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MoveIt does not work. #5

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danzimmerman opened this issue Jun 1, 2023 · 8 comments
Open

MoveIt does not work. #5

danzimmerman opened this issue Jun 1, 2023 · 8 comments

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@danzimmerman
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I'm opening this and closing #1.

The MoveIt launch file doesn't pick up the correct .xacro files, so the robot's joints break in Gazebo when trying to control it with MoveIt.
@danzimmerman danzimmerman mentioned this issue Jun 1, 2023
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@danzimmerman
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Very hacky (hardcoded entries for ur_description, fragile if you want to use a custom description) but working on the dz/exp-joint-dyn-moveit branch

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@Icon45
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Icon45 commented Jun 3, 2023

Hi @danzimmerman ,

i've seen you tried getting moveit to work. I tried to use your changes to this repo with the your version of the Universal Robots Gazebo Simulation Package. Because i'm getting an error while trying to launch it i thought i'd share it with you.

Heres my error:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py 
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-03-09-20-21-353401-ubuntu-9842
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: /opt/ros/humble/bin/xacro /home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro robot_ip:=xxx.yyy.zzz.www joint_limit_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur5e/joint_limits.yaml kinematics_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur5e/default_kinematics.yaml physical_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur5e/physical_parameters.yaml visual_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur5e/visual_parameters.yaml safety_limits:=true safety_pos_margin:=0.15 safety_k_position:=20 name:=ur ur_type:=ur5e script_filename:=ros_control.urscript input_recipe_filename:=rtde_input_recipe.txt output_recipe_filename:=rtde_output_recipe.txt prefix:="" 
Captured stderr output: error: [Errno 2] No such file or directory: '/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur5e/joint_limits.yaml' 
when evaluating expression 'xacro.load_yaml(jnt_limits_file)['joint_limits']' 
when evaluating expression 'dict(           joint_dynamics=dict(               shoulder_pan_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_pan_joint']['max_effort']),               shoulder_lift_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_lift_joint']['max_effort']),               elbow_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['elbow_joint']['max_effort']),               wrist_1_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_1_joint']['max_effort']),               wrist_2_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_2_joint']['max_effort']),               wrist_3_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_3_joint']['max_effort'])))' 
when evaluating expression 'joint_dyn_dict'
when processing file: /home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro

@Icon45
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Icon45 commented Jun 12, 2023 •
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Hi @danzimmerman ,

So i noticed that i forgot to set the ur_type parameter in my last answer. I tried running it again with the parameter set. Unfortunately it also didn't work with the parameter set.

Heres what i got in my console:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py ur_type:=ur10
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-12-13-06-06-983996-ubuntu-15007
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: /opt/ros/humble/bin/xacro /home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro robot_ip:=xxx.yyy.zzz.www joint_limit_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur10/joint_limits.yaml kinematics_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur10/default_kinematics.yaml physical_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur10/physical_parameters.yaml visual_params:=/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur10/visual_parameters.yaml safety_limits:=true safety_pos_margin:=0.15 safety_k_position:=20 name:=ur ur_type:=ur10 script_filename:=ros_control.urscript input_recipe_filename:=rtde_input_recipe.txt output_recipe_filename:=rtde_output_recipe.txt prefix:="" 
Captured stderr output: error: [Errno 2] No such file or directory: '/home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur10/joint_limits.yaml' 
when evaluating expression 'xacro.load_yaml(jnt_limits_file)['joint_limits']' 
when evaluating expression 'dict(           joint_dynamics=dict(               shoulder_pan_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_pan_joint']['max_effort']),               shoulder_lift_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['shoulder_lift_joint']['max_effort']),               elbow_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['elbow_joint']['max_effort']),               wrist_1_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_1_joint']['max_effort']),               wrist_2_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_2_joint']['max_effort']),               wrist_3_joint=dict(damping=0.0, friction=fric_scale*jnt_limits['wrist_3_joint']['max_effort'])))' 
when evaluating expression 'joint_dyn_dict'
when processing file: /home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/urdf/ur_gazebo_classic.urdf.xacro

@danzimmerman
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Just to verify, you checked out and built the dz/exp-joint-dyn-moveit branch?

@Icon45
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Icon45 commented Jun 12, 2023 •
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Oh no, i just overlooked that there was a new branch. Sorry!

