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/2024-06-18-14-51-05-801877-keenan-Legion-5-15ACH6-43852 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [43854] [INFO] [robot_state_publisher-2]: process started with pid [43856] [INFO] [spawner-3]: process started with pid [43858] [INFO] [spawner-4]: process started with pid [43860] [INFO] [spawner-5]: process started with pid [43862] [robot_state_publisher-2] [INFO] [1718722266.021598147] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1718722266.021711924] [robot_state_publisher]: got segment bracelet_link [robot_state_publisher-2] [INFO] [1718722266.021726033] [robot_state_publisher]: got segment end_effector_link [robot_state_publisher-2] [INFO] [1718722266.021736230] [robot_state_publisher]: got segment forearm_link [robot_state_publisher-2] [INFO] [1718722266.021746637] [robot_state_publisher]: got segment half_arm_1_link [robot_state_publisher-2] [INFO] [1718722266.021757044] [robot_state_publisher]: got segment half_arm_2_link [robot_state_publisher-2] [INFO] [1718722266.021767242] [robot_state_publisher]: got segment shoulder_link [robot_state_publisher-2] [INFO] [1718722266.021776671] [robot_state_publisher]: got segment spherical_wrist_1_link [robot_state_publisher-2] [INFO] [1718722266.021787078] [robot_state_publisher]: got segment spherical_wrist_2_link [robot_state_publisher-2] [INFO] [1718722266.021813898] [robot_state_publisher]: got segment tool_frame [robot_state_publisher-2] [INFO] [1718722266.021824375] [robot_state_publisher]: got segment world [ros2_control_node-1] [INFO] [1718722266.030399962] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ros2_control_node-1] [INFO] [1718722266.031319334] [controller_manager]: update rate is 1000 Hz [ros2_control_node-1] [INFO] [1718722266.031489477] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-1] [INFO] [1718722266.041762580] [controller_manager]: Received robot description file. [ros2_control_node-1] [INFO] [1718722266.042017585] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.042709261] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [WARN] [1718722266.042733777] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead. [ros2_control_node-1] [WARN] [1718722266.042768071] [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] [1718722266.042779316] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.042829255] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.042836868] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.042845319] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.042851606] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1718722266.163852314] [controller_manager]: Loading controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1718722266.170865396] [controller_manager]: Loading controller 'joint_trajectory_controller' [ros2_control_node-1] [WARN] [1718722266.178934745] [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] [1718722266.179897840] [controller_manager]: Loading controller 'twist_controller' [spawner-3] [INFO] [1718722266.187902513] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1718722266.188678702] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1718722266.188774110] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-3] [INFO] [1718722266.196403994] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [spawner-4] [INFO] [1718722266.197285859] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-1] [INFO] [1718722266.198134687] [controller_manager]: Configuring controller 'joint_trajectory_controller' [ros2_control_node-1] [INFO] [1718722266.198298683] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-1] [INFO] [1718722266.198342895] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1718722266.198364896] [joint_trajectory_controller]: Using 'splines' interpolation method. [ros2_control_node-1] [INFO] [1718722266.199074104] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ros2_control_node-1] [INFO] [1718722266.200239191] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-5] [INFO] [1718722266.205341379] [spawner_twist_controller]: Loaded twist_controller [ros2_control_node-1] [INFO] [1718722266.206878182] [controller_manager]: Configuring controller 'twist_controller' [ros2_control_node-1] [INFO] [1718722266.207383022] [twist_controller]: configure successful [spawner-4] [INFO] [1718722266.207515449] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [INFO] [spawner-3]: process has finished cleanly [pid 43858] [INFO] [rviz2-6]: process started with pid [43929] [INFO] [spawner-4]: process has finished cleanly [pid 43860] [INFO] [spawner-5]: process has finished cleanly [pid 43862] [rviz2-6] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [rviz2-6] [INFO] [1718722266.473117401] [rviz2]: Stereo is NOT SUPPORTED [rviz2-6] [INFO] [1718722266.473262121] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [rviz2-6] [INFO] [1718722266.489430224] [rviz2]: Stereo is NOT SUPPORTED