Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Cartesian Path - No Namespace #2545

Closed
mhubii opened this issue Nov 21, 2023 · 6 comments
Closed

Cartesian Path - No Namespace #2545

mhubii opened this issue Nov 21, 2023 · 6 comments
Assignees
@Abishalini
Labels
bug Something isn't working

Comments

@mhubii
Copy link

mhubii commented Nov 21, 2023 •
edited
Loading

Description

Hi, we are experiencing MoveIt crashes upon requesting a cartesian path. Any chance this error is MoveIt related? Thank you so much for the help and the great work!

Your environment

  • ROS Distro: Humble
  • OS Version: Ubuntu 22.04
  • Latest binaries

Steps to reproduce

Launch lbr, see https://github.com/lbr-stack/lbr_fri_ros2_stack, and request cartesian path in RViZ.

ros2 launch lbr_bringup bringup.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
    sim:=true # [true, false] \
    rviz:=true # [true, false] \
    moveit:=true # [true, false]

Expected behaviour

Executes motion.

Actual behaviour

RViZ crashes.

Backtrace or Console output

Relevant output

[move_group-9] [INFO] [1700588464.467679341] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-9] [INFO] [1700588464.467740964] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'link_ee' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[move_group-9] [INFO] [1700588464.469081227] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 15 points (followed 100.000000% of requested trajectory)
[rviz2-10] [INFO] [1700588464.469281547] [moveit_ros_visualization.motion_planning_frame_planning]: Achieved 100.000000 % of Cartesian path
[rviz2-10] [INFO] [1700588464.470005379] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-10] [INFO] [1700588465.470148396] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1700588464.470058, but latest received state has time 0.000000.
[rviz2-10] Check clock synchronization if your are running ROS across multiple machines!
[rviz2-10] [ERROR] [1700588465.470173648] [move_group_interface]: Failed to fetch current robot state

