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MoveG:FAILED. Reason -> none #18

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artyomkorchagin opened this issue Nov 24, 2024 · 9 comments
Open

MoveG:FAILED. Reason -> none #18

artyomkorchagin opened this issue Nov 24, 2024 · 9 comments

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@artyomkorchagin
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artyomkorchagin commented Nov 24, 2024 •
edited
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Hello, I am trying to move ParallelGripper in gazebo.
This issue happens only when i try to move gripper, robot movements work
I suspect that the robot and the gripper have same topics/nodes like /Move and /RobMove, but i don't know how to fix that yet
Here's what I'm doing:
I've tried to do it with these environments

ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_irb120 config:=irb120_2
ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_iiwa config:=iiwa_2

after launching them, i try to move parallelgripper with these:

ros2 action send_goal /Move ros2srrc_data/action/Move "{action: 'MoveG', moveg: 0.0, speed: 0.5}"
ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveG', moveg: 1.0, speed: 1.0}"

I get this:

Waiting for an action server to become available...
Sending goal:
     action: MoveG
speed: 0.5
movej:
  joint1: 0.0
  joint2: 0.0
  joint3: 0.0
  joint4: 0.0
  joint5: 0.0
  joint6: 0.0
  joint7: 0.0
mover:
  joint: ''
  value: 0.0
movel:
  x: 0.0
  y: 0.0
  z: 0.0
moverot:
  yaw: 0.0
  pitch: 0.0
  roll: 0.0
moverp:
  x: 0.0
  y: 0.0
  z: 0.0
  yaw: 0.0
  pitch: 0.0
  roll: 0.0
moveg: 0.0

Goal accepted with ID: 59c1b177796b4ce38948d21baadfbc20

Result:
    result: MoveG:FAILED. Reason -> none

Goal finished with status: SUCCEEDED

I have the same issue when running sequence (program):

Specifications:
  Robot: "iiwa"
  EndEffector: "ParallelGripper"
  EELink: "EE_robotiq_2f85"
  Objects: None

Sequence: 
  
  - Step: 1
    Name: "MoveG 0%"
    Type: "MoveG"
    Speed: 1.0
    Delay: 1.0
    Input:
      value: 0.0
  
  - Step: 2
    Name: "MoveG 100%"
    Type: "MoveG"
    Speed: 1.0
    Delay: 1.0
    Input:
      value: 100.0 
    
  - Step: 3
    Name: "MoveG 10%"
    Type: "MoveG"
    Speed: 1.0
    Delay: 1.0
    Input:
      value: 10.0

I've also tried doing Type:"ParallelGripper", but i get the same result:

ros2 run ros2srrc_execution ExecuteProgram.py package:=ros2srrc_execution program:=iiwa_robotiq_2f85
[WARN] [1732447756.807220973] [rcl]: Found remap rule 'package:=ros2srrc_execution'. This syntax is deprecated. Use '--ros-args --remap package:=ros2srrc_execution' instead.
[WARN] [1732447756.807238076] [rcl]: Found remap rule 'program:=iiwa_robotiq_2f85'. This syntax is deprecated. Use '--ros-args --remap program:=iiwa_robotiq_2f85' instead.
==================================================
ROS 2 Sim-to-Real Robot Control: Program Execution
==================================================

PROGRAM -> /ros2srrc_execution/programs/iiwa_robotiq_2f85.yaml found! The sequence is formed by the following steps:

   - Step Number 1:
     MoveG 0%
   - Step Number 2:
     MoveG 100%
   - Step Number 3:
     MoveG 10%

============================================================
Loading Robot+EndEffector Python Clients...

ROBOT: 
[CLIENT - robot.py]: Initialising ROS2 /Move Action Client!
[CLIENT - robot.py]: Waiting for /Move ROS2 ActionServer to be available...
[CLIENT - robot.py]: /Move ACTION SERVER detected, ready!

[CLIENT - robot.py]: Initialising ROS2 /RobMove Action Client!
[CLIENT - robot.py]: Waiting for /Robmove ROS2 ActionServer to be available...
[CLIENT - robot.py]: /Robmove ACTION SERVER detected, ready!

Loaded.

END-EFFECTOR:
[WARN] [1732447756.869766017] [rcl.logging_rosout]: Publisher already registered for provided node name. 
If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. 
As soon as any node with that name is destructed it will unregister the publisher, 
preventing any further logs for that name from being published on the rosout topic.
[CLIENT - robot.py]: Initialising ROS2 /Move Action Client!
[CLIENT - robot.py]: Waiting for /Move ROS2 ActionServer to be available...
[CLIENT - robot.py]: /Move ACTION SERVER detected, ready!