Edit:
So now i've checked out the new branch and tried running moveit with it. It launched without any major errors ans i saw the robot in Gazebo and Rviz ( the one without moveit) but i didn't see it in the Moveit-Rviz-Window. Here's my terminal output:

Output 

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.py ur_type:=ur10
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-06-12-14-16-54-845560-ubuntu-15547
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [15962]
[INFO] [spawner-2]: process started with pid [15964]
[INFO] [spawner-3]: process started with pid [15966]
[INFO] [gzserver-4]: process started with pid [15968]
[INFO] [gzclient-5]: process started with pid [15970]
[INFO] [spawn_entity.py-6]: process started with pid [15972]
[INFO] [move_group-7]: process started with pid [15974]
[INFO] [rviz2-8]: process started with pid [15976]
[INFO] [servo_node_main-9]: process started with pid [15978]
[robot_state_publisher-1] [INFO] [1686572222.083957325] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1686572222.084408585] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1686572222.084509419] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-1] [INFO] [1686572222.084586287] [robot_state_publisher]: got segment flange
[robot_state_publisher-1] [INFO] [1686572222.084657911] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-1] [INFO] [1686572222.084809444] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-1] [INFO] [1686572222.084899502] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-1] [INFO] [1686572222.084992783] [robot_state_publisher]: got segment tool0
[robot_state_publisher-1] [INFO] [1686572222.085182686] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-1] [INFO] [1686572222.085277595] [robot_state_publisher]: got segment world
[robot_state_publisher-1] [INFO] [1686572222.085363716] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-1] [INFO] [1686572222.085449379] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-1] [INFO] [1686572222.085534731] [robot_state_publisher]: got segment wrist_3_link
[move_group-7] [WARN] [1686572222.519908414] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-7] [INFO] [1686572222.525182050] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-7] [INFO] [1686572222.525254973] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-7] [INFO] [1686572222.525358298] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-9] [WARN] [1686572222.526506833] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-9] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-9] to the Servo composable node in the launch file
[servo_node_main-9] [INFO] [1686572222.537305466] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00676725 seconds
[servo_node_main-9] [INFO] [1686572222.537356302] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-9] [INFO] [1686572222.537376626] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-9] [WARN] [1686572222.560776079] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[servo_node_main-9] [INFO] [1686572222.648392704] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-9] [INFO] [1686572222.967756499] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-9] [INFO] [1686572222.967802130] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1686572222.969724429] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-7] [INFO] [1686572222.969954609] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-7] [INFO] [1686572222.971115928] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[servo_node_main-9] [INFO] [1686572222.971411564] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1686572222.971987787] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-7] [INFO] [1686572222.972018993] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1686572222.972595690] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1686572222.972625232] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-7] [INFO] [1686572222.973305982] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-7] [INFO] [1686572222.974038632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-7] [WARN] [1686572222.974445240] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-7] [ERROR] [1686572222.974477692] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node_main-9] [INFO] [1686572222.972272238] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[move_group-7] [INFO] [1686572222.979779349] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[servo_node_main-9] [WARN] [1686572223.059482845] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-9] [WARN] [1686572223.059627873] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[move_group-7] [INFO] [1686572223.093376577] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-7] [INFO] [1686572223.126265812] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1686572223.126296477] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-7] [INFO] [1686572223.126309395] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-7] [INFO] [1686572223.126348040] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-7] [INFO] [1686572223.126388693] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-7] [INFO] [1686572223.126406962] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1686572223.126448919] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1686572223.126464498] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-7] [INFO] [1686572223.126481035] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-7] [INFO] [1686572223.126517096] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-7] [INFO] [1686572223.126531735] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-7] [INFO] [1686572223.126543762] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-7] [INFO] [1686572223.126555586] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-7] [INFO] [1686572223.126567345] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-7] [INFO] [1686572223.549007395] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-7] [INFO] [1686572223.555068757] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-7] [INFO] [1686572223.555277220] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1686572223.555318318] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1686572223.557073565] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-7] [INFO] [1686572223.557111191] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-7] [INFO] [1686572223.670262301] [move_group.move_group]: 
[move_group-7] 
[move_group-7] ********************************************************
[move_group-7] * MoveGroup using: 
[move_group-7] *     - ApplyPlanningSceneService
[move_group-7] *     - ClearOctomapService
[move_group-7] *     - CartesianPathService
[move_group-7] *     - ExecuteTrajectoryAction
[move_group-7] *     - GetPlanningSceneService
[move_group-7] *     - KinematicsService
[move_group-7] *     - MoveAction
[move_group-7] *     - MotionPlanService
[move_group-7] *     - QueryPlannersService
[move_group-7] *     - StateValidationService
[move_group-7] ********************************************************
[move_group-7] 
[move_group-7] [INFO] [1686572223.670969820] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-7] [INFO] [1686572223.670997333] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-7] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-7] Loading 'move_group/ClearOctomapService'...
[move_group-7] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-7] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-7] Loading 'move_group/MoveGroupMoveAction'...