Full output

[INFO] [launch]: All log files can be found below /home/martin/.ros/log/2023-11-21-17-40-27-063900-mars-87332
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [87335]
[INFO] [gzclient-2]: process started with pid [87337]
[INFO] [spawn_entity.py-3]: process started with pid [87339]
[INFO] [spawner-4]: process started with pid [87341]
[INFO] [robot_state_publisher-5]: process started with pid [87343]
[INFO] [spawner-6]: process started with pid [87345]
[INFO] [static_transform_publisher-7]: process started with pid [87347]
[INFO] [static_transform_publisher-8]: process started with pid [87349]
[INFO] [move_group-9]: process started with pid [87351]
[static_transform_publisher-7] [ERROR] [1700588428.675699153] [static_transform_publisher_aHZLfbfmYiEolZEw]: cannot publish static transform from 'world' to 'world', exiting
[static_transform_publisher-7] terminate called after throwing an instance of 'std::runtime_error'
[static_transform_publisher-7]   what():  child_frame_id cannot equal frame_id
[static_transform_publisher-8] [INFO] [1700588428.681614523] [static_transform_publisher_Glz3qMIPsMGie9XE]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-8] from 'world' to 'lbr/world'
[robot_state_publisher-5] [INFO] [1700588428.714649331] [lbr.robot_state_publisher]: got segment link_0
[robot_state_publisher-5] [INFO] [1700588428.714755287] [lbr.robot_state_publisher]: got segment link_1
[robot_state_publisher-5] [INFO] [1700588428.714767128] [lbr.robot_state_publisher]: got segment link_2
[robot_state_publisher-5] [INFO] [1700588428.714773202] [lbr.robot_state_publisher]: got segment link_3
[robot_state_publisher-5] [INFO] [1700588428.714778497] [lbr.robot_state_publisher]: got segment link_4
[robot_state_publisher-5] [INFO] [1700588428.714783804] [lbr.robot_state_publisher]: got segment link_5
[robot_state_publisher-5] [INFO] [1700588428.714788894] [lbr.robot_state_publisher]: got segment link_6
[robot_state_publisher-5] [INFO] [1700588428.714794267] [lbr.robot_state_publisher]: got segment link_7
[robot_state_publisher-5] [INFO] [1700588428.714799380] [lbr.robot_state_publisher]: got segment link_ee
[robot_state_publisher-5] [INFO] [1700588428.714804524] [lbr.robot_state_publisher]: got segment world
[move_group-9] [INFO] [1700588428.794781133] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-9] [INFO] [1700588428.795636603] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[move_group-9] [INFO] [1700588428.796320079] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawn_entity.py-3] [INFO] [1700588429.376594657] [lbr.spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1700588429.376940866] [lbr.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /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-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1700588429.378749438] [lbr.spawn_entity]: Waiting for entity xml on robot_description
[move_group-9] [INFO] [1700588429.386620998] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1700588429.386728202] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1700588429.387195029] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1700588429.387485667] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1700588429.387501688] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1700588429.387771413] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene'
[move_group-9] [INFO] [1700588429.387784724] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1700588429.388052467] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1700588429.388332932] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1700588429.389114919] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1700588429.389129867] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[spawn_entity.py-3] [INFO] [1700588429.390353827] [lbr.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1700588429.390815377] [lbr.spawn_entity]: Waiting for service /spawn_entity
[move_group-9] [INFO] [1700588429.531248713] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-9] [INFO] [1700588429.542966103] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1700588429.545826597] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700588429.545839203] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700588429.545843836] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1700588429.545860801] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1700588429.545873488] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-9] [INFO] [1700588429.545878455] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700588429.545887980] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700588429.545892875] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-9] [INFO] [1700588429.545897417] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1700588429.545907075] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1700588429.545911099] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-9] [INFO] [1700588429.545914410] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1700588429.545917505] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1700588429.545920441] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1700588429.545923458] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1700588429.573244537] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for position_trajectory_controller
[move_group-9] [INFO] [1700588429.573361672] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588429.573381264] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588429.574494590] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1700588429.574512538] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-9] [INFO] [1700588429.589331958] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1700588429.589386970] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-9] [INFO] [1700588429.589402630] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[spawn_entity.py-3] [INFO] [1700588430.144927952] [lbr.spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1700588430.350845039] [lbr.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [lbr]
[ERROR] [static_transform_publisher-7]: process has died [pid 87347, exit code -6, cmd '/opt/ros/humble/lib/tf2_ros/static_transform_publisher --x 0 --y 0 --z 0 --roll 0 --pitch 0 --yaw 0 --frame-id world --child-frame-id world --ros-args'].
[gzserver-1] [INFO] [1700588430.471398924] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1700588430.475227986] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /lbr
[gzserver-1] [INFO] [1700588430.475461240] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1700588430.475510753] [lbr.gazebo_ros2_control]: Loading parameter files /home/martin/Dev/lbr-stack/install/lbr_ros2_control/share/lbr_ros2_control/config/lbr_controllers.yaml