[WARN] [1732447756.877385963] [rcl.logging_rosout]: Publisher already registered for provided node name. 
If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. 
As soon as any node with that name is destructed it will unregister the publisher, 
preventing any further logs for that name from being published on the rosout topic.
[CLIENT - robot.py]: Initialising ROS2 /RobMove Action Client!
[CLIENT - robot.py]: Waiting for /Robmove ROS2 ActionServer to be available...
[CLIENT - robot.py]: /Robmove ACTION SERVER detected, ready!

[CLIENT - parallelGripper.py]: Initialising /ATTACHLINK and /DETACHLINK ROS 2 Service Clients.
[CLIENT - parallelGripper.py]: /ATTACHLINK ROS2 Service ready.
[CLIENT - parallelGripper.py]: /DETACHLINK ROS2 Service ready.

Loaded -> ParallelGripper.

============================================================
============================================================
Executing sequence...

============================================================
Step N1: MoveG 0%

[CLIENT - robot.py]: Move ACTION CALL -> GOAL has been ACCEPTED.
[CLIENT - robot.py]: Move ACTION EXECUTED -> Result: MoveG:FAILED. Reason -> none


ERROR: Execution FAILED!
Message -> MoveG:FAILED. Reason -> none

Closing... BYE!
@artyomkorchagin artyomkorchagin changed the title MoveG:FAILED -> Reason: none MoveG:FAILED. Reason -> none Nov 24, 2024
@MikelBueno
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Hi @artyomkorchagin,

I'm executing exactly the same commands on several PCs and the error you're mentioning does not happen. Could you please tell me if:

  • Do you have the latest update of the repo? I frequently update it and if you're following the updated instructions that might have affected your executions.
  • Have you done any modifications to the URDF files?

Apart from that, could you please share the log of the moveit2 launch file execution? I might be able to see what's happening if you send me that.

Regards,
Mikel

@artyomkorchagin
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artyomkorchagin commented Nov 27, 2024 •
edited
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Thank you for your reply @MikelBueno

I believe i have the latest update of the repo, considering i've reimported it 2 days ago following installation instructions.

I am trying to achieve grasping with the default iirb1200_2 iiwa_2 configs (urdfs are not modified). However, i also made urdf files for iiwa + robotiq hande. Robot movement works on it, but grasping does not.

Also, am I supposed to be able to move the end effector in rviz? Because I'm not able to do that and i get an error saying "acceleration limit not set for group egp64"

Here is the log you've asked for:

ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_irb1200 config:=irb1200_2 -d
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/russ/.ros/log/2024-11-27-13-19-58-109600-russ-MS-7A68-5565
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x71917f7c28c0>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x71917f7c28c0>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x71917f7c3490>'

===== GAZEBO: Robot Simulation + MoveIt!2 Framework (ros2srrc_irb1200_moveit2) =====
Robot configuration:
irb1200_2 -> ABB IRB-1200 + Schunk EGP-64 Gripper on top of Robot Stand.

[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
[DEBUG] [launch.launch_description_source]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_description_source.py", line 68, in try_get_launch_description_without_context
    perform_substitutions(context, self.__location)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_context.py", line 240, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/substitutions/this_launch_file_dir.py", line 56, in perform
    raise SubstitutionFailure(
launch.substitutions.substitution_failure.SubstitutionFailure: ThisLaunchFileDir used outside of a launch file (in a script)

