root@keenan-Legion-5-15ACH6:/home/humble_ws# ros2 launch antworker_moveit_bringup moveit_bringup.launch.py 
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-06-20-19-23-27-663837-keenan-Legion-5-15ACH6-403
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [404]
[INFO] [static_transform_publisher-2]: process started with pid [406]
[INFO] [robot_state_publisher-3]: process started with pid [408]
[INFO] [ros2_control_node-4]: process started with pid [410]
[INFO] [spawner-5]: process started with pid [412]
[INFO] [spawner-6]: process started with pid [414]
[INFO] [spawner-7]: process started with pid [416]
[static_transform_publisher-2] [INFO] [1718911407.905542449] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'kinova/base_link'
[robot_state_publisher-3] [INFO] [1718911407.911552639] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1718911407.911647460] [robot_state_publisher]: got segment bicep_link
[robot_state_publisher-3] [INFO] [1718911407.911665196] [robot_state_publisher]: got segment bracelet_link
[robot_state_publisher-3] [INFO] [1718911407.911680348] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1718911407.911694243] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1718911407.911708487] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1718911407.911723569] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1718911407.911738371] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1718911407.911752476] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1718911407.911766860] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1718911407.911780615] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1718911407.911795976] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1718911407.911810151] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1718911407.911823976] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1718911407.911837801] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1718911407.911851138] [robot_state_publisher]: got segment spherical_wrist_1_link
[robot_state_publisher-3] [INFO] [1718911407.911864614] [robot_state_publisher]: got segment spherical_wrist_2_link
[robot_state_publisher-3] [INFO] [1718911407.911878788] [robot_state_publisher]: got segment world
[ros2_control_node-4] [INFO] [1718911407.928085829] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ros2_control_node-4] [INFO] [1718911407.930400223] [controller_manager]: update rate is 100 Hz
[ros2_control_node-4] [INFO] [1718911407.930602713] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-4] [INFO] [1718911407.931761028] [controller_manager]: Received robot description file.
[ros2_control_node-4] [INFO] [1718911407.932638858] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware' 
[ros2_control_node-4] [INFO] [1718911407.955125681] [KortexMultiInterfaceHardware]: Setting severity threshold to DEBUG
[ros2_control_node-4] [INFO] [1718911407.955418454] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware' 
[ros2_control_node-4] [INFO] [1718911407.955443241] [KortexMultiInterfaceHardware]: Configuring Hardware Interface
[ros2_control_node-4] [INFO] [1718911407.955720513] [KortexMultiInterfaceHardware]: Robot ip is '192.168.1.10'
[ros2_control_node-4] [INFO] [1718911407.955733640] [KortexMultiInterfaceHardware]: Username is 'admin'
[ros2_control_node-4] [INFO] [1718911407.955748583] [KortexMultiInterfaceHardware]: Port used '10000'
[ros2_control_node-4] [INFO] [1718911407.955757660] [KortexMultiInterfaceHardware]: Realtime port used '10001'
[ros2_control_node-4] [INFO] [1718911407.955765131] [KortexMultiInterfaceHardware]: Session inactivity timeout is '60000'
[ros2_control_node-4] [INFO] [1718911407.955772742] [KortexMultiInterfaceHardware]: Connection inactivity timeout is '2000'
[ros2_control_node-4] [INFO] [1718911407.955780981] [KortexMultiInterfaceHardware]: Gripper joint name is 'finger_joint'
[ros2_control_node-4] [INFO] [1718911407.955810796] [KortexMultiInterfaceHardware]: Connecting to robot at 192.168.1.10
[ros2_control_node-4] [INFO] [1718911407.956321840] [KortexMultiInterfaceHardware]: Creating session for communication
[rviz2-1] [INFO] [1718911408.057913663] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1718911408.058044374] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1718911408.075096340] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1718911408.169160229] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00364307 seconds
[rviz2-1] [INFO] [1718911408.169202263] [moveit_robot_model.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1718911408.169217415] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-4] [INFO] [1718911408.192291156] [KortexMultiInterfaceHardware]: Session created
[ros2_control_node-4] [INFO] [1718911408.779635186] [KortexMultiInterfaceHardware]: Actuator count reported by robot is '6'
[ros2_control_node-4] [INFO] [1718911408.779839491] [KortexMultiInterfaceHardware]: Hardware Interface successfully configured
[ros2_control_node-4] [INFO] [1718911408.779867561] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-4] [DEBUG] [1718911408.779892767] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_1
[ros2_control_node-4] [DEBUG] [1718911408.779924258] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_2
[ros2_control_node-4] [DEBUG] [1718911408.779933894] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_3
[ros2_control_node-4] [DEBUG] [1718911408.779940597] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_4
[ros2_control_node-4] [DEBUG] [1718911408.779946183] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_5
[ros2_control_node-4] [DEBUG] [1718911408.779952397] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: joint_6
[ros2_control_node-4] [INFO] [1718911408.780660903] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware' 
[ros2_control_node-4] [INFO] [1718911408.780684364] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-4] [INFO] [1718911408.780711037] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware' 
[ros2_control_node-4] [INFO] [1718911408.780717740] [KortexMultiInterfaceHardware]: Activating KortexMultiInterfaceHardware...