[gzserver-1] [INFO] [1700588430.479767427] [lbr.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1700588430.480237192] [lbr.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1700588430.490475080] [lbr.gazebo_ros2_control]: Loading joint: A1
[gzserver-1] [INFO] [1700588430.490508991] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490517531] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490525082] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490531609] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490537713] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490543627] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490576924] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490586066] [lbr.gazebo_ros2_control]: Loading joint: A2
[gzserver-1] [INFO] [1700588430.490592430] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490598283] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490604111] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490609965] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490615767] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490621482] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490635132] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490642714] [lbr.gazebo_ros2_control]: Loading joint: A3
[gzserver-1] [INFO] [1700588430.490648855] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490654725] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490660459] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490666219] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490672887] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490678949] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490691226] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490698597] [lbr.gazebo_ros2_control]: Loading joint: A4
[gzserver-1] [INFO] [1700588430.490704654] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490710702] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490716481] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490722163] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490727879] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490733663] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490744897] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490752358] [lbr.gazebo_ros2_control]: Loading joint: A5
[gzserver-1] [INFO] [1700588430.490758414] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490764149] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490769923] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490775599] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490781258] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490787030] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490797998] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490805389] [lbr.gazebo_ros2_control]: Loading joint: A6
[gzserver-1] [INFO] [1700588430.490811601] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490817429] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490823430] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490829679] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490835532] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490841157] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490850552] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490857887] [lbr.gazebo_ros2_control]: Loading joint: A7
[gzserver-1] [INFO] [1700588430.490863955] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700588430.490891153] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490899727] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700588430.490905941] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490911747] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700588430.490917532] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700588430.490926899] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700588430.490967153] [resource_manager]: Initialize hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700588430.491098091] [resource_manager]: Successful initialization of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700588430.491184483] [resource_manager]: 'configure' hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700588430.491193179] [resource_manager]: Successful 'configure' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700588430.491201934] [resource_manager]: 'activate' hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700588430.491207308] [resource_manager]: Successful 'activate' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700588430.491268748] [lbr.gazebo_ros2_control]: Loading controller_manager
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 87339]
[gzserver-1] [WARN] [1700588430.513847348] [lbr.gazebo_ros2_control]:  Desired controller update period (0.005 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1700588430.514066907] [lbr.gazebo_ros2_control]: Loaded gazebo_ros2_control.
[INFO] [rviz2-10]: process started with pid [87577]
[gzserver-1] [INFO] [1700588430.660497990] [lbr.controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700588430.678536892] [lbr.controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[spawner-4] [INFO] [1700588430.681351411] [lbr.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-1] [INFO] [1700588430.682717161] [lbr.controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700588430.683106141] [lbr.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-4] [INFO] [1700588430.705828071] [lbr.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[gzserver-1] [INFO] [1700588430.717356775] [lbr.controller_manager]: Loading controller 'position_trajectory_controller'
[gzserver-1] [WARN] [1700588430.740728275] [lbr.position_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-1] [INFO] [1700588430.740783186] [lbr.controller_manager]: Setting use_sim_time=True for position_trajectory_controller to match controller manager (see ros2_control#325 for details)
[spawner-6] [INFO] [1700588430.746065364] [lbr.spawner_position_trajectory_controller]: Loaded position_trajectory_controller
[gzserver-1] [INFO] [1700588430.747144806] [lbr.controller_manager]: Configuring controller 'position_trajectory_controller'
[gzserver-1] [INFO] [1700588430.747465908] [lbr.position_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1700588430.747539437] [lbr.position_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-1] [INFO] [1700588430.747599131] [lbr.position_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-1] [INFO] [1700588430.749559055] [lbr.position_trajectory_controller]: Controller state will be published at 50.00 Hz.
[gzserver-1] [INFO] [1700588430.751291446] [lbr.position_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-6] [INFO] [1700588430.770881099] [lbr.spawner_position_trajectory_controller]: Configured and activated position_trajectory_controller
