Description
Hi,
I’m encountering the issue described in the title when launching MoveIt using the command:
ros2 launch my_robot_cell_moveit_config moveit_rviz.launch.py
This happens when I follow the final step in your tutorial directly. MoveIt launches in RViz, and the interface appears, but the "Plan and Execute" function does not work — nothing is executed, and the robot remains idle.
My overall goal is to get the tutorial working with MoveIt, and then adapt the package to control my own UR10e setup connected to real hardware.
I have tried connecting to the real robot using my own setup, and I'm able to connect successfully. In this case, MoveIt can plan motions, and the robot’s state in RViz is synchronized with the real robot. However, the robot still doesn't execute the planned motions — the “Execute” step fails silently.
I suspect this might be related to the move_group node or controller communication. When inspecting the graph with rqt_graph, I notice two nodes:
/move_group
/move_group_private_<random_id>
I'm not sure if this is expected behavior or a sign that something isn’t being set up correctly.
Any guidance on how to resolve this would be highly appreciated!
Thanks again for the awesome work on this project!
Here is the output from my three terminals:
ngin@ngin:/ros2_humble$ ros2 launch my_robot_cell_control start_robot.launch.py use_mock_hardware:=true/robot_description' topic from 'robot_state_publisher' instead.
[INFO] [launch]: All log files can be found below /home/ngin/.ros/log/2025-04-04-08-47-54-686620-ngin-40162
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [40166]
[INFO] [controller_stopper_node-3]: process started with pid [40168]
[INFO] [ur_ros2_control_node-1]: process started with pid [40164]
[INFO] [urscript_interface-4]: process started with pid [40170]
[INFO] [robot_state_publisher-5]: process started with pid [40172]
[INFO] [rviz2-6]: process started with pid [40174]
[INFO] [spawner-7]: process started with pid [40176]
[INFO] [spawner-8]: process started with pid [40178]
[robot_state_publisher-5] [INFO] [1743749274.861742143] [robot_state_publisher]: got segment ur20_base
[robot_state_publisher-5] [INFO] [1743749274.861787223] [robot_state_publisher]: got segment ur20_base_link
[robot_state_publisher-5] [INFO] [1743749274.861790613] [robot_state_publisher]: got segment ur20_base_link_inertia
[robot_state_publisher-5] [INFO] [1743749274.861792827] [robot_state_publisher]: got segment ur20_flange
[robot_state_publisher-5] [INFO] [1743749274.861794817] [robot_state_publisher]: got segment ur20_forearm_link
[robot_state_publisher-5] [INFO] [1743749274.861796631] [robot_state_publisher]: got segment ur20_ft_frame
[robot_state_publisher-5] [INFO] [1743749274.861798498] [robot_state_publisher]: got segment ur20_shoulder_link
[robot_state_publisher-5] [INFO] [1743749274.861800209] [robot_state_publisher]: got segment ur20_tool0
[robot_state_publisher-5] [INFO] [1743749274.861801832] [robot_state_publisher]: got segment ur20_upper_arm_link
[robot_state_publisher-5] [INFO] [1743749274.861803436] [robot_state_publisher]: got segment ur20_wrist_1_link
[robot_state_publisher-5] [INFO] [1743749274.861805023] [robot_state_publisher]: got segment ur20_wrist_2_link
[robot_state_publisher-5] [INFO] [1743749274.861806563] [robot_state_publisher]: got segment ur20_wrist_3_link
[robot_state_publisher-5] [INFO] [1743749274.861808114] [robot_state_publisher]: got segment world
[controller_stopper_node-3] [INFO] [1743749274.863146826] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [WARN] [1743749274.868445265] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '
[ur_ros2_control_node-1] [INFO] [1743749274.868638672] [resource_manager]: Loading hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743749274.869343585] [resource_manager]: Initialize hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743749274.869374170] [resource_manager]: Successful initialization of hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743749274.869488581] [resource_manager]: 'configure' hardware 'ur20'
[ur_ros2_control_node-1] [INFO] [1743749274.869492459] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1743749274.869498199] [URPositionHardwareInterface]: Initializing driver...
[spawner-8] [INFO] [1743749274.983810724] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-7] [INFO] [1743749274.983809996] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-6] [INFO] [1743749275.155554068] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1743749275.155643733] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1743749275.287031785] [rviz2]: Stereo is NOT SUPPORTED
[ur_ros2_control_node-1] [ERROR] [1743749275.989977804] [UR_Client_Library:ur20_]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
[dashboard_client-2] [ERROR] [1743749275.992837961] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
[spawner-8] [FATAL] [1743749284.998689244] [spawner_joint_trajectory_controller]: Could not contact service /controller_manager/list_controllers
[spawner-7] [FATAL] [1743749285.000640324] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[ERROR] [spawner-8]: process has died [pid 40178, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 --inactive joint_trajectory_controller forward_velocity_controller forward_position_controller force_mode_controller passthrough_trajectory_controller freedrive_mode_controller --ros-args'].
