**Operating System **
Ubuntu 22.04
GPU
NVIDIA GeForce RTX 5070
Cuda
Build cuda_12.6.r12.6/compiler.34431801_0
Isaac ROS version
Isaac ROS 3.2
Hello, I am a newcomer to Isaac ROS. I have a problem related to ESDF. I hope I can get support. Here is the explanation.
I tried running the Isaac manipulator and the Isaac sim as a tutorial here
https://nvidia-isaac-ros.github.io/v/release-3.2/reference_workflows/isaac_manipulator/tutorials/tutorial_isaac_sim.html
I want to run the Pose to Pose example with Isaac sim. However, I have a problem where the robot does not want to move to the target pose. It was stuck in a certain pose.
admin@hehe-kr:/workspaces$ ros2 launch isaac_manipulator_pick_and_place isaac_sim_workflows.launch.py workflow_type:=pose_to_pose
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-12-02-17-29-17-362414-hehe-kr-7027
[INFO] [launch]: Default logging verbosity is set to INFO
WARNING:root:Cannot infer URDF from `/workspaces/isaac_ros-dev/install/isaac_manipulator_pick_and_place/share/isaac_manipulator_pick_and_place`. -- using config/ur10e.urdf
WARNING:root:Cannot infer SRDF from `/workspaces/isaac_ros-dev/install/isaac_manipulator_pick_and_place/share/isaac_manipulator_pick_and_place`. -- using config/ur10e.srdf
WARNING:root:"File /workspaces/isaac_ros-dev/install/isaac_manipulator_pick_and_place/share/isaac_manipulator_pick_and_place/config/ur10e.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[INFO] [launch.user]: Loading the 'sim_test_bench' workspace. Ignoring the grid_center_m / grid_size_m parameters of cumotion and esdf visualizer.
[INFO] [launch.user]: Adding nodes [ /nvblox_node ] to container manipulator_container.
[INFO] [launch.user]: Enabling nvblox for '1' 'isaac_sim' cameras configured for the 'sim_test_bench' workspace.
[INFO] [component_container_mt-1]: process started with pid [7070]
[INFO] [robot_state_publisher-2]: process started with pid [7072]
[INFO] [joint_state_publisher-3]: process started with pid [7074]
[INFO] [cumotion_goal_set_planner_node-4]: process started with pid [7076]
[INFO] [robot_segmenter_node-5]: process started with pid [7078]
[INFO] [attach_object_server_node-6]: process started with pid [7080]
[INFO] [move_group-7]: process started with pid [7082]
[INFO] [rviz2-8]: process started with pid [7084]
[INFO] [joint_parser_node.py-9]: process started with pid [7086]
[INFO] [ros2_control_node-10]: process started with pid [7088]
[INFO] [spawner-11]: process started with pid [7090]
[INFO] [isaac_sim_gripper_action_server.py-12]: process started with pid [7093]
[INFO] [spawner-13]: process started with pid [7096]
[INFO] [pose_to_pose_node-14]: process started with pid [7105]
[robot_state_publisher-2] [INFO] [1764664157.704587951] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1764664157.704630666] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1764664157.704635692] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-2] [INFO] [1764664157.704638911] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1764664157.704642183] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-2] [INFO] [1764664157.704645182] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-2] [INFO] [1764664157.704648442] [robot_state_publisher]: got segment grasp_frame
[robot_state_publisher-2] [INFO] [1764664157.704651404] [robot_state_publisher]: got segment gripper_frame
[robot_state_publisher-2] [INFO] [1764664157.704654631] [robot_state_publisher]: got segment left_inner_finger
[robot_state_publisher-2] [INFO] [1764664157.704657757] [robot_state_publisher]: got segment left_inner_finger_pad
[robot_state_publisher-2] [INFO] [1764664157.704661053] [robot_state_publisher]: got segment left_inner_knuckle
[robot_state_publisher-2] [INFO] [1764664157.704664100] [robot_state_publisher]: got segment left_outer_finger
[robot_state_publisher-2] [INFO] [1764664157.704667046] [robot_state_publisher]: got segment left_outer_knuckle
[robot_state_publisher-2] [INFO] [1764664157.704670065] [robot_state_publisher]: got segment right_inner_finger
[robot_state_publisher-2] [INFO] [1764664157.704673986] [robot_state_publisher]: got segment right_inner_finger_pad
[robot_state_publisher-2] [INFO] [1764664157.704677065] [robot_state_publisher]: got segment right_inner_knuckle
[robot_state_publisher-2] [INFO] [1764664157.704679986] [robot_state_publisher]: got segment right_outer_finger
[robot_state_publisher-2] [INFO] [1764664157.704682836] [robot_state_publisher]: got segment right_outer_knuckle
[robot_state_publisher-2] [INFO] [1764664157.704685666] [robot_state_publisher]: got segment robotiq_140_base_link
[robot_state_publisher-2] [INFO] [1764664157.704688697] [robot_state_publisher]: got segment robotiq_base_link
