xarm-developer / xarm_ros2 Goto Github PK

Are there plans to support interfacing with the vacuum gripper via ROS and MoveIt. I might be missing something but I didn't find code for this in the existing repository.

@vimior

The goal of this issue is to clarify how or even if it is currently possible to switch between these two behaviors:

1. Use the joint_trajectory_controller/JointTrajectoryController controllers.
2. Use the robot Manual Mode.

This would be really useful to quickly test applications while actually controlling the robot with ros2_control.

Case 1: Manual mode with xarm_api ✅

Using only the xarm_api, I'm able to successfuly switch between manual and position modes:

## Terminal 1

# Launch the ROS 2 API for the xArm5
ros2 launch xarm_api xarm5_driver.launch.py robot_ip:=X.X.X.X

## Terminal 2

# Use the `set_mode` service to set manual mode
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"

# Go back to position control mode
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 0}"

# The robot can still be moved with the UFACTORY Studio at this point

Case 2: Manual mode with xarm_controller ❌

However, after launching the joint_trajectory_controller/JointTrajectoryController, a manual mode request seems to break some things. The solution is to relaunch everything, which is not desired.

Here's how to reproduce the behavior:

## Terminal 1

# Launch MoveIt and ros2_control for the xArm5
ros2 launch xarm_moveit_config xarm5_moveit_realmove.launch.py robot_ip:=X.X.X.X

# Everything works at this point, and I can move the robot using RViz

Make a set_mode request. This makes moving the robot through RViz stop working:

## Terminal 2

# Use the `set_mode` service to set manual mode
ros2 service call /xarm/set_mode xarm_msgs/srv/SetInt16 "{data: 2}"

The following message appears on terminal 1 after setting the manual mode:

[ros2_control_node-6] [set_state], xArm is not ready to move
[ros2_control_node-6] [ERROR] [1701702810.167133511] [UFACTORY.RobotHW]: [X.X.X.X] Robot State detected! State: 5

Possible workarounds

Is there perhaps a set of steps to achieve what I want? E.g., perhaps I should use the xarm/set_state and xarm/set_mode services, and/or ros2 control commands before/after setting the manual mode?

Hi there!

I think it'd really help people if there were installable versions of these packages in the ROS repositories.
I'm particularly interested in a release to ROS 2 Humble.
Can help out if you haven't done it before but it's a straightforward process.

Cheers,
Bence

I'm trying to use the xarm6 with fake hardware and the Moveit Task Constructor but I'm having problems loading the parameters. I get the following warning in the node running the task constructor after parsing moveit parameters:

Failed to find 'ompl.planning_plugin'. Attempting to load pipeline from old parameter structure. Please update your MoveIt config.

I guess this is caused because how the xarm_moveit_config package is built. Did you try using the moveit task constructor with the current configuration? Maybe using the MoveItConfigsBuilder as suggested in this issue would solve this problem.

I am using an xArm6 with xArm's 6-axis force torque sensor. I followed the instructions from #41 (comment) to do a sensor/load compensation (I used uFactory Studio to run the sensor/load calibration procedure three times and I averaged the results) before putting the xArm6 in impedance control mode via the /xarm/ft_sensor_cali_load, /xarm/set_impedance_config and /xarm/ft_sensor_app_set services. I verified that the impedance control mode was working properly by lightly pushing up and down on the gripper and I could feel the end-effector moving like a spring.

My task is to pick up a flat pencil like object with a robotiq gripper attached to the end of the xArm6. To be extra careful during testing, I placed the object on a layer of foam, so that if the robot tried to drive through the table, the foam would absorb the force. Here is the command sequence that I use to pick up the object:

1. Hover the gripper just above the object with the gripper open.
2. Put the xArm6 in impedance control mode.
3. Using MoveIt2, command the end-effector to move the finger tips of the gripper just past the height of the foam.
4. Close the gripper
5. Using MoveIt2, command the end-effector to move up and away from the surface.
6. Disable impedance control mode.

The impedance control mode does a good job of not pushing through the thick foam and I am able to pick up objects. Also, it doesn't appear that the xArm6 is working any of its joints too hard during this process. However, after testing this procedure about three times, the xArm6 threw an error: UFACTORY Error detected! Code C31 -> [ Collision Caused Abnormal Joint Current ]. However, the collision error was thrown when the robot was moving up (not in impedance control mode). Here is the full error from ROS:

[move_group-3] [INFO] [1699645753.573201688] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: xarm6_traj_controller started execution [move_group-3] [INFO] [1699645753.573211121] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-2] [WARN] [1699645758.551577888] [UFACTORY.RobotHW]: [192.168.1.230] set_servo_angle_j, ret= 1 [ros2_control_node-2] [ERROR] [1699645758.630947838] [UFACTORY.RobotHW]: [192.168.1.230] Robot Mode detected! Mode: 0 [ros2_control_node-2] [ERROR] [1699645759.030304556] [UFACTORY.RobotHW]: [192.168.1.230] UFACTORY Error detected! Code C31 -> [ Collision Caused Abnormal Joint Current ] [ros2_control_node-2] [WARN] [1699645761.710926027] [xarm6_traj_controller]: Aborted due goal_time_tolerance exceeding by 0.517733 seconds [move_group-3] [WARN] [1699645761.773652915] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'xarm6_traj_controller' failed with error GOAL_TOLERANCE_VIOLATED: [move_group-3] [WARN] [1699645761.773684209] [moveit_ros.trajectory_execution_manager]: Controller handle xarm6_traj_controller reports status ABORTED

I am worried that the xArm6's impedance control mode is causing the joint motors to work too hard even though the end-effector isn't pushing hard into the table (it's just pushing into some foam right now). Am I missing a step? Is there a different recommended procedure for picking up flat objects on tables?

Thanks!

I'm facing strange problem with grasping objects. On the video bellow You can see what is happening. I'm controlling arm with Moveit.

The problem is that parts of gripper are disconnecting when it is closing. Do you have any tested way to grasp object? What I'm doing wrong?

Is it me or xarm gazebo simulation is still not working? When I run the launch file, it says that gzserver dies. Debug does not reveal any new info.

Hi @penglongxiang ,

How to control the gripper? My below code can make gripper close, yet it could not grasp a very light object in gazebo even though I set effort value or apply force in gazebo.

def close_gripper(self, width=0.4, speed=0.2):
self.set_joint_goal(width)
self.make_gripper_plan(speed)
# self.response.motion_plan_response.trajectory.joint_trajectory.points = [JointTrajectoryPoint()]
# self.response.motion_plan_response.trajectory.joint_trajectory.points[0].effort=[float()]
# self.response.motion_plan_response.trajectory.joint_trajectory.points[0].effort[0] = self.gripper_max_force
self.move_to_goal()
# applyForceRes = self.apply_force.call(self.applyForceReq)
# self.get_logger().info('The force apply result: {0}'.format(applyForceRes))
self.get_logger().info('Closed the gripper and Picked the object')

I've been trying to get this driver to run in my machine, however it seems that I am running into some problems with executing planned moves. I understand that the repo is targeted for Foxy, but I am attempting to run it in Galactic. For reference, the UR driver for ROS2 plans and executes moves correctly, so does the Xarm driver for ROS-Noetic.

In order to get this repo to run for galactic I had modify

xarm_controller/include/xar_controller/fake_xarm_hw.h

and

xarm_controller/include/xar_controller/xarm_hw.h

since some of the functions from hardware_interface don't seem to be virtual in Galactic, causing the building process to fail if not modified.

Screenshots:
Path planning is successful and controller is not found:

This also caught my attention:

System:

• ROS2 Galactic
• Pop!OS 20.04

Full logs:

[INFO] [launch]: All log files can be found below /home/guilherme/.ros/log/2022-01-06-12-25-18-151700-pop-os-84212
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [84225]
[INFO] [rviz2-2]: process started with pid [84227]
[INFO] [static_transform_publisher-3]: process started with pid [84229]
[INFO] [move_group-4]: process started with pid [84231]
[INFO] [joint_state_publisher-5]: process started with pid [84233]
[INFO] [ros2_control_node-6]: process started with pid [84235]
[INFO] [spawner.py-7]: process started with pid [84237]
[static_transform_publisher-3] [INFO] [1641468319.330395189] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'link_base'
[robot_state_publisher-1] Link link_base had 1 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 1 children
[robot_state_publisher-1] Link link6 had 1 children
[robot_state_publisher-1] Link link_eef had 0 children
[robot_state_publisher-1] [INFO] [1641468319.333149556] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1641468319.333217231] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1641468319.333229663] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1641468319.333238812] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1641468319.333248240] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1641468319.333259205] [robot_state_publisher]: got segment link6
[robot_state_publisher-1] [INFO] [1641468319.333269821] [robot_state_publisher]: got segment link_base
[robot_state_publisher-1] [INFO] [1641468319.333282043] [robot_state_publisher]: got segment link_eef
[robot_state_publisher-1] [INFO] [1641468319.333291611] [robot_state_publisher]: got segment world
[ros2_control_node-6] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-6] what(): Wrong state or command interface configuration.
[ros2_control_node-6] missing state interfaces:
[ros2_control_node-6] ' joint1/position ' ' joint1/velocity ' ' joint2/position ' ' joint2/velocity ' ' joint3/position ' ' joint3/velocity ' ' joint4/position ' ' joint4/velocity ' ' joint5/position ' ' joint5/velocity ' ' joint6/position ' ' joint6/velocity '
[ros2_control_node-6] missing command interfaces:
[ros2_control_node-6] ' joint1/position ' ' joint1/velocity ' ' joint2/position ' ' joint2/velocity ' ' joint3/position ' ' joint3/velocity ' ' joint4/position ' ' joint4/velocity ' ' joint5/position ' ' joint5/velocity ' ' joint6/position ' ' joint6/velocity '
[move_group-4] [WARN] [1641468319.360900506] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-4] [WARN] [1641468319.360960569] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-4] [INFO] [1641468319.363261741] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00215583 seconds
[move_group-4] [INFO] [1641468319.363292750] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'...
[move_group-4] [INFO] [1641468319.363304623] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] Link link_base had 1 children
[move_group-4] Link link1 had 1 children
[move_group-4] Link link2 had 1 children
[move_group-4] Link link3 had 1 children
[move_group-4] Link link4 had 1 children
[move_group-4] Link link5 had 1 children
[move_group-4] Link link6 had 1 children
[move_group-4] Link link_eef had 0 children
[spawner.py-7] [INFO] [1641468319.493458806] [spawner_xarm6_traj_controller]: Waiting for /controller_manager services
[ERROR] [ros2_control_node-6]: process has died [pid 84235, exit code -6, cmd '/home/guilherme/rosWorkspaces/urdriver/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_owlpg5uc --params-file /home/guilherme/rosWorkspaces/xarmdriver_no_update/install/xarm_controller/share/xarm_controller/config/xarm6_controllers.yaml'].
[move_group-4] [INFO] [1641468319.559645313] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1641468319.559888148] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1641468319.560327445] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1641468319.560989462] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1641468319.561042471] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1641468319.561814138] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1641468319.561864073] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1641468319.562328303] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1641468319.562773675] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1641468319.564160287] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1641468319.564187944] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1641468319.633759825] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-4] [INFO] [1641468319.651469958] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1641468319.654657894] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1641468319.654687925] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1641468319.654694071] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1641468319.654706153] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1641468319.654719004] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1641468319.654725569] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1641468319.654734229] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1641468319.654739537] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1641468319.654749524] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1641468319.654758953] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1641468319.654765238] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1641468319.654769569] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1641468319.654794292] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1641468319.654798692] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[joint_state_publisher-5] [INFO] [1641468319.769505013] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-2] [INFO] [1641468319.982851566] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1641468319.983012339] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1641468320.037965992] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2] at line 253 in /opt/ros/galactic/include/class_loader/class_loader_core.hpp
[spawner.py-7] [INFO] [1641468321.505413742] [spawner_xarm6_traj_controller]: Waiting for /controller_manager services
[rviz2-2] [ERROR] [1641468323.167723593] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1641468323.330952244] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00422018 seconds
[rviz2-2] [INFO] [1641468323.331029278] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'...
[rviz2-2] [INFO] [1641468323.331046459] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link_eef had 0 children
[spawner.py-7] [INFO] [1641468323.518336181] [spawner_xarm6_traj_controller]: Waiting for /controller_manager services
[rviz2-2] [INFO] [1641468323.530184119] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1641468323.531197084] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1641468323.538556588] [interactive_marker_display_94322169564912]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link_eef had 0 children
[rviz2-2] [INFO] [1641468323.562813073] [interactive_marker_display_94322169564912]: Sending request for interactive markers
[rviz2-2] [INFO] [1641468323.593852390] [interactive_marker_display_94322169564912]: Service response received for initialization
[move_group-4] [WARN] [1641468324.674623921] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for xarm6_traj_controller/follow_joint_trajectory to come up
[spawner.py-7] [INFO] [1641468325.532747412] [spawner_xarm6_traj_controller]: Waiting for /controller_manager services
[spawner.py-7] [INFO] [1641468327.548200736] [spawner_xarm6_traj_controller]: Waiting for /controller_manager services
[rviz2-2] [INFO] [1641468328.544840129] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1641468328.545045879] [moveit_ros_visualization.motion_planning_frame]: group xarm6
[rviz2-2] [INFO] [1641468328.545066481] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'xarm6' in namespace ''
[rviz2-2] [WARN] [1641468328.545599294] [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.
[spawner.py-7] [ERROR] [1641468329.561670317] [spawner_xarm6_traj_controller]: Controller manager not available
[move_group-4] [WARN] [1641468329.674914530] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for xarm6_traj_controller/follow_joint_trajectory to come up
[spawner.py-7] /home/guilherme/rosWorkspaces/urdriver/install/controller_manager/lib/controller_manager/spawner.py:204: DeprecationWarning: 'spawner.py' is deprecated, please use 'spawner' (without .py extension)
[spawner.py-7] warnings.warn(
[ERROR] [spawner.py-7]: process has died [pid 84237, exit code 1, cmd '/home/guilherme/rosWorkspaces/urdriver/install/controller_manager/lib/controller_manager/spawner.py xarm6_traj_controller --controller-manager /controller_manager --ros-args'].
[move_group-4] [ERROR] [1641468334.675433194] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: xarm6_traj_controller/follow_joint_trajectory
[move_group-4] [INFO] [1641468334.682923509] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1641468334.683407223] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1641468334.683435229] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1641468334.702659433] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1641468334.702704131] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1641468334.702713699] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[rviz2-2] [INFO] [1641468334.705313858] [move_group_interface]: Ready to take commands for planning group xarm6.
[rviz2-2] [INFO] [1641468334.705366448] [move_group_interface]: Looking around: no
[rviz2-2] [INFO] [1641468334.705380835] [move_group_interface]: Replanning: no
[rviz2-2] [INFO] [1641468334.706266481] [moveit_ros_visualization.motion_planning_frame]: group xarm6
[rviz2-2] [INFO] [1641468334.706348334] [moveit_ros_visualization.motion_planning_frame]: group xarm6
[rviz2-2] [INFO] [1641468334.744528974] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 24 grp: xarm6
[rviz2-2] [INFO] [1641468334.744657830] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6
[rviz2-2] [INFO] [1641468334.744665582] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[BFMT]
[rviz2-2] [INFO] [1641468334.744723479] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[BKPIECE]
[rviz2-2] [INFO] [1641468334.744730254] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[BiEST]
[rviz2-2] [INFO] [1641468334.744735422] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[BiTRRT]
[rviz2-2] [INFO] [1641468334.744739682] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[EST]
[rviz2-2] [INFO] [1641468334.744744432] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[FMT]
[rviz2-2] [INFO] [1641468334.744749670] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[KPIECE]
[rviz2-2] [INFO] [1641468334.744754419] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[LBKPIECE]
[rviz2-2] [INFO] [1641468334.744758819] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[LBTRRT]
[rviz2-2] [INFO] [1641468334.744763568] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[LazyPRM]
[rviz2-2] [INFO] [1641468334.744768317] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[LazyPRMstar]
[rviz2-2] [INFO] [1641468334.744773136] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[PDST]
[rviz2-2] [INFO] [1641468334.744802190] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[PRM]
[rviz2-2] [INFO] [1641468334.744807428] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[PRMstar]
[rviz2-2] [INFO] [1641468334.744812596] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[ProjEST]
[rviz2-2] [INFO] [1641468334.744816926] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[RRTConnect]
[rviz2-2] [INFO] [1641468334.744821745] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[RRT]
[rviz2-2] [INFO] [1641468334.744826564] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[RRTstar]
[rviz2-2] [INFO] [1641468334.744831313] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[SBL]
[rviz2-2] [INFO] [1641468334.744835992] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[SPARS]
[rviz2-2] [INFO] [1641468334.744840811] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[SPARStwo]
[rviz2-2] [INFO] [1641468334.744845980] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[STRIDE]
[rviz2-2] [INFO] [1641468334.744850310] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: xarm6[TRRT]
[move_group-4] [INFO] [1641468947.613554962] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-4] [INFO] [1641468947.613848222] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-4] [INFO] [1641468947.675595206] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-4] [INFO] [1641468947.675929811] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-4] [INFO] [1641468947.677310138] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm6' will use planner 'geometric::RRT'. Additional configuration parameters will be set when the planner is constructed.
[move_group-4] [INFO] [1641468947.678476892] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.678558466] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.678613779] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.678666788] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.687758478] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 75 states
[move_group-4] [INFO] [1641468947.688499066] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 76 states
[move_group-4] [INFO] [1641468947.688931727] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 78 states
[move_group-4] [INFO] [1641468947.691287585] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 136 states
[move_group-4] [INFO] [1641468947.691428174] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.013685 seconds
[move_group-4] [INFO] [1641468947.691653619] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.691688050] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.691707396] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.691736100] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.692524878] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 12 states
[move_group-4] [INFO] [1641468947.693487768] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 20 states
[move_group-4] [INFO] [1641468947.693704553] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 32 states
[move_group-4] [INFO] [1641468947.694120383] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 38 states
[move_group-4] [INFO] [1641468947.694205449] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.002622 seconds
[move_group-4] [INFO] [1641468947.694406310] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.694446957] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:119 - xarm6/xarm6: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1641468947.695154650] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 11 states
[move_group-4] [INFO] [1641468947.697715490] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/planners/rrt/src/RRT.cpp:227 - xarm6/xarm6: Created 44 states
[move_group-4] [INFO] [1641468947.697895119] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.003590 seconds
[move_group-4] [INFO] [1641468947.697998693] [ompl]: /tmp/binarydeb/ros-galactic-ompl-1.5.2/src/ompl/geometric/src/SimpleSetup.cpp:179 - SimpleSetup: Path simplification took 0.000012 seconds and changed from 2 to 2 states
[move_group-4] [INFO] [1641468947.699620877] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed succesfully.
[rviz2-2] [INFO] [1641468948.014958580] [move_group_interface]: Planning request accepted
[rviz2-2] [INFO] [1641468948.115675622] [move_group_interface]: Planning request complete!
[rviz2-2] [INFO] [1641468948.216007914] [move_group_interface]: time taken to generate plan: 0.0202975 seconds
[move_group-4] [INFO] [1641468949.662149136] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-4] [INFO] [1641468949.662769459] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-4] [INFO] [1641468949.662905438] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1641468949.662986453] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [ERROR] [1641468949.663023468] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ]
[move_group-4] [ERROR] [1641468949.663051125] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-4]
[rviz2-2] [INFO] [1641468950.063991212] [move_group_interface]: Execute request accepted
[rviz2-2] [INFO] [1641468950.164584847] [move_group_interface]: Execute request aborted
[rviz2-2] [ERROR] [1641468950.264831095] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

I am currently facing issues when executing planned trajectories (MoveIt) using the humble branch.

• I am using the default URDF and SRDF for the lite6 robot as defined on the humble branch.

• I set max_velocity_scaling_factor and max_acceleration_scaling_factor to 0.2 in my moveit_cpp.yaml

I have yet to delve into changes made to xarm_controller, @vimior do you have any advice on what might be going wrong here?

Traceback

[ros2_control_node-6] [INFO] [1697471980.951808737] [lite6_traj_controller]: Received new action goal
[ros2_control_node-6] [INFO] [1697471980.951906433] [lite6_traj_controller]: Accepted new action goal
[motion_planning_python_api_tutorial.py-1] [INFO] [1697471980.952342756] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: lite6_traj_controller started execution
[motion_planning_python_api_tutorial.py-1] [INFO] [1697471980.952367408] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-6] [WARN] [1697471981.070178757] [UFACTORY.RobotHW]: [192.168.1.156] set_servo_angle_j, ret= 1
[ros2_control_node-6] [WARN] [1697471981.090329883] [UFACTORY.RobotHW]: [192.168.1.156] set_servo_angle_j, ret= 1
[ros2_control_node-6] [WARN] [1697471981.110257122] [UFACTORY.RobotHW]: [192.168.1.156] set_servo_angle_j, ret= 1
[ros2_control_node-6] [WARN] [1697471981.130212239] [UFACTORY.RobotHW]: [192.168.1.156] set_servo_angle_j, ret= 1
[ros2_control_node-6] [WARN] [1697471981.150298455] [UFACTORY.RobotHW]: [192.168.1.156] set_servo_angle_j, ret= 1
[ros2_control_node-6] [ERROR] [1697471981.168882239] [UFACTORY.RobotHW]: [192.168.1.156] UFACTORY Error detected! Code C24 -> [ Speed Exceeds Limit ] 

Hi,

When I tried to run the package to view the xarm7 description, the error related to robot_state_publisher keeps coming out. Please see the detail in the screenshot below:

I ran the rqt to check if there is any fatal error, but there was not:

So I tried to run the xarm_moveit_config package to see if there was same issue with call out the robot_state_publisher node. I thought there was the same issue as I had when I tried to call out the description node. Please see the detail below:

Is it due to the ID problem (since I haven't change anything related to ROS Domain)? Or it is something else.

Thank you

Best wishes

hi, in order to record positions i want to go back and for from a manual mode to a planning mode all in rviz + moveit workspace while running dual moveit xarm6 .

please advise for the proper way to achieve this instead of restarting rviz all the time .

best regards, Nir Levy

We have ported this repository to use Ignition Gazebo instead of Gazebo Classic. When using Gazebo Classic, warnings arise indicating that the inertias of some links are not realistic but, as there is no critical error, the code can be executed. However, Ignition Gazebo arises some errors indicating that the inertias of some links are invalid, making it impossible to spawn xarm5 and xarm6. In the case of xarm6, which is the robot at our disposal, the results obtained are as follows:

We would like to know the reason for this problem and, if necessary, a revision of the inertia parameters. Thank you.

Hello, I am trying to setup the xarm gazebo simulation and control it by making service calls with xarm_api. However when I try launching the xarm_api nodes with ros2 launch xarm_api xarm6_driver.launch.py robot_ip:=192.168.1.117, the TCP socket fails to bind. Then I realized it is trying to connect to the real robot with an IP address. Is there anyway I can assign an IP to the gazebo simulation, so I start visualize the API effects? Or is there anyway to do this without an IP?

To be specific, I'm trying to use the set_gripper_position API to control the gripper in the simulation

I can use xarm6_moveit_realmove.launch to control xarm, but everytime it will auto crash after a few minutes, and the error is nouveau pushbuf_data: Assertion 'kref' failed.

Here is the terminal:

Hi, I am using moveit xarm tutorial to move the arm using joystick, I would like to know how can I achieve the maximum speed from the xarm using move-it serving.

Hi,
When I tried to run simulation xarm7 robot in Moveit using the xarm_moveit_config package, an issue came out.