[ERROR] [spawner-7]: process has died [pid 40176, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster tcp_pose_broadcaster ur_configuration_controller scaled_joint_trajectory_controller --ros-args'].
[ur_ros2_control_node-1] [ERROR] [1743749285.991627491] [UR_Client_Library:ur20_]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
[dashboard_client-2] [ERROR] [1743749285.997444181] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[dashboard_client-2] [INFO] [1743749294.305986318] [rclcpp]: signal_handler(signum=2)
[controller_stopper_node-3] [INFO] [1743749294.305999556] [rclcpp]: signal_handler(signum=2)
[controller_stopper_node-3] [INFO] [1743749294.306575555] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1743749294.306618964] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1743749294.306653682] [Controller stopper]: Service available
[controller_stopper_node-3]
[controller_stopper_node-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[controller_stopper_node-3] This error state is being overwritten:
[controller_stopper_node-3]
[controller_stopper_node-3] 'rcl node's context is invalid, at ./src/rcl/node.c:428'
[controller_stopper_node-3]
[controller_stopper_node-3] with this new error message:
[controller_stopper_node-3]
[controller_stopper_node-3] 'publisher's context is invalid, at ./src/rcl/publisher.c:389'
[controller_stopper_node-3]
[controller_stopper_node-3] rcutils_reset_error() should be called after error handling to avoid this.
[controller_stopper_node-3] <<<
[controller_stopper_node-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-6] [INFO] [1743749294.305938577] [rclcpp]: signal_handler(signum=2)
[ur_ros2_control_node-1] [INFO] [1743749294.305993371] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-5] [INFO] [1743749294.306005359] [rclcpp]: signal_handler(signum=2)
[urscript_interface-4] [INFO] [1743749294.305996460] [rclcpp]: signal_handler(signum=2)
[controller_stopper_node-3] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[controller_stopper_node-3] Stack trace (most recent call last):
[controller_stopper_node-3] #16 Object "", at 0xffffffffffffffff, in
[controller_stopper_node-3] #15 Object "/opt/ros/humble/lib/ur_robot_driver/controller_stopper_node", at 0x645f4d93f914, in
[controller_stopper_node-3] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7684b0229e3f]
[controller_stopper_node-3] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7684b0229d8f]
[controller_stopper_node-3] #12 Object "/opt/ros/humble/lib/ur_robot_driver/controller_stopper_node", at 0x645f4d93f70e, in
[controller_stopper_node-3] #11 Object "/opt/ros/humble/lib/ur_robot_driver/controller_stopper_node", at 0x645f4d948287, in
[controller_stopper_node-3] #10 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7684b09d0d0c, in rclcpp::executors::SingleThreadedExecutor::SingleThreadedExecutor(rclcpp::ExecutorOptions const&)
[controller_stopper_node-3] #9 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7684b09ccf97, in rclcpp::Executor::Executor(rclcpp::ExecutorOptions const&)
[controller_stopper_node-3] #8 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7684b09dbefd, in rclcpp::GuardCondition::GuardCondition(std::shared_ptrrclcpp::Context, rcl_guard_condition_options_s)
[controller_stopper_node-3] #7 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7684b09c6118, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rcutils_error_state_s const*, void (*)())
[controller_stopper_node-3] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7684b06ae1fd, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[controller_stopper_node-3] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7684b06ae276, in std::terminate()
[controller_stopper_node-3] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7684b06ae20b, in
[controller_stopper_node-3] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7684b06a2b9d, in
[controller_stopper_node-3] #2 Source "./stdlib/abort.c", line 79, in abort [0x7684b02287f2]
[controller_stopper_node-3] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7684b0242475]
[controller_stopper_node-3] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[controller_stopper_node-3] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[controller_stopper_node-3] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7684b02969fc]
[controller_stopper_node-3] Aborted (Signal sent by tkill() 40168 1000)
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 40172]
[INFO] [rviz2-6]: process has finished cleanly [pid 40174]
[ERROR] [controller_stopper_node-3]: process has died [pid 40168, exit code -6, cmd '/opt/ros/humble/lib/ur_robot_driver/controller_stopper_node --ros-args -r _node:=controller_stopper --params-file /tmp/launch_params_xhl5g99w --params-file /tmp/launch_params_xb1cby3p --params-file /tmp/launch_params_vqmbmodo'].