[DEBUG] [launch.launch_description_source]: Failed to load the launch file without a context: ThisLaunchFileDir used outside of a launch file (in a script)
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 1.463 seconds
[INFO] [gzserver-1]: process started with pid [5568]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [gzclient-2]: process started with pid [5570]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robot_state_publisher-3]: process started with pid [5572]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [static_transform_publisher-4]: process started with pid [5574]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawn_entity.py-5]: process started with pid [5576]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917f7c0af0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d74bd60>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d74ae90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d74b6d0>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750a90>'
[static_transform_publisher-4] [WARN] [1732702799.596533144] []: Old-style arguments are deprecated; see --help for new-style arguments
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750a90>'
[static_transform_publisher-4] [INFO] [1732702799.606508066] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-4] from 'world' to 'base_link'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d753730>'
[robot_state_publisher-3] [INFO] [1732702799.617473021] [robot_state_publisher]: got segment EE_egp64
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d753730>'
[robot_state_publisher-3] [INFO] [1732702799.617602265] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1732702799.617614149] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1732702799.617621324] [robot_state_publisher]: got segment egp64_finger_left_link
[robot_state_publisher-3] [INFO] [1732702799.617628519] [robot_state_publisher]: got segment egp64_finger_right_link
[robot_state_publisher-3] [INFO] [1732702799.617635126] [robot_state_publisher]: got segment egp64_fingertip_left_link
[robot_state_publisher-3] [INFO] [1732702799.617641777] [robot_state_publisher]: got segment egp64_fingertip_right_link
[robot_state_publisher-3] [INFO] [1732702799.617648485] [robot_state_publisher]: got segment egp64_gripper_base_link
[robot_state_publisher-3] [INFO] [1732702799.617655161] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1732702799.617661583] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1732702799.617667977] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1732702799.617674273] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1732702799.617680492] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1732702799.617686962] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1732702799.617693307] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1732702799.617699732] [robot_state_publisher]: got segment robot_stand
[robot_state_publisher-3] [INFO] [1732702799.617706322] [robot_state_publisher]: got segment schunk_coupler
[robot_state_publisher-3] [INFO] [1732702799.617712795] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1732702799.617719241] [robot_state_publisher]: got segment world
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.034587026] [spawn_entity]: Spawn Entity started
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.035023631] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-5] /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-5]   warnings.warn(
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.038470509] [spawn_entity]: Waiting for entity xml on robot_description
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.041164737] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74ae90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74ae90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.041519206] [spawn_entity]: Waiting for service /spawn_entity
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702800.802021446] [spawn_entity]: Calling service /spawn_entity
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d750400>'
[spawn_entity.py-5] [INFO] [1732702801.063160832] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [irb1200]
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d753370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.272916904] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1732702801.274962410] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1732702801.275100039] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74ae90>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74ae90>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.276242947] [gazebo_ros2_control]: Loading parameter files /home/russ/ros2_ws/install/ros2srrc_robots/share/ros2srrc_robots/irb1200/config/controller.yaml
[gzserver-1] [INFO] [1732702801.276460057] [gazebo_ros2_control]: Loading parameter files /home/russ/ros2_ws/install/ros2srrc_endeffectors/share/ros2srrc_endeffectors/egp64/config/controller.yaml
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.281609591] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.285212595] [gazebo_ros2_control]: Received urdf from param server, parsing...
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 5576]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917db16d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917f9a57b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917f9a5660>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d9f57b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d750220>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917db151e0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d750310>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0af0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0af0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.318326726] [gazebo_ros2_control]: Loading joint: joint_1
[gzserver-1] [INFO] [1732702801.318512176] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.318550693] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.318887890] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.318908980] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.319031678] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.319045384] [gazebo_ros2_control]: 		 position
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc8b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc8b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.320889664] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321251668] [gazebo_ros2_control]: Loading joint: joint_2
[gzserver-1] [INFO] [1732702801.321276308] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321285771] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321300406] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321314067] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321323176] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321331563] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321362477] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321378257] [gazebo_ros2_control]: Loading joint: joint_3
[gzserver-1] [INFO] [1732702801.321388366] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321396872] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321407198] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321417524] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321426578] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321434793] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321454608] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321467578] [gazebo_ros2_control]: Loading joint: joint_4
[gzserver-1] [INFO] [1732702801.321477017] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321485362] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321495244] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321504502] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321513393] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321521346] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321538394] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321551919] [gazebo_ros2_control]: Loading joint: joint_5
[gzserver-1] [INFO] [1732702801.321561510] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321569793] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321582091] [gazebo_ros2_control]: 			 found initial value: 1.570796
[gzserver-1] [INFO] [1732702801.321592587] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321601067] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321609176] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321628521] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321641752] [gazebo_ros2_control]: Loading joint: joint_6
[gzserver-1] [INFO] [1732702801.321651118] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321659326] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321667621] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321677147] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321685630] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321693889] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321708981] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321745631] [gazebo_ros2_control]: Loading joint: egp64_finger_left_joint
