This issue comes from the isaac_ros_cumotion_examples tutorial (isaac_ros_cumotion_moveit — isaac_ros_docs documentation). It really confused me as I have successfully reproduced this tutorial many times, even in many attempts today. But now I come across the error suddenly: while executing the launch file “ros2 launch isaac_ros_cumotion_examples franka.launch.py”, I am gettng the error No Planning Library Loaded. And the Motion Planning and PlanningScene in Moveit2 reports warning: requesting initial scene failed. I have attached the screenshot below.
Some more details:
- My environment: WSL(Ubuntu22.04)+Isaac ROS dev env, Nvidia RTXA4000
- I have also tested my own manipulator with OMPL planning in isaac ROS dev env and it’s OK
- I restarted my computer and the docker container, but not work
- For more details, I attacted log below
admin@CNSH2SVD8RPK7W3-wsl:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_cumotion_examples franka.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-02-17-17-58-41-867533-CNSH2SVD8RPK7W3-wsl-4644
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [4645]
[INFO] [static_transform_publisher-2]: process started with pid [4647]
[INFO] [robot_state_publisher-3]: process started with pid [4649]
[INFO] [move_group-4]: process started with pid [4651]
[INFO] [ros2_control_node-5]: process started with pid [4653]
[INFO] [spawner-6]: process started with pid [4655]
[INFO] [spawner-7]: process started with pid [4657]
[INFO] [spawner-8]: process started with pid [4659]
[static_transform_publisher-2] [WARN] [1739786322.479982385] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1739786322.495172752] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'panda_link0'
[robot_state_publisher-3] [INFO] [1739786322.498998094] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-3] [INFO] [1739786322.499086517] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-3] [INFO] [1739786322.499095482] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-3] [INFO] [1739786322.499100918] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-3] [INFO] [1739786322.499105258] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-3] [INFO] [1739786322.499109748] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-3] [INFO] [1739786322.499113824] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-3] [INFO] [1739786322.499117787] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-3] [INFO] [1739786322.499121838] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-3] [INFO] [1739786322.499125807] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-3] [INFO] [1739786322.499129839] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-3] [INFO] [1739786322.499133843] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [WARN] [1739786322.500476864] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-5] [INFO] [1739786322.500726721] [resource_manager]: Loading hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501175762] [resource_manager]: Initialize hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501230909] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501251190] [resource_manager]: Loading hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501262239] [resource_manager]: Initialize hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501274561] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501309482] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501314598] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501318733] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501323119] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501326986] [resource_manager]: 'configure' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501330720] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501336573] [resource_manager]: 'activate' hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.501340587] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-5] [INFO] [1739786322.505595282] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [WARN] [1739786322.505719469] [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-4] [INFO] [1739786322.526799925] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00285662 seconds
[move_group-4] [INFO] [1739786322.526954716] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[move_group-4] [INFO] [1739786322.563980259] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1739786322.564096640] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1739786322.565480201] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1739786322.565825472] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1739786322.565841922] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1739786322.566150082] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1739786322.566162695] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1739786322.566453205] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1739786322.566727066] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1739786322.567061484] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1739786322.567074854] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1739786322.568159983] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1739786322.584017787] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1739786322.586537391] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1739786322.586558016] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1739786322.586562238] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1739786322.586584271] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1739786322.586598372] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1739786322.586603105] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.586613507] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.586617606] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1739786322.586621656] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1739786322.586631696] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1739786322.586635260] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-4] [INFO] [1739786322.586637997] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1739786322.586640840] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1739786322.586643397] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1739786322.586646023] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1739786322.588838743] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-4] [ERROR] [1739786322.589761156] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are isaac_ros_cumotion_moveit/CumotionPlanner ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-4] [INFO] [1739786322.590612767] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1739786322.590626596] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1739786322.590630862] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1739786322.590642570] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1739786322.590654818] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1739786322.590660097] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.590670181] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.590674166] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1739786322.590677431] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1739786322.590687272] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1739786322.590690814] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1739786322.590693599] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1739786322.590696091] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1739786322.590698692] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [ERROR] [1739786322.591234474] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-4] [INFO] [1739786322.592002090] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-4] [INFO] [1739786322.593833062] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [WARN] [1739786322.594771229] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[move_group-4] [WARN] [1739786322.594795147] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[move_group-4] [INFO] [1739786322.599613464] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1739786322.599632040] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-4] [INFO] [1739786322.600712490] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-4] [INFO] [1739786322.600732921] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-4] [INFO] [1739786322.601515033] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-4] [INFO] [1739786322.601532591] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1739786322.602259166] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-4] [INFO] [1739786322.602280649] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-4] [INFO] [1739786322.603157323] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1739786322.603182572] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-4] [INFO] [1739786322.603186962] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.603197673] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.603201943] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1739786322.603205202] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1739786322.603216091] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1739786322.603219626] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1739786322.603222199] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1739786322.603224825] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1739786322.603821977] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'isaac_ros_cumotion'
[move_group-4] [WARN] [1739786322.604686382] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-4] [ERROR] [1739786322.605209749] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load library /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libmoveit_planning_interface.so.2.5.7: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99Available plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-4] [INFO] [1739786322.606064936] [moveit_ros.fix_workspace_bounds]: Param 'isaac_ros_cumotion.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1739786322.606088087] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1739786322.606092692] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.606103646] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1739786322.606107725] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1739786322.606111091] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1739786322.606121631] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1739786322.606125059] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1739786322.606127603] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1739786322.606143316] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [ERROR] [1739786322.606679376] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'isaac_ros_cumotion'.
