Hi,
in Isaac ROS 4.0, when launching the examples in Isaac for Manipulation with Isaac Sim I get crashes due to a change in param names in Univesal Robot’s repos.
use_fake_hardware/fake_sensors_commandsmust have been updated touse_mock_hardware/mock_sensor_commandsso I updated where they are used.- Fixes to the use of
{pi}that weren’t converted at runtime so some limits weren’t set.
Files affected:
"src/isaac_manipulator/isaac_manipulator_ros_python_utils/isaac_manipulator_ros_python_utils/robot_description_utils.py"
"src/isaac_manipulator/isaac_manipulator_robot_description/urdf/ur10e_robotiq_base_sim.ros2_control.xacro"
"src/isaac_manipulator/isaac_manipulator_robot_description/urdf/ur_sim.urdf.xacro"
"src/isaac_manipulator/isaac_manipulator_robot_description/urdf/ur_sim_macro.xacro"
"src/isaac_ros_cumotion/isaac_ros_cumotion_examples/ur_config/ur.ros2_control.xacro"
I saved the updated files in my isaac_ros_custom_bringup repo in /isaac_ros_4/scripts/fixes folder. You can apply the fixes automatically cloning the repo in ${ISAAC_ROS_WS}/src folder and, once inside the container with all packages built from script, running the isaac_ros_4/scripts/apply-isaac-manipulation-fixes.sh script.
Compute:
Problem and fix reproduced on x86 (RTX 4070) and Jetson AGX Thor Developer Kit
Crash LOG:
admin@tndlux-G16:/workspaces/isaac_ros-dev$ ros2 launch isaac_manipulator_bringup workflows.launch.py manipulator_workflow_config:=$(ros2 pkg prefix --share isaac_manipulator_bringup)/params/sim_launch_params.yaml
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-12-23-20-25-52-609939-tndlux-G16-1468
[INFO] [launch]: Default logging verbosity is set to INFO
/usr/local/lib/python3.12/dist-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
No camera specific nodes needed for Isaac Sim
No calibration specific things needed for Isaac Sim
[INFO] [launch.user]: Loading the sim_test_bench workspace. Ignoring the grid_center_m and grid_size_m parameters of cumotion and esdf visualizer.
WARNING:root:Cannot infer URDF from `/opt/ros/jazzy/share/isaac_manipulator_robot_description`. -- using config/ur_with_gripper.urdf
WARNING:root:Cannot infer SRDF from `/opt/ros/jazzy/share/isaac_manipulator_robot_description`. -- using config/ur_with_gripper.srdf
WARNING:root:"File /opt/ros/jazzy/share/isaac_manipulator_robot_description/config/ur_with_gripper.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[INFO] [static_planning_scene-2]: process started with pid [1543]
[INFO] [component_container_mt-1]: process started with pid [1542]
[INFO] [cumotion_goal_set_planner_node-3]: process started with pid [1544]
[INFO] [pose_to_pose_node-4]: process started with pid [1545]
[INFO] [isaac_sim_joint_parser_node.py-5]: process started with pid [1546]
[INFO] [robot_state_publisher-6]: process started with pid [1547]
[INFO] [rviz2-7]: process started with pid [1548]
[INFO] [ros2_control_node-8]: process started with pid [1549]
[INFO] [spawner-9]: process started with pid [1550]
[INFO] [isaac_sim_gripper_driver.py-10]: process started with pid [1551]
[INFO] [spawner-11]: process started with pid [1552]
[INFO] [move_group-12]: process started with pid [1553]
[robot_state_publisher-6] [INFO] [1766517956.146608418] [robot_state_publisher]: Robot initialized
[ros2_control_node-8] Stack trace (most recent call last) in thread 1649:
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[move_group-12] [INFO] [1766517956.163583777] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[move_group-12] [INFO] [1766517956.163701705] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'robotiq_gripper'...