[gzserver-1] [INFO] [1732702801.321758368] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321775500] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321785042] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321795152] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321803973] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321812031] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321849010] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321863210] [gazebo_ros2_control]: Loading joint: egp64_finger_right_joint
[gzserver-1] [INFO] [1732702801.321872934] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1732702801.321881231] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321891469] [gazebo_ros2_control]: 			 found initial value: 0.000000
[gzserver-1] [INFO] [1732702801.321901178] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.321909600] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1732702801.321917530] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1732702801.321944592] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1732702801.322276700] [resource_manager]: Initialize hardware 'GazeboSystem' 
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[INFO] [spawner-6]: process started with pid [5659]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawner-7]: process started with pid [5661]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.325288786] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1732702801.325585406] [resource_manager]: 'configure' hardware 'GazeboSystem' 
[gzserver-1] [INFO] [1732702801.325599299] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1732702801.325609740] [resource_manager]: 'activate' hardware 'GazeboSystem' 
[gzserver-1] [INFO] [1732702801.325615728] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1732702801.326646643] [gazebo_ros2_control]: Loading controller_manager
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d7dc700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d7dc190>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [WARN] [1732702801.379621942] [gazebo_ros2_control]:  Desired controller update period (0.004 s) is slower than the gazebo simulation period (0.001 s).
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.384901502] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.652653511] [controller_manager]: Loading controller 'joint_state_broadcaster'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c1fc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.691758180] [controller_manager]: Loading controller 'joint_trajectory_controller'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc8b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc8b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d74a770>'
[spawner-7] [INFO] [1732702801.692798478] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0610>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0610>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [WARN] [1732702801.709945266] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0610>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c0610>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d74b430>'
[spawner-6] [INFO] [1732702801.730491401] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc190>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dc190>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.731484042] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[gzserver-1] [INFO] [1732702801.732067349] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1732702801.732108534] [joint_trajectory_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[gzserver-1] [INFO] [1732702801.732145674] [joint_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-1] [INFO] [1732702801.733530384] [joint_trajectory_controller]: Controller state will be published at 250.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.743311586] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d74b430>'
[spawner-6] [INFO] [1732702801.760689938] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d749840>'
[gzserver-1] [INFO] [1732702801.794520032] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1732702801.794600544] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d74a770>'
[spawner-7] [INFO] [1732702801.808700634] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-7]: process has finished cleanly [pid 5661]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d74a3b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d74a4a0>'
[INFO] [spawner-6]: process has finished cleanly [pid 5659]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d74b250>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x71917f7c2d70>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x71917d74b340>'
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.TimerEvent'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x71917d74bdf0>'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x71917d74bdf0>' ✓ '<launch.event_handler.EventHandler object at 0x71917d74beb0>'
Executing <Task finished name='Task-59' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.171 seconds
[INFO] [rviz2-8]: process started with pid [5723]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [move_group-9]: process started with pid [5725]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d74bdf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917d7dea40>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7ddd20>'
[move_group-9] [WARN] [1732702803.542829180] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7ddd20>'
[move_group-9] [INFO] [1732702803.547711993] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-9] [INFO] [1732702803.547744447] [moveit_robot_model.robot_model]: Loading robot model 'irb1200'...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>'
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[move_group-9] [WARN] [1732702803.558012461] [moveit_robot_model.robot_model]: Link EE_egp64 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7ddd20>'
[move_group-9] [INFO] [1732702803.796394123] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d7dea10>'
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[move_group-9] [INFO] [1732702803.797054099] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.797502885] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1732702803.798258295] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1732702803.798274561] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.799416800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-9] [INFO] [1732702803.799436219] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1732702803.799974655] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[move_group-9] [INFO] [1732702803.801803914] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1732702803.802452004] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1732702803.802467155] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.888359062] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[move_group-9] [INFO] [1732702803.893105167] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[move_group-9] [INFO] [1732702803.898300098] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-9] [INFO] [1732702803.898336963] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.902051702] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-9] [INFO] [1732702803.902075295] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[move_group-9] [INFO] [1732702803.903386391] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-9] [INFO] [1732702803.903406555] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.904712975] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-9] [INFO] [1732702803.904734642] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.923098216] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.923227645] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732702803.923245397] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732702803.923500118] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1732702803.923512579] [move_group.move_group]: MoveGroup debug mode is ON
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.945771209] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.949060224] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
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[move_group-9] [WARN] [1732702803.949281755] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949364123] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949395167] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949421051] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949446475] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949471494] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949496409] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949522237] [move_group]: Failed loading deceleration limits