The RVIZ window was properly shown, and I tried to use the section 'Joint' and move the certain joint with a certain angle to test the functionality of the Moveit planner. The button 'plan' did not have response and I tried 'plan & execute', then the whole Rviz window crash and here is the complete terminal output:

zo22@sie187-lap:~/xarm_ws$ ros2 launch xarm_moveit_config xarm7_moveit_fake.launch.py [add_gripper:=true]
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
[INFO] [launch]: All log files can be found below /home/zo22/.ros/log/2023-10-23-16-11-32-507582-sie187-lap-10312
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [10320]
[INFO] [rviz2-2]: process started with pid [10322]
[INFO] [static_transform_publisher-3]: process started with pid [10324]
[INFO] [move_group-4]: process started with pid [10326]
[INFO] [joint_state_publisher-5]: process started with pid [10328]
[INFO] [ros2_control_node-6]: process started with pid [10330]
[INFO] [spawner.py-7]: process started with pid [10332]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link link_base had 1 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 1 children
[robot_state_publisher-1] Link link6 had 1 children
[robot_state_publisher-1] Link link7 had 1 children
[robot_state_publisher-1] Link link_eef had 0 children
[robot_state_publisher-1] [INFO] [1698073893.025584550] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1698073893.025690989] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1698073893.025695990] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1698073893.025698666] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1698073893.025701958] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1698073893.025705000] [robot_state_publisher]: got segment link6
[robot_state_publisher-1] [INFO] [1698073893.025707762] [robot_state_publisher]: got segment link7
[robot_state_publisher-1] [INFO] [1698073893.025709979] [robot_state_publisher]: got segment link_base
[robot_state_publisher-1] [INFO] [1698073893.025712741] [robot_state_publisher]: got segment link_eef
[robot_state_publisher-1] [INFO] [1698073893.025714985] [robot_state_publisher]: got segment world
[static_transform_publisher-3] [INFO] [1698073893.033380150] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'link_base'
[ros2_control_node-6] [INFO] [1698073893.045625738] [UFACTORY.RobotFakeHW]: System Sucessfully configured!
[ros2_control_node-6] [INFO] [1698073893.045842035] [UFACTORY.RobotFakeHW]: System Sucessfully started!
[ros2_control_node-6] [INFO] [1698073893.049140479] [controller_manager]: update rate is 50 Hz
[move_group-4] Parsing robot urdf xml string.
[move_group-4] [INFO] [1698073893.070141250] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000992756 seconds
[move_group-4] [INFO] [1698073893.070211350] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'...
[move_group-4] [INFO] [1698073893.070221170] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] Link link_base had 1 children
[move_group-4] Link link1 had 1 children
[move_group-4] Link link2 had 1 children
[move_group-4] Link link3 had 1 children
[move_group-4] Link link4 had 1 children
[move_group-4] Link link5 had 1 children
[move_group-4] Link link6 had 1 children
[move_group-4] Link link7 had 1 children
[move_group-4] Link link_eef had 0 children
[spawner.py-7] [INFO] [1698073893.167093081] [spawner_xarm7_traj_controller]: Waiting for /controller_manager services
[move_group-4] [INFO] [1698073893.195226759] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1698073893.195386632] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1698073893.195743342] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1698073893.195955632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1698073893.195967630] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1698073893.196097320] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1698073893.196105220] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1698073893.196248152] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1698073893.196397562] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1698073893.196426070] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1698073893.196454925] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1698073893.235339019] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1698073893.255090954] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1698073893.257423138] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1698073893.257783155] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1698073893.258021610] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1698073893.258266913] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1698073893.258504397] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.050000
[move_group-4] [INFO] [1698073893.258729827] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1698073893.258957559] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1698073893.259182758] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1698073893.259408223] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1698073893.259632793] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1698073893.259848629] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1698073893.260063101] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1698073893.260272328] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1698073893.260502957] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[rviz2-2] [INFO] [1698073893.276733350] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1698073893.277334712] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1698073893.299517768] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-6] [INFO] [1698073893.372046313] [controller_manager]: Loading controller 'xarm7_traj_controller'
[ros2_control_node-6] [ERROR] [1698073893.372081473] [controller_manager]: Loader for controller 'xarm7_traj_controller' not found.
[ros2_control_node-6] [INFO] [1698073893.372085959] [controller_manager]: Available classes:
[ros2_control_node-6] [INFO] [1698073893.372090111] [controller_manager]:   controller_manager/test_controller
[ros2_control_node-6] [INFO] [1698073893.372092682] [controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-6] [INFO] [1698073893.372095017] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ERROR] [spawner.py-7]: process has died [pid 10332, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py xarm7_traj_controller --controller-manager /controller_manager --ros-args'].
[joint_state_publisher-5] [INFO] [1698073893.394834941] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1698073896.425818141] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] Parsing robot urdf xml string.
[rviz2-2] [INFO] [1698073896.447960590] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000848067 seconds
[rviz2-2] [INFO] [1698073896.448032087] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'...
[rviz2-2] [INFO] [1698073896.448043550] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Parsing robot urdf xml string.
[rviz2-2] Parsing robot urdf xml string.
[rviz2-2] [INFO] [1698073896.654544425] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000709819 seconds
[rviz2-2] [INFO] [1698073896.654585985] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'...
[rviz2-2] [INFO] [1698073896.654589983] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link7 had 1 children
[rviz2-2] Link link_eef had 0 children
[rviz2-2] [INFO] [1698073896.803972989] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1698073896.804663541] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1698073896.814964670] [interactive_marker_display_94720819583728]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link7 had 1 children
[rviz2-2] Link link_eef had 0 children
[rviz2-2] [INFO] [1698073896.836434710] [interactive_marker_display_94720819583728]: Sending request for interactive markers
[rviz2-2] [INFO] [1698073896.868620470] [interactive_marker_display_94720819583728]: Service response received for initialization
[move_group-4] [WARN] [1698073898.313257054] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for xarm7_traj_controller/follow_joint_trajectory to come up
[rviz2-2] [INFO] [1698073901.824422925] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1698073901.824692689] [moveit_ros_visualization.motion_planning_frame]: group xarm7
[rviz2-2] [INFO] [1698073901.824715997] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'xarm7' in namespace ''
[rviz2-2] [WARN] [1698073901.824994222] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-2] [INFO] [1698073901.844566691] [move_group_interface]: Ready to take commands for planning group xarm7.
[rviz2-2] [INFO] [1698073901.844620885] [move_group_interface]: Looking around: no
[rviz2-2] [INFO] [1698073901.844637676] [move_group_interface]: Replanning: no
[move_group-4] [WARN] [1698073903.313665962] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for xarm7_traj_controller/follow_joint_trajectory to come up
[move_group-4] [ERROR] [1698073908.314026437] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: xarm7_traj_controller/follow_joint_trajectory
[move_group-4] [INFO] [1698073908.319776680] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1698073908.320976539] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1698073908.321028401] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1698073908.341734472] [move_group.move_group]: 
[move_group-4] 
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using: 
[move_group-4] *     - ApplyPlanningSceneService
[move_group-4] *     - ClearOctomapService
[move_group-4] *     - CartesianPathService
[move_group-4] *     - ExecuteTrajectoryAction
[move_group-4] *     - GetPlanningSceneService
[move_group-4] *     - KinematicsService
[move_group-4] *     - MoveAction
[move_group-4] *     - MotionPlanService
[move_group-4] *     - QueryPlannersService
[move_group-4] *     - StateValidationService
[move_group-4] ********************************************************
[move_group-4] 
[move_group-4] [INFO] [1698073908.341793782] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1698073908.341806554] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4] 
[move_group-4] You can start planning now!
[move_group-4] 
[rviz2-2] terminate called after throwing an instance of 'std::runtime_error'
[rviz2-2]   what():  Node has already been added to an executor.
[move_group-4] [INFO] [1698073920.828543684] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-4] [INFO] [1698073920.828994954] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-4] [INFO] [1698073920.829839011] [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-4] [INFO] [1698073920.830358109] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-4] [INFO] [1698073920.831727836] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm7' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-4] [INFO] [1698073920.832440324] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.832480354] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.832801135] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.832844806] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.832888235] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.833032575] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.833550296] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.833637539] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.833768760] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.001604 seconds
[move_group-4] [INFO] [1698073920.834003260] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.834301755] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.834344639] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.834487127] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.834593395] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.834694188] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.834739316] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.834756461] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.834844935] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.000982 seconds
[move_group-4] [INFO] [1698073920.834916812] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.834935243] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - xarm7/xarm7: Starting planning with 1 states already in datastructure
[move_group-4] [INFO] [1698073920.835124859] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 5 states (3 start + 2 goal)
[move_group-4] [INFO] [1698073920.835132657] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - xarm7/xarm7: Created 4 states (2 start + 2 goal)
[move_group-4] [INFO] [1698073920.835254818] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.000372 seconds
[move_group-4] [INFO] [1698073920.836044837] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/src/SimpleSetup.cpp:179 - SimpleSetup: Path simplification took 0.000742 seconds and changed from 3 to 2 states
[move_group-4] [INFO] [1698073920.837407323] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [ERROR] [1698073920.837429305] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 joint7 ]
[move_group-4] [ERROR] [1698073920.837434196] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-4] 
[move_group-4] [ERROR] [1698073920.837441891] [moveit_ros.plan_execution]: Apparently trajectory initialization failed
[move_group-4] [INFO] [1698073920.837482857] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[ERROR] [rviz2-2]: process has died [pid 10322, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/zo22/xarm_ws/install/xarm_moveit_config/share/xarm_moveit_config/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_pxz8khq3 --params-file /tmp/launch_params_2er6rpe5 --params-file /tmp/launch_params_a7n3pi3g -r /tf:=tf -r /tf_static:=tf_static'].
[INFO] [ros2_control_node-6]: sending signal 'SIGINT' to process[ros2_control_node-6]
[INFO] [joint_state_publisher-5]: sending signal 'SIGINT' to process[joint_state_publisher-5]
[INFO] [move_group-4]: sending signal 'SIGINT' to process[move_group-4]
[INFO] [static_transform_publisher-3]: sending signal 'SIGINT' to process[static_transform_publisher-3]
[INFO] [robot_state_publisher-1]: sending signal 'SIGINT' to process[robot_state_publisher-1]
[ros2_control_node-6] [INFO] [1698073921.970570799] [rclcpp]: signal_handler(signal_value=2)
[move_group-4] [INFO] [1698073921.972047834] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-3] [INFO] [1698073921.973651020] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-1] [INFO] [1698073921.975575314] [rclcpp]: signal_handler(signal_value=2)
[joint_state_publisher-5] /opt/ros/foxy/lib/joint_state_publisher/joint_state_publisher:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
[joint_state_publisher-5]   from pkg_resources import load_entry_point
[move_group-4] [INFO] [1698073921.981515540] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[INFO] [static_transform_publisher-3]: process has finished cleanly [pid 10324]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 10320]
[move_group-4] [INFO] [1698073921.982532083] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-4] [INFO] [1698073921.982811871] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-4] [INFO] [1698073921.982903462] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-4] 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-4]          at line 127 in /tmp/binarydeb/ros-foxy-class-loader-2.0.3/src/class_loader.cpp
[ros2_control_node-6] terminate called without an active exception
[INFO] [move_group-4]: process has finished cleanly [pid 10326]
[move_group-4] 
[INFO] [joint_state_publisher-5]: process has finished cleanly [pid 10328]
[ERROR] [ros2_control_node-6]: process has died [pid 10330, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_zcgux7vy --params-file /home/zo22/xarm_ws/install/xarm_controller/share/xarm_controller/config/xarm7_controllers.yaml --params-file /home/zo22/xarm_ws/install/xarm_api/share/xarm_api/config/xarm_params.yaml'].

It has the same issue when I tested the 'xarm7_moveit_realmove' part.

Thank you.

Best wishes

I am getting the following error when I launched this
command

ros2 launch xarm_gazebo xarm6_beside_table_gazebo.launch.py

[spawn_entity.py-4] [INFO] [1675794290.587042536] [spawn_entity]: Waiting for entity xml on robot_description

[spawn_entity.py-4] [INFO] [1675794290.604075483] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30

[spawn_entity.py-4] [INFO] [1675794290.605187174] [spawn_entity]: Waiting for service /spawn_entity

[spawn_entity.py-4] [ERROR] [1675794321.358937337] [spawn_entity]: Service %s/spawn_entity unavailable. Was Gazebo started with GazeboRosFactory?