[move_group-12] [INFO] [1766517956.163726851] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-8] #10 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
[move_group-12] [INFO] [1766517956.178670713] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[ros2_control_node-8] #9 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x70355af31c6b]
[ros2_control_node-8] #8 Source "./nptl/pthread_create.c", line 447, in start_thread [0x70355aea4aa3]
[ros2_control_node-8] #7 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x70355b134db3, in
[ros2_control_node-8] #6 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70355b418be6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ros2_control_node-8] #5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70355b406179, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[ros2_control_node-8] #4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x70355b405a4a, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[ros2_control_node-8] #3 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70355b6b3664, in
[ros2_control_node-8] #2 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70355b62c2ea, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
[ros2_control_node-8] #1 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x70355b62a089, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-8] #0 Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x70355aca9ba0, in hardware_interface::ResourceManager::load_and_initialize_components(hardware_interface::ResourceManagerParams const&)
[ros2_control_node-8] Segmentation fault (Address not mapped to object [0xd])
[move_group-12] [INFO] [1766517956.312739252] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-12] [INFO] [1766517956.313162935] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-12] [INFO] [1766517956.313669627] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-12] [INFO] [1766517956.314115039] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-12] [INFO] [1766517956.314133237] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-12] [INFO] [1766517956.314369331] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-12] [INFO] [1766517956.315111627] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-12] [INFO] [1766517956.315196920] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-12] [INFO] [1766517956.316036429] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-12] [INFO] [1766517956.316059017] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-12] [INFO] [1766517956.316367176] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-12] [INFO] [1766517956.316657429] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-12] [WARN] [1766517956.316955259] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-12] [ERROR] [1766517956.316972821] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-12] [WARN] [1766517956.323278154] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-12] [INFO] [1766517956.333241781] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Generate minimum-jerk trajectories using NVIDIA Isaac ROS cuMotion'
[move_group-12] [INFO] [1766517956.334113427] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-12] [INFO] [1766517956.335222667] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-12] [INFO] [1766517956.335238330] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-12] [INFO] [1766517956.335257011] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-12] [INFO] [1766517956.335261846] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-12] [INFO] [1766517956.335277416] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-12] [INFO] [1766517956.335281796] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-12] [INFO] [1766517956.335292097] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-12] [WARN] [1766517956.335296546] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified.
[move_group-12] [INFO] [1766517956.357094018] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-12] [INFO] [1766517956.358593985] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-12] [INFO] [1766517956.358813548] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-12] [INFO] [1766517956.358843911] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-12] [INFO] [1766517956.359140299] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-12] [INFO] [1766517956.359155911] [move_group]: MoveGroup debug mode is ON
[move_group-12] [ERROR] [1766517956.364290674] [move_group.moveit.moveit.ros.move_group.executable]: Exception while loading move_group capability 'move_group/ExecuteTaskSolutionCapability': According to the loaded plugin descriptions the class move_group/ExecuteTaskSolutionCapability with base class type move_group::MoveGroupCapability does not exist. Declared types are move_group/ApplyPlanningSceneService move_group/ClearOctomapService move_group/GetUrdfService move_group/LoadGeometryFromFileService move_group/MoveGroupCartesianPathService move_group/MoveGroupExecuteService move_group/MoveGroupExecuteTrajectoryAction move_group/MoveGroupGetPlanningSceneService move_group/MoveGroupKinematicsService move_group/MoveGroupMoveAction move_group/MoveGroupPlanService move_group/MoveGroupQueryPlannersService move_group/MoveGroupStateValidationService move_group/SaveGeometryToFileService move_group/TfPublisher pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService
[rviz2-7] [INFO] [1766517956.383224261] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1766517956.383388121] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[move_group-12] [INFO] [1766517956.388953465] [move_group.moveit.moveit.ros.move_group.executable]:
[move_group-12]
[move_group-12] ********************************************************
[move_group-12] * MoveGroup using:
[move_group-12] * - apply_planning_scene_service
[move_group-12] * - clear_octomap_service
[move_group-12] * - get_group_urdf
[move_group-12] * - load_geometry_from_file
[move_group-12] * - CartesianPathService
[move_group-12] * - execute_trajectory_action
[move_group-12] * - get_planning_scene_service
[move_group-12] * - kinematics_service
[move_group-12] * - move_action
[move_group-12] * - motion_plan_service
[move_group-12] * - query_planners_service
[move_group-12] * - state_validation_service
[move_group-12] * - save_geometry_to_file
[move_group-12] ********************************************************
[move_group-12]
[move_group-12] [INFO] [1766517956.389035322] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline isaac_ros_cumotion
[move_group-12] [INFO] [1766517956.389307050] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
[move_group-12] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-12] Loading 'move_group/ClearOctomapService'...