[move_group-7] Loading 'move_group/MoveGroupPlanService'...
[move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-7] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-7] 
[move_group-7] You can start planning now!
[move_group-7] 
[rviz2-8] [INFO] [1686572225.825305553] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1686572225.825403103] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-8] [INFO] [1686572225.874935583] [rviz2]: Stereo is NOT SUPPORTED
[spawner-3] [INFO] [1686572226.014458846] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-2] [INFO] [1686572226.016956875] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-8] 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.
[rviz2-8]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[spawn_entity.py-6] [INFO] [1686572226.153814321] [spawn_ur]: Spawn Entity started
[spawn_entity.py-6] [INFO] [1686572226.155935187] [spawn_ur]: Loading entity published on topic robot_description
[spawn_entity.py-6] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-6]   warnings.warn(
[spawn_entity.py-6] [INFO] [1686572226.165786061] [spawn_ur]: Waiting for entity xml on robot_description
[spawn_entity.py-6] [INFO] [1686572226.181491582] [spawn_ur]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-6] [INFO] [1686572226.182861638] [spawn_ur]: Waiting for service /spawn_entity
[spawn_entity.py-6] [INFO] [1686572226.941140825] [spawn_ur]: Calling service /spawn_entity
[spawn_entity.py-6] [INFO] [1686572227.251066299] [spawn_ur]: Spawn status: SpawnEntity: Successfully spawned entity [ur]
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 15972]
[spawner-2] [INFO] [1686572228.039341147] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1686572228.042213513] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[gzserver-4] [INFO] [1686572228.592701178] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-4] [INFO] [1686572228.626787953] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-4] [INFO] [1686572228.627629457] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-4] [INFO] [1686572228.627763795] [gazebo_ros2_control]: Loading parameter files /home/ubuntu/Schreibtisch/ros2_ws/install/ur_simulation_gazebo/share/ur_simulation_gazebo/config/ur_controllers.yaml
[gzserver-4] [INFO] [1686572228.639658658] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-4] [INFO] [1686572228.640811832] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[rviz2-8] [ERROR] [1686572229.180527508] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [INFO] [1686572229.248764588] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-8] [INFO] [1686572229.325477325] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00732368 seconds
[rviz2-8] [INFO] [1686572229.326102381] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-8] [INFO] [1686572229.326129591] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-8] [ERROR] [1686572229.353066777] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_kinematics.ur_manipulator.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {robot_description_kinematics.ur_manipulator.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.
[gzserver-4] [INFO] [1686572229.584713249] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-4] [INFO] [1686572229.584879857] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.584932693] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.584964368] [gazebo_ros2_control]: 		 found initial value: 0.000000
[gzserver-4] [INFO] [1686572229.584998925] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585043709] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.585070345] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.585095362] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585192630] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585235575] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-4] [INFO] [1686572229.585283985] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.585305074] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585326425] [gazebo_ros2_control]: 		 found initial value: -1.570000
[gzserver-4] [INFO] [1686572229.585352103] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585373969] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.585398803] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.585419954] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585477242] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585510652] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-4] [INFO] [1686572229.585533296] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.585553664] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585571632] [gazebo_ros2_control]: 		 found initial value: 0.000000
[gzserver-4] [INFO] [1686572229.585602141] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585637966] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.585662730] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.585682870] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585723993] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585825951] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-4] [INFO] [1686572229.585853689] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.585873885] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.585893849] [gazebo_ros2_control]: 		 found initial value: -1.570000
[gzserver-4] [INFO] [1686572229.585918237] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.585993426] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.586014772] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.586036229] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.586085754] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.586123045] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-4] [INFO] [1686572229.586154809] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.586173142] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.586192970] [gazebo_ros2_control]: 		 found initial value: 0.000000
[gzserver-4] [INFO] [1686572229.586217338] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.586237171] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.586255594] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.586279072] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.586340167] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.586374151] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-4] [INFO] [1686572229.586396744] [gazebo_ros2_control]: 	State:
[gzserver-4] [INFO] [1686572229.586415489] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.586433097] [gazebo_ros2_control]: 		 found initial value: 0.000000
[gzserver-4] [INFO] [1686572229.586457055] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.586587544] [gazebo_ros2_control]: 		 effort
[gzserver-4] [INFO] [1686572229.586621269] [gazebo_ros2_control]: 	Command:
[gzserver-4] [INFO] [1686572229.586640394] [gazebo_ros2_control]: 		 position
[gzserver-4] [INFO] [1686572229.586683753] [gazebo_ros2_control]: 		 velocity
[gzserver-4] [INFO] [1686572229.586933239] [resource_manager]: Initialize hardware 'ur' 
[gzserver-4] [INFO] [1686572229.587260177] [resource_manager]: Successful initialization of hardware 'ur'
[gzserver-4] [INFO] [1686572229.587538109] [resource_manager]: 'configure' hardware 'ur' 
[gzserver-4] [INFO] [1686572229.587566053] [resource_manager]: Successful 'configure' of hardware 'ur'
