Error with scene in tutorials

[Chemaslane]

I have downloaded the ur_tutorials and I'm trying to make it work, following the instructions in the Ros 2 documentation. Specifically, after building and sourcing the workspace, I’m running these three launch files in separate terminals, just as indicated in the documentation:

ros2 launch my_robot_cell_control start_robot.launch.py launch_rviz:=false
ros2 launch my_robot_cell_moveit_config move_group.launch.py
ros2 launch my_robot_cell_moveit_config moveit_rviz.launch.py

Rviz is launched in the last terminal, and I can move the robot using MoveIt. However, none of the scene objects beyond the robot are loaded. In fact, in the console of the third terminal, I see messages such as:

[rviz2-1] Error: Semantic description is not specified for the same robot as the URDF
[rviz2-1] at line 681 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'wall' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 594 in ./src/model.cpp
[rviz2-1] Warning: Link 'wall' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1] at line 594 in ./src/model.cpp

and

[rviz2-1] [WARN] [1742918755.310445642] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1742918755.560518273] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1742918755.810602278] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1742918756.060630084] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.

I've been trying to fix it, but I hadn't worked with ROS 2 before, so I'm a bit lost.

[urfeex]

I have just manually confirmed that those commands work for me. Which system are you running on? ROS 2 Rolling and this repo's main branch?

Is there another ROS node running on the same ROS domain ID, e.g. a standalone driver launch? What is the output of ros2 topic info /robot_description -v? If that shows more than one publishers, try shutting down that node.

If that doesn't help, please post the full log output of all three shells including the invoked command.

[Chemaslane]

I’m using ROS 2 Humble, under Docker.

I don't think I have any other nodes running. In fact, the commented command only mentions a publisher:

Type: std_msgs/msg/String

Publisher count: 1

Node name: robot_state_publisher
Node namespace: /
Topic type: std_msgs/msg/String
Endpoint type: PUBLISHER
GID: 01.0f.5a.64.7f.01.86.13.00.00.00.00.00.00.14.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): UNKNOWN
  Durability: TRANSIENT_LOCAL
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 0

The terminals output the following:

Driver:

root@RemainPC:\~/remain_ws# ros2 launch my_robot_cell_control start_robot.launch.py launch_rviz:=false
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-27-16-28-26-594092-RemainPC-373
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [377]
[INFO] [controller_stopper_node-3]: process started with pid [379]
[INFO] [ur_ros2_control_node-1]: process started with pid [375]
[INFO] [urscript_interface-4]: process started with pid [381]
[INFO] [robot_state_publisher-5]: process started with pid [383]
[INFO] [spawner-6]: process started with pid [385]
[INFO] [spawner-7]: process started with pid [387]
[dashboard_client-2] [INFO] [1743092906.791475483] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[controller_stopper_node-3] [INFO] [1743092906.792235901] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[robot_state_publisher-5] [INFO] [1743092906.794603450] [robot_state_publisher]: got segment ur20_base
[robot_state_publisher-5] [INFO] [1743092906.794646005] [robot_state_publisher]: got segment ur20_base_link
[robot_state_publisher-5] [INFO] [1743092906.794649556] [robot_state_publisher]: got segment ur20_base_link_inertia
[robot_state_publisher-5] [INFO] [1743092906.794651753] [robot_state_publisher]: got segment ur20_flange
[robot_state_publisher-5] [INFO] [1743092906.794653684] [robot_state_publisher]: got segment ur20_forearm_link
[robot_state_publisher-5] [INFO] [1743092906.794655477] [robot_state_publisher]: got segment ur20_ft_frame
[robot_state_publisher-5] [INFO] [1743092906.794657293] [robot_state_publisher]: got segment ur20_shoulder_link
[robot_state_publisher-5] [INFO] [1743092906.794659068] [robot_state_publisher]: got segment ur20_tool0
[robot_state_publisher-5] [INFO] [1743092906.794660709] [robot_state_publisher]: got segment ur20_upper_arm_link
[robot_state_publisher-5] [INFO] [1743092906.794662506] [robot_state_publisher]: got segment ur20_wrist_1_link
[robot_state_publisher-5] [INFO] [1743092906.794664277] [robot_state_publisher]: got segment ur20_wrist_2_link
[robot_state_publisher-5] [INFO] [1743092906.794665848] [robot_state_publisher]: got segment ur20_wrist_3_link
[robot_state_publisher-5] [INFO] [1743092906.794667429] [robot_state_publisher]: got segment world
[ur_ros2_control_node-1] [WARN] [1743092906.802961928] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] [INFO] [1743092906.803176036] [resource_manager]: Loading hardware 'ur20' 
[ur_ros2_control_node-1] [INFO] [1743092906.804613751] [resource_manager]: Initialize hardware 'ur20' 
[ur_ros2_control_node-1] [INFO] [1743092906.804767407] [resource_manager]: Successful initialization of hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743092906.804894989] [resource_manager]: 'configure' hardware 'ur20' 
[ur_ros2_control_node-1] [INFO] [1743092906.804899635] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1743092906.804905269] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [INFO] [1743092906.805735397] [UR_Client_Library:ur20_]: SCHED_FIFO OK, priority 99
[spawner-6] [INFO] [1743092906.967777207] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [INFO] [1743092906.974755122] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ur_ros2_control_node-1] [INFO] [1743092907.235797867] [UR_Client_Library:ur20_]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1743092907.236297955] [UR_Client_Library:ur20_]: Setting up RTDE communication with frequency 500.000000
[ur_ros2_control_node-1] [INFO] [1743092908.306077201] [URPositionHardwareInterface]: Calibration checksum: 'calib_4890363623803256388'.
[ur_ros2_control_node-1] [ERROR] [1743092909.356816643] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/README.md] for details.
[ur_ros2_control_node-1] [INFO] [1743092909.356998714] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1743092909.357049015] [resource_manager]: Successful 'configure' of hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743092909.357155518] [resource_manager]: 'activate' hardware 'ur20' 
[ur_ros2_control_node-1] [INFO] [1743092909.357166058] [URPositionHardwareInterface]: Activating HW interface
[ur_ros2_control_node-1] [INFO] [1743092909.357175876] [resource_manager]: Successful 'activate' of hardware 'ur20'
[controller_stopper_node-3] [INFO] [1743092909.363493339] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1743092909.363570560] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1743092909.363623969] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1743092909.367503964] [UR_Client_Library:ur20_]: SCHED_FIFO OK, priority 99
[ur_ros2_control_node-1] [INFO] [1743092909.475504823] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1743092909.503262646] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.504328986] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [WARN] [1743092909.530178743] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ur_ros2_control_node-1] [INFO] [1743092909.531675107] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1743092909.531984256] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1743092909.533041498] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1743092909.543562515] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.543816476] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1743092909.543847499] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1743092909.543904958] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1743092909.545349314] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1743092909.547339582] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ur_ros2_control_node-1] [INFO] [1743092909.559052802] [controller_manager]: Loading controller 'forward_velocity_controller'
[spawner-6] [INFO] [1743092909.559785421] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-7] [INFO] [1743092909.574301785] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ur_ros2_control_node-1] [INFO] [1743092909.574607155] [controller_manager]: Loading controller 'io_and_status_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.597470825] [controller_manager]: Configuring controller 'forward_velocity_controller'
[spawner-6] [INFO] [1743092909.598236140] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1743092909.598492843] [forward_velocity_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1743092909.599696604] [controller_manager]: Configuring controller 'io_and_status_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.621370329] [controller_manager]: Loading controller 'forward_position_controller'
[spawner-6] [INFO] [1743092909.621721453] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[spawner-7] [INFO] [1743092909.627856333] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ur_ros2_control_node-1] [INFO] [1743092909.628037492] [controller_manager]: Configuring controller 'forward_position_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.628449287] [forward_position_controller]: configure successful
[ur_ros2_control_node-1] [INFO] [1743092909.629461079] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1743092909.634508308] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: ur20_
[spawner-6] [INFO] [1743092909.636062476] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.636301886] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1743092909.636361089] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ur_ros2_control_node-1] [INFO] [1743092909.637486158] [controller_manager]: Loading controller 'force_mode_controller'
[spawner-7] [INFO] [1743092909.646283037] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ur_ros2_control_node-1] [INFO] [1743092909.649659873] [controller_manager]: Configuring controller 'force_mode_controller'
[spawner-6] [INFO] [1743092909.650287302] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.659716710] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ur_ros2_control_node-1] [INFO] [1743092909.676916508] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[spawner-6] [INFO] [1743092909.677982726] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.689944547] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[spawner-7] [INFO] [1743092909.690483830] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1743092909.693718293] [controller_manager]: Configuring controller 'passthrough_trajectory_controller'
[spawner-6] [INFO] [1743092909.704649907] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.706094033] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.719965141] [controller_manager]: Loading controller 'tcp_pose_broadcaster'
[spawner-7] [INFO] [1743092909.720320486] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ur_ros2_control_node-1] [INFO] [1743092909.733591481] [controller_manager]: Configuring controller 'freedrive_mode_controller'
[spawner-6] [INFO] [1743092909.734426651] [spawner_joint_state_broadcaster]: Loaded tcp_pose_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.735680520] [controller_manager]: Configuring controller 'tcp_pose_broadcaster'
[spawner-6] [INFO] [1743092909.744197353] [spawner_joint_state_broadcaster]: Configured and activated tcp_pose_broadcaster
[ur_ros2_control_node-1] [INFO] [1743092909.746027429] [controller_manager]: Loading controller 'ur_configuration_controller'
[spawner-6] [INFO] [1743092909.753710662] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ur_ros2_control_node-1] [INFO] [1743092909.753876910] [controller_manager]: Configuring controller 'ur_configuration_controller'
[spawner-6] [INFO] [1743092909.760037307] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ur_ros2_control_node-1] [INFO] [1743092909.761521465] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.774709314] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface ur20_speed_scaling/speed_scaling_factor.
[ur_ros2_control_node-1] [WARN] [1743092909.779773083] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1743092909.781769493] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1743092909.781999990] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1743092909.782137049] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1743092909.782152411] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1743092909.782164293] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1743092909.782442613] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1743092909.782978635] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-6] [INFO] [1743092909.789886950] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[INFO] [spawner-7]: process has finished cleanly [pid 387]
[INFO] [spawner-6]: process has finished cleanly [pid 385]
[ur_ros2_control_node-1] [INFO] [1743092909.984505405] [controller_manager]: Switch controller timeout is set to 0, using default 1s!
[ur_ros2_control_node-1] [INFO] [1743092945.867732155] [UR_Client_Library:ur20_]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1743092945.867978191] [UR_Client_Library:ur20_]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1743092946.207522332] [UR_Client_Library:ur20_]: Robot connected to reverse interface. Ready to receive control commands.