[INFO] [spawner-4]: process has finished cleanly [pid 87341]
[INFO] [spawner-6]: process has finished cleanly [pid 87345]
[rviz2-10] [INFO] [1700588431.045814091] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1700588431.045961870] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-10] [INFO] [1700588431.094639491] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] 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.
[rviz2-10]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-10] [ERROR] [1700588434.192826937] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-10] [INFO] [1700588434.203966556] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-10] [INFO] [1700588434.206745863] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> lbr. Reloading params.
[rviz2-10] [WARN] [1700588434.246518234] [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.
[rviz2-10] [INFO] [1700588434.311311579] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0651023 seconds
[rviz2-10] [INFO] [1700588434.311341685] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-10] [INFO] [1700588434.311351898] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700588434.631975911] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700588434.632320218] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700588434.856632237] [interactive_marker_display_94457749943728]: Connected on namespace: lbr/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-10] [INFO] [1700588434.871375278] [interactive_marker_display_94457749943728]: Sending request for interactive markers
[rviz2-10] [INFO] [1700588434.873300182] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-10] [WARN] [1700588434.904238096] [interactive_marker_display_94457749943728]: Server not available during initialization, resetting
[rviz2-10] [INFO] [1700588434.941439178] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0609793 seconds
[rviz2-10] [INFO] [1700588434.941455847] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-10] [INFO] [1700588434.941460719] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700588435.255585189] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700588435.256140805] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700588435.267759198] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700588435.267777398] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace 'lbr'
[rviz2-10] [INFO] [1700588435.273843576] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-10] [INFO] [1700588435.275929476] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700588435.288330099] [interactive_marker_display_94457749943728]: Sending request for interactive markers
[rviz2-10] [INFO] [1700588435.319914435] [interactive_marker_display_94457749943728]: Service response received for initialization
[move_group-9] [INFO] [1700588440.322973432] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-10] [INFO] [1700588440.323194839] [move_group_interface]: Plan and Execute request accepted
[move_group-9] [INFO] [1700588440.323233691] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-9] [INFO] [1700588440.323411318] [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-9] [INFO] [1700588440.323468959] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-9] [INFO] [1700588440.323478470] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-9] [INFO] [1700588440.324195556] [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-9] [INFO] [1700588440.364734725] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588440.364757927] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588440.364816890] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-9] [INFO] [1700588440.364902901] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-9] [INFO] [1700588440.364926623] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588440.364938121] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700588440.365026036] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to position_trajectory_controller
[gzserver-1] [INFO] [1700588440.365671671] [lbr.position_trajectory_controller]: Received new action goal
[gzserver-1] [INFO] [1700588440.365772107] [lbr.position_trajectory_controller]: Accepted new action goal
[move_group-9] [INFO] [1700588440.365901980] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: position_trajectory_controller started execution
[move_group-9] [INFO] [1700588440.365919938] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [INFO] [1700588451.905913307] [lbr.position_trajectory_controller]: Goal reached, success!
[move_group-9] [INFO] [1700588451.916655681] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'position_trajectory_controller' successfully finished
[move_group-9] [INFO] [1700588451.916717733] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-9] [INFO] [1700588451.925042424] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-10] [INFO] [1700588451.925550923] [move_group_interface]: Plan and Execute request complete!
[rviz2-10] [WARN] [1700588452.603011491] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1700588429.873s
[rviz2-10] [WARN] [1700588458.965344635] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1700588429.756s
[move_group-9] [INFO] [1700588464.467679341] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-9] [INFO] [1700588464.467740964] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'link_ee' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[move_group-9] [INFO] [1700588464.469081227] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 15 points (followed 100.000000% of requested trajectory)
[rviz2-10] [INFO] [1700588464.469281547] [moveit_ros_visualization.motion_planning_frame_planning]: Achieved 100.000000 % of Cartesian path
[rviz2-10] [INFO] [1700588464.470005379] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-10] [INFO] [1700588465.470148396] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1700588464.470058, but latest received state has time 0.000000.
[rviz2-10] Check clock synchronization if your are running ROS across multiple machines!
[rviz2-10] [ERROR] [1700588465.470173648] [move_group_interface]: Failed to fetch current robot state
[ERROR] [rviz2-10]: process has died [pid 87577, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/martin/Dev/lbr-stack/install/med7_moveit_config/share/med7_moveit_config/config/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_xq5582eh --params-file /tmp/launch_params_485c98u1 -r robot_description:=lbr/robot_description -r robot_description_semantic:=lbr/robot_description_semantic -r display_planned_path:=lbr/display_planned_path -r monitored_planning_scene:=lbr/monitored_planning_scene'].