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[move_group-9] [INFO] [1732702803.949579784] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-9] [WARN] [1732702803.949601094] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949626890] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949650472] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949673476] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949696755] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949724357] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949747877] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1732702803.949781784] [move_group]: Failed loading deceleration limits
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[move_group-9] [INFO] [1732702803.951809668] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] *     - SequenceAction
[move_group-9] *     - SequenceService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1732702803.951837734] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-9] [INFO] [1732702803.951850620] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
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[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-9] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[rviz2-8] [INFO] [1732702804.314876854] [rviz2]: Stereo is NOT SUPPORTED
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>'
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[rviz2-8] [INFO] [1732702804.315015297] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749d20>'
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[rviz2-8] [INFO] [1732702804.450664520] [rviz2]: Stereo is NOT SUPPORTED
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[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
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.TimerEvent'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x71917d750160>'
[DEBUG] [launch]: processing event: '<launch.events.timer_event.TimerEvent object at 0x71917d750160>' ✓ '<launch.event_handler.EventHandler object at 0x71917d74beb0>'
Executing <Task finished name='Task-92' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.280 seconds
[INFO] [move-10]: process started with pid [5778]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robmove-11]: process started with pid [5780]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robpose-12]: process started with pid [5782]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
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[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x71917cd01030>'
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[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
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[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dffd0>'
[robmove-11] [INFO] [1732702806.650527020] [robmove]: ROB_PARAM received -> irb1200
[robmove-11] [WARN] [1732702806.651196638] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [INFO] [1732702806.651061145] [move]: ROB_PARAM received -> irb1200
[move-10] [WARN] [1732702806.651231664] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>'
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[move-10] [INFO] [1732702806.659587239] [move]: EE_PARAM received -> none
[move-10] [WARN] [1732702806.661517452] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917cd00b20>'
[robpose-12] [INFO] [1732702806.662338225] [robpose]: ROB_PARAM received -> irb1200
[robpose-12] [WARN] [1732702806.662625730] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dffd0>'
[robmove-11] [INFO] [1732702806.671587014] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robmove-11] [INFO] [1732702806.671616133] [moveit_robot_model.robot_model]: Loading robot model 'irb1200'...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917cd00b20>'
[robpose-12] [INFO] [1732702806.681280039] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robpose-12] [INFO] [1732702806.681311437] [moveit_robot_model.robot_model]: Loading robot model 'irb1200'...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01540>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01540>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [INFO] [1732702806.684379629] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move-10] [INFO] [1732702806.684404892] [moveit_robot_model.robot_model]: Loading robot model 'irb1200'...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dffd0>'
[robmove-11] [WARN] [1732702806.686702177] [moveit_robot_model.robot_model]: Link EE_egp64 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917cd00b20>'
[robpose-12] [WARN] [1732702806.691874330] [moveit_robot_model.robot_model]: Link EE_egp64 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [WARN] [1732702806.693477113] [moveit_robot_model.robot_model]: Link EE_egp64 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [INFO] [1732702806.797510469] [move_group_interface]: Ready to take commands for planning group irb1200_arm.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [INFO] [1732702806.798977631] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01540>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01540>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917cd00b20>'
[robpose-12] [INFO] [1732702806.799439941] [move_group_interface]: Ready to take commands for planning group irb1200_arm.
[robpose-12] [WARN] [1732702806.799505713] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [INFO] [1732702806.805097369] [MOVE_INTERFACE]: MoveGroupInterface object created for ROBOT: irb1200
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01900>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01900>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dffd0>'
[robmove-11] [INFO] [1732702806.808944452] [move_group_interface]: Ready to take commands for planning group irb1200_arm.
[robmove-11] [INFO] [1732702806.808965702] [RobMove_INTERFACE]: MoveGroupInterface object created for ROBOT: ��l��
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74bdf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7df3a0>'
[move-10] [WARN] [1732702806.821058875] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01900>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01900>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dffd0>'
[robmove-11] [WARN] [1732702806.823516161] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917cd00b20>'
[robpose-12] [INFO] [1732702806.865389958] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [ERROR] [1732702807.590724050] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702807.643946679] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702807.726221726] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.096 seconds
[rviz2-8] [INFO] [1732702807.726262032] [moveit_robot_model.robot_model]: Loading robot model 'irb1200'...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [WARN] [1732702807.735173920] [moveit_robot_model.robot_model]: Link EE_egp64 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702807.974748149] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702807.987485960] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
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[rviz2-8] [INFO] [1732702807.989815280] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.228782784] [interactive_marker_display_105763550638944]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.232818757] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'egp64'. Make sure that kinematics.yaml is loaded in this node's namespace.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.233775093] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'egp64'. Make sure that kinematics.yaml is loaded in this node's namespace.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.249707847] [moveit_ros_visualization.motion_planning_frame]: group egp64
[rviz2-8] [INFO] [1732702808.249729519] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'egp64' in namespace ''
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.252263493] [interactive_marker_display_105763550638944]: Sending request for interactive markers
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d749cf0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.264287494] [move_group_interface]: Ready to take commands for planning group egp64.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917cd01030>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.264839567] [moveit_ros_visualization.motion_planning_frame]: group egp64
[rviz2-8] [INFO] [1732702808.264866815] [moveit_ros_visualization.motion_planning_frame]: group egp64
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x71917d74be50>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x71917d7dd030>'
[rviz2-8] [INFO] [1732702808.287623798] [interactive_marker_display_105763550638944]: Service response received for initialization