[ur_ros2_control_node-1] [ERROR] [1743749295.996724620] [UR_Client_Library:ur20]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
[dashboard_client-2] [ERROR] [1743749295.999596875] [UR_Client_Library:]: Failed to connect to robot on IP 192.168.56.101. Please check that the robot is booted and reachable on 192.168.56.101. Retrying in 10 seconds
[ERROR] [urscript_interface-4]: process[urscript_interface-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [dashboard_client-2]: process[dashboard_client-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [ur_ros2_control_node-1]: process[ur_ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [urscript_interface-4]: sending signal 'SIGTERM' to process[urscript_interface-4]
[INFO] [dashboard_client-2]: sending signal 'SIGTERM' to process[dashboard_client-2]
[INFO] [ur_ros2_control_node-1]: sending signal 'SIGTERM' to process[ur_ros2_control_node-1]
[urscript_interface-4] [INFO] [1743749299.319135469] [rclcpp]: signal_handler(signum=15)
[dashboard_client-2] [INFO] [1743749299.320679801] [rclcpp]: signal_handler(signum=15)
[ur_ros2_control_node-1] [INFO] [1743749299.322205429] [rclcpp]: signal_handler(signum=15)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[dashboard_client-2] [INFO] [1743749299.504275893] [rclcpp]: signal_handler(signum=2)
[urscript_interface-4] [INFO] [1743749299.504280961] [rclcpp]: signal_handler(signum=2)
[ur_ros2_control_node-1] [INFO] [1743749299.504281564] [rclcpp]: signal_handler(signum=2)
[ERROR] [urscript_interface-4]: process[urscript_interface-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[ERROR] [dashboard_client-2]: process[dashboard_client-2] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[ERROR] [ur_ros2_control_node-1]: process[ur_ros2_control_node-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [urscript_interface-4]: sending signal 'SIGKILL' to process[urscript_interface-4]
[INFO] [dashboard_client-2]: sending signal 'SIGKILL' to process[dashboard_client-2]
[INFO] [ur_ros2_control_node-1]: sending signal 'SIGKILL' to process[ur_ros2_control_node-1]
[ERROR] [urscript_interface-4]: process has died [pid 40170, exit code -9, cmd '/opt/ros/humble/lib/ur_robot_driver/urscript_interface --ros-args --params-file /tmp/launch_params_eur9h7nx'].
[ERROR] [dashboard_client-2]: process has died [pid 40166, exit code -9, cmd '/opt/ros/humble/lib/ur_robot_driver/dashboard_client --ros-args -r __node:=dashboard_client --params-file /tmp/launch_params_hr5287vt'].
[ERROR] [ur_ros2_control_node-1]: process has died [pid 40164, exit code -9, cmd '/opt/ros/humble/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_vkf8w6wp --params-file /opt/ros/humble/share/ur_robot_driver/config/ur20_update_rate.yaml --params-file /tmp/launch_params__4b_cg3v'].
ngin@ngin:~/ros2_humble$ ros2 launch my_robot_cell_moveit_config move_group.launch.py
[INFO] [launch]: All log files can be found below /home/ngin/.ros/log/2025-04-04-08-47-59-566317-ngin-40261
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [40262]
[move_group-1] [INFO] [1743749279.726347634] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00123568 seconds
[move_group-1] [INFO] [1743749279.726372642] [moveit_robot_model.robot_model]: Loading robot model 'my_robot_cell'...
