executable 'servo_node' not found on the libexec directory

[PedroMoreo]

Description

I have severals issues. I am trying to reproduce the hello moveit tutorial for universal robot 5 ur5e. For this purpose I am trying to update this project https://github.com/LucaBross/simple_moveit2_universal_robots_movement.git from ur3e to ur5e.

Your environment

• ROS Distro: Humble (using ROS2)
• OS Version: e.g. Ubuntu 22.04
• Source or Binary build?
• If binary, which release version?
• I am using a source version of MOVE IT https://github.com/moveit/moveit2_tutorials
• If source, which branch?
• I am using a binary version of ur_robot_driver according to https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html, since I cannot use the source version due to this issue Build from source is broken for Humble by latest updates in ros2_controllers package UniversalRobots/Universal_Robots_ROS2_Driver#1062
• Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.

Steps to reproduce

In a first shell I launch :

cd ~/ws_moveit2/
source ~/ws_moveit2/install/setup.bash
source /opt/ros/humble/setup.bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller

Also launch URSIM. After some secconds the shell answer is :

[ur_ros2_control_node-1] [INFO] [1724661734.114233192] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.

In a seccond shell
source /opt/ros/humble/setup.bash
source ~/ws_moveit2/install/setup.bash  
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

This is the error:

[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-26-10-55-04-926688-pedro-B650-AORUS-ELITE-AX-35224
[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/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo'

this is the content of the directory:

ls /home/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo
fake_command_publisher servo_node_main servo_pose_tracking_demo

I think the program is searching for a servo_node executable wich is the same has servo_node_main

Expected behaviour

Tell us what should happen
Get the robot ready to receive commands.

Actual behaviour

Tell us what happens instead
the controller for moveit stops

Backtrace or Console output

ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node' not found on the libexec directory '/home/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo'*
Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

I hope you can help.
Thanks

[sea-bass]

I think in Humble, this executable is called servo_node_main instead of servo_node.

If you look at the Humble branch of the Universal_Robots_ROS2_Driver repo, they also have it this way: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/humble/ur_moveit_config/launch/ur_moveit.launch.py#L246

So I think you might be mismatching ROS distros, and switching to the Humble version of the UR driver might be the best way to go?

[PedroMoreo]

Thanks a lot Sebastián

In fact, In fact, copying and pasting the file, renaming it with no '_main' worked.

But I am checking the version of the ur_moveit (because this could be the main cause of other troubles), and you are right. My ur_moveit.launch.py is asking for moveit_servo and not moveit_servo_main

Servo node for realtime control

servo_yaml = load_yaml("ur_moveit_config", "config/ur_servo.yaml")
servo_params = {"moveit_servo": servo_yaml}
servo_node = Node(
    **package="moveit_servo",**
    condition=IfCondition(launch_servo),
    executable="servo_node",
    parameters=[
        servo_params,
        robot_description,
        robot_description_semantic,
    ],
    output="screen",
)

Also I checked the package.xml and I cannot find any information about the distro

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>ur_moveit_config</name>
  <version>2.4.4</version>
  <description>
     An example package with MoveIt2 configurations for UR robots.
  </description>
  <maintainer email="[email protected]">Denis Stogl</maintainer>
  <maintainer email="[email protected]">Felix Exner</maintainer>
  <maintainer email="[email protected]">Robert Wilbrandt</maintainer>

  <license>Apache2.0</license>

  <author email="[email protected]">Lovro Ivanov</author>
  <author email="[email protected]">Andy Zelenak</author>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>ament_cmake_python</buildtool_depend>

  <exec_depend>launch</exec_depend>
  <exec_depend>launch_ros</exec_depend>
  <exec_depend>moveit_kinematics</exec_depend>
  <exec_depend>moveit_planners_ompl</exec_depend>
  <exec_depend>moveit_ros_move_group</exec_depend>
  <exec_depend>moveit_ros_visualization</exec_depend>
  <exec_depend>moveit_servo</exec_depend>
  <exec_depend>moveit_simple_controller_manager</exec_depend>
  <exec_depend>rviz2</exec_depend>
  <exec_depend>ur_description</exec_depend>
  <exec_depend>urdf</exec_depend>
  <exec_depend>warehouse_ros_sqlite</exec_depend>
  <exec_depend>xacro</exec_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

Maybe the best solution could be start another workspace clean.

[sea-bass]

It may also be that you have a binary install of the ur_moveit_config package, which is in conflict with your source build?

You can check with apt list --installed | grep ur_moveit_config

And if you want to remove it, sudo apt remove ros-humble-ur-moveit-config (and replace remove with install otherwise)

[PedroMoreo]

Thanks again

According to the instruccion apt list --installed | grep ur_moveit_config I think, moveit is not installed as binary, since the result is empty.

Using the instruccion ros2 pkg prefix ur_moveit_config and ros2 pkg prefix ur_robot_driver
we can find

ur_robot_driver --> /opt/ros/humble
ur_moveit_config --> /home/pedro/install/ur_moveit_config

I will try now the binary version of moveit-config.

[PedroMoreo]

Exactly, this solved the problem (binary version of moveit-config).
thanks

[sea-bass]

Great to hear!