root@keenan-Legion-5-15ACH6:/home/kortex_ws# ros2 launch kortex_bringup gen3.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true gripper:='""' [INFO] [launch]: All log files can be found below /root/.ros/log/2024-06-18-14-16-57-776780-keenan-Legion-5-15ACH6-27833 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [27835] [INFO] [robot_state_publisher-2]: process started with pid [27837] [INFO] [spawner-3]: process started with pid [27839] [INFO] [spawner-4]: process started with pid [27841] [INFO] [spawner-5]: process started with pid [27843] [INFO] [spawner-6]: process started with pid [27845] [robot_state_publisher-2] [INFO] [1718720218.026617992] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1718720218.026733416] [robot_state_publisher]: got segment bracelet_link [robot_state_publisher-2] [INFO] [1718720218.026745775] [robot_state_publisher]: got segment end_effector_link [robot_state_publisher-2] [INFO] [1718720218.026754783] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-2] [INFO] [1718720218.026763022] [robot_state_publisher]: got segment half_arm_1_link [robot_state_publisher-2] [INFO] [1718720218.026771541] [robot_state_publisher]: got segment half_arm_2_link [robot_state_publisher-2] [INFO] [1718720218.026780130] [robot_state_publisher]: got segment robotiq_85_base_link [robot_state_publisher-2] [INFO] [1718720218.026788649] [robot_state_publisher]: got segment robotiq_85_left_finger_link [robot_state_publisher-2] [INFO] [1718720218.026796888] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link [robot_state_publisher-2] [INFO] [1718720218.026805337] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link [robot_state_publisher-2] [INFO] [1718720218.026813926] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link [robot_state_publisher-2] [INFO] [1718720218.026822584] [robot_state_publisher]: got segment robotiq_85_right_finger_link [robot_state_publisher-2] [INFO] [1718720218.026831662] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link [robot_state_publisher-2] [INFO] [1718720218.026840111] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link [robot_state_publisher-2] [INFO] [1718720218.026849118] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link [robot_state_publisher-2] [INFO] [1718720218.026857218] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-2] [INFO] [1718720218.026865737] [robot_state_publisher]: got segment spherical_wrist_1_link [robot_state_publisher-2] [INFO] [1718720218.026874116] [robot_state_publisher]: got segment spherical_wrist_2_link [robot_state_publisher-2] [INFO] [1718720218.026882635] [robot_state_publisher]: got segment world [ros2_control_node-1] [INFO] [1718720218.037281550] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ros2_control_node-1] [INFO] [1718720218.038271551] [controller_manager]: update rate is 1000 Hz [ros2_control_node-1] [INFO] [1718720218.038419862] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-1] [INFO] [1718720218.048766547] [controller_manager]: Received robot description file. [ros2_control_node-1] [INFO] [1718720218.049190464] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.049993958] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [WARN] [1718720218.050023006] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ros2_control_node-1] [WARN] [1718720218.050057849] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: [ros2_control_node-1] [ros2_control_node-1] 0.0 [ros2_control_node-1] [ros2_control_node-1] [INFO] [1718720218.050068114] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.050096603] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050107915] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [WARN] [1718720218.050118878] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ros2_control_node-1] [INFO] [1718720218.050134589] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050176065] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050184235] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050191357] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050197991] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1718720218.050203647] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.050209443] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.050217612] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.050223757] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718720218.175824568] [controller_manager]: Loading controller 'twist_controller' [ros2_control_node-1] [INFO] [1718720218.184955084] [controller_manager]: Loading controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1718720218.191663598] [controller_manager]: Loading controller 'joint_trajectory_controller' [spawner-5] [INFO] [1718720218.201300427] [spawner_twist_controller]: Loaded twist_controller [ros2_control_node-1] [WARN] [1718720218.201358452] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ros2_control_node-1] [INFO] [1718720218.201754578] [controller_manager]: Loading controller 'robotiq_gripper_controller' [spawner-3] [INFO] [1718720218.206988216] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1718720218.208850769] [controller_manager]: Configuring controller 'twist_controller' [ros2_control_node-1] [INFO] [1718720218.209921349] [twist_controller]: configure successful [ros2_control_node-1] [INFO] [1718720218.210940327] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1718720218.210993745] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-3] [INFO] [1718720218.218179662] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-4] [INFO] [1718720218.222824383] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-1] [INFO] [1718720218.223948730] [controller_manager]: Configuring controller 'joint_trajectory_controller' [ros2_control_node-1] [INFO] [1718720218.224167985] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-1] [INFO] [1718720218.224213721] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1718720218.224235647] [joint_trajectory_controller]: Using 'splines' interpolation method. [ros2_control_node-1] [INFO] [1718720218.225131382] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ros2_control_node-1] [INFO] [1718720218.226289524] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-6] [INFO] [1718720218.230144717] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller [ros2_control_node-1] [INFO] [1718720218.232718034] [controller_manager]: Configuring controller 'robotiq_gripper_controller' [ros2_control_node-1] [INFO] [1718720218.232795471] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz. [spawner-4] [INFO] [1718720218.233267917] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [spawner-6] [INFO] [1718720218.238895447] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller [INFO] [spawner-5]: process has finished cleanly [pid 27843] [INFO] [spawner-3]: process has finished cleanly [pid 27839] [INFO] [rviz2-7]: process started with pid [27921] [INFO] [spawner-4]: process has finished cleanly [pid 27841] [INFO] [spawner-6]: process has finished cleanly [pid 27845] [rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-7] [INFO] [1718720218.510670337] [rviz2]: Stereo is NOT SUPPORTED [rviz2-7] [INFO] [1718720218.510803007] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [rviz2-7] [INFO] [1718720218.531822677] [rviz2]: Stereo is NOT SUPPORTED