[move_group-12] Loading 'move_group/ExecuteTaskSolutionCapability'...
[move_group-12] Loading 'move_group/GetUrdfService'...
[move_group-12] Loading 'move_group/LoadGeometryFromFileService'...
[move_group-12] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-12] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-12] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-12] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-12] Loading 'move_group/MoveGroupMoveAction'...
[move_group-12] Loading 'move_group/MoveGroupPlanService'...
[move_group-12] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-12] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-12] Loading 'move_group/SaveGeometryToFileService'...
[move_group-12]
[move_group-12] You can start planning now!
[move_group-12]
[rviz2-7] [INFO] [1766517956.416621135] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] 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.
[rviz2-7] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-7] [WARN] [1766517956.658088250] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.
[spawner-11] [INFO] [1766517956.702738920] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ERROR] [ros2_control_node-8]: process has died [pid 1549, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --log-level error --ros-args -p use_sim_time:=True --params-file /tmp/launch_params_4ix840ef --params-file /tmp/launch_params_z_9u95cn -r /controller_manager/robot_description:=/robot_description'].
[INFO] [launch]: process[ros2_control_node-8] was required: shutting down launched system
[INFO] [move_group-12]: sending signal 'SIGINT' to process[move_group-12]
[INFO] [spawner-11]: sending signal 'SIGINT' to process[spawner-11]
[INFO] [isaac_sim_gripper_driver.py-10]: sending signal 'SIGINT' to process[isaac_sim_gripper_driver.py-10]
[INFO] [spawner-9]: sending signal 'SIGINT' to process[spawner-9]
[INFO] [rviz2-7]: sending signal 'SIGINT' to process[rviz2-7]
[INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6]
[INFO] [isaac_sim_joint_parser_node.py-5]: sending signal 'SIGINT' to process[isaac_sim_joint_parser_node.py-5]
[INFO] [pose_to_pose_node-4]: sending signal 'SIGINT' to process[pose_to_pose_node-4]
[INFO] [cumotion_goal_set_planner_node-3]: sending signal 'SIGINT' to process[cumotion_goal_set_planner_node-3]
[INFO] [static_planning_scene-2]: sending signal 'SIGINT' to process[static_planning_scene-2]
[INFO] [component_container_mt-1]: sending signal 'SIGINT' to process[component_container_mt-1]
[move_group-12] [INFO] [1766517957.007747266] [rclcpp]: signal_handler(signum=2)
[spawner-11] [INFO] [1766517957.009814625] [spawner_joint_state_broadcaster]: KeyboardInterrupt received! Exiting....
[rviz2-7] [INFO] [1766517957.011733156] [rclcpp]: signal_handler(signum=2)
[rviz2-7] [ERROR] [1766517957.011851752] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-7]
[rviz2-7] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[rviz2-7] This error state is being overwritten:
[rviz2-7]
[rviz2-7] 'rcl node's context is invalid, at ./src/rcl/node.c:404'
[rviz2-7]
[rviz2-7] with this new error message:
[rviz2-7]
[rviz2-7] 'publisher's context is invalid, at ./src/rcl/publisher.c:423'
[rviz2-7]
[rviz2-7] rcutils_reset_error() should be called after error handling to avoid this.
