INFO] [1619643105.895126700] [interactive_marker_display_94306957708368]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-3] [INFO] [1619643105.907650200] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] Link panda_link1 had 1 children
[rviz2-3] Link panda_link2 had 1 children
[rviz2-3] Link panda_link3 had 1 children
[rviz2-3] Link panda_link4 had 1 children
[rviz2-3] Link panda_link5 had 1 children
[rviz2-3] Link panda_link6 had 1 children
[rviz2-3] Link panda_link7 had 1 children
[rviz2-3] Link panda_link8 had 1 children
[rviz2-3] Link panda_hand had 2 children
[rviz2-3] Link panda_leftfinger had 0 children
[rviz2-3] Link panda_rightfinger had 0 children
[rviz2-3] [INFO] [1619643105.908445400] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [INFO] [1619643105.912710300] [moveit_ros_visualization.motion_planning_frame]: group hand
[rviz2-3] [INFO] [1619643105.912765200] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'hand' in namespace ''
[rviz2-3] [WARN] [1619643105.912945400] [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.
[rviz2-3] [INFO] [1619643105.940488600] [move_group_interface]: Ready to take commands for planning group hand.
[rviz2-3] [INFO] [1619643105.940579300] [move_group_interface]: Looking around: no
[rviz2-3] [INFO] [1619643105.940604100] [move_group_interface]: Replanning: no
[rviz2-3] [INFO] [1619643105.983030200] [interactive_marker_display_94306957708368]: Sending request for interactive markers
[rviz2-3] [INFO] [1619643106.039557800] [interactive_marker_display_94306957708368]: Service response received for initialization
[rviz2-3] [INFO] [1619643110.129075600] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'panda_arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [WARN] [1619643258.064130100] [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.
[rviz2-3] [INFO] [1619643299.601471100] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [INFO] [1619643302.659956000] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'panda_arm_hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [INFO] [1619643304.797676800] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-3] [INFO] [1619643570.823657300] [move_group_interface]: MoveGroup action client/server not ready
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643662.982975700] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0008076 seconds
[rviz2-3] [INFO] [1619643662.983048100] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1619643663.691225200] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1619643663.701741400] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0007252 seconds
[rviz2-3] [INFO] [1619643663.701765600] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1619643663.710663600] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [INFO] [1619643663.757818700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1619643663.758408700] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'

[ERROR] [rviz2-3]: process has died [pid 18802, exit code -11, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/user/ws_ROS2/moveit2/install/run_moveit_cpp/share/run_moveit_cpp/launch/run_moveit_cpp.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_xbpi4kvw --params-file /tmp/launch_params_cvdjcc3n'].


^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ros2_control_node-5] [INFO] [1619643780.230165400] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.230225600] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.230528600] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[robot_state_publisher-2] [INFO] [1619643780.230249700] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-1] [INFO] [1619643780.230255400] [rclcpp]: signal_handler(signal_value=2)
[run_moveit_cpp-4] [INFO] [1619643780.234566300] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[run_moveit_cpp-4] [INFO] [1619643780.235321800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[run_moveit_cpp-4] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[run_moveit_cpp-4]          at line 127 in /tmp/binarydeb/ros-foxy-class-loader-2.0.2/src/class_loader.cpp
[INFO] [static_transform_publisher-1]: process has finished cleanly [pid 18798]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 18800]
[INFO] [ros2_control_node-5]: process has finished cleanly [pid 18806]
[INFO] [run_moveit_cpp-4]: process has finished cleanly [pid 18804]