[robot_state_publisher-2] [INFO] [1764664157.704691548] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-2] [INFO] [1764664157.704694580] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1764664157.704697575] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-2] [INFO] [1764664157.704700493] [robot_state_publisher]: got segment world
[robot_state_publisher-2] [INFO] [1764664157.704703484] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-2] [INFO] [1764664157.704706466] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-2] [INFO] [1764664157.704709214] [robot_state_publisher]: got segment wrist_3_link
[ros2_control_node-10] [INFO] [1764664157.717214146] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-10] [INFO] [1764664157.717597452] [controller_manager]: update rate is 100 Hz
[ros2_control_node-10] [INFO] [1764664157.717613917] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-10] [WARN] [1764664157.717691430] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[move_group-7] [INFO] [1764664157.718273136] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-7] [INFO] [1764664157.718317715] [moveit_robot_model.robot_model]: Loading robot model 'robotiq_gripper'...
[move_group-7] [INFO] [1764664157.718325221] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-10] [INFO] [1764664157.731587805] [controller_manager]: Received robot description file.
[ros2_control_node-10] [INFO] [1764664157.731872391] [resource_manager]: Loading hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.732610447] [resource_manager]: Initialize hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.735813678] [resource_manager]: Successful initialization of hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.735883284] [resource_manager]: 'configure' hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.735892161] [resource_manager]: Successful 'configure' of hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.735900298] [resource_manager]: 'activate' hardware 'ur_ros2_control_sim'
[ros2_control_node-10] [INFO] [1764664157.735905065] [resource_manager]: Successful 'activate' of hardware 'ur_ros2_control_sim'
[move_group-7] [INFO] [1764664157.797378784] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-7] [INFO] [1764664157.797925252] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-7] [INFO] [1764664157.798722699] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-7] [INFO] [1764664157.799543569] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-7] [INFO] [1764664157.799770390] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1764664157.801090802] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1764664157.801311384] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-7] [INFO] [1764664157.801984884] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-7] [INFO] [1764664157.802688949] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-7] [WARN] [1764664157.803242147] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-7] [ERROR] [1764664157.803787088] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-7] [INFO] [1764664157.808225137] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'isaac_ros_cumotion'
[move_group-7] [WARN] [1764664157.814413944] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[rviz2-8] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[move_group-7] [INFO] [1764664157.826588646] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Generate minimum-jerk trajectories using NVIDIA Isaac ROS cuMotion'
[move_group-7] [INFO] [1764664157.827852356] [moveit_ros.fix_workspace_bounds]: Param 'isaac_ros_cumotion.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-7] [INFO] [1764664157.828029131] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_bounds_error' was set to 0.100000
[move_group-7] [INFO] [1764664157.828137433] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1764664157.828234292] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-7] [INFO] [1764664157.828322684] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-7] [INFO] [1764664157.828412235] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.max_sampling_attempts' was not set. Using default value: 100
[move_group-7] [INFO] [1764664157.828500251] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-7] [INFO] [1764664157.828585111] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-7] [INFO] [1764664157.828667420] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-7] [INFO] [1764664157.828752182] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-7] [INFO] [1764664157.829384075] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-7] [INFO] [1764664157.830112946] [moveit.ros_planning.planning_pipeline]: Multiple planning plugins available. You should specify the '~planning_plugin' parameter. Using 'chomp_interface/CHOMPPlanner' for now.