[rviz2-7] <<<
[rviz2-7] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423
[robot_state_publisher-6] [INFO] [1766517957.012665273] [rclcpp]: signal_handler(signum=2)
[isaac_sim_joint_parser_node.py-5] Traceback (most recent call last):
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/isaac_manipulator_isaac_sim_utils/isaac_sim_joint_parser_node.py", line 33, in <module>
[isaac_sim_joint_parser_node.py-5] sys.exit(load_entry_point('isaac-manipulator-isaac-sim-utils==4.0.0', 'console_scripts', 'isaac_sim_joint_parser_node.py')())
[isaac_sim_joint_parser_node.py-5] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_manipulator_isaac_sim_utils/isaac_sim_joint_parser_node.py", line 86, in main
[isaac_sim_joint_parser_node.py-5] rclpy.spin(node)
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin
[isaac_sim_joint_parser_node.py-5] executor.spin_once()
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 839, in spin_once
[isaac_sim_joint_parser_node.py-5] self._spin_once_impl(timeout_sec)
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 823, in _spin_once_impl
[isaac_sim_joint_parser_node.py-5] handler, entity, node = self.wait_for_ready_callbacks(
[isaac_sim_joint_parser_node.py-5] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 793, in wait_for_ready_callbacks
[isaac_sim_joint_parser_node.py-5] return next(self._cb_iter)
[isaac_sim_joint_parser_node.py-5] ^^^^^^^^^^^^^^^^^^^
[isaac_sim_joint_parser_node.py-5] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 697, in _wait_for_ready_callbacks
[isaac_sim_joint_parser_node.py-5] wait_set.wait(timeout_nsec)
[isaac_sim_joint_parser_node.py-5] KeyboardInterrupt
[cumotion_goal_set_planner_node-3] Traceback (most recent call last):
[cumotion_goal_set_planner_node-3] File "/opt/ros/jazzy/lib/isaac_ros_cumotion/cumotion_goal_set_planner_node", line 33, in <module>
[cumotion_goal_set_planner_node-3] sys.exit(load_entry_point('isaac-ros-cumotion==3.0.0', 'console_scripts', 'cumotion_goal_set_planner_node')())
[cumotion_goal_set_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_goal_set_planner_node-3] File "/opt/ros/jazzy/lib/isaac_ros_cumotion/cumotion_goal_set_planner_node", line 25, in importlib_load_entry_point
[cumotion_goal_set_planner_node-3] return next(matches).load()
[cumotion_goal_set_planner_node-3] ^^^^^^^^^^^^^^^^^^^^
[cumotion_goal_set_planner_node-3] File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
[cumotion_goal_set_planner_node-3] module = import_module(match.group('module'))
[cumotion_goal_set_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_goal_set_planner_node-3] File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
[cumotion_goal_set_planner_node-3] return _bootstrap._gcd_import(name[level:], package, level)
[cumotion_goal_set_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1310, in _find_and_load_unlocked
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap_external>", line 995, in exec_module
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
[cumotion_goal_set_planner_node-3] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_ros_cumotion/__init__.py", line 17, in <module>
[cumotion_goal_set_planner_node-3] from .cumotion_goal_set_client import CumotionGoalSetClient
[cumotion_goal_set_planner_node-3] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_goal_set_client.py", line 8, in <module>
[cumotion_goal_set_planner_node-3] from curobo.types.math import Pose as CuPose
[cumotion_goal_set_planner_node-3] File "/opt/ros/jazzy/lib/python3.12/site-packages/curobo/types/math.py", line 19, in <module>
[cumotion_goal_set_planner_node-3] import torch
[cumotion_goal_set_planner_node-3] File "/usr/local/lib/python3.12/dist-packages/torch/__init__.py", line 2204, in <module>
[cumotion_goal_set_planner_node-3] from torch import (
[cumotion_goal_set_planner_node-3] File "/usr/local/lib/python3.12/dist-packages/torch/xpu/__init__.py", line 504, in <module>
[static_planning_scene-2] Traceback (most recent call last):
[static_planning_scene-2] File "/opt/ros/jazzy/lib/isaac_ros_cumotion/static_planning_scene", line 33, in <module>