MoveGroup:

root@RemainPC:~/remain_ws# ros2 launch my_robot_cell_moveit_config move_group.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-27-16-28-27-153989-RemainPC-516
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [518]
[move_group-1] [INFO] [1743092907.347350348] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00132499 seconds
[move_group-1] [INFO] [1743092907.347374764] [moveit_robot_model.robot_model]: Loading robot model 'my_robot_cell'...
[move_group-1] [INFO] [1743092907.347378409] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1743092907.387426156] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1743092907.387483486] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1743092907.387708600] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1743092907.387796572] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1743092907.387801135] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1743092907.387864080] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1743092907.387867583] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1743092907.387945679] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1743092907.388014113] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1743092907.388119655] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1743092907.388124327] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1743092907.390054397] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [ERROR] [1743092907.390551520] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'pilz_industrial_motion_planner/CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner/CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlannerAvailable plugins: ompl_interface/OMPLPlanner
[move_group-1] [ERROR] [1743092907.392002716] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[move_group-1] [INFO] [1743092907.392227350] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1743092907.392593279] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlannerAvailable plugins: ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1743092907.394344800] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743092907.394351075] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743092907.394353159] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1743092907.394362125] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1743092907.394367718] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1743092907.394369680] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743092907.394373886] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743092907.394375767] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1743092907.394388214] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1743092907.394392783] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1743092907.394394216] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1743092907.394395371] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1743092907.394396551] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1743092907.394397621] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1743092907.394398677] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1743092907.394576452] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1743092907.394833796] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1743092907.405470680] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1743092907.406218534] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743092907.406224770] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743092907.406226891] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1743092907.406235058] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1743092907.406240867] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1743092907.406242827] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743092907.406247161] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743092907.406249051] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1743092907.406250970] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1743092907.406255168] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1743092907.406256527] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1743092907.406257634] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1743092907.406258737] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1743092907.406259778] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1743092907.406260819] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1743092907.415508964] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1743092907.415568822] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1743092907.415576572] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1743092907.415676104] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1743092907.415680615] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1743092907.421280305] [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] [1743092907.421302927] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1743092907.421306492] [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] 

Moveit Rviz:

root@RemainPC:~/remain_ws# ros2 launch my_robot_cell_moveit_config moveit_rviz.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-03-27-16-37-26-521825-RemainPC-997
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [998]
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-1] [INFO] [1743093446.814675101] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1743093446.814716995] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1743093446.821765442] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] 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.
[rviz2-1]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1743093449.862570226] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1743093449.883985943] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] Error:   Semantic description is not specified for the same robot as the URDF
[rviz2-1]          at line 681 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'monitor' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'table' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 589 in ./src/model.cpp
[rviz2-1] Warning: Link 'wall' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 594 in ./src/model.cpp
[rviz2-1] Warning: Link 'wall' is not known to URDF. Cannot disable/enable collisons.
[rviz2-1]          at line 594 in ./src/model.cpp
[rviz2-1] [INFO] [1743093449.956099541] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0281135 seconds
[rviz2-1] [INFO] [1743093449.956119892] [moveit_robot_model.robot_model]: Loading robot model 'ur20'...
[rviz2-1] [INFO] [1743093449.956125121] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1743093449.986302991] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1743093449.986494914] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1743093450.097995863] [interactive_marker_display_94521159284128]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [WARN] [1743093450.100914798] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [INFO] [1743093450.101020189] [moveit_ros_visualization.motion_planning_frame]: group ur_arm
[rviz2-1] [INFO] [1743093450.101023501] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_arm' in namespace ''
[rviz2-1] [INFO] [1743093450.103675952] [move_group_interface]: Ready to take commands for planning group ur_arm.
[rviz2-1] [INFO] [1743093450.103967225] [moveit_ros_visualization.motion_planning_frame]: group ur_arm
[rviz2-1] [INFO] [1743093450.113060720] [interactive_marker_display_94521159284128]: Sending request for interactive markers
[rviz2-1] [INFO] [1743093450.146387941] [interactive_marker_display_94521159284128]: Service response received for initialization
[rviz2-1] [WARN] [1743093450.218995662] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1743093450.469182954] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1743093450.719236405] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.

[urfeex]

I’m using ROS 2 Humble, under Docker.

If you are using Humble: Did you use the humble branch of this repository?

[Chemaslane]

I was using the default one. Indeed, it works perfectly with the humble branch. Sorry for the confusion.

[urfeex]

Glad to hear it works now :-)