[move_group-7] [INFO] [1764664157.831152631] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
[move_group-7] [WARN] [1764664157.831819082] [moveit.ros_planning_interface.moveit_cpp]: Skipping duplicate entry for planning pipeline 'ompl'.
[move_group-7] [INFO] [1764664157.839637414] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-7] [INFO] [1764664157.840608946] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-7] [INFO] [1764664157.840929563] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1764664157.841096789] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-7] [INFO] [1764664157.841348898] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-7] [INFO] [1764664157.841534752] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-7] [INFO] [1764664157.855782644] [move_group.move_group]:
[move_group-7]
[move_group-7] ********************************************************
[move_group-7] * MoveGroup using:
[move_group-7] * - ApplyPlanningSceneService
[move_group-7] * - ClearOctomapService
[move_group-7] * - ExecuteTaskSolution
[move_group-7] * - CartesianPathService
[move_group-7] * - ExecuteTrajectoryAction
[move_group-7] * - GetPlanningSceneService
[move_group-7] * - KinematicsService
[move_group-7] * - MoveAction
[move_group-7] * - MotionPlanService
[move_group-7] * - QueryPlannersService
[move_group-7] * - StateValidationService
[move_group-7] ********************************************************
[move_group-7]
[move_group-7] [INFO] [1764664157.855820060] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin isaac_ros_cumotion_moveit/CumotionPlanner
[move_group-7] [INFO] [1764664157.855829908] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-7] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-7] Loading 'move_group/ClearOctomapService'...
[move_group-7] Loading 'move_group/ExecuteTaskSolutionCapability'...
[move_group-7] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-7] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-7] Loading 'move_group/MoveGroupMoveAction'...
[move_group-7] Loading 'move_group/MoveGroupPlanService'...
[move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-7] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-7]
[move_group-7] You can start planning now!
[move_group-7]
[joint_state_publisher-3] [INFO] [1764664158.015557185] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ros2_control_node-10] [INFO] [1764664158.165654656] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[component_container_mt-1] WARNING: Logging before InitGoogleLogging() is written to STDERR
[component_container_mt-1] I1202 17:29:18.166082 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[ros2_control_node-10] [WARN] [1764664158.170875193] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-10] [INFO] [1764664158.204959616] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-11] [INFO] [1764664158.218293537] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-10] [INFO] [1764664158.265060963] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ros2_control_node-10] [INFO] [1764664158.265257405] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-10] [INFO] [1764664158.265279815] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-10] [INFO] [1764664158.265300296] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-10] [INFO] [1764664158.265766846] [scaled_joint_trajectory_controller]: Controller state will be published at 50.00 Hz.
[move_group-7] [INFO] [1764664158.266901570] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-7] [INFO] [1764664158.267053542] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[ros2_control_node-10] [INFO] [1764664158.267594359] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-13] [INFO] [1764664158.273153519] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[pose_to_pose_node-14] [INFO] [1764664158.281463521] [pose_to_pose_node]: Planning Goal request accepted!