[spawn_entity.py-4] [ERROR] [1675794321.359650307] [spawn_entity]: Spawn service failed. Exiting.

[ERROR] [spawn_entity.py-4]: process has died [pid 60610, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity xarm6 -x -0.2 -y -0.5 -z 1.021 -Y 1.571 --ros-args --params-file /tmp/launch_params_00youayy'].

Any fix will be appreciated

Using: Ubuntu 22.04
ROS 2 Humble

Hello. We are using ROS2 Humble to develop our application on xArm6. The firmware version is 1.12.10, studio version is 1.12.4.

We added two new services in xarm driver_service to call API to control our end effector.

Then, we executed ros2 launch xarm_planner lite6_planner_realmove.launch.py robot_ip:=192.168.1.117 and executed a test script to demonstrate the workflow by calling services:[/xarm_pose_plan, /xarm_joint_plan, /xarm_exec_plan] (moving to a specific position and turning the end effector on/off).

However, after successfully executing the while loop several times, we encountered the C19 error code, causing the robot_state ROS topic to change (mode 1->0; state 2->5). Additionally, the joint_state topic stopped publishing. The xarm6_realmove log shows that the path was successfully planned, but could not be executed. But the end effector services keep working well. Here is the log:

We are sure that this case only occur involve calling tgoio service. Can you please assist us in resolving this issue? Thanks.

Currently the Hardware interfaces code is not compatible with MoveItConfigsBuilder as it incorrectly parses the robot_ip from the robot_description. The substr index when changed to 0 fixed this problem (see linked sections of codebase for where the issue arises).

I'm trying to follow the humble branch readme to build and run the xarm application. When executing ros2 launch xarm_description xarm6_rviz_display.launch.py add_gripper:=true (in this step), I've seen following error:

[INFO] [launch]: All log files can be found below /home/xiaoguang/.ros/log/2022-12-26-12-41-34-380288-xiaoguang-desktop-1729766
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable '[<launch.substitutions.text_substitution.TextSubstitution object at 0x7f6d80d78e50>]' not found on the PATH

I have already run source ~/dev_ws/install/setup.zsh in my terminal to ensure env variables are properly set.

I understand what that error is complaining about. But I don't know

1. what the launch.substitutions.text_substitution.TextSubstitution object is
2. how to add it to PATH

Could someone help shining some lights here? Thanks!

Hi friends. When I tried to colcon build xarm in step 4.5, I encountered following issue, it seems that I don't have the hpp file named "hardware_interface/types/hardware_interface_status_values.hpp", which led to fail to build xarm_controller.

Terminal information:

walt@WaltUbuntu:~/dev_ws$ colcon build
Starting >>> xarm_description
Starting >>> xarm_msgs
Starting >>> xarm_sdk
Finished <<< xarm_description [2.88s]
Finished <<< xarm_sdk [5.10s]
Finished <<< xarm_msgs [34.1s]
Starting >>> xarm_api
Finished <<< xarm_api [24.0s]
Starting >>> xarm_controller
stderr: xarm_controller
In file included from /home/walt/dev_ws/src/xarm_ros2/xarm_controller/src/hardware/uf_robot_fake_system_hardware.cpp:9:
/home/walt/dev_ws/src/xarm_ros2/xarm_controller/include/xarm_controller/hardware/uf_robot_fake_system_hardware.h:21:10: fatal error: hardware_interface/types/hardware_interface_status_values.hpp: No such file or directory
21 | #include "hardware_interface/types/hardware_interface_status_values.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/walt/dev_ws/src/xarm_ros2/xarm_controller/src/hardware/uf_robot_system_hardware.cpp:9:
/home/walt/dev_ws/src/xarm_ros2/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h:21:10: fatal error: hardware_interface/types/hardware_interface_status_values.hpp: No such file or directory
21 | #include "hardware_interface/types/hardware_interface_status_values.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.
gmake[2]: *** [CMakeFiles/uf_robot_hardware.dir/build.make:76: CMakeFiles/uf_robot_hardware.dir/src/hardware/uf_robot_system_hardware.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/uf_robot_hardware.dir/build.make:90: CMakeFiles/uf_robot_hardware.dir/src/hardware/uf_robot_fake_system_hardware.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/uf_robot_hardware.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< xarm_controller [4.85s, exited with code 2]

Summary: 4 packages finished [1min 3s]
1 package failed: xarm_controller
1 package had stderr output: xarm_controller
4 packages not processed

Hi! sorry to bother again so quick.
I have been trying to run:

• ros2 launch xarm_moveit_servo xarm_moveit_servo_fake.launch.py
• ros2 run xarm_moveit_servo xarm_keyboard_input

But the simulated xArm has not moved. Here are captures of RViz and rqt_graph if it helps to show my problem more clearly:

Any help or advice is greatly appreciated

Hello,

I am controlling an xArm6 with MoveIt on the humble branch by using your xarm_planner package. However even after increasing the default values of the file xarm_moveit_config/xarm6/joint_limits.yaml or by increasing the maxV_scale_factor in the xarm_planner/src/xarm_planner.cpp file, I was not able to increase the speed or the acceleration of the real robot. I have this problem for all the types of path planners, i.e Carthesian, Pose and Joint targets.
Could you please tell what values I need to change in order to increase the acceleration and the speed of the xArm6 when it is controlled with MoveIt.
Thanks in advance for your help.

Is there an example of finding the height of the work area relative to the robot's base_link by lowering the gripper until it touches the work area? The feedback would be provided by either the current sensing in the xarm's joints or through an added force torque sensor. If so, what interfaces in xarm_msgs should I use?

Thanks!

Edit: I found this C++ example of using the external force torque sensor to use force control in the z-direction (https://github.com/xArm-Developer/xArm-CPLUS-SDK/blob/master/example/8003-force_control.cc). Is the purpose of this demo to show that you can push the end effector in the z negative/positive directions when running this example and the robot arm reacts to the applied external forces?

Hi,
I cannot use the gripper when running Moveit2 to control a simulated lite6 robotic arm.

When I run ros2 "launch xarm_moveit_config lite6_moveit_fake.launch.py add_gripper:=true" the following happens:

• The lite6 arm and gripper are displayed
• I can only control the position of the arm using motion planning

However, my problem is that I cannot control the lite6 gripper. Please note the following:

• The Planning Group (in the Planning tab of the MotionPlanning panel) only has one entry "lite6" for the entire lite6 robot arm. There is no entry for the lite6 gripper.
• When I select "lite6" in the Planning Group, the Joints tab (in the MotionPlanning panel) only shows robot arm joints (joint1 thru joint6), no joints are shown for the gripper fingers

I believe my build of ROS2, Moveit2, Gazebo, Gazebo_ros_packages with the necessary uFactory xarm_ros2 files is complete and functional. When I run "ros2 launch xarm_moveit_config xarm6_moveit_fake.launch.py add_gripper:=true":

• The Planning Group (in the Planning tab of the MotionPlanning panel) has two entries "xarm6" and "xarm_gripper" for the entire xarm6 robot arm.
• When I select "xarm_gripper" in the Planning Group, the Joints tab (in the MotionPlanning panel) shows "drive_joint", "left_finger_joint", "left_inner_knuckle", "right_inner_knuckle", "right_outer_knuckle", "right_finger_joint".

I am running Ubuntu 22.04 and have carefully followed the installation instructions as detailed in https://github.com/xArm-Developer/xarm_ros2/tree/humble:

• 3.1 Install ROS2
• 3.2 Install Moveit2
• 3.3 Install Gazebo
• 3.4 Install gazebo_ros_pkgs
• 4.1 Create a workspace
• 4.2 Obtain source code of "xarm_ros2" repository
• 4.3 Update "xarm_ros2" repository
• 4.4 Install dependencies
• 4.5 Build xarm_ros2

Can you please explain why I am unable to control the gripper when running Moveit2 to control a simulated lite6 robotic arm? Please provide the necessary steps to enable support for the lite6 gripper when running Moveit2 and Gazebo2.

Thanks in advance for any help you can provide

After recording a trajectory on my xArm6 whenever I attempt to save it the API immediately crashes

Hi I hope I can get some help to fix this. Currently I'm trying to test this library but I get the following error:

--- stderr: xarm_controller
In file included from /home/ivan/dev_ws/src/xarm_ros2/xarm_controller/src/hardware/uf_robot_system_hardware.cpp:9:
/home/ivan/dev_ws/src/xarm_ros2/xarm_controller/include/xarm_controller/hardware/uf_robot_system_hardware.h:21:10: fatal error: hardware_interface/types/hardware_interface_status_values.hpp: No such file or directory
21 | #include "hardware_interface/types/hardware_interface_status_values.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/ivan/dev_ws/src/xarm_ros2/xarm_controller/src/hardware/uf_robot_fake_system_hardware.cpp:9:
/home/ivan/dev_ws/src/xarm_ros2/xarm_controller/include/xarm_controller/hardware/uf_robot_fake_system_hardware.h:21:10: fatal error: hardware_interface/types/hardware_interface_status_values.hpp: No such file or directory
21 | #include "hardware_interface/types/hardware_interface_status_values.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

Any help or advice is greatly apreciated

Hi,

I'd like to add a functionality to the xarm planning framework that allows terminating a trajectory when the force sensed by a 6-axis force sensor mounted at the end-effector exceeds a specified threshold.
I'm using the 6-axis force-torque sensor that came with the xarm.

Where would be the best location to add this? Inside the controller perhaps?

Thanks a lot!

got this issue while colcon build

I've adapted the real time servoing tutorial to work with Xarm6. All good in simulation, both using the ros2_control_plugin fake_components/GenericSystem (as done in the Panda tutorial) and the gazebo_ros2_control/GazeboSystem. I'm using a PS3 joystick to control joints and cartesian movements.
If I use xarm_control/XArmHW with Gazebo it's also fine, but when working with the real arm, the arm starts shaking and it hardly moves.

To control the real arm I'm using:

ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=myip

and

ros2 launch moveit2_tutorials servo_teleop.launch.py

What is causing the shaking? Do I have to tune any PID values? Or perhaps should I set a lower frequency for the controllers?

Hi,

Has anyone successfully set up TrajOpt for Xarm?

Thanks a lot!

Hello and Hi.

I encountered some errors when running the xarm_moveit_config demo.
First, somehow I can't move the robotic arm or even change its orientation. Usually in move-it package, you should have some kind of arrows at the end of the TCP. Here I include the picture as ref:

The robotic arm is just there. I can't change its orientation or create new orientation. When I press the "Plan" button in RVIZ, nothing happens. But when I press the "Plan and Execute", the RVIZ windows immediately closed. Here is the log when that happens:
(Note: This is for the Simulated Arm case)

[move_group-4] You can start planning now!
[move_group-4]
[move_group-4] [INFO] [1629786605.311458700] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-4] [INFO] [1629786605.311723100] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1629786605.311863900] [move_group_interface]: Plan and Execute request accepted
[rviz2-2] terminate called after throwing an instance of 'std::runtime_error'
[rviz2-2]   what():  Node has already been added to an executor.
[ERROR] [rviz2-2]: process has died [pid 508, exit code -6, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/syahmi/dev_ws/install/xarm_moveit_config/share/xarm_moveit_config/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_9ghplhlt --params-file /tmp/launch_params_8arke03w -r /tf:=tf -r /tf_static:=tf_static'].
[move_group-4] [INFO] [1629786605.325969600] [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-4] [INFO] [1629786605.326192900] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions
[move_group-4] [INFO] [1629786605.326243400] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met.