[gzserver-4] [INFO] [1686572229.587588034] [resource_manager]: 'activate' hardware 'ur' 
[gzserver-4] [INFO] [1686572229.587600518] [resource_manager]: Successful 'activate' of hardware 'ur'
[gzserver-4] [INFO] [1686572229.587761407] [gazebo_ros2_control]: Loading controller_manager
[spawner-2] [INFO] [1686572230.110990220] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-3] [INFO] [1686572230.118411220] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[gzserver-4] [WARN] [1686572230.837293592] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-4] [INFO] [1686572230.840256346] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-4] [INFO] [1686572231.487524779] [controller_manager]: Loading controller 'joint_trajectory_controller'
[gzserver-4] [INFO] [1686572232.332320770] [controller_manager]: Setting use_sim_time=True for joint_trajectory_controller to match controller manager (see ros2_control#325 for details)
[spawner-3] [INFO] [1686572232.342031580] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[gzserver-4] [INFO] [1686572232.350837882] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-4] [INFO] [1686572232.623770535] [controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[gzserver-4] [INFO] [1686572232.630933617] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[gzserver-4] [INFO] [1686572232.632498399] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[spawner-2] [INFO] [1686572232.632559559] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-4] [INFO] [1686572232.634156700] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-4] [INFO] [1686572232.634911492] [joint_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-4] [INFO] [1686572232.639035774] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[gzserver-4] [INFO] [1686572232.657898916] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-4] [INFO] [1686572232.669079902] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-4] [INFO] [1686572232.669232411] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1686572232.691645051] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[spawner-2] [INFO] [1686572232.716738140] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 15966]
[INFO] [spawner-2]: process has finished cleanly [pid 15964]
[INFO] [rviz2-10]: process started with pid [16423]
[rviz2-10] [INFO] [1686572235.876258578] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1686572235.879375936] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-10] [INFO] [1686572235.981895569] [rviz2]: Stereo is NOT SUPPORTED
[gzclient-5] 
[gzclient-5] (gzclient:15970): dconf-WARNING **: 14:17:33.242: failed to commit changes to dconf: Timeout has been reached
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[servo_node_main-9] [INFO] [1686572273.627002977] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-1] [INFO] [1686572273.627053974] [rclcpp]: signal_handler(signum=2)
[move_group-7] [INFO] [1686572273.627143769] [rclcpp]: signal_handler(signum=2)
[rviz2-10] [INFO] [1686572273.627684501] [rclcpp]: signal_handler(signum=2)
[rviz2-8] [INFO] [1686572273.628482273] [rclcpp]: signal_handler(signum=2)
[servo_node_main-9] 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.
[servo_node_main-9]          at line 127 in ./src/class_loader.cpp
[move_group-7] [INFO] [1686572275.512824852] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-7] [INFO] [1686572275.514063190] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-7] [INFO] [1686572275.517421857] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-7] [INFO] [1686572275.520876484] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-7] 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-7]          at line 127 in ./src/class_loader.cpp
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 15962]
[servo_node_main-9] [INFO] [1686572275.535282073] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[servo_node_main-9] [INFO] [1686572275.536208847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [servo_node_main-9]: process has finished cleanly [pid 15978]
[move_group-7] Stack trace (most recent call last):
[move_group-7] #16   Object "", at 0xffffffffffffffff, in 
[move_group-7] #15   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55a0372a7784, in 
[INFO] [rviz2-10]: process has finished cleanly [pid 16423]
[ERROR] [rviz2-8]: process has died [pid 15976, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/ur_moveit_config/rviz/view_robot.rviz --ros-args -r __node:=rviz2_moveit --params-file /tmp/launch_params_7wdr8xtc --params-file /tmp/launch_params_rb55gvtw --params-file /tmp/launch_params_z30xbvq2 --params-file /opt/ros/humble/share/ur_moveit_config/config/kinematics.yaml --params-file /tmp/launch_params_bj28l7z4'].
[move_group-7] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f0c77a2be3f]
[move_group-7] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f0c77a2bd8f]
[move_group-7] #12   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55a0372a66bb, in 
[move_group-7] #11   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x55a0372a8769, in 
[move_group-7] #10   Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7f0c7836aa46, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-7] #9    Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.4", at 0x7f0c78368999, in 
[move_group-7] #8    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7f0c777555b5, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-7] #7    Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.4", at 0x7f0c777681a9, in 
[move_group-7] #6    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fd0cec, in rclcpp::Node::~Node()
[move_group-7] #5    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fd0cbe, in rclcpp::Node::~Node()
[move_group-7] #4    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fac7c9, in 
[move_group-7] #3    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fda2d9, in 
[move_group-7] #2    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fda220, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-7] #1    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fac7c9, in 
[move_group-7] #0    Object "/opt/ros/humble/lib/librclcpp.so", at 0x7f0c77fb1511, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-7] Segmentation fault (Address not mapped to object [0x7f0c3e6207a8])
[ERROR] [move_group-7]: process[move_group-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [gzclient-5]: process[gzclient-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [gzserver-4]: process[gzserver-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [move_group-7]: sending signal 'SIGTERM' to process[move_group-7]
[INFO] [gzclient-5]: sending signal 'SIGTERM' to process[gzclient-5]
[INFO] [gzserver-4]: sending signal 'SIGTERM' to process[gzserver-4]
[ERROR] [gzserver-4]: process has died [pid 15968, exit code -15, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[ERROR] [gzclient-5]: process has died [pid 15970, exit code -11, cmd 'gzclient'].
[ERROR] [move_group-7]: process has died [pid 15974, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_y1bnwx8t --params-file /tmp/launch_params_57m7kmqq --params-file /opt/ros/humble/share/ur_moveit_config/config/kinematics.yaml --params-file /tmp/launch_params_s0808t0o --params-file /tmp/launch_params_bmcqia9w --params-file /tmp/launch_params_k8cx9c_s --params-file /tmp/launch_params_yel1j650 --params-file /tmp/launch_params_8yeh4tr1 --params-file /tmp/launch_params_qy76ee65'].
[move_group-7]