[ros2_control_node-10] [INFO] [1764664158.300651698] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-10] [INFO] [1764664158.300725791] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-11] [INFO] [1764664158.410319426] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[move_group-7] [INFO] [1764664158.488928265] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-7] [WARN] [1764664158.488952614] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request
[move_group-7] [WARN] [1764664158.488956097] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as difference in the planning scene diff
[move_group-7] [INFO] [1764664158.488961560] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-7] [INFO] [1764664158.488967501] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'isaac_ros_cumotion'
[move_group-7] [INFO] [1764664158.489257888] [move_group]: Planning trajectory
[spawner-13] [INFO] [1764664158.583841212] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-11]: process has finished cleanly [pid 7090]
[INFO] [spawner-13]: process has finished cleanly [pid 7096]
[rviz2-8] [INFO] [1764664159.696420178] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1764664159.696521001] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-8] [INFO] [1764664159.927296464] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1764664159.973586880] [rviz2]: Connected on namespace: /end_effector_marker
[cumotion_goal_set_planner_node-4] [INFO] [1764664159.998420413] [cumotion_planner]: Loading grid center and dims from workspace file: /workspaces/isaac_ros-dev/install/isaac_manipulator_bringup/share/isaac_manipulator_bringup/config/nvblox/workspace_bounds/sim_test_bench.yaml.
[cumotion_goal_set_planner_node-4] [INFO] [1764664160.000334910] [cumotion_planner]: Loaded grid dims: [2.0, 2.0, 1.0], voxel size: 0.01
[robot_segmenter_node-5] [INFO] [1764664160.960979183] [robot_segmenter]: Node initialized with 1 cameras
[robot_segmenter_node-5] [INFO] [1764664160.961137146] [robot_segmenter]: Starting CumotionRobotSegmenter node
[rviz2-8] [INFO] [1764664160.984450207] [rviz2]: Stereo is NOT SUPPORTED
[cumotion_goal_set_planner_node-4] [INFO] [1764664161.004009907] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664162.005049785] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[component_container_mt-1] I1202 17:29:22.386195 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[attach_object_server_node-6] [INFO] [1764664162.426441961] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664163.006274172] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664163.427687444] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664164.007694869] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664164.429130705] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664165.008817269] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664165.430923931] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664166.010246109] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[component_container_mt-1] I1202 17:29:26.274500 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:26.288043 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:26.319164 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[attach_object_server_node-6] [INFO] [1764664166.432604984] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664167.012047731] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664167.433966239] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664168.013855037] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664168.435440061] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664169.015303376] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664169.436803215] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664170.016727833] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[component_container_mt-1] I1202 17:29:30.160343 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:30.165772 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:30.197280 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[attach_object_server_node-6] [INFO] [1764664170.438255978] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664171.017925118] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664171.439714886] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664172.019405496] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664172.441181460] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664173.021295013] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[attach_object_server_node-6] [INFO] [1764664173.442501372] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[cumotion_goal_set_planner_node-4] [INFO] [1764664174.023213465] [cumotion_planner]: Service(/nvblox_node/get_esdf_and_gradient) not available, waiting again...
[component_container_mt-1] I1202 17:29:34.045253 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.050858 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.068918 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.070269 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.074852 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.348237 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.349406 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.349467 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.364722 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.367161 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.367167 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.367169 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.367170 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.367172 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.367172 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.367178 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.374281 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.398592 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.399796 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9TsdfVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.404317 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.423763 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.424932 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_10ColorVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.429414 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[attach_object_server_node-6] [INFO] [1764664174.443967998] [object_attachment]: Service(nvblox_node/get_esdf_and_gradient) not available, waiting again...
[component_container_mt-1] I1202 17:29:34.446798 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.448477 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14FreespaceVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.450856 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.476073 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.478379 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_14OccupancyVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.483987 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.499424 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.500598 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox15VoxelBlockLayerINS_9EsdfVoxelEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.500648 7135 block_memory_pool_impl.h:65] Expanding the memory pool with 2048 blocks. Number of allocated blocks: 2048
[component_container_mt-1] I1202 17:29:34.517537 7135 gpu_hash_interface_impl.cuh:83] Creating a GPUHashImpl with requested capacity of 4096 blocks. Real capacity: 4096
[component_container_mt-1] I1202 17:29:34.518699 7135 layer_cake_impl.h:32] Adding Layer with type: N6nvblox10BlockLayerINS_9MeshBlockEEE, voxel_size: 0.01, and memory_type: kDevice to LayerCake.