My environment for the test is Ubuntu 20.04 + ROS Foxy with all the requirement installed as per the guide.
Did I miss something?

i am using the dual xarm6 realmove launch commands and it is working great, i was wondering if it would be possible controlling both arms simultaneously because i couldn't figure it out .

please help, thanks.

walt@waltubuntu:~/dev_ws$ ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=192.168.1.244 add_gripper:=true
[INFO] [launch]: All log files can be found below /home/walt/.ros/log/2022-10-15-22-54-02-792428-waltubuntu-4596
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4603]
[INFO] [rviz2-2]: process started with pid [4605]
[INFO] [static_transform_publisher-3]: process started with pid [4607]
[INFO] [move_group-4]: process started with pid [4609]
[INFO] [joint_state_publisher-5]: process started with pid [4611]
[INFO] [ros2_control_node-6]: process started with pid [4613]
[INFO] [spawner-7]: process started with pid [4615]
[static_transform_publisher-3] [WARN] [1665888843.436492851] []: Old-style arguments are deprecated; see --help for new-style arguments
[rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[static_transform_publisher-3] [INFO] [1665888843.464156162] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'world' to 'link_base'
[robot_state_publisher-1] Link link_base had 1 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 1 children
[robot_state_publisher-1] Link link6 had 1 children
[robot_state_publisher-1] Link link_eef had 1 children
[robot_state_publisher-1] Link xarm_gripper_base_link had 5 children
[robot_state_publisher-1] Link left_outer_knuckle had 1 children
[robot_state_publisher-1] Link left_finger had 0 children
[robot_state_publisher-1] Link link_tcp had 0 children
[robot_state_publisher-1] Link left_inner_knuckle had 0 children
[robot_state_publisher-1] Link right_inner_knuckle had 0 children
[robot_state_publisher-1] Link right_outer_knuckle had 1 children
[robot_state_publisher-1] Link right_finger had 0 children
[robot_state_publisher-1] [INFO] [1665888843.469794703] [robot_state_publisher]: got segment left_finger
[robot_state_publisher-1] [INFO] [1665888843.469871400] [robot_state_publisher]: got segment left_inner_knuckle
[robot_state_publisher-1] [INFO] [1665888843.469881571] [robot_state_publisher]: got segment left_outer_knuckle
[robot_state_publisher-1] [INFO] [1665888843.469888842] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1665888843.469895656] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1665888843.469901911] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1665888843.469907999] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1665888843.469914101] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1665888843.469920073] [robot_state_publisher]: got segment link6
[robot_state_publisher-1] [INFO] [1665888843.469926183] [robot_state_publisher]: got segment link_base
[robot_state_publisher-1] [INFO] [1665888843.469932269] [robot_state_publisher]: got segment link_eef
[robot_state_publisher-1] [INFO] [1665888843.469938332] [robot_state_publisher]: got segment link_tcp
[robot_state_publisher-1] [INFO] [1665888843.469944325] [robot_state_publisher]: got segment right_finger
[robot_state_publisher-1] [INFO] [1665888843.469950418] [robot_state_publisher]: got segment right_inner_knuckle
[robot_state_publisher-1] [INFO] [1665888843.469956509] [robot_state_publisher]: got segment right_outer_knuckle
[robot_state_publisher-1] [INFO] [1665888843.469962453] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1665888843.469968318] [robot_state_publisher]: got segment xarm_gripper_base_link
[ros2_control_node-6] [INFO] [1665888843.471776358] [resource_manager]: Loading hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888843.496940754] [resource_manager]: Initialize hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888843.497220354] [UFACTORY.RobotHW]: ===========on_init
[ros2_control_node-6] [INFO] [1665888843.501032139] [UFACTORY.RobotHW]: [192.168.1.244] namespace: /
[ros2_control_node-6] [INFO] [1665888843.501045276] [UFACTORY.RobotHW]: [192.168.1.244] robot_type: xarm, hw_ns: xarm, prefix: , report_type: normal
[ros2_control_node-6] [INFO] [1665888843.501109114] [UFACTORY.RobotHW]: [192.168.1.244] dof: 6, velocity_control: 0, add_gripper: 1, baud_checkset: 1, default_gripper_baud: 2000000
[ros2_control_node-6] [INFO] [1665888843.501323654] [ufactory_driver]: robot_ip=192.168.1.244, report_type=normal, dof=6
[ros2_control_node-6] [INFO] [1665888843.501363768] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000
[ros2_control_node-6] SDK_VERSION: 1.11.0
[ros2_control_node-6] Tcp control connection successful
[move_group-4] [WARN] [1665888843.535115604] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-4] [INFO] [1665888843.538953355] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00258164 seconds
[move_group-4] [INFO] [1665888843.540122890] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'...
[move_group-4] [INFO] [1665888843.540154598] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawner-7] [INFO] [1665888843.559151519] [spawner_xarm6_traj_controller]: Waiting for '/controller_manager' node to exist
[joint_state_publisher-5] [INFO] [1665888843.661113421] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[move_group-4] Link link_base had 1 children
[move_group-4] Link link1 had 1 children
[move_group-4] Link link2 had 1 children
[move_group-4] Link link3 had 1 children
[move_group-4] Link link4 had 1 children
[move_group-4] Link link5 had 1 children
[move_group-4] Link link6 had 1 children
[move_group-4] Link link_eef had 1 children
[move_group-4] Link xarm_gripper_base_link had 5 children
[move_group-4] Link left_outer_knuckle had 1 children
[move_group-4] Link left_finger had 0 children
[move_group-4] Link link_tcp had 0 children
[move_group-4] Link left_inner_knuckle had 0 children
[move_group-4] Link right_inner_knuckle had 0 children
[move_group-4] Link right_outer_knuckle had 1 children
[move_group-4] Link right_finger had 0 children
[ros2_control_node-6] FIRMWARE_VERSION: v1.9.0, PROTOCOL: V1, DETAIL: 6,6,XI1303,AC1300,v1.9.0
[ros2_control_node-6] Tcp Report Rich connection successful
[ros2_control_node-6] change prot_flag to 3
[ros2_control_node-6] Tcp Report Norm connection successful
[ros2_control_node-6] report_data_size: 494, size_is_not_confirm: 0
[ros2_control_node-6] [INFO] [1665888843.819948288] [ufactory_driver]: [TCP STATUS] CONTROL: 1, REPORT: 1
[ros2_control_node-6] report_data_size: 145, size_is_not_confirm: 0
[ros2_control_node-6] [INFO] [1665888843.831271797] [ufactory_driver]: gripper_speed: 2000, gripper_max_pos: 850, gripper_frequency : 10, gripper_threshold: 3, gripper_threshold_times: 10
[ros2_control_node-6] [INFO] [1665888843.835301051] [UFACTORY.RobotHW]: ===========on_init
[ros2_control_node-6] [INFO] [1665888843.835328095] [UFACTORY.RobotHW]: [192.168.1.244] System Sucessfully configured!
[ros2_control_node-6] [INFO] [1665888843.835343122] [resource_manager]: Successful initialization of hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888843.835749402] [resource_manager]: 'configure' hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888843.835760917] [resource_manager]: Successful 'configure' of hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888843.835773873] [resource_manager]: 'activate' hardware 'UFRobotSystem'
[rviz2-2] [INFO] [1665888843.921143465] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1665888843.921247688] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1665888843.936221527] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [INFO] [1665888844.050217240] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00323284 seconds
[rviz2-2] [INFO] [1665888844.050423687] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'...
[rviz2-2] [INFO] [1665888844.050469597] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [ERROR] [1665888844.235797740] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888844.238907296] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[ros2_control_node-6] [set_state], xArm is ready to move
[ros2_control_node-6] [INFO] [1665888845.090357542] [UFACTORY.RobotHW]: [192.168.1.244] System Sucessfully started!
[ros2_control_node-6] [INFO] [1665888845.090386114] [resource_manager]: Successful 'activate' of hardware 'UFRobotSystem'
[ros2_control_node-6] [INFO] [1665888845.094734032] [controller_manager]: update rate is 50 Hz
[ros2_control_node-6] [INFO] [1665888845.094831303] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-6] [INFO] [1665888845.169819647] [controller_manager]: Loading controller 'xarm6_traj_controller'
[ros2_control_node-6] [INFO] [1665888845.176155070] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[spawner-7] [INFO] [1665888845.196409748] [spawner_xarm6_traj_controller]: Loaded xarm6_traj_controller
[ros2_control_node-6] [INFO] [1665888845.197221204] [controller_manager]: Configuring controller 'xarm6_traj_controller'
[ros2_control_node-6] [INFO] [1665888845.197334486] [xarm6_traj_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-6] [INFO] [1665888845.197353247] [xarm6_traj_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-6] [INFO] [1665888845.197373006] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE.
[ros2_control_node-6] [INFO] [1665888845.197376361] [xarm6_traj_controller]: Using 'splines' interpolation method.
[ros2_control_node-6] [INFO] [1665888845.197750400] [xarm6_traj_controller]: Controller state will be published at 25.00 Hz.
[ros2_control_node-6] [INFO] [1665888845.198146182] [xarm6_traj_controller]: Action status changes will be monitored at 10.00 Hz.
[ros2_control_node-6] [INFO] [1665888845.235669712] [UFACTORY.RobotHW]: [192.168.1.244] Robot is Ready
[spawner-7] [INFO] [1665888845.316426191] [spawner_xarm6_traj_controller]: Configured and activated xarm6_traj_controller
[INFO] [spawner-7]: process has finished cleanly [pid 4615]
[move_group-4] [INFO] [1665888845.547145393] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1665888845.547582100] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1665888845.549083798] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1665888845.550008704] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1665888845.550027170] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1665888845.550611850] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1665888845.550625071] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1665888845.551478636] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1665888845.552120998] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1665888845.553448260] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1665888845.553459947] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1665888845.689903182] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-4] [INFO] [1665888845.721076494] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1665888845.724565378] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1665888845.724579987] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1665888845.724582812] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1665888845.724650684] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1665888845.724668882] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1665888845.724671692] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1665888845.724683330] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1665888845.724685717] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1665888845.724706511] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1665888845.724738257] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1665888845.724749677] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1665888845.724751851] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1665888845.724753624] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1665888845.724768475] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1665888845.744483194] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for xarm6_traj_controller
[move_group-4] [INFO] [1665888845.744627637] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-4] [INFO] [1665888845.745521925] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for xarm_gripper
[move_group-4] [INFO] [1665888845.745684689] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1665888845.745797843] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1665888845.747359437] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1665888845.747393556] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1665888845.768572721] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1665888845.768608232] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1665888845.768612410] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[rviz2-2] [ERROR] [1665888847.294397319] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1665888847.301181369] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [ERROR] [1665888847.341674701] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888847.341793680] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] Warning: Invalid frame ID "left_finger" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "left_inner_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "left_outer_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_finger" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_inner_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_outer_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "left_finger" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "left_inner_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "left_outer_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_finger" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_inner_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "right_outer_knuckle" passed to canTransform argument source_frame - frame does not exist
[rviz2-2] at line 93 in ./src/buffer_core.cpp
[rviz2-2] [INFO] [1665888847.345554452] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00164344 seconds
[rviz2-2] [INFO] [1665888847.345759880] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'...
[rviz2-2] [INFO] [1665888847.345770140] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link_eef had 1 children
[rviz2-2] Link xarm_gripper_base_link had 5 children
[rviz2-2] Link left_outer_knuckle had 1 children
[rviz2-2] Link left_finger had 0 children
[rviz2-2] Link link_tcp had 0 children
[rviz2-2] Link left_inner_knuckle had 0 children
[rviz2-2] Link right_inner_knuckle had 0 children
[rviz2-2] Link right_outer_knuckle had 1 children
[rviz2-2] Link right_finger had 0 children
[rviz2-2] [INFO] [1665888849.293413585] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1665888849.295587624] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [ERROR] [1665888849.296372408] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.296481133] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.298908007] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.299035171] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [INFO] [1665888849.303611237] [interactive_marker_display_93998143729168]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [ERROR] [1665888849.304414481] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.304519554] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.306531773] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] [ERROR] [1665888849.306636276] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-2]
[rviz2-2] Link link_base had 1 children
[rviz2-2] Link link1 had 1 children
[rviz2-2] Link link2 had 1 children
[rviz2-2] Link link3 had 1 children
[rviz2-2] Link link4 had 1 children
[rviz2-2] Link link5 had 1 children
[rviz2-2] Link link6 had 1 children
[rviz2-2] Link link_eef had 1 children
[rviz2-2] Link xarm_gripper_base_link had 5 children
[rviz2-2] Link left_outer_knuckle had 1 children
[rviz2-2] Link left_finger had 0 children
[rviz2-2] Link link_tcp had 0 children
[rviz2-2] Link left_inner_knuckle had 0 children
[rviz2-2] Link right_inner_knuckle had 0 children
[rviz2-2] Link right_outer_knuckle had 1 children
[rviz2-2] Link right_finger had 0 children
[rviz2-2] [INFO] [1665888849.325117951] [moveit_ros_visualization.motion_planning_frame]: group xarm6
[rviz2-2] [INFO] [1665888849.325139046] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'xarm6' in namespace ''
[rviz2-2] [INFO] [1665888849.325716309] [interactive_marker_display_93998143729168]: Sending request for interactive markers
[rviz2-2] [INFO] [1665888849.330423359] [move_group_interface]: Ready to take commands for planning group xarm6.
[rviz2-2] [INFO] [1665888849.357751665] [interactive_marker_display_93998143729168]: Service response received for initialization

Hi,

I run a dual xarm7 launch file as below but it outputs an error and moveit doesn't work.

ros2 launch xarm_moveit_config dual_xarm7_moveit_realmove.launch.py robot_ip_1:=192.168.10.220 robot_ip_2:=192.168.10.211 add_gripper_1:=true add_gripper_2:=true

The logs are below.