Refers to lbr-stack/lbr_fri_ros2_stack#133 (comment) and #lbr-stack#133
@mhubii mhubii added the bug Something isn't working label Nov 21, 2023
@mhubii mhubii changed the title Cartesian Path Cartesian Path - RViZ crashes Nov 21, 2023
@mhubii mhubii mentioned this issue Nov 21, 2023
Open
@Abishalini
Copy link
Contributor

Abishalini commented Nov 21, 2023 •
edited
Loading

I think the relevant error is

[static_transform_publisher-7] [ERROR] [1700588428.675699153] [static_transform_publisher_aHZLfbfmYiEolZEw]: cannot publish static transform from 'world' to 'world', exiting
[static_transform_publisher-7] terminate called after throwing an instance of 'std::runtime_error'
[static_transform_publisher-7]   what():  child_frame_id cannot equal frame_id
[static_transform_publisher-8] [INFO] [1700588428.681614523] [static_transform_publisher_Glz3qMIPsMGie9XE]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-8] from 'world' to 'lbr/world'

It could be coming from here. Make sure the header.frame_id and child_frame_id are not the same. Here is the ref to the TransformStamped msg.

@mhubii
Copy link
Author

mhubii commented Nov 21, 2023

Hi @Abishalini , wow that was quick ! Good catch, thank you for the hint. Will give that a go

@mhubii
Copy link
Author

mhubii commented Nov 22, 2023 •
edited
Loading

I know these static tf publishers in the launch are a little confusing. They were necessary ? for namespacing the Move Group. I think moveit requires a world frame and the interactive marker required an un-namespaced version of the robot's base frame or something. This definitely requires some cleaning in the launch file and might not all make sense..

But the issue persists when using unique names. All other moveit functionality works flawlessly, it is just the cartesian path that crashes. Don't get me wrong, the frames / move group namespace could still be the cause for this behavior. Maybe the joint states are polled from an un-namespaced version when using the cartesian path?

As this output might suggest. Note we publish under /namespace/joint_states so does move group /namespace/move_group

[rviz2-10] [INFO] [1700650290.007487999] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-10] [INFO] [1700650291.007605053] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1700650290.007511, but latest received state has time 0.000000.

This kind of makes sense as the cartesian path would require the current jacobian whereas all other planners are feed-forward? Just guessing.

Please find below an updated terminal log:

ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=true moveit:=true
[INFO] [launch]: All log files can be found below /home/martin/.ros/log/2023-11-22-10-50-55-573807-mars-36707
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [36709]
[INFO] [gzclient-2]: process started with pid [36711]
[INFO] [spawn_entity.py-3]: process started with pid [36713]
[INFO] [spawner-4]: process started with pid [36715]
[INFO] [robot_state_publisher-5]: process started with pid [36717]
[INFO] [spawner-6]: process started with pid [36719]
[INFO] [static_transform_publisher-7]: process started with pid [36721]
[INFO] [static_transform_publisher-8]: process started with pid [36723]
[INFO] [move_group-9]: process started with pid [36725]
[static_transform_publisher-7] [INFO] [1700650257.690233996] [static_transform_publisher_XzZvHgYPxYjZZpbw]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from 'world' to 'base_frame'
[static_transform_publisher-8] [INFO] [1700650257.690239125] [static_transform_publisher_AA4RIYbKtJhi15Hs]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-8] from 'base_frame' to 'lbr/base_frame'
[robot_state_publisher-5] [INFO] [1700650257.765112590] [lbr.robot_state_publisher]: got segment base_frame
[robot_state_publisher-5] [INFO] [1700650257.765250636] [lbr.robot_state_publisher]: got segment link_0
[robot_state_publisher-5] [INFO] [1700650257.765267467] [lbr.robot_state_publisher]: got segment link_1
[robot_state_publisher-5] [INFO] [1700650257.765278523] [lbr.robot_state_publisher]: got segment link_2
[robot_state_publisher-5] [INFO] [1700650257.765288889] [lbr.robot_state_publisher]: got segment link_3
[robot_state_publisher-5] [INFO] [1700650257.765299204] [lbr.robot_state_publisher]: got segment link_4
[robot_state_publisher-5] [INFO] [1700650257.765309248] [lbr.robot_state_publisher]: got segment link_5
[robot_state_publisher-5] [INFO] [1700650257.765319448] [lbr.robot_state_publisher]: got segment link_6
[robot_state_publisher-5] [INFO] [1700650257.765329515] [lbr.robot_state_publisher]: got segment link_7
[robot_state_publisher-5] [INFO] [1700650257.765339611] [lbr.robot_state_publisher]: got segment link_ee
[move_group-9] [INFO] [1700650257.829221414] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-9] [INFO] [1700650257.829289268] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[move_group-9] [INFO] [1700650257.829301457] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawn_entity.py-3] [INFO] [1700650258.408681458] [lbr.spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1700650258.409021350] [lbr.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /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-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1700650258.413879021] [lbr.spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1700650258.425611678] [lbr.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1700650258.425923825] [lbr.spawn_entity]: Waiting for service /spawn_entity
[move_group-9] [INFO] [1700650258.434846625] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1700650258.434963128] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1700650258.435409055] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1700650258.435706088] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1700650258.435721645] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1700650258.435962960] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene'
[move_group-9] [INFO] [1700650258.435976459] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1700650258.436189281] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1700650258.436410892] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1700650258.437607291] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1700650258.437624536] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-9] [INFO] [1700650258.573911690] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-9] [INFO] [1700650258.597964134] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1700650258.602709286] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700650258.602724513] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700650258.602729089] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1700650258.602745537] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1700650258.602757981] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-9] [INFO] [1700650258.602763016] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700650258.602772176] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700650258.602777023] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-9] [INFO] [1700650258.602781630] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1700650258.602790874] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1700650258.602794693] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-9] [INFO] [1700650258.602797861] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1700650258.602800966] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1700650258.602803853] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1700650258.602806773] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1700650258.638335379] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for position_trajectory_controller
[move_group-9] [INFO] [1700650258.638497497] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650258.638520031] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650258.638833190] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1700650258.638848814] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-9] [INFO] [1700650258.657417753] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1700650258.657463489] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-9] [INFO] [1700650258.657478951] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[spawn_entity.py-3] [INFO] [1700650259.438850035] [lbr.spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1700650259.579961213] [lbr.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [lbr]
[gzserver-1] [INFO] [1700650259.688906628] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1700650259.692831461] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /lbr
[gzserver-1] [INFO] [1700650259.693136543] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1700650259.693192767] [lbr.gazebo_ros2_control]: Loading parameter files /home/martin/Dev/lbr-stack/install/lbr_ros2_control/share/lbr_ros2_control/config/lbr_controllers.yaml
[gzserver-1] [INFO] [1700650259.697868121] [lbr.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1700650259.698372190] [lbr.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1700650259.712789379] [lbr.gazebo_ros2_control]: Loading joint: A1
[gzserver-1] [INFO] [1700650259.712839892] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.712851863] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.712863822] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.712873241] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.712882814] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.712892068] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713249408] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713273475] [lbr.gazebo_ros2_control]: Loading joint: A2
[gzserver-1] [INFO] [1700650259.713286020] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713295822] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713306494] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713317816] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713327568] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713337633] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713361822] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713374941] [lbr.gazebo_ros2_control]: Loading joint: A3
[gzserver-1] [INFO] [1700650259.713385073] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713394422] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713404023] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713413307] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713423902] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713433875] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713456389] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713469942] [lbr.gazebo_ros2_control]: Loading joint: A4
[gzserver-1] [INFO] [1700650259.713480239] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713489370] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713499020] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713508773] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713518242] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713527876] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713547477] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713561355] [lbr.gazebo_ros2_control]: Loading joint: A5
[gzserver-1] [INFO] [1700650259.713571937] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713584354] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713594522] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713604211] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713613932] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713624113] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713645814] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713660139] [lbr.gazebo_ros2_control]: Loading joint: A6
[gzserver-1] [INFO] [1700650259.713671211] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713681985] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713692684] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713703637] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713713843] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713723381] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713741719] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713754588] [lbr.gazebo_ros2_control]: Loading joint: A7