[component_container_mt-1] I1202 17:29:34.518702 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9TsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.518704 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_10ColorVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.518705 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14FreespaceVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.518707 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_14OccupancyVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.518707 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_15VoxelBlockLayerINS_9EsdfVoxelEEEEE to LayerCake.
[component_container_mt-1] I1202 17:29:34.518708 7135 layer_cake_streamer_impl.h:79] Adding Streamer with type: N6nvblox25LayerStreamerOldestBlocksINS_10BlockLayerINS_9MeshBlockEEEEE to LayerCake.
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/nvblox_node' in container 'manipulator_container'
[attach_object_server_node-6] [INFO] [1764664174.694632394] [object_attachment]: Node initialized with 1 cameras
[cumotion_goal_set_planner_node-4] [INFO] [1764664179.429419917] [cumotion_planner]: warming up cuMotion, wait until ready
[cumotion_goal_set_planner_node-4] [INFO] [1764664195.870845291] [cumotion_planner]: cuMotion is ready for planning queries!
[move_group-7] [INFO] [1764664195.883775188] [move_group]: Sending goal
[move_group-7] [INFO] [1764664195.886052132] [move_group]: Goal accepted by server, waiting for result
[cumotion_goal_set_planner_node-4] [INFO] [1764664195.886945556] [cumotion_planner]: Executing goal...
[cumotion_goal_set_planner_node-4] [INFO] [1764664195.887115137] [cumotion_planner]: Planning with time_dilation_factor: 1.0
[cumotion_goal_set_planner_node-4] [INFO] [1764664195.887323767] [cumotion_planner]: Calling ESDF service
[cumotion_goal_set_planner_node-4] [INFO] [1764664195.887483566] [cumotion_planner]: ESDF req = geometry_msgs.msg.Point(x=-1.5, y=-1.0, z=-0.2), geometry_msgs.msg.Vector3(x=2.0, y=2.0, z=1.0)
[cumotion_goal_set_planner_node-4] [ERROR] [1764664207.554866260] [cumotion_planner]: ESDF data is empty, try again after few seconds.
[cumotion_goal_set_planner_node-4] [ERROR] [1764664207.555606868] [cumotion_planner]: World update failed.
[move_group-7] [INFO] [1764664207.556317229] [move_group]: Received result
[move_group-7] [INFO] [1764664207.556547941] [move_group]: Received trajectory result
[move_group-7] [ERROR] [1764664207.556586036] [move_group]: No trajectory
[move_group-7] [INFO] [1764664207.556755451] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[pose_to_pose_node-14] [ERROR] [1764664207.559549054] [pose_to_pose_node]: Planning failed!
[pose_to_pose_node-14] [WARN] [1764664207.562307023] [pose_to_pose_node]: target pose was not reachable by planner, trying again on the next iteration
[move_group-7] [INFO] [1764664207.563656393] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-7] [INFO] [1764664207.563726838] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-7] [INFO] [1764664207.563786222] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-7] [WARN] [1764664207.563798104] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request
[move_group-7] [WARN] [1764664207.563842261] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as difference in the planning scene diff
[move_group-7] [INFO] [1764664207.563845956] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-7] [INFO] [1764664207.563848915] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'isaac_ros_cumotion'
[move_group-7] [INFO] [1764664207.564153731] [move_group]: Planning trajectory
[move_group-7] [INFO] [1764664207.564301190] [move_group]: Sending goal
[pose_to_pose_node-14] [INFO] [1764664207.564789756] [pose_to_pose_node]: Planning Goal request accepted!
[move_group-7] [INFO] [1764664207.566732045] [move_group]: Goal accepted by server, waiting for result
[cumotion_goal_set_planner_node-4] [INFO] [1764664207.567828667] [cumotion_planner]: Executing goal...
