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/2024-06-21-16-00-11-940231-keenan-Legion-5-15ACH6-722 [INFO] [launch]: Default logging verbosity is set to INFO is_simulation: False [INFO] [rviz2-1]: process started with pid [723] [INFO] [static_transform_publisher-2]: process started with pid [725] [INFO] [robot_state_publisher-3]: process started with pid [727] [INFO] [move_group-4]: process started with pid [729] [INFO] [ros2_control_node-5]: process started with pid [731] [INFO] [spawner-6]: process started with pid [733] [INFO] [spawner-7]: process started with pid [735] [static_transform_publisher-2] [INFO] [1718985612.229242792] [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] [1718985612.235066172] [robot_state_publisher]: got segment kinova/base_link [robot_state_publisher-3] [INFO] [1718985612.235139991] [robot_state_publisher]: got segment kinova/bicep_link [robot_state_publisher-3] [INFO] [1718985612.235153958] [robot_state_publisher]: got segment kinova/bracelet_link [robot_state_publisher-3] [INFO] [1718985612.235165761] [robot_state_publisher]: got segment kinova/end_effector_link [robot_state_publisher-3] [INFO] [1718985612.235177145] [robot_state_publisher]: got segment kinova/forearm_link [robot_state_publisher-3] [INFO] [1718985612.235187830] [robot_state_publisher]: got segment kinova/shoulder_link [robot_state_publisher-3] [INFO] [1718985612.235198166] [robot_state_publisher]: got segment kinova/spherical_wrist_1_link [robot_state_publisher-3] [INFO] [1718985612.235208642] [robot_state_publisher]: got segment kinova/spherical_wrist_2_link [robot_state_publisher-3] [INFO] [1718985612.235219746] [robot_state_publisher]: got segment kinova/tool_frame [robot_state_publisher-3] [INFO] [1718985612.235229174] [robot_state_publisher]: got segment world [ros2_control_node-5] [INFO] [1718985612.248181696] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file. [ros2_control_node-5] [INFO] [1718985612.248742705] [controller_manager]: update rate is 100 Hz [ros2_control_node-5] [INFO] [1718985612.248884686] [controller_manager]: RT kernel is recommended for better performance [ros2_control_node-5] [INFO] [1718985612.250043999] [controller_manager]: Received robot description file. [ros2_control_node-5] [INFO] [1718985612.250223971] [resource_manager]: Loading hardware 'kinova/KortexMultiInterfaceHardware' [move_group-4] [INFO] [1718985612.254701012] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00279304 seconds [move_group-4] [INFO] [1718985612.254760584] [moveit_robot_model.robot_model]: Loading robot model 'gen3'... [move_group-4] [INFO] [1718985612.254770292] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-5] [INFO] [1718985612.255899015] [KortexMultiInterfaceHardware]: Setting severity threshold to DEBUG [ros2_control_node-5] [INFO] [1718985612.255966688] [resource_manager]: Initialize hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1718985612.255978491] [KortexMultiInterfaceHardware]: Configuring Hardware Interface [ros2_control_node-5] [INFO] [1718985612.255999093] [KortexMultiInterfaceHardware]: Robot ip is '192.168.1.10' [ros2_control_node-5] [INFO] [1718985612.256004261] [KortexMultiInterfaceHardware]: Username is 'admin' [ros2_control_node-5] [INFO] [1718985612.256011943] [KortexMultiInterfaceHardware]: Port used '10000' [ros2_control_node-5] [INFO] [1718985612.256017251] [KortexMultiInterfaceHardware]: Realtime port used '10001' [ros2_control_node-5] [INFO] [1718985612.256022489] [KortexMultiInterfaceHardware]: Session inactivity timeout is '60000' [ros2_control_node-5] [INFO] [1718985612.256028146] [KortexMultiInterfaceHardware]: Connection inactivity timeout is '2000' [ros2_control_node-5] [INFO] [1718985612.256033383] [KortexMultiInterfaceHardware]: Gripper joint name is 'finger_joint' [ros2_control_node-5] [INFO] [1718985612.256047281] [KortexMultiInterfaceHardware]: Connecting to robot at 192.168.1.10 [ros2_control_node-5] [INFO] [1718985612.256528675] [KortexMultiInterfaceHardware]: Creating session for communication [rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [move_group-4] [WARN] [1718985612.323320710] [moveit_robot_model.robot_model]: Could not identify parent group for end-effector 'gripper' [ros2_control_node-5] [INFO] [1718985612.477700330] [KortexMultiInterfaceHardware]: Session created [move_group-4] [INFO] [1718985612.548499186] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1718985612.548643052] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1718985612.548880711] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1718985612.549146864] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1718985612.549161111] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1718985612.549570502] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1718985612.549582793] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1718985612.549757389] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1718985612.549936663] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [rviz2-1] [INFO] [1718985612.729849858] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1718985612.729986740] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-1] [INFO] [1718985612.801837498] [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] [1718985612.917540222] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00305968 seconds [rviz2-1] [INFO] [1718985612.917578354] [moveit_robot_model.