[static_planning_scene-2] sys.exit(load_entry_point('isaac-ros-cumotion==3.0.0', 'console_scripts', 'static_planning_scene')())
[static_planning_scene-2] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[static_planning_scene-2] File "/opt/ros/jazzy/lib/isaac_ros_cumotion/static_planning_scene", line 25, in importlib_load_entry_point
[static_planning_scene-2] return next(matches).load()
[static_planning_scene-2] ^^^^^^^^^^^^^^^^^^^^
[static_planning_scene-2] File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
[static_planning_scene-2] module = import_module(match.group('module'))
[static_planning_scene-2] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[static_planning_scene-2] File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
[static_planning_scene-2] return _bootstrap._gcd_import(name[level:], package, level)
[static_planning_scene-2] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1310, in _find_and_load_unlocked
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
[static_planning_scene-2] File "<frozen importlib._bootstrap_external>", line 995, in exec_module
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
[static_planning_scene-2] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_ros_cumotion/__init__.py", line 17, in <module>
[static_planning_scene-2] from .cumotion_goal_set_client import CumotionGoalSetClient
[static_planning_scene-2] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_goal_set_client.py", line 8, in <module>
[static_planning_scene-2] from curobo.types.math import Pose as CuPose
[static_planning_scene-2] File "/opt/ros/jazzy/lib/python3.12/site-packages/curobo/types/math.py", line 19, in <module>
[static_planning_scene-2] import torch
[static_planning_scene-2] File "/usr/local/lib/python3.12/dist-packages/torch/__init__.py", line 2204, in <module>
[static_planning_scene-2] from torch import (
[static_planning_scene-2] File "/usr/local/lib/python3.12/dist-packages/torch/multiprocessing/__init__.py", line 42, in <module>
[isaac_sim_gripper_driver.py-10] [INFO] [1766517957.021246529] [isaac_sim_gripper_action_server]: KeyboardInterrupt, shutting down.
[isaac_sim_gripper_driver.py-10]
[isaac_sim_gripper_driver.py-10] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423
[rviz2-7] [ERROR] [1766517957.023881933] [rviz2]: Could not load display config: failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[static_planning_scene-2] from .spawn import (
[static_planning_scene-2] File "/usr/local/lib/python3.12/dist-packages/torch/multiprocessing/spawn.py", line 4, in <module>
[static_planning_scene-2] import multiprocessing.connection
[static_planning_scene-2] File "/usr/lib/python3.12/multiprocessing/connection.py", line 22, in <module>
[cumotion_goal_set_planner_node-3] from .random import (
[cumotion_goal_set_planner_node-3] File "/usr/local/lib/python3.12/dist-packages/torch/xpu/random.py", line 6, in <module>
[cumotion_goal_set_planner_node-3] from torch import Tensor
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 471, in _lock_unlock_module
[cumotion_goal_set_planner_node-3] File "<frozen importlib._bootstrap>", line 316, in acquire
[cumotion_goal_set_planner_node-3] KeyboardInterrupt
[static_planning_scene-2] import _multiprocessing
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1322, in _find_and_load_unlocked
[static_planning_scene-2] File "<frozen importlib._bootstrap>", line 1262, in _find_spec
[static_planning_scene-2] File "<frozen importlib._bootstrap_external>", line 1528, in find_spec
[static_planning_scene-2] File "<frozen importlib._bootstrap_external>", line 1502, in _get_spec
[static_planning_scene-2] File "<frozen importlib._bootstrap_external>", line 1601, in find_spec
[static_planning_scene-2] File "<frozen importlib._bootstrap_external>", line 147, in _path_stat
[static_planning_scene-2] KeyboardInterrupt
[rviz2-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[rviz2-7] what(): could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:404
[spawner-9] [INFO] [1766517957.029673585] [ros2_control_controller_spawner_scaled_joint_trajectory_controller]: KeyboardInterrupt received! Exiting....