[cumotion_goal_set_planner_node-4] [INFO] [1764664207.568171930] [cumotion_planner]: Planning with time_dilation_factor: 1.0
[cumotion_goal_set_planner_node-4] [INFO] [1764664207.568548323] [cumotion_planner]: Calling ESDF service
[cumotion_goal_set_planner_node-4] [INFO] [1764664207.568881181] [cumotion_planner]: ESDF req = geometry_msgs.msg.Point(x=-1.5, y=-1.0, z=-0.2), geometry_msgs.msg.Vector3(x=2.0, y=2.0, z=1.0)
[cumotion_goal_set_planner_node-4] [ERROR] [1764664220.633900683] [cumotion_planner]: ESDF data is empty, try again after few seconds.
[cumotion_goal_set_planner_node-4] [ERROR] [1764664220.635145671] [cumotion_planner]: World update failed.
[move_group-7] [INFO] [1764664220.636090279] [move_group]: Received result
[move_group-7] [INFO] [1764664220.636099001] [move_group]: Checking results
[move_group-7] [INFO] [1764664220.636185166] [move_group]: Success
[move_group-7] [INFO] [1764664220.641255734] [move_group]: Received trajectory result
[move_group-7] [ERROR] [1764664220.641270926] [move_group]: No trajectory
[move_group-7] [INFO] [1764664220.641297962] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[pose_to_pose_node-14] [ERROR] [1764664220.642659024] [pose_to_pose_node]: Planning failed!
[pose_to_pose_node-14] [WARN] [1764664220.651643142] [pose_to_pose_node]: target pose was not reachable by planner, trying again on the next iteration
[move_group-7] [INFO] [1764664220.654130155] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-7] [INFO] [1764664220.654247237] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-7] [INFO] [1764664220.654325253] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-7] [WARN] [1764664220.654339385] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request
[move_group-7] [WARN] [1764664220.654345015] [moveit_move_group_capabilities_base.move_group_capability]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as difference in the planning scene diff
[move_group-7] [INFO] [1764664220.654349593] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-7] [INFO] [1764664220.654354237] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'isaac_ros_cumotion'
[move_group-7] [INFO] [1764664220.654743112] [move_group]: Planning trajectory
[move_group-7] [INFO] [1764664220.654974974] [move_group]: Sending goal
[pose_to_pose_node-14] [INFO] [1764664220.656066423] [pose_to_pose_node]: Planning Goal request accepted!
[move_group-7] [INFO] [1764664220.660791575] [move_group]: Goal accepted by server, waiting for result
[cumotion_goal_set_planner_node-4] [INFO] [1764664220.665466314] [cumotion_planner]: Executing goal...
[cumotion_goal_set_planner_node-4] [INFO] [1764664220.666092859] [cumotion_planner]: Planning with time_dilation_factor: 1.0
[cumotion_goal_set_planner_node-4] [INFO] [1764664220.666782254] [cumotion_planner]: Calling ESDF service
[cumotion_goal_set_planner_node-4] [INFO] [1764664220.667271680] [cumotion_planner]: ESDF req = geometry_msgs.msg.Point(x=-1.5, y=-1.0, z=-0.2), geometry_msgs.msg.Vector3(x=2.0, y=2.0, z=1.0)
From the error, it shows that
[cumotion_goal_set_planner_node-4] [ERROR] [1764664220.633900683] [cumotion_planner]: ESDF data is empty, try again after few seconds.
[cumotion_goal_set_planner_node-4] [ERROR] [1764664220.635145671] [cumotion_planner]: World update failed.
[move_group-7] [ERROR] [1764664207.556586036] [move_group]: No trajectory
[move_group-7] [INFO] [1764664207.556755451] [moveit_move_group_default_capabilities.move_action_capability]: No motion plan found. No execution attempted.
[pose_to_pose_node-14] [ERROR] [1764664207.559549054] [pose_to_pose_node]: Planning failed!
I am only following instructions on the website. Is there any opinion on the root cause of this problem and how to fix it? Thank you