[move_group-4] [INFO] [1739786322.642008455] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-4] [INFO] [1739786322.642046556] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-4] [INFO] [1739786322.644059735] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[move_group-4] [INFO] [1739786322.644186961] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1739786322.644204572] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1739786322.644577130] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1739786322.644592540] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [ERROR] [1739786322.644633417] [moveit_move_group_capabilities_base.move_group_context]: Failed to find default PlanningPipeline 'isaac_ros_cumotion' - please check MoveGroup's planning pipeline configuration.
[move_group-4] [INFO] [1739786322.657168668] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[ERROR] [move_group-4]: process has died [pid 4651, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_mcucc4e4'].
[rviz2-1] [INFO] [1739786322.702067090] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1739786322.702278534] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1739786322.722509327] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2_control_node-5] [INFO] [1739786322.969527547] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1739786322.987451663] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-5] [WARN] [1739786322.998316300] [panda_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1739786323.005150323] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1739786323.006240643] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1739786323.006322598] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1739786323.027118401] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-5] [INFO] [1739786323.035974980] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [INFO] [1739786323.036147167] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1739786323.036165875] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1739786323.036183283] [panda_arm_controller]: Using 'splines' interpolation method.
[spawner-6] [INFO] [1739786323.036817734] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-5] [INFO] [1739786323.037053729] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1739786323.038712227] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1739786323.066646774] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[INFO] [spawner-6]: process has finished cleanly [pid 4655]
[INFO] [spawner-7]: process has finished cleanly [pid 4657]
[ros2_control_node-5] [INFO] [1739786325.125049378] [controller_manager]: Loading controller 'panda_hand_controller'
[spawner-8] [INFO] [1739786325.157819372] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-5] [INFO] [1739786325.158772313] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1739786325.158852772] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[spawner-8] [INFO] [1739786325.186762780] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[INFO] [spawner-8]: process has finished cleanly [pid 4659]
[rviz2-1] [ERROR] [1739786325.963552469] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1739786325.982578723] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1739786325.992534786] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00300231 seconds
[rviz2-1] [INFO] [1739786325.992581968] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1739786326.370728786] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00103058 seconds
[rviz2-1] [INFO] [1739786326.370767827] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1739786326.453645944] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1739786326.454256412] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1739786326.457062459] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1739786326.458484448] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1739786326.470706503] [interactive_marker_display_94173226936576]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1739786326.560058275] [interactive_marker_display_94173226936576]: Sending request for interactive markers
[rviz2-1] [INFO] [1739786326.616164435] [interactive_marker_display_94173226936576]: Service response received for initialization
[rviz2-1] [INFO] [1739786331.458114089] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: GetPlanningScene service call to get_planning_scene timed out. at ./planning_scene_monitor/src/planning_scene_monitor.cpp:562
[rviz2-1] [INFO] [1739786331.477170488] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: GetPlanningScene service call to get_planning_scene timed out. at ./planning_scene_monitor/src/planning_scene_monitor.cpp:562
[rviz2-1] [INFO] [1739786331.477247485] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
[rviz2-1] [INFO] [1739786331.477255672] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[rviz2-1] [INFO] [1739786331.495245282] [move_group_interface]: Ready to take commands for planning group panda_arm.
Thanks in advance for your help.