If anyone knows how to solve this, please tell me,
Thank you in advance.

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-11-29-17-42-04-158774-xarm-dual-ros2-14545 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [14553] [INFO] [rviz2-2]: process started with pid [14555] [INFO] [static_transform_publisher-3]: process started with pid [14557] [INFO] [move_group-4]: process started with pid [14559] [INFO] [joint_state_publisher-5]: process started with pid [14561] [INFO] [ros2_control_node-6]: process started with pid [14563] [INFO] [spawner.py-7]: process started with pid [14565] [INFO] [spawner.py-8]: process started with pid [14567] [static_transform_publisher-3] [INFO] [1669743725.571346982] [static_transform_publisher]: Spinning until killed publishing transform from 'ground' to 'link_base' [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link L_link_base had 1 children [robot_state_publisher-1] Link L_link1 had 1 children [robot_state_publisher-1] Link L_link2 had 1 children [robot_state_publisher-1] Link L_link3 had 1 children [robot_state_publisher-1] Link L_link4 had 1 children [robot_state_publisher-1] Link L_link5 had 1 children [robot_state_publisher-1] Link L_link6 had 1 children [robot_state_publisher-1] Link L_link7 had 1 children [robot_state_publisher-1] Link L_link_eef had 1 children [robot_state_publisher-1] Link L_xarm_gripper_base_link had 5 children [robot_state_publisher-1] Link L_left_outer_knuckle had 1 children [robot_state_publisher-1] Link L_left_finger had 0 children [robot_state_publisher-1] Link L_link_tcp had 0 children [robot_state_publisher-1] Link L_left_inner_knuckle had 0 children [robot_state_publisher-1] Link L_right_inner_knuckle had 0 children [robot_state_publisher-1] Link L_right_outer_knuckle had 1 children [robot_state_publisher-1] Link L_right_finger had 0 children [robot_state_publisher-1] Link R_link_base had 1 children [robot_state_publisher-1] Link R_link1 had 1 children [robot_state_publisher-1] Link R_link2 had 1 children [robot_state_publisher-1] Link R_link3 had 1 children [robot_state_publisher-1] Link R_link4 had 1 children [robot_state_publisher-1] Link R_link5 had 1 children [robot_state_publisher-1] Link R_link6 had 1 children [robot_state_publisher-1] Link R_link7 had 1 children [robot_state_publisher-1] Link R_link_eef had 1 children [robot_state_publisher-1] Link R_xarm_gripper_base_link had 5 children [robot_state_publisher-1] Link R_left_outer_knuckle had 1 children [robot_state_publisher-1] Link R_left_finger had 0 children [robot_state_publisher-1] Link R_link_tcp had 0 children [robot_state_publisher-1] Link R_left_inner_knuckle had 0 children [robot_state_publisher-1] Link R_right_inner_knuckle had 0 children [robot_state_publisher-1] Link R_right_outer_knuckle had 1 children [robot_state_publisher-1] Link R_right_finger had 0 children [robot_state_publisher-1] [INFO] [1669743725.577911461] [robot_state_publisher]: got segment L_left_finger [robot_state_publisher-1] [INFO] [1669743725.578072792] [robot_state_publisher]: got segment L_left_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578089845] [robot_state_publisher]: got segment L_left_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578097805] [robot_state_publisher]: got segment L_link1 [robot_state_publisher-1] [INFO] [1669743725.578105326] [robot_state_publisher]: got segment L_link2 [robot_state_publisher-1] [INFO] [1669743725.578112115] [robot_state_publisher]: got segment L_link3 [robot_state_publisher-1] [INFO] [1669743725.578118464] [robot_state_publisher]: got segment L_link4 [robot_state_publisher-1] [INFO] [1669743725.578125466] [robot_state_publisher]: got segment L_link5 [robot_state_publisher-1] [INFO] [1669743725.578131911] [robot_state_publisher]: got segment L_link6 [robot_state_publisher-1] [INFO] [1669743725.578138055] [robot_state_publisher]: got segment L_link7 [robot_state_publisher-1] [INFO] [1669743725.578144695] [robot_state_publisher]: got segment L_link_base [robot_state_publisher-1] [INFO] [1669743725.578150968] [robot_state_publisher]: got segment L_link_eef [robot_state_publisher-1] [INFO] [1669743725.578157334] [robot_state_publisher]: got segment L_link_tcp [robot_state_publisher-1] [INFO] [1669743725.578163611] [robot_state_publisher]: got segment L_right_finger [robot_state_publisher-1] [INFO] [1669743725.578169866] [robot_state_publisher]: got segment L_right_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578176186] [robot_state_publisher]: got segment L_right_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578182511] [robot_state_publisher]: got segment L_xarm_gripper_base_link [robot_state_publisher-1] [INFO] [1669743725.578189105] [robot_state_publisher]: got segment R_left_finger [robot_state_publisher-1] [INFO] [1669743725.578195625] [robot_state_publisher]: got segment R_left_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578201718] [robot_state_publisher]: got segment R_left_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578208055] [robot_state_publisher]: got segment R_link1 [robot_state_publisher-1] [INFO] [1669743725.578214270] [robot_state_publisher]: got segment R_link2 [robot_state_publisher-1] [INFO] [1669743725.578220784] [robot_state_publisher]: got segment R_link3 [robot_state_publisher-1] [INFO] [1669743725.578227179] [robot_state_publisher]: got segment R_link4 [robot_state_publisher-1] [INFO] [1669743725.578233535] [robot_state_publisher]: got segment R_link5 [robot_state_publisher-1] [INFO] [1669743725.578239668] [robot_state_publisher]: got segment R_link6 [robot_state_publisher-1] [INFO] [1669743725.578246113] [robot_state_publisher]: got segment R_link7 [robot_state_publisher-1] [INFO] [1669743725.578252819] [robot_state_publisher]: got segment R_link_base [robot_state_publisher-1] [INFO] [1669743725.578259471] [robot_state_publisher]: got segment R_link_eef [robot_state_publisher-1] [INFO] [1669743725.578266182] [robot_state_publisher]: got segment R_link_tcp [robot_state_publisher-1] [INFO] [1669743725.578273841] [robot_state_publisher]: got segment R_right_finger [robot_state_publisher-1] [INFO] [1669743725.578281212] [robot_state_publisher]: got segment R_right_inner_knuckle [robot_state_publisher-1] [INFO] [1669743725.578288700] [robot_state_publisher]: got segment R_right_outer_knuckle [robot_state_publisher-1] [INFO] [1669743725.578296031] [robot_state_publisher]: got segment R_xarm_gripper_base_link [robot_state_publisher-1] [INFO] [1669743725.578303488] [robot_state_publisher]: got segment ground [rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [ros2_control_node-6] [INFO] [1669743725.602242949] [UFACTORY.L_RobotHW]: [192.168.10.220] namespace: / [ros2_control_node-6] [INFO] [1669743725.602286701] [UFACTORY.L_RobotHW]: [192.168.10.220] robot_type: xarm, hw_ns: L_xarm, prefix: L_, report_type: normal [ros2_control_node-6] [INFO] [1669743725.602490659] [UFACTORY.L_RobotHW]: [192.168.10.220] dof: 7, velocity_control: 0, add_gripper: 1, baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] [INFO] [1669743725.602697060] [ufactory_driver]: robot_ip=192.168.10.220, report_type=normal, dof=7 [ros2_control_node-6] [INFO] [1669743725.602753055] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] SDK_VERSION: 1.11.5 [move_group-4] [WARN] [1669743725.632130137] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [move_group-4] [WARN] [1669743725.633080281] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] Parsing robot urdf xml string. [move_group-4] [INFO] [1669743725.642995370] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00514015 seconds [move_group-4] [INFO] [1669743725.643047901] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [move_group-4] [INFO] [1669743725.643058863] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [joint_state_publisher-5] [INFO] [1669743725.828528912] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [move_group-4] Link L_link_base had 1 children [move_group-4] Link L_link1 had 1 children [move_group-4] Link L_link2 had 1 children [move_group-4] Link L_link3 had 1 children [move_group-4] Link L_link4 had 1 children [move_group-4] Link L_link5 had 1 children [move_group-4] Link L_link6 had 1 children [move_group-4] Link L_link7 had 1 children [move_group-4] Link L_link_eef had 1 children [move_group-4] Link L_xarm_gripper_base_link had 5 children [move_group-4] Link L_left_outer_knuckle had 1 children [move_group-4] Link L_left_finger had 0 children [move_group-4] Link L_link_tcp had 0 children [move_group-4] Link L_left_inner_knuckle had 0 children [move_group-4] Link L_right_inner_knuckle had 0 children [move_group-4] Link L_right_outer_knuckle had 1 children [move_group-4] Link L_right_finger had 0 children [move_group-4] Link R_link_base had 1 children [move_group-4] Link R_link1 had 1 children [move_group-4] Link R_link2 had 1 children [move_group-4] Link R_link3 had 1 children [move_group-4] Link R_link4 had 1 children [move_group-4] Link R_link5 had 1 children [move_group-4] Link R_link6 had 1 children [move_group-4] Link R_link7 had 1 children [move_group-4] Link R_link_eef had 1 children [move_group-4] Link R_xarm_gripper_base_link had 5 children [move_group-4] Link R_left_outer_knuckle had 1 children [move_group-4] Link R_left_finger had 0 children [move_group-4] Link R_link_tcp had 0 children [move_group-4] Link R_left_inner_knuckle had 0 children [move_group-4] Link R_right_inner_knuckle had 0 children [move_group-4] Link R_right_outer_knuckle had 1 children [move_group-4] Link R_right_finger had 0 children [move_group-4] Link L_link_base had 1 children [move_group-4] Link L_link1 had 1 children [move_group-4] Link L_link2 had 1 children [move_group-4] Link L_link3 had 1 children [move_group-4] Link L_link4 had 1 children [move_group-4] Link L_link5 had 1 children [move_group-4] Link L_link6 had 1 children [move_group-4] Link L_link7 had 1 children [move_group-4] Link L_link_eef had 1 children [move_group-4] Link L_xarm_gripper_base_link had 5 children [move_group-4] Link L_left_outer_knuckle had 1 children [move_group-4] Link L_left_finger had 0 children [move_group-4] Link L_link_tcp had 0 children [move_group-4] Link L_left_inner_knuckle had 0 children [move_group-4] Link L_right_inner_knuckle had 0 children [move_group-4] Link L_right_outer_knuckle had 1 children [move_group-4] Link L_right_finger had 0 children [move_group-4] Link R_link_base had 1 children [move_group-4] Link R_link1 had 1 children [move_group-4] Link R_link2 had 1 children [move_group-4] Link R_link3 had 1 children [move_group-4] Link R_link4 had 1 children [move_group-4] Link R_link5 had 1 children [move_group-4] Link R_link6 had 1 children [move_group-4] Link R_link7 had 1 children [move_group-4] Link R_link_eef had 1 children [move_group-4] Link R_xarm_gripper_base_link had 5 children [move_group-4] Link R_left_outer_knuckle had 1 children [move_group-4] Link R_left_finger had 0 children [move_group-4] Link R_link_tcp had 0 children [move_group-4] Link R_left_inner_knuckle had 0 children [move_group-4] Link R_right_inner_knuckle had 0 children [move_group-4] Link R_right_outer_knuckle had 1 children [move_group-4] Link R_right_finger had 0 children [move_group-4] [INFO] [1669743726.314985098] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1669743726.315171859] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1669743726.315954330] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1669743726.316704374] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1669743726.316744050] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1669743726.317250915] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1669743726.317284930] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1669743726.317900656] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1669743726.318500195] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1669743726.318590306] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1669743726.318653241] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [rviz2-2] [INFO] [1669743726.613885143] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1669743726.614128765] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1669743726.728280228] [rviz2]: Stereo is NOT SUPPORTED [move_group-4] [INFO] [1669743726.746984704] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-4] [INFO] [1669743726.766930195] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1669743726.768787284] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1669743726.768804063] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1669743726.768807982] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1669743726.768822924] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1669743726.768836808] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000 [move_group-4] [INFO] [1669743726.768841613] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1669743726.768849339] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1669743726.768853408] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1669743726.768861910] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1669743726.768870011] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1669743726.768875031] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1669743726.768877851] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1669743726.768902946] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1669743726.768906174] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-2] at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp [ros2_control_node-6] [net work] Error: connect, errno=115 [ros2_control_node-6] Error: Tcp control connection failed [ERROR] [ros2_control_node-6]: process has died [pid 14563, exit code -11, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_0e1ry21m --params-file /tmp/launch_params_p04_3u35 --params-file /root/xarm/dev_ws/install/xarm_api/share/xarm_api/config/xarm_params.yaml']. [rviz2-2] [ERROR] [1669743729.856909019] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] Parsing robot urdf xml string. [rviz2-2] [INFO] [1669743729.890238618] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00360062 seconds [rviz2-2] [INFO] [1669743729.890369623] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [rviz2-2] [INFO] [1669743729.890391653] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Parsing robot urdf xml string. [rviz2-2] Parsing robot urdf xml string. [rviz2-2] [INFO] [1669743730.765893434] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00492658 seconds [rviz2-2] [INFO] [1669743730.765941973] [moveit_robot_model.robot_model]: Loading robot model 'dual_xarm'... [rviz2-2] [INFO] [1669743730.765948933] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] [INFO] [1669743731.469688344] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-2] [INFO] [1669743731.470696262] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-2] [INFO] [1669743731.543994945] [interactive_marker_display_94420952622864]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-2] [WARN] [1669743731.620012587] [moveit_robot_model.joint_model_group]: comparing input tip: L_link_tcp to this groups tip: L_link_tcp [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] Link L_link_base had 1 children [rviz2-2] Link L_link1 had 1 children [rviz2-2] Link L_link2 had 1 children [rviz2-2] Link L_link3 had 1 children [rviz2-2] Link L_link4 had 1 children [rviz2-2] Link L_link5 had 1 children [rviz2-2] Link L_link6 had 1 children [rviz2-2] Link L_link7 had 1 children [rviz2-2] Link L_link_eef had 1 children [rviz2-2] Link L_xarm_gripper_base_link had 5 children [rviz2-2] Link L_left_outer_knuckle had 1 children [rviz2-2] Link L_left_finger had 0 children [rviz2-2] Link L_link_tcp had 0 children [rviz2-2] Link L_left_inner_knuckle had 0 children [rviz2-2] Link L_right_inner_knuckle had 0 children [rviz2-2] Link L_right_outer_knuckle had 1 children [rviz2-2] Link L_right_finger had 0 children [rviz2-2] Link R_link_base had 1 children [rviz2-2] Link R_link1 had 1 children [rviz2-2] Link R_link2 had 1 children [rviz2-2] Link R_link3 had 1 children [rviz2-2] Link R_link4 had 1 children [rviz2-2] Link R_link5 had 1 children [rviz2-2] Link R_link6 had 1 children [rviz2-2] Link R_link7 had 1 children [rviz2-2] Link R_link_eef had 1 children [rviz2-2] Link R_xarm_gripper_base_link had 5 children [rviz2-2] Link R_left_outer_knuckle had 1 children [rviz2-2] Link R_left_finger had 0 children [rviz2-2] Link R_link_tcp had 0 children [rviz2-2] Link R_left_inner_knuckle had 0 children [rviz2-2] Link R_right_inner_knuckle had 0 children [rviz2-2] Link R_right_outer_knuckle had 1 children [rviz2-2] Link R_right_finger had 0 children [rviz2-2] [WARN] [1669743731.621582525] [moveit_robot_model.joint_model_group]: comparing input tip: L_link_tcp to this groups tip: L_link_tcp [rviz2-2] [INFO] [1669743731.654774337] [interactive_marker_display_94420952622864]: Sending request for interactive markers [rviz2-2] [INFO] [1669743731.687499725] [interactive_marker_display_94420952622864]: Service response received for initialization [move_group-4] [WARN] [1669743731.839111763] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for R_xarm7_traj_controller/follow_joint_trajectory to come up [spawner.py-7] Traceback (most recent call last): [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module> [spawner.py-7] sys.exit(main()) [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main [spawner.py-7] if is_controller_loaded(node, controller_manager_name, controller_name): [spawner.py-7] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded [spawner.py-7] controllers = list_controllers(node, controller_manager).controller [spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers [spawner.py-7] return service_caller(node, f'{controller_manager_name}/list_controllers', [spawner.py-7] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 29, in service_caller [spawner.py-7] raise RuntimeError(f'Could not contact service {service_name}') [spawner.py-7] RuntimeError: Could not contact service /controller_manager/list_controllers [spawner.py-8] Traceback (most recent call last): [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 204, in <module> [spawner.py-8] sys.exit(main()) [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 123, in main [spawner.py-8] if is_controller_loaded(node, controller_manager_name, controller_name): [spawner.py-8] File "/opt/ros/foxy/lib/controller_manager/spawner.py", line 65, in is_controller_loaded [spawner.py-8] controllers = list_controllers(node, controller_manager).controller [spawner.py-8] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 49, in list_controllers [spawner.py-8] return service_caller(node, f'{controller_manager_name}/list_controllers', [spawner.py-8] File "/opt/ros/foxy/lib/python3.8/site-packages/controller_manager/controller_manager_services.py", line 29, in service_caller [spawner.py-8] raise RuntimeError(f'Could not contact service {service_name}') [spawner.py-8] RuntimeError: Could not contact service /controller_manager/list_controllers [ERROR] [spawner.py-7]: process has died [pid 14565, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py L_xarm7_traj_controller --controller-manager /controller_manager --ros-args']. [ERROR] [spawner.py-8]: process has died [pid 14567, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py R_xarm7_traj_controller --controller-manager /controller_manager --ros-args']. [rviz2-2] [INFO] [1669743736.627613731] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-2] [INFO] [1669743736.627750365] [moveit_ros_visualization.motion_planning_frame]: group L_xarm7 [rviz2-2] [INFO] [1669743736.627764610] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'L_xarm7' in namespace '' [rviz2-2] [WARN] [1669743736.628034854] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-2] [INFO] [1669743736.648623139] [move_group_interface]: Ready to take commands for planning group L_xarm7. [rviz2-2] [INFO] [1669743736.648716265] [move_group_interface]: Looking around: no [rviz2-2] [INFO] [1669743736.648744261] [move_group_interface]: Replanning: no [move_group-4] [WARN] [1669743736.839312525] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for R_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [ERROR] [1669743741.839599242] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: R_xarm7_traj_controller/follow_joint_trajectory [move_group-4] [WARN] [1669743746.845328940] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for R_xarm_gripper/gripper_action to come up [move_group-4] [WARN] [1669743751.845514790] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for R_xarm_gripper/gripper_action to come up [move_group-4] [ERROR] [1669743756.845785760] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: R_xarm_gripper/gripper_action [move_group-4] [WARN] [1669743761.853828764] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for L_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [WARN] [1669743766.854052921] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for L_xarm7_traj_controller/follow_joint_trajectory to come up [move_group-4] [ERROR] [1669743771.854291401] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: L_xarm7_traj_controller/follow_joint_trajectory [move_group-4] [WARN] [1669743776.859157119] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for L_xarm_gripper/gripper_action to come up [move_group-4] [WARN] [1669743781.859332223] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for L_xarm_gripper/gripper_action to come up [move_group-4] [ERROR] [1669743786.859528720] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: L_xarm_gripper/gripper_action [move_group-4] [INFO] [1669743786.862546461] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list [move_group-4] [INFO] [1669743786.863577830] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1669743786.863763329] [move_group.move_group]: MoveGroup debug mode is ON [move_group-4] [INFO] [1669743786.887752956] [move_group.move_group]: [move_group-4] [move_group-4] ******************************************************** [move_group-4] * MoveGroup using: [move_group-4] * - ApplyPlanningSceneService [move_group-4] * - ClearOctomapService [move_group-4] * - CartesianPathService [move_group-4] * - ExecuteTrajectoryAction [move_group-4] * - GetPlanningSceneService [move_group-4] * - KinematicsService [move_group-4] * - MoveAction [move_group-4] * - MotionPlanService [move_group-4] * - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] ******************************************************** [move_group-4] [move_group-4] [INFO] [1669743786.887832844] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1669743786.887851477] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4]