@Icon45
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Icon45 commented Jun 14, 2023

Yeah so i retried running it today and tried to tweak some strings in my system for maximum performance (i thought maybe i have some issues showing and rendering the model in 3 different Windows) but unfortunately that didn't help. Output is still the same as in the Edit if my last post.

@danzimmerman
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I think this is the issue:

[rviz2-8] [ERROR] [1686572229.353066777] [moveit_background_processing.background_processing]: 
  Exception caught while processing action 'loadRobotModel': 
  parameter 'robot_description_kinematics.ur_manipulator.kinematics_solver_timeout' has invalid type: 
  Wrong parameter type, parameter {robot_description_kinematics.ur_manipulator.kinematics_solver_timeout} 
  is of type {double}, setting it to {string} is not allowed.

I'd check your kinematics.yaml to make sure you have a floating point number for kinematics_solver_timeout (here) but if that's correct or you didn't change it, unfortunately I think this might be an issue with locales.

Apparently you need to be using the en_US.UTF-8 locale, see

moveit/moveit2#1049 (comment)

ros/urdfdom_headers#41

ros-visualization/rviz#1151 (comment)

In my case it was a problem with locales. urdfdom_headers uses std:stod to parse floating point values from urdf files. std:stod is depending on your locale.
In that light, what @JanGunheD posted makes absolutely sense. This error cuts all values below one to zero.
Could somebody check if changing the locale LC_NUMERIC to e.g. en_US.UTF-8 fixes this error, as it does on my end?
You could run export LC_NUMERIC="en_US.UTF-8 for testing.

@Icon45
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Icon45 commented Jun 15, 2023

Great thank you so much! The ˋLC_NUMERIC=en_US.UTF-8 ros2 launchˋ approach worked for me just fine! I'm really thankful that it works now!

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