MoveIt
ROS2 Moveit2 Robotic arm gripper : Solution found but controller failed during execution #3011
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altijerina
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This question should be better asked at https://answers.ros.org. Please, post real issues and bug reports here only. Finally, your MoveIt controller looks weird: You define two gripper controllers, both defaulted, referring to different joint names. |
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I have a robotic arm that I have built. At the moment it is 100% virtual. You can find all the relevant files here: https://github.com/altijerina/agbot_arm
There is an image of the robot, as well as the rqt_graph Node Graph. I am using ROS2 on an Ubunto Humble machine, with Moveit2.
This is what happens.
I start Gazebo with no issues. Gazebo opens and I can see the robot.
I start my Controller Manager, with no problems.
Then I start the Moveit Controller Manager. RViz starts, I can see the robot arm, and I can see the Motion Planning.
This is where the fun "starts".
I use the planning group "rail_system" to get the robot out of the cylinder. I change the Context Planning Library to "ompl", hit, Plan & Execute, and watch the robot move in Gazebo.
I use the planning group "arm", change the Context Planning Library to "ompl", hit Plan & Execute, and watch the arm move in Gazebo.
This is where the issue appears. I use the planning group "gripper", change the Context Planning Library to "ompl", hit Plan & Execute, and the movement fails.
It appears that, somehow, the gripper planning group is sending a request that the Moveit Controller is sending to the Arm Controller, rather than the Gripper Controller. I do not understand why, or how, this is happening.
Below are the details of the evolution. Can anyone help me figure out why the gripper is not moving? I have been stuck here for a couple of weeks. Everything I have tried has, thus far, failed.
First, I launch gazebo with: ros2 launch arm_description arm_gazebo.launch.py
Gazebo starts with no issues and the robot arm can be clearly seen in the Home position.
[INFO] [launch]: All log files can be found below /home/albert/.ros/log/2024-09-24-15-51-26-474542-albert-humble-187838 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [187845] [INFO] [gzclient-2]: process started with pid [187847] [INFO] [robot_state_publisher-3]: process started with pid [187849] [INFO] [spawn_entity.py-4]: process started with pid [187851] [robot_state_publisher-3] [INFO] [1727211089.743323789] [robot_state_publisher]: got segment arm_base_car_link [robot_state_publisher-3] [INFO] [1727211089.743451763] [robot_state_publisher]: got segment arm_base_link [robot_state_publisher-3] [INFO] [1727211089.743472653] [robot_state_publisher]: got segment arm_base_rail_link [robot_state_publisher-3] [INFO] [1727211089.743485525] [robot_state_publisher]: got segment arm_mid_rail_link [robot_state_publisher-3] [INFO] [1727211089.743496933] [robot_state_publisher]: got segment arm_rgb_camera [robot_state_publisher-3] [INFO] [1727211089.743507881] [robot_state_publisher]: got segment arm_rgb_camera_optical [robot_state_publisher-3] [INFO] [1727211089.743519018] [robot_state_publisher]: got segment base_plate [robot_state_publisher-3] [INFO] [1727211089.743529816] [robot_state_publisher]: got segment box_four_link [robot_state_publisher-3] [INFO] [1727211089.743540736] [robot_state_publisher]: got segment box_one_link [robot_state_publisher-3] [INFO] [1727211089.743550742] [robot_state_publisher]: got segment box_three_link [robot_state_publisher-3] [INFO] [1727211089.743560540] [robot_state_publisher]: got segment box_two_link [robot_state_publisher-3] [INFO] [1727211089.743570618] [robot_state_publisher]: got segment claw_support [robot_state_publisher-3] [INFO] [1727211089.743580553] [robot_state_publisher]: got segment elbow [robot_state_publisher-3] [INFO] [1727211089.743590894] [robot_state_publisher]: got segment forward_drive_arm [robot_state_publisher-3] [INFO] [1727211089.743600793] [robot_state_publisher]: got segment gripper_left [robot_state_publisher-3] [INFO] [1727211089.743610760] [robot_state_publisher]: got segment gripper_right [robot_state_publisher-3] [INFO] [1727211089.743620954] [robot_state_publisher]: got segment horizontal_arm [robot_state_publisher-3] [INFO] [1727211089.743631081] [robot_state_publisher]: got segment roboball_cylinder [robot_state_publisher-3] [INFO] [1727211089.743641010] [robot_state_publisher]: got segment world [robot_state_publisher-3] [INFO] [1727211089.743651464] [robot_state_publisher]: got segment wrist [spawn_entity.py-4] [INFO] [1727211090.056951342] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1727211090.057278654] [spawn_entity]: Loading entity published on topic robot_description [spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead. [spawn_entity.py-4] warnings.warn( [spawn_entity.py-4] [INFO] [1727211090.059183867] [spawn_entity]: Waiting for entity xml on robot_description [spawn_entity.py-4] [INFO] [1727211090.061910432] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1727211090.062235316] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1727211090.566979726] [spawn_entity]: Calling service /spawn_entity [spawn_entity.py-4] [INFO] [1727211090.921134193] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [agbot] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 187851] [gzserver-1] [INFO] [1727211091.536361911] [camera_controller_arm]: Publishing camera info to [/camera_sensor/camera_info] [gzserver-1] [INFO] [1727211091.594390876] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [gzserver-1] [INFO] [1727211091.597049293] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: / [gzserver-1] [INFO] [1727211091.597105995] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control [gzserver-1] [INFO] [1727211091.599211786] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gzserver-1] [INFO] [1727211091.599790801] [gazebo_ros2_control]: Received urdf from param server, parsing... [gzserver-1] [INFO] [1727211091.599862586] [gazebo_ros2_control]: Loading parameter files /home/albert/ag_arm_ws/install/arm_controller/share/arm_controller/config/arm_controllers.yaml [gzserver-1] [INFO] [1727211091.623836149] [gazebo_ros2_control]: Loading joint: base_rail_to_ mid_rail_joint [gzserver-1] [INFO] [1727211091.623888734] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.623899213] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.623908532] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.623932991] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624030400] [gazebo_ros2_control]: Loading joint: mid_rail_to_arm_car_joint [gzserver-1] [INFO] [1727211091.624042179] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624050347] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624058141] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624065502] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624093295] [gazebo_ros2_control]: Loading joint: arm_base_joint [gzserver-1] [INFO] [1727211091.624108297] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624121910] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624129823] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624136969] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624174269] [gazebo_ros2_control]: Loading joint: shoulder_joint [gzserver-1] [INFO] [1727211091.624200343] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624207578] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624214690] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624221754] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624233622] [gazebo_ros2_control]: Loading joint: elbow_joint [gzserver-1] [INFO] [1727211091.624241736] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624248736] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624255964] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624262999] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624307468] [gazebo_ros2_control]: Loading joint: wrist_joint [gzserver-1] [INFO] [1727211091.624315563] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624322675] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624331076] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624338104] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624348826] [gazebo_ros2_control]: Loading joint: gripper_right_joint [gzserver-1] [INFO] [1727211091.624356790] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624364181] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624371262] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624378402] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624388015] [gazebo_ros2_control]: Loading joint: gripper_left_joint [gzserver-1] [INFO] [1727211091.624460768] [gazebo_ros2_control]: Joint 'gripper_left_joint'is mimicking joint 'gripper_right_joint' with multiplier: -1 [gzserver-1] [INFO] [1727211091.624472623] [gazebo_ros2_control]: State: [gzserver-1] [INFO] [1727211091.624480345] [gazebo_ros2_control]: Command: [gzserver-1] [INFO] [1727211091.624487736] [gazebo_ros2_control]: position [gzserver-1] [INFO] [1727211091.624575848] [resource_manager]: Initialize hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.624735878] [resource_manager]: Successful initialization of hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.624846120] [resource_manager]: 'configure' hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.624854765] [resource_manager]: Successful 'configure' of hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.624861090] [resource_manager]: 'activate' hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.624866143] [resource_manager]: Successful 'activate' of hardware 'RobotSystem' [gzserver-1] [INFO] [1727211091.625064984] [gazebo_ros2_control]: Loading controller_manager [gzserver-1] [WARN] [1727211091.660894897] [gazebo_ros2_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s). [gzserver-1] [INFO] [1727211091.661059341] [gazebo_ros2_control]: Loaded gazebo_ros2_control.Then I launch my controller with : ros2 launch arm_controller controller.launch.py