[ros2_control_node-4] [INFO] [1718911408.781134660] [KortexMultiInterfaceHardware]: Gripper initial position is '0.873365'.
[ros2_control_node-4] [INFO] [1718911408.781423871] [KortexMultiInterfaceHardware]: KortexMultiInterfaceHardware successfully activated!
[ros2_control_node-4] [INFO] [1718911408.781439233] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-4] [DEBUG] [1718911408.781790239] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.791008074] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.801026723] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.811048933] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.821050545] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.831164295] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.841050557] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.851125694] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.861041841] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [DEBUG] [1718911408.871179121] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.879782435] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-4] [DEBUG] [1718911408.881070341] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [WARN] [1718911408.889459504] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-4] [DEBUG] [1718911408.891068532] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.891085708] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[spawner-6] [INFO] [1718911408.891691642] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-4] [DEBUG] [1718911408.901044937] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.901092767] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1718911408.901703728] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller
[ros2_control_node-4] [DEBUG] [1718911408.911061771] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.911320050] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-4] [INFO] [1718911408.911793737] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[spawner-5] [INFO] [1718911408.911857138] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-4] [INFO] [1718911408.911999788] [joint_trajectory_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-4] [INFO] [1718911408.912025763] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-4] [INFO] [1718911408.913812563] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-4] [INFO] [1718911408.916020473] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-4] [DEBUG] [1718911408.921018555] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.921051233] [controller_manager]: Configuring controller 'robotiq_gripper_controller'
[ros2_control_node-4] [INFO] [1718911408.921159391] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz.
[ros2_control_node-4] [DEBUG] [1718911408.931050331] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [INFO] [1718911408.931073303] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1718911408.931158559] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-4] [DEBUG] [1718911408.941059554] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode !
[ros2_control_node-4] [ERROR] [1718911409.161435947] [resource_manager]: Not acceptable command interfaces combination: 
[ros2_control_node-4] Start interfaces: 
[ros2_control_node-4] [
[ros2_control_node-4]   robotiq_85_left_knuckle_joint/position
[ros2_control_node-4] ]
[ros2_control_node-4] Stop interfaces: 
[ros2_control_node-4] [
[ros2_control_node-4] ]
[ros2_control_node-4] Not existing: 
[ros2_control_node-4] [
[ros2_control_node-4]  robotiq_85_left_knuckle_joint/position
[ros2_control_node-4] ]
[ros2_control_node-4] 
[ros2_control_node-4] [ERROR] [1718911409.161473372] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner-6] [INFO] [1718911409.162097669] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[spawner-7] [ERROR] [1718911409.162660312] [spawner_robotiq_gripper_controller]: Failed to activate controller
[spawner-5] [INFO] [1718911409.181517213] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 414]
[ERROR] [spawner-7]: process has died [pid 416, exit code 1, cmd '/home/kortex_ws/install/controller_manager/lib/controller_manager/spawner robotiq_gripper_controller -c /controller_manager --ros-args'].
[INFO] [spawner-5]: process has finished cleanly [pid 412]
[rviz2-1] [ERROR] [1718911411.402558277] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1718911411.409964084] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1718911411.468797322] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0022174 seconds
[rviz2-1] [INFO] [1718911411.468824553] [moveit_robot_model.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1718911411.468831675] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1718911411.797016999] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1718911411.797627958] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1718911411.805929257] [interactive_marker_display_109532973790368]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1718911411.828410473] [interactive_marker_display_109532973790368]: Sending request for interactive markers
[rviz2-1] [INFO] [1718911411.860635900] [interactive_marker_display_109532973790368]: Service response received for initialization
[rviz2-1] [INFO] [1718911416.813251773] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1718911416.813323901] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-1] [INFO] [1718911416.813332838] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-1] [INFO] [1718911476.819609599] [move_group_interface]: Ready to take commands for planning group manipulator.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1718911489.925625126] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-4] [INFO] [1718911489.925625126] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-2] [INFO] [1718911489.925625126] [rclcpp]: signal_handler(signum=2)
[rviz2-1] [INFO] [1718911489.925628061] [rclcpp]: signal_handler(signum=2)
[rviz2-1] [WARN] [1718911489.928334838] [interactive_marker_display_109532973790368]: Server not available while running, resetting
[rviz2-1] [ERROR] [1718911490.033062341] [moveit_background_processing.background_processing]: Exception caught while processing action 'Frame::changePlanningGroup': std::future_error: Broken promise
[rviz2-1] [INFO] [1718911490.040134764] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 406]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 408]