[gzserver-1] [INFO] [1700650259.713765041] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700650259.713796085] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713810596] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700650259.713821154] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713831394] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700650259.713841396] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700650259.713858229] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700650259.713918197] [resource_manager]: Initialize hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700650259.714112114] [resource_manager]: Successful initialization of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700650259.714252011] [resource_manager]: 'configure' hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700650259.714267501] [resource_manager]: Successful 'configure' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700650259.714282606] [resource_manager]: 'activate' hardware 'lbr_system_interface' 
[gzserver-1] [INFO] [1700650259.714292149] [resource_manager]: Successful 'activate' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700650259.714378824] [lbr.gazebo_ros2_control]: Loading controller_manager
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 36713]
[gzserver-1] [WARN] [1700650259.742734715] [lbr.gazebo_ros2_control]:  Desired controller update period (0.005 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1700650259.742953690] [lbr.gazebo_ros2_control]: Loaded gazebo_ros2_control.
[INFO] [rviz2-10]: process started with pid [36988]
[gzserver-1] [INFO] [1700650259.885152610] [lbr.controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700650259.900910740] [lbr.controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[spawner-4] [INFO] [1700650259.905160894] [lbr.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-1] [INFO] [1700650259.906493120] [lbr.controller_manager]: Loading controller 'position_trajectory_controller'
[gzserver-1] [WARN] [1700650259.930947790] [lbr.position_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-1] [INFO] [1700650259.930998007] [lbr.controller_manager]: Setting use_sim_time=True for position_trajectory_controller to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1700650259.934217982] [lbr.controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700650259.934667561] [lbr.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1700650259.935057900] [lbr.spawner_position_trajectory_controller]: Loaded position_trajectory_controller
[gzserver-1] [INFO] [1700650259.945091429] [lbr.controller_manager]: Configuring controller 'position_trajectory_controller'
[gzserver-1] [INFO] [1700650259.945371550] [lbr.position_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1700650259.945432476] [lbr.position_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-1] [INFO] [1700650259.945497079] [lbr.position_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-1] [INFO] [1700650259.948034869] [lbr.position_trajectory_controller]: Controller state will be published at 50.00 Hz.
[gzserver-1] [INFO] [1700650259.950544575] [lbr.position_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1700650259.965001949] [lbr.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-6] [INFO] [1700650259.975369715] [lbr.spawner_position_trajectory_controller]: Configured and activated position_trajectory_controller
[INFO] [spawner-4]: process has finished cleanly [pid 36715]
[INFO] [spawner-6]: process has finished cleanly [pid 36719]
[rviz2-10] [INFO] [1700650260.267814409] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1700650260.267937579] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-10] [INFO] [1700650260.305758399] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] 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.
[rviz2-10]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-10] [ERROR] [1700650263.444959022] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-10] [INFO] [1700650263.462842369] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-10] [INFO] [1700650263.465766685] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> lbr. Reloading params.
[rviz2-10] [WARN] [1700650263.504979070] [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.
[rviz2-10] [INFO] [1700650263.570371159] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0657373 seconds
[rviz2-10] [INFO] [1700650263.570402657] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-10] [INFO] [1700650263.570412271] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700650263.890649964] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700650263.891087864] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700650264.145336004] [interactive_marker_display_93842246538032]: Connected on namespace: lbr/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-10] [INFO] [1700650264.161628988] [interactive_marker_display_93842246538032]: Sending request for interactive markers
[rviz2-10] [INFO] [1700650264.163355509] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-10] [WARN] [1700650264.194846177] [interactive_marker_display_93842246538032]: Server not available during initialization, resetting
[rviz2-10] [INFO] [1700650264.234119225] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0642403 seconds
[rviz2-10] [INFO] [1700650264.234135408] [moveit_robot_model.robot_model]: Loading robot model 'med7'...
[rviz2-10] [INFO] [1700650264.234140251] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700650264.578886573] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700650264.579399092] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700650264.591603605] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700650264.591623041] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace 'lbr'
[rviz2-10] [INFO] [1700650264.598616074] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-10] [INFO] [1700650264.600906059] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700650264.610354005] [interactive_marker_display_93842246538032]: Sending request for interactive markers
[rviz2-10] [INFO] [1700650264.643163085] [interactive_marker_display_93842246538032]: Service response received for initialization
[move_group-9] [INFO] [1700650270.273670075] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-10] [INFO] [1700650270.273818323] [move_group_interface]: Plan and Execute request accepted
[move_group-9] [INFO] [1700650270.273876932] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-9] [INFO] [1700650270.273991465] [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-9] [INFO] [1700650270.274073937] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-9] [INFO] [1700650270.274087594] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-9] [INFO] [1700650270.288727795] [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-9] [INFO] [1700650270.340468570] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650270.340493108] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650270.340569300] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-9] [INFO] [1700650270.340666588] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-9] [INFO] [1700650270.340691587] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650270.340702585] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700650270.340794765] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to position_trajectory_controller
[gzserver-1] [INFO] [1700650270.341433918] [lbr.position_trajectory_controller]: Received new action goal
[gzserver-1] [INFO] [1700650270.341534238] [lbr.position_trajectory_controller]: Accepted new action goal
[move_group-9] [INFO] [1700650270.341743498] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: position_trajectory_controller started execution
[move_group-9] [INFO] [1700650270.341764144] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [INFO] [1700650282.656999776] [lbr.position_trajectory_controller]: Goal reached, success!
[move_group-9] [INFO] [1700650282.692684626] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'position_trajectory_controller' successfully finished
[move_group-9] [INFO] [1700650282.692751785] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-9] [INFO] [1700650282.700846557] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-10] [INFO] [1700650282.701342952] [move_group_interface]: Plan and Execute request complete!
[rviz2-10] [WARN] [1700650283.411200240] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1700650259.120s
[move_group-9] [INFO] [1700650290.000030894] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-9] [INFO] [1700650290.000107410] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'link_ee' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[move_group-9] [INFO] [1700650290.001911182] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 16 points (followed 100.000000% of requested trajectory)
[rviz2-10] [INFO] [1700650290.002130282] [moveit_ros_visualization.motion_planning_frame_planning]: Achieved 100.000000 % of Cartesian path
[rviz2-10] [INFO] [1700650290.007487999] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-10] [INFO] [1700650291.007605053] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1700650290.007511, but latest received state has time 0.000000.
[rviz2-10] Check clock synchronization if your are running ROS across multiple machines!
[rviz2-10] [ERROR] [1700650291.007696542] [move_group_interface]: Failed to fetch current robot state
[ERROR] [rviz2-10]: process has died [pid 36988, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/martin/Dev/lbr-stack/install/med7_moveit_config/share/med7_moveit_config/config/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_uommc4o1 --params-file /tmp/launch_params_k06pcy8c -r robot_description:=lbr/robot_description -r robot_description_semantic:=lbr/robot_description_semantic -r display_planned_path:=lbr/display_planned_path -r monitored_planning_scene:=lbr/monitored_planning_scene'].