[INFO] [launch]: All log files can be found below /home/albert/.ros/log/2024-09-24-15-52-47-571639-albert-humble-188517 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [188519] [INFO] [spawner-2]: process started with pid [188521] [INFO] [spawner-3]: process started with pid [188523] [INFO] [spawner-4]: process started with pid [188525] [INFO] [spawner-5]: process started with pid [188527] [INFO] [spawner-6]: process started with pid [188529] [robot_state_publisher-1] [INFO] [1727211168.225747024] [robot_state_publisher]: got segment arm_base_car_link [robot_state_publisher-1] [INFO] [1727211168.225975083] [robot_state_publisher]: got segment arm_base_link [robot_state_publisher-1] [INFO] [1727211168.226004613] [robot_state_publisher]: got segment arm_base_rail_link [robot_state_publisher-1] [INFO] [1727211168.226023204] [robot_state_publisher]: got segment arm_mid_rail_link [robot_state_publisher-1] [INFO] [1727211168.226040426] [robot_state_publisher]: got segment arm_rgb_camera [robot_state_publisher-1] [INFO] [1727211168.226057532] [robot_state_publisher]: got segment arm_rgb_camera_optical [robot_state_publisher-1] [INFO] [1727211168.226074280] [robot_state_publisher]: got segment base_plate [robot_state_publisher-1] [INFO] [1727211168.226089569] [robot_state_publisher]: got segment box_four_link [robot_state_publisher-1] [INFO] [1727211168.226104438] [robot_state_publisher]: got segment box_one_link [robot_state_publisher-1] [INFO] [1727211168.226119336] [robot_state_publisher]: got segment box_three_link [robot_state_publisher-1] [INFO] [1727211168.226132717] [robot_state_publisher]: got segment box_two_link [robot_state_publisher-1] [INFO] [1727211168.226145385] [robot_state_publisher]: got segment claw_support [robot_state_publisher-1] [INFO] [1727211168.226158228] [robot_state_publisher]: got segment elbow [robot_state_publisher-1] [INFO] [1727211168.226174734] [robot_state_publisher]: got segment forward_drive_arm [robot_state_publisher-1] [INFO] [1727211168.226188761] [robot_state_publisher]: got segment gripper_left [robot_state_publisher-1] [INFO] [1727211168.226202409] [robot_state_publisher]: got segment gripper_right [robot_state_publisher-1] [INFO] [1727211168.226215389] [robot_state_publisher]: got segment horizontal_arm [robot_state_publisher-1] [INFO] [1727211168.226229421] [robot_state_publisher]: got segment roboball_cylinder [robot_state_publisher-1] [INFO] [1727211168.226247474] [robot_state_publisher]: got segment world [robot_state_publisher-1] [INFO] [1727211168.226268293] [robot_state_publisher]: got segment wrist [spawner-2] [INFO] [1727211168.972526543] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [spawner-4] [INFO] [1727211169.042661820] [spawner_arm_controller]: Loaded arm_controller [spawner-5] [INFO] [1727211169.061635830] [spawner_gripper_controller]: Loaded gripper_controller [spawner-2] [INFO] [1727211169.067681356] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-6] [FATAL] [1727211169.084580405] [spawner_gripper_action_controller]: Failed loading controller gripper_action_controller [spawner-4] [INFO] [1727211169.132287878] [spawner_arm_controller]: Configured and activated arm_controller [spawner-5] [INFO] [1727211169.142958124] [spawner_gripper_controller]: Configured and activated gripper_controller [spawner-3] [INFO] [1727211169.239261680] [spawner_prismatic_controller]: Loaded prismatic_controller [spawner-3] [INFO] [1727211169.273548309] [spawner_prismatic_controller]: Configured and activated prismatic_controller [INFO] [spawner-2]: process has finished cleanly [pid 188521] [ERROR] [spawner-6]: process has died [pid 188529, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner gripper_action_controller --controller-manager /controller_manager --ros-args']. [INFO] [spawner-4]: process has finished cleanly [pid 188525] [INFO] [spawner-5]: process has finished cleanly [pid 188527] [INFO] [spawner-3]: process has finished cleanly [pid 188523]Once the controller has launch, the window being used for Gazebo has the following added:
[gzserver-1] [INFO] [1727211168.856678510] [controller_manager]: Loading controller 'joint_state_broadcaster' [gzserver-1] [INFO] [1727211168.955495991] [controller_manager]: Loading controller 'arm_controller' [gzserver-1] [WARN] [1727211168.992961519] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [gzserver-1] [INFO] [1727211168.995104166] [controller_manager]: Loading controller 'gripper_controller' [gzserver-1] [WARN] [1727211169.009726788] [gripper_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [gzserver-1] [INFO] [1727211169.014994022] [controller_manager]: Configuring controller 'joint_state_broadcaster' [gzserver-1] [INFO] [1727211169.016514597] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [gzserver-1] [INFO] [1727211169.035102348] [controller_manager]: Loading controller 'gripper_action_controller' [gzserver-1] [ERROR] [1727211169.035179471] [controller_manager]: Loader for controller 'gripper_action_controller' (type 'position_controllers/GripperActionController') not found. [gzserver-1] [INFO] [1727211169.035209329] [controller_manager]: Available classes: [gzserver-1] [INFO] [1727211169.035240127] [controller_manager]: controller_manager/test_controller [gzserver-1] [INFO] [1727211169.035264578] [controller_manager]: controller_manager/test_controller_failed_init [gzserver-1] [INFO] [1727211169.035287208] [controller_manager]: controller_manager/test_controller_with_interfaces [gzserver-1] [INFO] [1727211169.035320427] [controller_manager]: diff_drive_controller/DiffDriveController [gzserver-1] [INFO] [1727211169.035351913] [controller_manager]: effort_controllers/JointGroupEffortController [gzserver-1] [INFO] [1727211169.035371520] [controller_manager]: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster [gzserver-1] [INFO] [1727211169.035389838] [controller_manager]: forward_command_controller/ForwardCommandController [gzserver-1] [INFO] [1727211169.035421704] [controller_manager]: forward_command_controller/MultiInterfaceForwardCommandController [gzserver-1] [INFO] [1727211169.035441419] [controller_manager]: imu_sensor_broadcaster/IMUSensorBroadcaster [gzserver-1] [INFO] [1727211169.035461232] [controller_manager]: joint_state_broadcaster/JointStateBroadcaster [gzserver-1] [INFO] [1727211169.035480818] [controller_manager]: joint_trajectory_controller/JointTrajectoryController [gzserver-1] [INFO] [1727211169.035500382] [controller_manager]: picknik_reset_fault_controller/PicknikResetFaultController [gzserver-1] [INFO] [1727211169.035539173] [controller_manager]: picknik_twist_controller/PicknikTwistController [gzserver-1] [INFO] [1727211169.035559966] [controller_manager]: position_controllers/JointGroupPositionController [gzserver-1] [INFO] [1727211169.035579175] [controller_manager]: range_sensor_broadcaster/RangeSensorBroadcaster [gzserver-1] [INFO] [1727211169.035598930] [controller_manager]: tricycle_controller/TricycleController [gzserver-1] [INFO] [1727211169.035617948] [controller_manager]: velocity_controllers/JointGroupVelocityController [gzserver-1] [INFO] [1727211169.035646041] [controller_manager]: ackermann_steering_controller/AckermannSteeringController [gzserver-1] [INFO] [1727211169.035670310] [controller_manager]: admittance_controller/AdmittanceController [gzserver-1] [INFO] [1727211169.035690125] [controller_manager]: bicycle_steering_controller/BicycleSteeringController [gzserver-1] [INFO] [1727211169.035710316] [controller_manager]: controller_manager/test_chainable_controller [gzserver-1] [INFO] [1727211169.035729221] [controller_manager]: pid_controller/PidController [gzserver-1] [INFO] [1727211169.035765398] [controller_manager]: tricycle_steering_controller/TricycleSteeringController [gzserver-1] [INFO] [1727211169.066090944] [controller_manager]: Configuring controller 'arm_controller' [gzserver-1] [INFO] [1727211169.066419852] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [gzserver-1] [INFO] [1727211169.066571030] [arm_controller]: Command interfaces are [position] and state interfaces are [position]. [gzserver-1] [INFO] [1727211169.066684211] [arm_controller]: Using 'splines' interpolation method. [gzserver-1] [INFO] [1727211169.068949850] [arm_controller]: Controller state will be published at 50.00 Hz. [gzserver-1] [INFO] [1727211169.074756947] [arm_controller]: Action status changes will be monitored at 20.00 Hz. [gzserver-1] [INFO] [1727211169.088484452] [controller_manager]: Configuring controller 'gripper_controller' [gzserver-1] [INFO] [1727211169.088750955] [gripper_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [gzserver-1] [INFO] [1727211169.088871422] [gripper_controller]: Command interfaces are [position] and state interfaces are [position]. [gzserver-1] [INFO] [1727211169.088920318] [gripper_controller]: Using 'splines' interpolation method. [gzserver-1] [INFO] [1727211169.089897840] [gripper_controller]: Controller state will be published at 50.00 Hz. [gzserver-1] [INFO] [1727211169.096119250] [gripper_controller]: Action status changes will be monitored at 20.00 Hz. [gzserver-1] [INFO] [1727211169.182499887] [controller_manager]: Loading controller 'prismatic_controller' [gzserver-1] [WARN] [1727211169.194584991] [prismatic_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [gzserver-1] [INFO] [1727211169.240631580] [controller_manager]: Configuring controller 'prismatic_controller' [gzserver-1] [INFO] [1727211169.240855025] [prismatic_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [gzserver-1] [INFO] [1727211169.240905991] [prismatic_controller]: Command interfaces are [position] and state interfaces are [position]. [gzserver-1] [INFO] [1727211169.240945301] [prismatic_controller]: Using 'splines' interpolation method. [gzserver-1] [INFO] [1727211169.241489240] [prismatic_controller]: Controller state will be published at 50.00 Hz. [gzserver-1] [INFO] [1727211169.244864201] [prismatic_controller]: Action status changes will be monitored at 20.00 Hz.At this point, I verify that my controllers are working using: ros2 control list_controllers.
I get the following results:
gripper_controller joint_trajectory_controller/JointTrajectoryController active prismatic_controller joint_trajectory_controller/JointTrajectoryController active arm_controller joint_trajectory_controller/JointTrajectoryController active joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster activeThen I launch my Moveit move group controller using: ros2 launch arm_moveit arm_moveit.launch.py
[INFO] [launch]: All log files can be found below /home/albert/.ros/log/2024-09-24-15-53-46-101019-albert-humble-188677 [INFO] [launch]: Default logging verbosity is set to INFO WARNING:root:Cannot infer URDF from/home/albert/ag_arm_ws/install/arm_moveit/share/arm_moveit. -- using config/agbot_arm.urdf WARNING:root:Cannot infer SRDF from/home/albert/ag_arm_ws/install/arm_moveit/share/arm_moveit. -- using config/agbot_arm.srdf WARNING:root:"File /home/albert/umov_ws/install/description/share/description/urdf/arm.xacro doesn't exist" WARNING:root:The robot description will be loaded from /robot_description topic WARNING:root:"File /home/albert/ag_arm_ws/install/arm_moveit/share/arm_moveit/config/agbot_arm.urdf doesn't exist" WARNING:root:The robot description will be loaded from /robot_description topic [INFO] [move_group-1]: process started with pid [188680] [INFO] [rviz2-2]: process started with pid [188682] [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [move_group-1] [INFO] [1727211227.039040212] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 135.272 seconds [move_group-1] [INFO] [1727211227.039143135] [moveit_robot_model.robot_model]: Loading robot model 'agbot_arm'... [rviz2-2] [INFO] [1727211227.205241096] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1727211227.205436108] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1727211227.248762648] [rviz2]: Stereo is NOT SUPPORTED [move_group-1] [WARN] [1727211227.269511178] [moveit_robot_model.robot_model]: Group state 'gripper_ready' doesn't specify all group joints in group 'gripper'. wrist_joint is missing. [move_group-1] [WARN] [1727211227.269558556] [moveit_robot_model.robot_model]: Group state 'gripper_grab' doesn't specify all group joints in group 'gripper'. wrist_joint is missing. [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred 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/humble/include/class_loader/class_loader/class_loader_core.hpp [move_group-1] [INFO] [1727211227.953985629] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-1] [INFO] [1727211227.954252820] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-1] [INFO] [1727211227.954870967] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-1] [INFO] [1727211227.955764119] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-1] [INFO] [1727211227.955798001] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-1] [INFO] [1727211227.957868401] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-1] [INFO] [1727211227.957896482] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-1] [INFO] [1727211227.958487171] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-1] [INFO] [1727211227.959573960] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-1] [WARN] [1727211227.962324072] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-1] [ERROR] [1727211227.962355052] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-1] [INFO] [1727211228.982244950] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_instustrial_motion_planner' [move_group-1] [INFO] [1727211228.995444313] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-1] [INFO] [1727211229.005928003] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1727211229.005957538] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-1] [INFO] [1727211229.009260352] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-1] [INFO] [1727211229.009302874] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-1] [INFO] [1727211229.011753988] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-1] [INFO] [1727211229.011783232] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1727211229.013523585] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-1] [INFO] [1727211229.013577848] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-1] [INFO] [1727211229.027390613] [moveit_ros.fix_workspace_bounds]: Param 'pilz_instustrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-1] [INFO] [1727211229.027472592] [moveit_ros.fix_start_state_bounds]: Param 'pilz_instustrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000 [move_group-1] [INFO] [1727211229.027487469] [moveit_ros.fix_start_state_bounds]: Param 'pilz_instustrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.027544936] [moveit_ros.fix_start_state_collision]: Param 'pilz_instustrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.027587297] [moveit_ros.fix_start_state_collision]: Param 'pilz_instustrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-1] [INFO] [1727211229.027610961] [moveit_ros.fix_start_state_collision]: Param 'pilz_instustrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100 [move_group-1] [INFO] [1727211229.027652444] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-1] [INFO] [1727211229.027665557] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-1] [INFO] [1727211229.027675680] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-1] [INFO] [1727211229.027685469] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-1] [INFO] [1727211229.030651272] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-1] [INFO] [1727211229.065986233] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-1] [INFO] [1727211229.077898636] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1727211229.077925259] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1727211229.077932873] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-1] [INFO] [1727211229.077963636] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-1] [INFO] [1727211229.077984839] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-1] [INFO] [1727211229.077993618] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.078010047] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.078017840] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000 [move_group-1] [INFO] [1727211229.078025218] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-1] [INFO] [1727211229.078040986] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-1] [INFO] [1727211229.078047239] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-1] [INFO] [1727211229.078052208] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-1] [INFO] [1727211229.078056986] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-1] [INFO] [1727211229.078061607] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-1] [INFO] [1727211229.078066331] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-1] [INFO] [1727211229.079987787] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-1] [INFO] [1727211229.091386359] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-1] [WARN] [1727211229.091560633] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091710025] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091757710] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091796082] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091832827] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091896248] [move_group]: Failed loading deceleration limits [move_group-1] [WARN] [1727211229.091983901] [move_group]: Failed loading deceleration limits [move_group-1] [INFO] [1727211229.094424754] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1727211229.094474283] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-1] [INFO] [1727211229.095158393] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-1] [INFO] [1727211229.095178162] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-1] [INFO] [1727211229.095869106] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-1] [INFO] [1727211229.095888427] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-1] [INFO] [1727211229.096551700] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-1] [INFO] [1727211229.096573654] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-1] [INFO] [1727211229.098858781] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [move_group-1] [INFO] [1727211229.116374007] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [move_group-1] [INFO] [1727211229.128678876] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1727211229.128706927] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000 [move_group-1] [INFO] [1727211229.128718212] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000 [move_group-1] [INFO] [1727211229.128767412] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-1] [INFO] [1727211229.128798563] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-1] [INFO] [1727211229.128811326] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.128837284] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-1] [INFO] [1727211229.128849607] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000 [move_group-1] [INFO] [1727211229.128859982] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-1] [INFO] [1727211229.128884470] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-1] [INFO] [1727211229.128895187] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-1] [INFO] [1727211229.128903485] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-1] [INFO] [1727211229.128910884] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-1] [INFO] [1727211229.128918092] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-1] [INFO] [1727211229.128925680] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-1] [INFO] [1727211229.193507328] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for prismatic_controller [move_group-1] [INFO] [1727211229.196514189] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller [move_group-1] [INFO] [1727211229.199763385] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for gripper_controller [move_group-1] [ERROR] [1727211229.199858412] [moveit.plugins.moveit_simple_controller_manager]: No action namespace specified for controllergripper_action_controllerthrough parametermoveit_simple_controller_manager.gripper_action_controller.action_ns[move_group-1] [INFO] [1727211229.200132709] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211229.200275517] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211229.200902755] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-1] [INFO] [1727211229.200955582] [move_group.move_group]: MoveGroup debug mode is ON [move_group-1] [INFO] [1727211229.245876269] [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] [1727211229.245958390] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-1] [INFO] [1727211229.245976447] [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] [rviz2-2] [ERROR] [1727211230.720988623] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] [INFO] [1727211230.741924878] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-2] [WARN] [1727211230.787901479] [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] [1727211231.088270726] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.301 seconds [rviz2-2] [INFO] [1727211231.088360413] [moveit_robot_model.robot_model]: Loading robot model 'agbot_arm'... [rviz2-2] [WARN] [1727211231.314467921] [moveit_robot_model.robot_model]: Group state 'gripper_ready' doesn't specify all group joints in group 'gripper'. wrist_joint is missing. [rviz2-2] [WARN] [1727211231.314509058] [moveit_robot_model.robot_model]: Group state 'gripper_grab' doesn't specify all group joints in group 'gripper'. wrist_joint is missing. [rviz2-2] [INFO] [1727211232.034665165] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-2] [INFO] [1727211232.037175932] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-2] [INFO] [1727211232.386136863] [interactive_marker_display_108819871502336]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-2] [INFO] [1727211232.428622324] [moveit_ros_visualization.motion_planning_frame]: group arm [rviz2-2] [INFO] [1727211232.428659016] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace '' [rviz2-2] [INFO] [1727211232.433689716] [interactive_marker_display_108819871502336]: Sending request for interactive markers [rviz2-2] [INFO] [1727211232.452897308] [move_group_interface]: Ready to take commands for planning group arm. [rviz2-2] [INFO] [1727211232.454631380] [moveit_ros_visualization.motion_planning_frame]: group arm [rviz2-2] [INFO] [1727211232.466016397] [interactive_marker_display_108819871502336]: Service response received for initializationWhen I select "rail_system" from the planning group, change the planning library to "ompl", and hit Plan & Execute, the window with the Moveit Controller has the following:
[rviz2-2] [INFO] [1727211531.688705727] [moveit_ros_visualization.motion_planning_frame]: group rail_system [rviz2-2] [INFO] [1727211531.688736338] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'rail_system' in namespace '' [rviz2-2] [INFO] [1727211531.706462534] [move_group_interface]: Ready to take commands for planning group rail_system. [move_group-1] [INFO] [1727211539.760537643] [moveit_move_group_default_capabilities.move_action_capability]: Received request [rviz2-2] [INFO] [1727211539.760746887] [move_group_interface]: Plan and Execute request accepted [move_group-1] [INFO] [1727211539.760784337] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [move_group-1] [INFO] [1727211539.760915980] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-1] [INFO] [1727211539.761052215] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-1] [INFO] [1727211539.761071587] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl' [move_group-1] [INFO] [1727211539.762668867] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'rail_system' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-1] [WARN] [1727211540.004034864] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml. [move_group-1] [INFO] [1727211540.152829541] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211540.152872234] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211540.153085423] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-1] [INFO] [1727211540.153189897] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1727211540.153245472] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211540.153280893] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211540.153878542] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to prismatic_controller [move_group-1] [INFO] [1727211540.157058922] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: prismatic_controller started execution [move_group-1] [INFO] [1727211540.157106510] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [move_group-1] [INFO] [1727211563.158369340] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'prismatic_controller' successfully finished [move_group-1] [INFO] [1727211563.158480120] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-1] [INFO] [1727211563.163515150] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-2] [INFO] [1727211563.166415524] [move_group_interface]: Plan and Execute request complete!The window controlling Gazebo has the following:
[gzserver-1] [INFO] [1727211540.156550450] [prismatic_controller]: Received new action goal [gzserver-1] [INFO] [1727211540.156773016] [prismatic_controller]: Accepted new action goal [gzserver-1] [INFO] [1727211563.136497765] [prismatic_controller]: Goal reached, success!I can see the rail system take the robot out of the cylinder.