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1718985612.917588480] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [move_group-4] [INFO] [1718985612.966628440] [moveit.ros.perception.pointcloud_octomap_updater]: Listening to '/camera/camera/depth/color/points' using message filter with target frame 'world ' [move_group-4] [INFO] [1718985612.966672019] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-4] [INFO] [1718985612.978125467] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1718985612.982753497] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1718985612.982769840] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1718985612.982775496] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1718985612.982791140] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1718985612.982803711] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-4] [INFO] [1718985612.982810276] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1718985612.982820263] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1718985612.982826967] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1718985612.982832834] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1718985612.982842681] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1718985612.982848338] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-4] [INFO] [1718985612.982853645] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1718985612.982858464] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1718985612.982863842] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1718985612.982868591] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [rviz2-1] [WARN] [1718985612.983477579] [moveit_robot_model.robot_model]: Could not identify parent group for end-effector 'gripper' [move_group-4] [INFO] [1718985612.983898633] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-4] [INFO] [1718985612.988446978] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-4] [INFO] [1718985612.992066268] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-4] [INFO] [1718985612.992084006] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-4] [INFO] [1718985612.993315392] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-4] [INFO] [1718985612.993327893] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-4] [INFO] [1718985612.993991634] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-4] [INFO] [1718985612.994000783] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-4] [INFO] [1718985612.994641966] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-4] [INFO] [1718985612.994653280] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-4] [INFO] [1718985613.012754825] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller [move_group-4] [INFO] [1718985613.012793446] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0 [move_group-4] [INFO] [1718985613.013567950] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_gripper_controller [move_group-4] [INFO] [1718985613.013687233] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-4] [INFO] [1718985613.013709163] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-4] [INFO] [1718985613.013865600] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1718985613.013878520] [move_group.move_group]: MoveGroup debug mode is ON [move_group-4] [INFO] [1718985613.025092213] [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] [1718985613.025140262] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1718985613.025150528] [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] [ros2_control_node-5] [INFO] [1718985613.064494587] [KortexMultiInterfaceHardware]: Actuator count reported by robot is '6' [ros2_control_node-5] [INFO] [1718985613.064533696] [KortexMultiInterfaceHardware]: Hardware Interface successfully configured [ros2_control_node-5] [INFO] [1718985613.064553740] [resource_manager]: Successful initialization of hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [DEBUG] [1718985613.064567079] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_1 [ros2_control_node-5] [DEBUG] [1718985613.064578462] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_2 [ros2_control_node-5] [DEBUG] [1718985613.064585656] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_3 [ros2_control_node-5] [DEBUG] [1718985613.064594316] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_4 [ros2_control_node-5] [DEBUG] [1718985613.064601858] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_5 [ros2_control_node-5] [DEBUG] [1718985613.064607585] [KortexMultiInterfaceHardware]: export_state_interfaces for joint: kinova/joint_6 [ros2_control_node-5] [INFO] [1718985613.064709130] [resource_manager]: 'configure' hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1718985613.064718348] [resource_manager]: Successful 'configure' of hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1718985613.064730989] [resource_manager]: 'activate' hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1718985613.064738601] [KortexMultiInterfaceHardware]: Activating KortexMultiInterfaceHardware... [ros2_control_node-5] [INFO] [1718985613.065223208] [KortexMultiInterfaceHardware]: Gripper initial position is '0.873365'. [ros2_control_node-5] [INFO] [1718985613.065595375] [KortexMultiInterfaceHardware]: KortexMultiInterfaceHardware successfully activated! [ros2_control_node-5] [INFO] [1718985613.065617374] [resource_manager]: Successful 'activate' of hardware 'kinova/KortexMultiInterfaceHardware' [ros2_control_node-5] [INFO] [1718985613.068299087] [controller_manager]: Received robot description file. [ros2_control_node-5] [WARN] [1718985613.068329047] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file. [ros2_control_node-5] [DEBUG] [1718985613.069511895] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.079250468] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.089302265] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.099293094] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.109269745] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.119321891] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.129297564] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.139382115] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.149318749] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.159327386] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.169307390] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.179285926] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.189278570] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [DEBUG] [1718985613.199309137] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [INFO] [1718985613.207329762] [controller_manager]: Loading controller 'joint_trajectory_controller' [ros2_control_node-5] [DEBUG] [1718985613.209333976] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [WARN] [1718985613.217456775] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ros2_control_node-5] [DEBUG] [1718985613.219287720] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [spawner-7] [INFO] [1718985613.219735732] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-5] [INFO] [1718985613.220065088] [controller_manager]: Loading controller 'joint_state_broadcaster' [ros2_control_node-5] [INFO] [1718985613.229313677] [controller_manager]: Configuring controller 'joint_trajectory_controller' [ros2_control_node-5] [DEBUG] [1718985613.229327994] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [INFO] [1718985613.229508106] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-5] [INFO] [1718985613.229548193] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-5] [INFO] [1718985613.229570611] [joint_trajectory_controller]: Using 'splines' interpolation method. [spawner-6] [INFO] [1718985613.230034825] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-5] [INFO] [1718985613.230450152] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz. [ros2_control_node-5] [INFO] [1718985613.232368605] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-5] [DEBUG] [1718985613.239300804] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [ros2_control_node-5] [INFO] [1718985613.239326993] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-5] [INFO] [1718985613.239387962] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2_control_node-5] [DEBUG] [1718985613.249360632] [KortexMultiInterfaceHardware]: No controller active in LOW_LEVEL_SERVOING mode ! [spawner-7] [INFO] [1718985613.470088888] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [spawner-6] [INFO] [1718985613.490110073] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-7]: process has finished cleanly [pid 735] [INFO] [spawner-6]: process has finished cleanly [pid 733] [rviz2-1] [ERROR] [1718985616.089655316] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] [INFO] [1718985616.108816585] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1718985616.165515902] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00179847 seconds [rviz2-1] [INFO] [1718985616.165541533] [moveit_robot_model.robot_model]: Loading robot model 'gen3'... [rviz2-1] [INFO] [1718985616.165549005] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [WARN] [1718985616.228157324] [moveit_robot_model.robot_model]: Could not identify parent group for end-effector 'gripper' [rviz2-1] [INFO] [1718985616.478843131] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1718985616.479979257] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1718985616.495572010] [interactive_marker_display_103549413716256]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] [INFO] [1718985616.502554492] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-1] [INFO] [1718985616.502572650] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [rviz2-1] [INFO] [1718985616.506829422] [move_group_interface]: Ready to take commands for planning group manipulator. [rviz2-1] [INFO] [1718985616.512255633] [interactive_marker_display_103549413716256]: Sending request for interactive markers [rviz2-1] [INFO] [1718985616.542917770] [interactive_marker_display_103549413716256]: Service response received for initialization [move_group-4] [ERROR] [1718985658.037637870] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985658.037669367] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985658.037675443] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985658.037684522] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985658.037689830] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985658.037694718] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985659.042087056] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985659.042136711] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985659.042150539] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985659.042164925] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985659.042172887] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985659.042181058] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [ros2_control_node-5] [ERROR] [1718985659.689099560] [KortexMultiInterfaceHardware]: Runtime error: timeout detected: BaseCyclicClient::Refresh [ros2_control_node-5] [move_group-4] [ERROR] [1718985660.215501461] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985660.215539523] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985660.215548252] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985660.215561522] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985660.215569623] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985660.215577305] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985661.241897447] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985661.241926011] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985661.241931807] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985661.241941375] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985661.241948918] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985661.241954644] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985662.244234135] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985662.244260953] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985662.244268007] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985662.244277505] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985662.244283231] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985662.244289587] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [ros2_control_node-5] terminate called after throwing an instance of 'std::runtime_error' [ros2_control_node-5] what(): timeout detected: BaseCyclicClient::RefreshFeedback [ros2_control_node-5] [ros2_control_node-5] Stack trace (most recent call last) in thread 773: [ros2_control_node-5] #17 Object "", at 0xffffffffffffffff, in [ros2_control_node-5] #16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x740cdf99284f, in [ros2_control_node-5] #15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x740cdf900ac2, in [ros2_control_node-5] #14 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x740cdfb91252, in [ros2_control_node-5] #13 Object "/home/kortex_ws/install/controller_manager/lib/controller_manager/ros2_control_node", at 0x61df5bc0f0a2, in main::{lambda()#1}::operator()() const [ros2_control_node-5] #12 Object "/home/kortex_ws/install/controller_manager/lib/libcontroller_manager.so", at 0x740cdffc6754, in