@MikelBueno
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Collaborator

Hi @artyomkorchagin,

The launch process does not seem to have any errors. However, in order to see what happened with MoveG and ParallelGripper I will need to see the log of the End Effector movement executions (those will come under the launch file logs, since the /Move and /RobMove ROS 2 Actions are initialized and launched in the moveit2.launch.py file. You have only shared the log of the Gazebo+MoveIt!2 launch process.

Regards,
Mikel

@artyomkorchagin
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Thank you for your reply again @MikelBueno,

I apologize for the misunderstanding, I hope this is what you're asking for.

I did 2 RobMove and 1 MoveL actions before trying to do ParallelGripper and MoveG.

[robpose-12] [INFO] [1732792164.909858314] [move_group_interface]: Ready to take commands for planning group iiwa_arm.
[move-10] [INFO] [1732792164.910501018] [move_group_interface]: Ready to take commands for planning group iiwa_arm.
[move-10] [INFO] [1732792164.910850837] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[robpose-12] [WARN] [1732792164.911541585] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move-10] [INFO] [1732792164.917396394] [MOVE_INTERFACE]: MoveGroupInterface object created for ROBOT: iiwa
[robmove-11] [WARN] [1732792164.926634310] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move-10] [WARN] [1732792164.930013285] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robpose-12] [INFO] [1732792164.968264717] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[robmove-11] [INFO] [1732792164.972329286] [move_group_interface]: Ready to take commands for planning group iiwa_arm.
[robmove-11] [INFO] [1732792164.972353248] [RobMove_INTERFACE]: MoveGroupInterface object created for ROBOT: P�X��
[robmove-11] [WARN] [1732792164.981314040] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-8] [ERROR] [1732792165.782202265] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [INFO] [1732792165.803546799] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-8] [INFO] [1732792165.855064984] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-8] [INFO] [1732792165.855104495] [moveit_robot_model.robot_model]: Loading robot model 'iiwa'...
[rviz2-8] [WARN] [1732792165.920852525] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-8] [INFO] [1732792166.186706701] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[rviz2-8] [INFO] [1732792166.204384475] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-8] [INFO] [1732792166.206156594] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-8] [ERROR] [1732792166.528582640] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.528968942] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.542743525] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.543095574] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [INFO] [1732792166.550951009] [interactive_marker_display_105981700838016]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-8] [ERROR] [1732792166.552266955] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.552590677] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.554988476] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [ERROR] [1732792166.555400356] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-8] 
[rviz2-8] [INFO] [1732792166.576059265] [interactive_marker_display_105981700838016]: Sending request for interactive markers
[rviz2-8] [INFO] [1732792166.611002483] [interactive_marker_display_105981700838016]: Service response received for initialization
[rviz2-8] [INFO] [1732792166.665486264] [moveit_ros_visualization.motion_planning_frame]: group iiwa_arm
[rviz2-8] [INFO] [1732792166.665519829] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'iiwa_arm' in namespace ''
[rviz2-8] [INFO] [1732792166.680711701] [move_group_interface]: Ready to take commands for planning group iiwa_arm.
[rviz2-8] [INFO] [1732792166.682239383] [moveit_ros_visualization.motion_planning_frame]: group iiwa_arm
[rviz2-8] [INFO] [1732792166.682459501] [moveit_ros_visualization.motion_planning_frame]: group iiwa_arm
[robmove-11] [INFO] [1732792179.846402471] [robmove]: RobMove (/Robmove) -> RECEIVED A ROBOT MOVEMENT REQUEST:
[robmove-11] [INFO] [1732792179.846445231] [robmove]: Movement TYPE -> PTP
[robmove-11] [INFO] [1732792179.846455715] [robmove]: Movement SPEED -> 1.00
[robmove-11] [INFO] [1732792179.846465262] [robmove]: Desired POSITION -> (x: -0.400, y: -0.500, z: 1.300)
[robmove-11] [INFO] [1732792179.846473914] [robmove]: DESIRED ORIENTATION -> (qx: 0.000, qy: 0.000, qz: -0.710, qw: 0.710)
[robmove-11] [INFO] [1732792179.847621689] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[robmove-11] [INFO] [1732792179.848846739] [robmove]: INFORMATION -> Current Robot Pose:
[robmove-11] [INFO] [1732792179.848882520] [robmove]: POSITION -> (x: 0.000, y: -0.000, z: 1.947)
[robmove-11] [INFO] [1732792179.848896781] [robmove]: ORIENTATION -> (qx: 0.500, qy: -0.500, qz: 0.500, qw: 0.500)
[robmove-11] [INFO] [1732792179.849035034] [move_group_interface]: MoveGroup action client/server ready