Then I select the arm planning group, change the planning library to "ompl", hit "Plan & Execute" and get the following in the Moveit Window:
[rviz2-2] [INFO] [1727211745.178082166] [moveit_ros_visualization.motion_planning_frame]: group arm [rviz2-2] [INFO] [1727211745.178114408] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace '' [rviz2-2] [INFO] [1727211745.195118379] [move_group_interface]: Ready to take commands for planning group arm. [move_group-1] [INFO] [1727211753.289095826] [moveit_move_group_default_capabilities.move_action_capability]: Received request [move_group-1] [INFO] [1727211753.289229548] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [move_group-1] [INFO] [1727211753.289313548] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-1] [INFO] [1727211753.289397582] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-1] [INFO] [1727211753.289418849] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl' [move_group-1] [INFO] [1727211753.289538794] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'shoulder_joint'). Assuming within bounds. [move_group-1] [INFO] [1727211753.289566288] [moveit_ros.fix_start_state_bounds]: Starting state is just outside bounds (joint 'elbow_joint'). Assuming within bounds. [rviz2-2] [INFO] [1727211753.289297418] [move_group_interface]: Plan and Execute request accepted [move_group-1] [INFO] [1727211753.290323024] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-1] [INFO] [1727211753.329289294] [moveit.ros_planning.planning_pipeline]: Planning adapters have added states at index positions: [ 0 ] [move_group-1] [INFO] [1727211753.331412200] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211753.331451045] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211753.331533636] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-1] [INFO] [1727211753.331606820] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1727211753.331645168] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211753.331671449] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211753.331825007] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [move_group-1] [INFO] [1727211753.332480577] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-1] [INFO] [1727211753.332497962] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [move_group-1] [INFO] [1727211756.532741120] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'arm_controller' successfully finished [move_group-1] [INFO] [1727211756.536182719] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-1] [INFO] [1727211756.541732472] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-2] [INFO] [1727211756.542465864] [move_group_interface]: Plan and Execute request complete!The window controlling Gazebo has the following:
[gzserver-1] [INFO] [1727211753.332270504] [arm_controller]: Received new action goal [gzserver-1] [INFO] [1727211753.332327312] [arm_controller]: Accepted new action goal [gzserver-1] [INFO] [1727211756.485578603] [arm_controller]: Goal reached, success!Here is where things go wrong. When I select "gripper" from the planning group, change the planning library to "ompl", and hit Plan & Execute, the window with the Moveit Controller has the following:
[rviz2-2] [INFO] [1727211899.434123189] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-2] [INFO] [1727211899.435415746] [moveit_ros_visualization.motion_planning_frame]: group gripper [rviz2-2] [INFO] [1727211899.435447082] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace '' [rviz2-2] [INFO] [1727211899.450513326] [move_group_interface]: Ready to take commands for planning group gripper. [move_group-1] [INFO] [1727211920.855853721] [moveit_move_group_default_capabilities.move_action_capability]: Received request [move_group-1] [INFO] [1727211920.855995572] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [move_group-1] [INFO] [1727211920.856092900] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-1] [INFO] [1727211920.856138862] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-1] [INFO] [1727211920.856152567] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl' [rviz2-2] [INFO] [1727211920.856011559] [move_group_interface]: Plan and Execute request accepted [move_group-1] [INFO] [1727211920.856677723] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-1] [INFO] [1727211920.871969688] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211920.872052530] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211920.872180186] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-1] [INFO] [1727211920.872308517] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-1] [INFO] [1727211920.872371973] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211920.872414330] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list [move_group-1] [INFO] [1727211920.872665521] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to arm_controller [move_group-1] [INFO] [1727211920.873667113] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: arm_controller started execution [move_group-1] [WARN] [1727211920.873691068] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request rejected [move_group-1] [ERROR] [1727211920.874441901] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal was rejected by server [move_group-1] [ERROR] [1727211920.874470204] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 2 to controller arm_controller [move_group-1] [INFO] [1727211920.874504673] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... [move_group-1] [INFO] [1727211920.882421112] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution [rviz2-2] [INFO] [1727211920.883162626] [move_group_interface]: Plan and Execute request aborted [rviz2-2] [ERROR] [1727211920.883252517] [move_group_interface]: MoveGroupInterface::move() failed or timeout reachedThe Gazebo window has the following:
[gzserver-1] [INFO] [1727211920.873114567] [arm_controller]: Received new action goal [gzserver-1] [ERROR] [1727211920.873369508] [arm_controller]: Joints on incoming trajectory don't match the controller joints.I have double, triple, and quadruple checked my joints in the Controller Manager and the Moveit Controller, as well as the URDF and anywhere else I could think of. Any help would be immensely appreciated, as I feel like I am at my wits end.
Thank you for reading this far!!!
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