[move_group-1] [INFO] [1743749279.726377066] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1743749279.750833570] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1743749279.750892654] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1743749279.751207573] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1743749279.751312237] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1743749279.751317266] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1743749279.751386303] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1743749279.751389734] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1743749279.751462005] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1743749279.751530554] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1743749279.751584152] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1743749279.751587828] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1743749279.753495873] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [INFO] [1743749279.754564639] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-1] [INFO] [1743749279.755284892] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743749279.755290345] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743749279.755292148] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1743749279.755300567] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1743749279.755306509] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1743749279.755308436] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743749279.755312716] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743749279.755314438] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1743749279.755316434] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1743749279.755320765] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1743749279.755322377] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1743749279.755323474] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1743749279.755324704] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1743749279.755325799] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1743749279.755326846] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1743749279.756072148] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1743749279.756797348] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1743749279.758061185] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1743749279.758066619] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1743749279.758517405] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1743749279.758521338] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1743749279.758844678] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1743749279.758847810] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1743749279.759144394] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1743749279.759147963] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1743749279.759326615] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1743749279.763719090] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1743749279.764076125] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743749279.764079762] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1743749279.764081469] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1743749279.764089903] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1743749279.764095762] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1743749279.764097570] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743749279.764102053] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1743749279.764103777] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1743749279.764105414] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1743749279.764109876] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1743749279.764111372] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1743749279.764112505] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1743749279.764113696] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1743749279.764114818] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1743749279.764115907] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1743749279.772274523] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1743749279.772335485] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1743749279.772343758] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1743749279.772454175] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1743749279.772458716] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1743749279.776824089] [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] [1743749279.776837579] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1743749279.776840942] [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]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-1] [INFO] [1743749295.997484744] [rclcpp]: signal_handler(signum=2)
[move_group-1] [INFO] [1743749296.021522266] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-1] [INFO] [1743749296.021767881] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1743749296.021956642] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1743749296.022034848] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[move_group-1] at line 127 in ./src/class_loader.cpp
[move_group-1] Stack trace (most recent call last):
[move_group-1] #16 Object "", at 0xffffffffffffffff, in
[move_group-1] #15 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5d7cfeea9724, in
[move_group-1] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x78185e629e3f]
[move_group-1] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x78185e629d8f]
[move_group-1] #12 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5d7cfeea865b, in
[move_group-1] #11 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5d7cfeeaa709, in
[move_group-1] #10 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.8", at 0x78185f219486, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-1] #9 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.8", at 0x78185f2177b9, in
[move_group-1] #8 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.8", at 0x78185e4d13b5, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-1] #7 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.8", at 0x78185e4e4029, in
[move_group-1] #6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee799dc, in rclcpp::Node::~Node()
[move_group-1] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee7997e, in rclcpp::Node::~Node()
[move_group-1] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee54c59, in
[move_group-1] #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee83029, in
[move_group-1] #2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee82f70, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-1] #1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee54c59, in
[move_group-1] #0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x78185ee599d1, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-1] Segmentation fault (Address not mapped to object [0x781856ce8798])
[ERROR] [move_group-1]: process has died [pid 40262, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_frxa4uol --params-file /tmp/launch_params_akyxgt7h'].
[move_group-1]
ngin@ngin:~/ros2_humble$ ros2 launch my_robot_cell_moveit_config moveit_rviz.launch.py
[INFO] [launch]: All log files can be found below /home/ngin/.ros/log/2025-04-04-08-48-01-916707-ngin-40309
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [40310]
[rviz2-1] [INFO] [1743749282.684866174] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1743749282.684910543] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1743749282.808429812] [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] [1743749285.849346962] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1743749285.866245311] [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] [1743749285.944266730] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.02823 seconds
[rviz2-1] [INFO] [1743749285.944286365] [moveit_robot_model.robot_model]: Loading robot model 'ur20'...
[rviz2-1] [INFO] [1743749285.944291313] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1743749285.997908029] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1743749285.998629362] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1743749286.089104453] [interactive_marker_display_95763353234832]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [WARN] [1743749286.091894340] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [WARN] [1743749286.091944767] [moveit_planning_scene.planning_scene]: Setting the scene for model 'my_robot_cell' but model 'ur20' is loaded.
[rviz2-1] [INFO] [1743749286.092240793] [moveit_ros_visualization.motion_planning_frame]: group ur_arm
[rviz2-1] [INFO] [1743749286.092245626] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_arm' in namespace ''
[rviz2-1] [INFO] [1743749286.094521768] [move_group_interface]: Ready to take commands for planning group ur_arm.
[rviz2-1] [INFO] [1743749286.094882763] [moveit_ros_visualization.motion_planning_frame]: group ur_arm
[rviz2-1] [INFO] [1743749286.204356593] [interactive_marker_display_95763353234832]: Sending request for interactive markers
[rviz2-1] [INFO] [1743749286.236563999] [interactive_marker_display_95763353234832]: Service response received for initialization
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-1] [INFO] [1743749296.842647158] [rclcpp]: signal_handler(signum=2)
[rviz2-1] [WARN] [1743749296.861918688] [interactive_marker_display_95763353234832]: Server not available while running, resetting
[rviz2-1]
[rviz2-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-1] This error state is being overwritten:
[rviz2-1]
[rviz2-1] 'rcl node's context is invalid, at ./src/rcl/node.c:428'
[rviz2-1]
[rviz2-1] with this new error message:
[rviz2-1]
[rviz2-1] 'publisher's context is invalid, at ./src/rcl/publisher.c:389'
[rviz2-1]
[rviz2-1] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-1] <<<
[rviz2-1] [INFO] [1743749296.907335911] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[ERROR] [rviz2-1]: process has died [pid 40310, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/ngin/ros2_humble/install/my_robot_cell_moveit_config/share/my_robot_cell_moveit_config/config/moveit.rviz --ros-args --params-file /tmp/launch_params_yi1gpged --params-file /tmp/launch_params_h1aphux8 --params-file /tmp/launch_params__p1uup0d'].
I hope you can help me with this issue.
Thank you