[move_group-9] [INFO] [1732792179.849869670] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-9] [INFO] [1732792179.850137552] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-9] [INFO] [1732792179.850221025] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-9] [INFO] [1732792179.850233880] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-9] [INFO] [1732792179.850329392] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-9] [INFO] [1732792179.850366952] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[robmove-11] [INFO] [1732792179.850119452] [move_group_interface]: Planning request accepted
[move_group-9] [INFO] [1732792179.857501426] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[robmove-11] [INFO] [1732792179.858573602] [move_group_interface]: Planning request complete!
[robmove-11] [INFO] [1732792179.859604865] [move_group_interface]: time taken to generate plan: 0.0062845 seconds
[move_group-9] [INFO] [1732792179.860109873] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-9] [INFO] [1732792179.860540591] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-9] [INFO] [1732792179.860568894] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792179.860579860] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[robmove-11] [INFO] [1732792179.860556904] [move_group_interface]: Execute request accepted
[move_group-9] [INFO] [1732792179.860836777] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-9] [INFO] [1732792179.860966299] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-9] [INFO] [1732792179.861014048] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792179.861029418] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792179.861232927] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to joint_trajectory_controller
[gzserver-1] [INFO] [1732792179.861670516] [joint_trajectory_controller]: Received new action goal
[gzserver-1] [INFO] [1732792179.861776192] [joint_trajectory_controller]: Accepted new action goal
[move_group-9] [INFO] [1732792179.861901343] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: joint_trajectory_controller started execution
[move_group-9] [INFO] [1732792179.861922758] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [INFO] [1732792183.385198810] [joint_trajectory_controller]: Goal reached, success!
[move_group-9] [INFO] [1732792183.412920639] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'joint_trajectory_controller' successfully finished
[move_group-9] [INFO] [1732792183.413035556] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-9] [INFO] [1732792183.413120597] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[robmove-11] [INFO] [1732792183.414662054] [move_group_interface]: Execute request success!
[robmove-11] [INFO] [1732792183.414691259] [robmove]: ROBOT MOVEMENT (PTP) successfully executed.
[robmove-11] [INFO] [1732792183.415587725] [robmove]: RobMove (/Robmove) -> RECEIVED A ROBOT MOVEMENT REQUEST:
[robmove-11] [INFO] [1732792183.415616837] [robmove]: Movement TYPE -> PTP
[robmove-11] [INFO] [1732792183.415625400] [robmove]: Movement SPEED -> 1.00
[robmove-11] [INFO] [1732792183.415634234] [robmove]: Desired POSITION -> (x: -0.200, y: -0.800, z: 1.000)
[robmove-11] [INFO] [1732792183.415643212] [robmove]: DESIRED ORIENTATION -> (qx: 0.000, qy: 0.000, qz: -0.710, qw: 0.710)
[robmove-11] [INFO] [1732792183.415769328] [robmove]: INFORMATION -> Current Robot Pose:
[robmove-11] [INFO] [1732792183.415805668] [robmove]: POSITION -> (x: -0.400, y: -0.500, z: 1.300)
[robmove-11] [INFO] [1732792183.415818036] [robmove]: ORIENTATION -> (qx: -0.000, qy: -0.000, qz: -0.707, qw: 0.707)
[robmove-11] [INFO] [1732792183.415952264] [move_group_interface]: MoveGroup action client/server ready
[move_group-9] [INFO] [1732792183.416265871] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[robmove-11] [INFO] [1732792183.416396353] [move_group_interface]: Planning request accepted
[move_group-9] [INFO] [1732792183.416585437] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-9] [INFO] [1732792183.416729243] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-9] [INFO] [1732792183.416739721] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-9] [INFO] [1732792183.416804398] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-9] [INFO] [1732792183.416831802] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[move_group-9] [INFO] [1732792183.420615485] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[robmove-11] [INFO] [1732792183.421887231] [move_group_interface]: Planning request complete!
[robmove-11] [INFO] [1732792183.422180472] [move_group_interface]: time taken to generate plan: 0.00211899 seconds
[move_group-9] [INFO] [1732792183.424050834] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[robmove-11] [INFO] [1732792183.424171075] [move_group_interface]: Execute request accepted
[move_group-9] [INFO] [1732792183.424233164] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-9] [INFO] [1732792183.424250630] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792183.424261715] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792183.424323453] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-9] [INFO] [1732792183.424544730] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-9] [INFO] [1732792183.424568927] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792183.424581214] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792183.424703368] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to joint_trajectory_controller
[gzserver-1] [INFO] [1732792183.427052871] [joint_trajectory_controller]: Received new action goal
[gzserver-1] [INFO] [1732792183.427112106] [joint_trajectory_controller]: Accepted new action goal
