executable 'servo_node_main' not found

[ravijo]

Description

I am trying to execute ur_moveit.launch.py on ROS Iron but getting the following exception:

[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node_main' not found on the libexec directory '/opt/ros/iron/lib/moveit_servo' 

Your environment

• ROS Distro: Iron
• OS Version: Ubuntu 22.04.3 LTS
• ROS Source or Binary build: Binary
• MoveIt Source or Binary build: Error occurs in both (source and binary)
• Which RMW (Fast DDS or Cyclone DDS): rmw_cyclonedds_cpp

Steps to reproduce

$ ros2 launch ur_moveit_config ur_moveit.launch.py use_fake_hardware:=true ur_type:=ur5e use_sim_time:=true
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-09-24-17-53-28-365043-dell-21428
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node_main' not found on the libexec directory '/opt/ros/iron/lib/moveit_servo' 

[ravijo]

This error does not appear in ROS Humble + MoveIt Humble Source, i.e., git clone https://github.com/ros-planning/moveit2_tutorials -b humble --depth 1

[ibrahiminfinite]

Hi @ravijo, thanks for reporting the bug!

MoveIt Servo recently had a major update, which is the version on the main branch of MoveIt2.
The servo_node_main was an executable name used in the old version and that is why you get the error on Iron.
These changes are not on Humble branch, so you would not have any error there.

Also, is this error from a package outside of MoveIt2 ? or from MoveIt2 examples?

[ravijo]

@ibrahiminfinite

Thanks for the confirmation.

Also, is this error from a package outside of MoveIt2 ? or from MoveIt2 examples?

Ya. It is coming from ros2 launch ur_moveit_config ur_moveit.launch.py which is invoking moveit_servo internally.

BTW, I came accoss a few issues while following moveit2_tutorials. May I kindly request you to look at the below issues:

1. Found empty JointState message moveit2_tutorials#767
2. Package 'panda_moveit_config' not found in STOMP Motion Planner moveit2_tutorials#770

Thank you so much!

[sjahr]

@ravijo I am closing this issue since it seemed to be answered. Feel free to re-open new ones for more questions!

[ravijo]

@sjahr

Thanks for the followup.

Another workaround for this issue is to create a symbolic link as shown below:

$ cd /home/user/ros2_ws/install/moveit_servo/lib/moveit_servo
$ ln -s servo_node servo_node_main

[wei1224hf]

Hi @ravijo, thanks for reporting the bug!

MoveIt Servo recently had a major update, which is the version on the main branch of MoveIt2. The servo_node_main was an executable name used in the old version and that is why you get the error on Iron. These changes are not on Humble branch, so you would not have any error there.

Also, is this error from a package outside of MoveIt2 ? or from MoveIt2 examples?

I get this error from Moveit2 example ,

os2 launch moveit2_tutorials jupyter_notebook_prototyping.launch.py start_servo:=true
[INFO] [launch]: All log files can be found below /home/gene/.ros/log/2024-01-31-15-15-42-218572-gene-virtual-machine-7582
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node_main' not found on the libexec directory '/opt/ros/iron/lib/moveit_servo'

[ravijo]

@wei1224hf Please try running the humble version of the repository. For more information, please feel free to read the comments above

[shrutic12]

Hello @ravijo I am facing the same error

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2024-04-10-16-56-58-476502-user-OptiPlex-790-8682 [INFO] [launch]: Default logging verbosity is set to INFO [ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node' not found on the libexec directory '/home/user/ws_moveit2/install/moveit_servo/lib/moveit_servo'

I have tried the workaround you suggest

$ cd /home/user/ros2_ws/install/moveit_servo/lib/moveit_servo $ ln -s servo_node servo_node_main
and I am able to launch the robot and moveit without any issue and then launch ther servo service call to start servoing. However, even when I publish twist commands on the servo topic as follows : ros2 topic pub -r 10 /servo_node/delta_twist_cmds geometry_msgs/msg/TwistStamped "{header: {frame_id: "tool0"}, twist:{ linear:{ x: 10 , y: 0.2,z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}}"

My robot is not moving (I am in simulation). I am using a UR10e robot. Here is a screenshot of the nodes running. Can anyone help?

`

[ravijo]

@shrutic12

As said in above comments, old versions are using servo_node_main. And from ROS Iron, MoveIt2 made these changes. Please try running the Humble version. For more information, please feel free to read the comments above.