i am trying to connect the move groups L_xarm6 and R_xarm6 to send them goal points, and plan and execute through code and it is proving fairly difficult and almost imposibble.
using ROS2 Humble, please advise for a tutorial or an example code for how to interface with it so i can plan within the rviz environment butthrough a package i write.

thank you.

Both in simulation and in real world

I have the simulated arm working with the xarm_planner and moveit. I have written a python node to call the services PlanJoint and PlanPose, but I need the ability to execute a smooth cartesian motion with an array of poses I generate in a different node.

I see the c++ methods

planPoseTargets and planCartesianPath

but it does not seem those methods are exposed via service calls.

Is there a way to pass an array of Poses via a service call?

Hi,

Is there already a moveit2 rolling integration?

Thanks a lot!

I believe it would be useful to include support for the MoveItConfigsBuilder. Adding this issue to track this topic. Given the time I may implement the required repository structure such that existing files are readily parsed by the MoveItConfigsBuilder.

I've forked the repo and made a ros2-iron compatible branch:
https://github.com/NU-Haptics-Lab/xarm_ros2/tree/iron

Is there a way to determine if an object is in the xarm gripper's grasp by monitoring the force/current being applied by the gripper's motor? I am picking up objects of various sizes and it would be convenient to just close the gripper until a current spike is detected.

I've noticed that the files controllers.yaml and fake_controllers.yaml under xarm_moveit_config/config/{robot} are no longer in use. Currently, the parameters for traj_controller are sourced from xarm_controller/config/{robot}_controllers.yaml.

What's the point of keeping these files? They can only lead to confusion for new users attempting to modify these values but not seeing any effect.