[move_group-9] [INFO] [1732792183.427546391] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: joint_trajectory_controller started execution
[move_group-9] [INFO] [1732792183.427586711] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [INFO] [1732792188.094527816] [joint_trajectory_controller]: Goal reached, success!
[move_group-9] [INFO] [1732792188.127546555] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'joint_trajectory_controller' successfully finished
[move_group-9] [INFO] [1732792188.127609361] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-9] [INFO] [1732792188.128385990] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[robmove-11] [INFO] [1732792188.128690502] [move_group_interface]: Execute request success!
[robmove-11] [INFO] [1732792188.128964833] [robmove]: ROBOT MOVEMENT (PTP) successfully executed.
[move-10] [INFO] [1732792188.130707400] [move_group_interface]: MoveGroup action client/server ready
[move-10] [INFO] [1732792188.131477824] [move_group_interface]: Planning request accepted
[move_group-9] [INFO] [1732792188.131001623] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-9] [INFO] [1732792188.131347256] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-9] [INFO] [1732792188.131410038] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-9] [INFO] [1732792188.131418984] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-9] [INFO] [1732792188.131808044] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[move_group-9] [INFO] [1732792188.132792518] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[move-10] [INFO] [1732792188.133756015] [move_group_interface]: Planning request complete!
[move-10] [INFO] [1732792188.134060881] [move_group_interface]: time taken to generate plan: 0.000700699 seconds
[move_group-9] [INFO] [1732792188.134354910] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-9] [INFO] [1732792188.134662057] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-9] [INFO] [1732792188.134682648] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792188.134693090] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move-10] [INFO] [1732792188.134477167] [move_group_interface]: Execute request accepted
[move_group-9] [INFO] [1732792188.134848141] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-9] [INFO] [1732792188.134917786] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-9] [INFO] [1732792188.134946006] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792188.134958301] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1732792188.135236375] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to joint_trajectory_controller
[gzserver-1] [INFO] [1732792188.135922246] [joint_trajectory_controller]: Received new action goal
[gzserver-1] [INFO] [1732792188.135955779] [joint_trajectory_controller]: Accepted new action goal
[move_group-9] [INFO] [1732792188.136179537] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: joint_trajectory_controller started execution
[move_group-9] [INFO] [1732792188.136189998] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [INFO] [1732792188.787102896] [joint_trajectory_controller]: Goal reached, success!
[move_group-9] [INFO] [1732792188.836234837] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'joint_trajectory_controller' successfully finished
[move_group-9] [INFO] [1732792188.836290838] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-9] [INFO] [1732792188.836337767] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[move-10] [INFO] [1732792188.837406995] [move_group_interface]: Execute request success!
[move-10] [INFO] [1732792188.837613742] [move]: iiwa - MoveL: Movement executed!
[move-10] [INFO] [1732792188.838677185] [move]: ERROR: none
[move-10] [INFO] [1732792681.467372438] [move]: ERROR: none
[move-10] [INFO] [1732792699.847801196] [move]: ERROR: none

@Cadodo97
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Hi @artyomkorchagin, I have the same Issue.
Do you have any news?

@artyomkorchagin
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Hello @Cadodo97 , I'm still facing the same issue, no idea why.

@Cadodo97
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Hello @Cadodo97 , I'm still facing the same issue, no idea why.

Hi @artyomkorchagin in my case MoveG still doesn't work. I'm launching:
ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_ur3 config:=ur3_3
the gripper is different but same issue. I tried with test_GP.py and I got the gripper movement.

Looking to your last log file I have seen you are able to move the robot with RobMove, could you help me on this? #20

@Cadodo97
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Hi @artyomkorchagin I solved the problem download everything again following the Instruction, pay attention to add
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
in your .bashrc file, this command is in the step 7. Install ROS2 packages, which are required for ROS2-based Robot Simulation and Control: but it's not automatically added to that file.

@artyomkorchagin
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Hello @Cadodo97,
Sorry for the late reply.
If I recall correctly, I do have that line included, I can not check it at the moment, I'll come back to you with this later.
Nonetheless, thank you for your effort!

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@Cadodo97 @MikelBueno @artyomkorchagin