@josefinemonnet
Copy link

josefinemonnet commented Dec 24, 2023 •
edited
Loading

I think I solved the problem by adding these two lines:

  1. ("joint_states", robot_name + "/joint_states"), into sim.launch.py:

RViz and MoveIt

rviz_moveit = RVizMixin.node_rviz(
rviz_config_pkg=f"{model}_moveit_config",
rviz_config="config/moveit.rviz",
parameters=LBRMoveGroupMixin.params_rviz(
moveit_configs=moveit_configs_builder.to_moveit_configs()
),
condition=IfCondition(
AndSubstitution(LaunchConfiguration("moveit"), LaunchConfiguration("rviz"))
),
remappings=[
("robot_description", robot_name + "/robot_description"),
("robot_description_semantic", robot_name + "/robot_description_semantic"),
("display_planned_path", robot_name + "/display_planned_path"),
("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
("joint_states", robot_name + "/joint_states"),
],
)

and 2. {"use_sim_time": True} into launch_mixin.py

@staticmethod
def params_rviz(
moveit_configs: MoveItConfigs,
) -> List[Dict[str, Any]]:
return [
moveit_configs.planning_pipelines,
moveit_configs.robot_description_kinematics,
{"use_sim_time": True},
]

now the cartesian path is computed and executed in rviz.

@mhubii
Copy link
Author

mhubii commented Dec 24, 2023 •
edited
Loading

thanks for sharing this @josefinemonnet.

So is it that there is no namespace support for Cartesian path in moveit ?

This should solve #lbr-stack#133 and it is up to @Abishalini to keep or close this issue here in moveit.

Would you be happy to create a pull request that adds your re-mapping to the launch @josefinemonnet ? Thank you in advance.

@mhubii mhubii changed the title Cartesian Path - RViZ crashes Cartesian Path - No Namespace Dec 24, 2023
mhubii added a commit to lbr-stack/lbr_fri_ros2_stack that referenced this issue Dec 29, 2023
@mhubii
cartesian path fix @josefinemonnet moveit/moveit2/issues/2545
cef18d0
@mhubii mhubii mentioned this issue Dec 29, 2023
Merged
mhubii added a commit to lbr-stack/lbr_fri_ros2_stack that referenced this issue Dec 29, 2023
@mhubii
cartesian path fix @josefinemonnet moveit/moveit2/issues/2545
f879d89
@Abishalini
Copy link
Contributor

Thanks @josefinemonnet for the fix.
I'm closing this issue. Please open another issue if you feel there should be a fix to MoveIt.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@Abishalini Abishalini

Labels
bug Something isn't working
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@Abishalini @mhubii @josefinemonnet