When I launch moveit for controlling robot in rviz using
ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.161 [add_gripper:=false]
I get the following terminal output:
ros2 launch xarm_moveit_config lite6_moveit_realmove.launch.py robot_ip:=192.168.1.161 [add_gripper:=false] [INFO] [launch]: All log files can be found below /home/efevre/.ros/log/2023-02-17-09-51-41-333584-efevre-HP-250-G7-Notebook-PC-3972 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [3979] [INFO] [rviz2-2]: process started with pid [3981] [INFO] [static_transform_publisher-3]: process started with pid [3983] [INFO] [move_group-4]: process started with pid [3985] [INFO] [joint_state_publisher-5]: process started with pid [3987] [INFO] [ros2_control_node-6]: process started with pid [3989] [INFO] [spawner-7]: process started with pid [3991] [static_transform_publisher-3] [WARN] [1676620302.468997493] []: Old-style arguments are deprecated; see --help for new-style arguments [rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [static_transform_publisher-3] [INFO] [1676620302.544327965] [static_transform_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-3] from 'world' to 'link_base' [robot_state_publisher-1] [INFO] [1676620302.553618567] [robot_state_publisher]: got segment link1 [robot_state_publisher-1] [INFO] [1676620302.553778913] [robot_state_publisher]: got segment link2 [robot_state_publisher-1] [INFO] [1676620302.553797982] [robot_state_publisher]: got segment link3 [robot_state_publisher-1] [INFO] [1676620302.553808071] [robot_state_publisher]: got segment link4 [robot_state_publisher-1] [INFO] [1676620302.553820098] [robot_state_publisher]: got segment link5 [robot_state_publisher-1] [INFO] [1676620302.553833061] [robot_state_publisher]: got segment link6 [robot_state_publisher-1] [INFO] [1676620302.553843178] [robot_state_publisher]: got segment link_base [robot_state_publisher-1] [INFO] [1676620302.553856308] [robot_state_publisher]: got segment link_eef [robot_state_publisher-1] [INFO] [1676620302.553867185] [robot_state_publisher]: got segment world [ros2_control_node-6] [INFO] [1676620302.570274477] [resource_manager]: Loading hardware 'uf_robot_hardware/UFRobotSystemHardware' [move_group-4] [WARN] [1676620302.624756436] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-4] Error: Semantic description is not specified for the same robot as the URDF [move_group-4] at line 664 in ./src/model.cpp [move_group-4] [INFO] [1676620302.628187047] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00313896 seconds [move_group-4] [INFO] [1676620302.628649556] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [move_group-4] [INFO] [1676620302.628664038] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-6] [INFO] [1676620302.659572163] [resource_manager]: Initialize hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620302.727819626] [UFACTORY.RobotHW]: [192.168.1.161] namespace: / [ros2_control_node-6] [INFO] [1676620302.727853514] [UFACTORY.RobotHW]: [192.168.1.161] robot_type: lite, hw_ns: ufactory, prefix: , report_type: normal [ros2_control_node-6] [INFO] [1676620302.729262722] [UFACTORY.RobotHW]: [192.168.1.161] dof: 6, velocity_control: 0, add_gripper: 0, baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] [INFO] [1676620302.730921240] [ufactory_driver]: robot_ip=192.168.1.161, report_type=normal, dof=6 [ros2_control_node-6] [INFO] [1676620302.731110565] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000 [ros2_control_node-6] SDK_VERSION: 1.11.6 [ros2_control_node-6] Tcp control connection successful [spawner-7] [INFO] [1676620302.914577647] [spawner_lite6_traj_controller]: Waiting for '/controller_manager' services to be available [ros2_control_node-6] ROBOT_IP: 192.168.1.161, VERSION: v1.12.2, PROTOCOL: V1, DETAIL: 6,9,LI1006,DL1000,v1.12.2, TYPE1300: [0, 0] [ros2_control_node-6] Tcp Report Rich connection successful [ros2_control_node-6] change prot_flag to 3 [ros2_control_node-6] Tcp Report Norm connection successful [ros2_control_node-6] report_data_size: 494, size_is_not_confirm: 0 [ros2_control_node-6] report_data_size: 145, size_is_not_confirm: 0 [ros2_control_node-6] [INFO] [1676620303.062561017] [ufactory_driver]: [TCP STATUS] CONTROL: 1, REPORT: 1 [rviz2-2] [INFO] [1676620303.068054836] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1676620303.068645093] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [ros2_control_node-6] [INFO] [1676620303.101035136] [ufactory_driver]: gripper_speed: 2000, gripper_max_pos: 850, gripper_frequency : 10, gripper_threshold: 3, gripper_threshold_times: 10 [ros2_control_node-6] [INFO] [1676620303.124792322] [UFACTORY.RobotHW]: [192.168.1.161] System Sucessfully configured! [ros2_control_node-6] [INFO] [1676620303.124829199] [resource_manager]: Successful initialization of hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620303.125125389] [resource_manager]: 'configure' hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620303.125139420] [resource_manager]: Successful 'configure' of hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620303.125150464] [resource_manager]: 'activate' hardware 'uf_robot_hardware/UFRobotSystemHardware' [rviz2-2] [INFO] [1676620303.134509068] [rviz2]: Stereo is NOT SUPPORTED [move_group-4] [INFO] [1676620303.136165548] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1676620303.136332435] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1676620303.137756226] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1676620303.138648686] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1676620303.138677274] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1676620303.139396483] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1676620303.139421121] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1676620303.140215470] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1676620303.140946265] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1676620303.141359543] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1676620303.141380095] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [joint_state_publisher-5] [INFO] [1676620303.151070800] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [move_group-4] [INFO] [1676620303.238354049] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-4] [INFO] [1676620303.276756012] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1676620303.280740873] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1676620303.280761835] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1676620303.280767067] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1676620303.280781316] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1676620303.280795770] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 [move_group-4] [INFO] [1676620303.280801286] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1676620303.280812055] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1676620303.280817967] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1676620303.280822903] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1676620303.280833705] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1676620303.280838586] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1676620303.280842464] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1676620303.280845902] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1676620303.280869501] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [move_group-4] [INFO] [1676620303.336997928] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for lite6_traj_controller [move_group-4] [INFO] [1676620303.337182623] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1676620303.337208258] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-4] [INFO] [1676620303.343128945] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1676620303.343225975] [move_group.move_group]: MoveGroup debug mode is ON [rviz2-2] Error: Semantic description is not specified for the same robot as the URDF [rviz2-2] at line 664 in ./src/model.cpp [rviz2-2] [INFO] [1676620303.349363089] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00379841 seconds [rviz2-2] [INFO] [1676620303.349422777] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [rviz2-2] [INFO] [1676620303.349441084] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-4] [INFO] [1676620303.376173602] [move_group.move_group]: [move_group-4] [move_group-4] ******************************************************** [move_group-4] * MoveGroup using: [move_group-4] * - ApplyPlanningSceneService [move_group-4] * - ClearOctomapService [move_group-4] * - CartesianPathService [move_group-4] * - ExecuteTrajectoryAction [move_group-4] * - GetPlanningSceneService [move_group-4] * - KinematicsService [move_group-4] * - MoveAction [move_group-4] * - MotionPlanService [move_group-4] * - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] ******************************************************** [move_group-4] [move_group-4] [INFO] [1676620303.376237174] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1676620303.376253117] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4] [rviz2-2] [ERROR] [1676620303.501826995] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-2] [spawner-7] [INFO] [1676620304.934131111] [spawner_lite6_traj_controller]: Waiting for '/controller_manager' services to be available [ros2_control_node-6] [motion_enable], xArm is ready to move [ros2_control_node-6] [INFO] [1676620305.873948417] [UFACTORY.RobotHW]: [192.168.1.161] System Sucessfully started! [ros2_control_node-6] [INFO] [1676620305.874060927] [resource_manager]: Successful 'activate' of hardware 'uf_robot_hardware/UFRobotSystemHardware' [ros2_control_node-6] [INFO] [1676620305.895146681] [controller_manager]: update rate is 50 Hz [ros2_control_node-6] [INFO] [1676620305.899053032] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-6] [INFO] [1676620305.957631096] [controller_manager]: Loading controller 'lite6_traj_controller' [ros2_control_node-6] [INFO] [1676620305.974064556] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [spawner-7] [INFO] [1676620305.981608637] [spawner_lite6_traj_controller]: Loaded lite6_traj_controller [ros2_control_node-6] [INFO] [1676620305.983154582] [controller_manager]: Configuring controller 'lite6_traj_controller' [ros2_control_node-6] [INFO] [1676620305.983306038] [lite6_traj_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-6] [INFO] [1676620305.983350860] [lite6_traj_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-6] [INFO] [1676620305.983370150] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [ros2_control_node-6] [INFO] [1676620305.983375674] [lite6_traj_controller]: Using 'splines' interpolation method. [ros2_control_node-6] [INFO] [1676620305.984599042] [lite6_traj_controller]: Controller state will be published at 25.00 Hz. [ros2_control_node-6] [INFO] [1676620305.986178736] [lite6_traj_controller]: Action status changes will be monitored at 10.00 Hz. [spawner-7] [INFO] [1676620306.021564185] [spawner_lite6_traj_controller]: Configured and activated lite6_traj_controller [INFO] [spawner-7]: process has finished cleanly [pid 3991] [rviz2-2] [ERROR] [1676620306.528326776] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-2] [INFO] [1676620306.576272603] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-2] [ERROR] [1676620306.642097297] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-2] [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Error: Semantic description is not specified for the same robot as the URDF [rviz2-2] at line 664 in ./src/model.cpp [rviz2-2] [INFO] [1676620306.646173725] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00135559 seconds [rviz2-2] [INFO] [1676620306.646231900] [moveit_robot_model.robot_model]: Loading robot model 'xarm6'... [rviz2-2] [INFO] [1676620306.646243154] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist [rviz2-2] at line 93 in ./src/buffer_core.cpp [rviz2-2] [ERROR] [1676620306.746748009] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.joint1.max_velocity' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.joint1.max_velocity} is of type {double}, setting it to {string} is not allowed.

In RViz it shows error NO PLANNING LIBRARY LOADED and planning group is empty.

Hi @penglongxiang ,

As xarm_vision was there in xarm_ros . I could not find the xarm_vision in xarm_ros2 .

May I know the reason and when will it be available?

Thanks

Our xArm6 has started vibrating in the last week and at first I thought it was due to the gripper that we added. However, today, while the arm was in impedance control mode, I received the following error under ROS2 MoveIt2 control:

[ros2_control_node-2] [WARN] [1698436684.992122115] [UFACTORY.RobotHW]: [192.168.1.218] set_servo_angle_j, ret= 1
[ros2_control_node-2] [ERROR] [1698436685.151581019] [UFACTORY.RobotHW]: [192.168.1.218] Robot Mode detected! Mode: 0
[ros2_control_node-2] [ERROR] [1698436685.550767837] [UFACTORY.RobotHW]: [192.168.1.218] UFACTORY Error detected! Code C31 -> [ Collision Caused Abnormal Joint Current ] 
[ros2_control_node-2] [WARN] [1698436685.871575477] [xarm6_traj_controller]: Aborted due to state tolerance violation
[move_group-3] [WARN] [1698436685.937656703] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'xarm6_traj_controller' failed with error PATH_TOLERANCE_VIOLATED: 
[move_group-3] [WARN] [1698436685.937691690] [moveit_ros.trajectory_execution_manager]: Controller handle xarm6_traj_controller reports status ABORTED
[move_group-3] [INFO] [1698436685.937702340] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-3] [INFO] [1698436685.968552797] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-4] [INFO] [1698436685.969261903] [move_group_interface]: Plan and Execute request aborted
[rviz2-4] [ERROR] [1698436685.969903422] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

I was able to reset the control box, clear the error using UfactoryStudio and move each joint individually. I set the ft_sensor_cali_load, but joint 3 was vibrating a lot more than the other joints. Also, the joint 3 area is very warm to the touch compared to the other joints. I'm hoping that joint 3 hasn't failed. Is there anything I can do to fix this?

Thanks.

Hello xArm Developer Team,

I am currently working with the xArm ROS 2 wrapper and I've encountered a scenario where I need to customize the planning time for the robot's movements. However, I am having difficulty locating the specific part of the code or the parameter that allows me to modify this setting.

Could you please guide me on how to change the planning time for the xArm in the ROS 2 wrapper? Any documentation or examples related to this would be highly appreciated.

Additionally, if this feature is not currently supported, I would like to suggest it as a potential enhancement for future releases. It would be incredibly beneficial for users requiring more flexibility in planning complex movements.

Thank you for your time and assistance.

Best regards

Hi,
I am quite new to ROS and i was trying to move my xarm6 arm with a displacement in relative, for example with a delta Z = 20mm.
I was trying the command
ros2 service call /xarm/set_position xarm_msgs/srv/MoveCartesian "{pose: [0, 0, 20, 0, 0, 0], speed: 50, acc: 500, mvtime: 0, relative: true}"
but it doesn't do the job, it was moving to its zero position instead of a simple displacement in Z.

Could you advice me on that ?