controller_manager::ControllerManager::write(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-5] #11 Object "/home/kortex_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x740cdf78264c, in hardware_interface::ResourceManager::write(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-5] #10 Object "/home/kortex_ws/install/hardware_interface/lib/libhardware_interface.so", at 0x740cdf7b9c2f, in hardware_interface::System::write(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-5] #9 Object "/home/kortex_ws/install/kortex_driver/lib/libkortex_driver.so", at 0x740cd43ff909, in kortex_driver::KortexMultiInterfaceHardware::write(rclcpp::Time const&, rclcpp::Duration const&) [ros2_control_node-5] #8 Object "/home/kortex_ws/install/kortex_driver/lib/libkortex_driver.so", at 0x740cd43f1348, in kortex_driver::KortexMultiInterfaceHardware::sendJointCommands() [clone .cold] [ros2_control_node-5] #7 Object "/home/kortex_ws/install/kortex_driver/lib/libkortex_driver.so", at 0x740cd45716c3, in Kinova::Api::BaseCyclic::BaseCyclicClient::RefreshFeedback(unsigned int, Kinova::Api::RouterClientSendOptions const&) [ros2_control_node-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x740cdfb634d7, in __cxa_throw [ros2_control_node-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x740cdfb63276, in std::terminate() [ros2_control_node-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x740cdfb6320b, in [ros2_control_node-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x740cdfb57b9d, in [ros2_control_node-5] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x740cdf8947f2, in abort [ros2_control_node-5] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x740cdf8ae475, in raise [ros2_control_node-5] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x740cdf9029fc, in pthread_kill [ros2_control_node-5] Aborted (Signal sent by tkill() 731 0) [ERROR] [ros2_control_node-5]: process has died [pid 731, exit code -6, cmd '/home/kortex_ws/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /home/kortex_ws/install/kinova_gen3_6dof_robotiq_2f_85_moveit_config/share/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_c94uhhaf -r /controller_manager/robot_description:=/robot_description']. [move_group-4] [ERROR] [1718985668.762178624] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985668.762215708] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985668.762223320] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985668.762233447] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985668.762239243] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985668.762245389] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985669.846673619] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985669.846716849] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985669.846724391] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985669.846738219] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985669.846745203] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985669.846752327] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985678.959851098] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985678.959960604] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985678.959971080] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985678.959988749] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985678.959997339] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985678.960005859] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985680.019089447] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985680.019141965] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985680.019151463] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985680.019163755] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985680.019171926] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985680.019180097] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985681.218860822] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985681.218932476] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985681.218947631] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985681.218969141] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985681.218981921] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985681.218994492] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985682.219278706] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985682.219315371] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985682.219325288] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985682.219339116] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985682.219347986] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985682.219356017] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 [move_group-4] [ERROR] [1718985683.416815774] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 3 [move_group-4] [ERROR] [1718985683.416860680] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 2 [move_group-4] [ERROR] [1718985683.416873950] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 4 [move_group-4] [ERROR] [1718985683.416891619] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 7 [move_group-4] [ERROR] [1718985683.416903002] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 6 [move_group-4] [ERROR] [1718985683.416914595] [moveit.ros.perception.shape_mask]: Missing transform for shape mesh with handle 5 ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [move_group-4] [INFO] [1718985683.624404596] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-2] [INFO] [1718985683.624405993] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-3] [INFO] [1718985683.624405993] [rclcpp]: signal_handler(signum=2) [rviz2-1] [INFO] [1718985683.624413605] [rclcpp]: signal_handler(signum=2) [rviz2-1] [WARN] [1718985683.626893139] [interactive_marker_display_103549413716256]: Server not available while running, resetting [move_group-4] [INFO] [1718985683.653462716] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp [move_group-4] [INFO] [1718985683.653760855] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene. [move_group-4] [INFO] [1718985683.655049719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor [move_group-4] [INFO] [1718985683.656254147] [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.