[pose_to_pose_node-4] [INFO] [1766517957.031672347] [pose_to_pose_node]: KeyboardInterrupt, shutting down.
[pose_to_pose_node-4]
[pose_to_pose_node-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423
[isaac_sim_gripper_driver.py-10] Traceback (most recent call last):
[isaac_sim_gripper_driver.py-10] File "/opt/ros/jazzy/lib/isaac_manipulator_isaac_sim_utils/isaac_sim_gripper_driver.py", line 33, in <module>
[isaac_sim_gripper_driver.py-10] sys.exit(load_entry_point('isaac-manipulator-isaac-sim-utils==4.0.0', 'console_scripts', 'isaac_sim_gripper_driver.py')())
[isaac_sim_gripper_driver.py-10] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[isaac_sim_gripper_driver.py-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_manipulator_isaac_sim_utils/isaac_sim_gripper_driver.py", line 207, in main
[isaac_sim_gripper_driver.py-10] rclpy.shutdown()
[isaac_sim_gripper_driver.py-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown
[isaac_sim_gripper_driver.py-10] _shutdown(context=context)
[isaac_sim_gripper_driver.py-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown
[isaac_sim_gripper_driver.py-10] context.shutdown()
[isaac_sim_gripper_driver.py-10] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown
[isaac_sim_gripper_driver.py-10] self.__context.shutdown()
[isaac_sim_gripper_driver.py-10] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333
[move_group-12] [INFO] [1766517957.060217825] [move_group.moveit.moveit.ros.moveit_cpp]: Deleting MoveItCpp
[INFO] [spawner-9]: process has finished cleanly [pid 1550]
[ERROR] [static_planning_scene-2]: process has died [pid 1543, exit code -2, cmd '/opt/ros/jazzy/lib/isaac_ros_cumotion/static_planning_scene --ros-args -r __node:=static_planning_scene_server -p use_sim_time:=True --params-file /tmp/launch_params_50ehxj3k'].
[ERROR] [cumotion_goal_set_planner_node-3]: process has died [pid 1544, exit code -2, cmd '/opt/ros/jazzy/lib/isaac_ros_cumotion/cumotion_goal_set_planner_node --ros-args -r __node:=cumotion_planner -r __ns:=/ -p use_sim_time:=True --params-file /tmp/launch_params_kdh2ln5f'].
[ERROR] [rviz2-7]: process has died [pid 1548, exit code -6, cmd '/opt/ros/jazzy/lib/rviz2/rviz2 -d /opt/ros/jazzy/share/isaac_manipulator_bringup/config/visualization/sim_workflows.rviz --ros-args -r __node:=rviz2 -p use_sim_time:=True --params-file /tmp/launch_params_qhcp268d --params-file /tmp/launch_params_wg8qx57t --params-file /tmp/launch_params_f_zalhkp --params-file /tmp/launch_params_s0zddqnm'].
[INFO] [component_container_mt-1]: process has finished cleanly [pid 1542]
[INFO] [launch]: process[component_container_mt-1] was required: shutting down launched system
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 1547]
[INFO] [launch]: process[robot_state_publisher-6] was required: shutting down launched system
[pose_to_pose_node-4] Traceback (most recent call last):
[pose_to_pose_node-4] File "/opt/ros/jazzy/lib/isaac_ros_moveit_goal_setter/pose_to_pose_node", line 33, in <module>
[pose_to_pose_node-4] sys.exit(load_entry_point('isaac-ros-moveit-goal-setter==4.0.0', 'console_scripts', 'pose_to_pose_node')())
[pose_to_pose_node-4] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[pose_to_pose_node-4] File "/opt/ros/jazzy/lib/python3.12/site-packages/isaac_ros_moveit_goal_setter/pose_to_pose.py", line 122, in main
[pose_to_pose_node-4] rclpy.shutdown()
[pose_to_pose_node-4] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown
[pose_to_pose_node-4] _shutdown(context=context)
[pose_to_pose_node-4] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown
[pose_to_pose_node-4] context.shutdown()
[pose_to_pose_node-4] File "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown
[pose_to_pose_node-4] self.__context.shutdown()
[pose_to_pose_node-4] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333
[INFO] [spawner-11]: process has finished cleanly [pid 1552]
[ERROR] [isaac_sim_joint_parser_node.py-5]: process has died [pid 1546, exit code -2, cmd '/opt/ros/jazzy/lib/isaac_manipulator_isaac_sim_utils/isaac_sim_joint_parser_node.py --ros-args -r __node:=joint_parser -p use_sim_time:=True --params-file /tmp/launch_params_uusz_004'].
[INFO] [launch]: process[isaac_sim_joint_parser_node.py-5] was required: shutting down launched system
[ERROR] [isaac_sim_gripper_driver.py-10]: process has died [pid 1551, exit code 1, cmd '/opt/ros/jazzy/lib/isaac_manipulator_isaac_sim_utils/isaac_sim_gripper_driver.py --ros-args -p use_sim_time:=True --params-file /tmp/launch_params_k3ofpxqe'].
[INFO] [launch]: process[isaac_sim_gripper_driver.py-10] was required: shutting down launched system
[move_group-12] Stack trace (most recent call last):
[move_group-12] #15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in
[move_group-12] #14 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x590fa114ea44, in _start
[move_group-12] #13 Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x7190eefac28a]
[move_group-12] #12 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7190eefac1c9]
[move_group-12] #11 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x590fa114d539, in main
[move_group-12] #10 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x590fa1150159, in
[move_group-12] #9 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.3", at 0x7190ef91dad0, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-12] #8 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.3", at 0x7190ef91d989, in
[move_group-12] #7 Object "/opt/ros/jazzy/lib/libmoveit_trajectory_execution_manager.so.2.12.3", at 0x7190eeca25da, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-12] #6 Object "/opt/ros/jazzy/lib/libmoveit_trajectory_execution_manager.so.2.12.3", at 0x7190eecb4735, in
[move_group-12] #5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef5b37f4, in rclcpp::Node::~Node()
[move_group-12] #4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef56e745, in
[move_group-12] #3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef5b20c0, in
[move_group-12] #2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef5b2003, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-12] #1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef56e809, in
[move_group-12] #0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7190ef5732d9, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-12] Segmentation fault (Address not mapped to object [0x7190e40bbda0])
[ERROR] [move_group-12]: process has died [pid 1553, exit code -11, cmd '/opt/ros/jazzy/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args -p use_sim_time:=True --params-file /tmp/launch_params_rp6d41m4 --params-file /tmp/launch_params_hq13b55y -r joint_states:=/isaac_parsed_joint_states'].
[INFO] [launch]: process[move_group-12] was required: shutting down launched system
[ERROR] [pose_to_pose_node-4]: process has died [pid 1545, exit code 1, cmd '/opt/ros/jazzy/lib/isaac_ros_moveit_goal_setter/pose_to_pose_node --ros-args -r __node:=pose_to_pose_node -r __ns:=/ -p use_sim_time:=True --params-file /tmp/launch_params_fjlu6x06'].
[INFO] [launch]: process[pose_to_pose_node-4] was required: shutting down launched system
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