Hi. I want to link MoveIt2 and Isaac Sim in ROS2. I’m following the description on the site (9. MoveIt 2 — isaacsim latest documentation) ). I am writing an inquiry because the connection is not working well.
1. Environment
Ubuntu 22.04, ROS2 Humble
Omniverse Isaac Sim 2022.2.1
2. context
As explained in the Omniverse guide, I installed ROS2 Humble and created a fastdds.xml file and set environmental variable. And I proceeded as explained in the MoveIt guide linked to the link. Omniverse runs normally, but when I run Rviz, it fails even if I move the robot, and the following log appears on the console.
3. Log (Rviz)
nvidia@ubuntu22:~/Omniverse/Moveit/moveit2_tutorials/doc/how_to_guides/isaac_panda$ docker compose up demo_isaac
[+] Running 1/0
✔ Container isaac_panda-demo_isaac-1 Created 0.1s
Attaching to isaac_panda-demo_isaac-1
isaac_panda-demo_isaac-1 | Sourced ROS 2 Humble
isaac_panda-demo_isaac-1 | Sourced isaac_moveit_tutorial workspace
isaac_panda-demo_isaac-1 | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-08-04-01-40-55-929367-ubuntu22-1
isaac_panda-demo_isaac-1 | [INFO] [launch]: Default logging verbosity is set to INFO
isaac_panda-demo_isaac-1 | [INFO] [rviz2-1]: process started with pid [52]
isaac_panda-demo_isaac-1 |
isaac_panda-demo_isaac-1 | [INFO] [static_transform_publisher-2]: process started with pid [54]
isaac_panda-demo_isaac-1 | [INFO] [static_transform_publisher-3]: process started with pid [56]
isaac_panda-demo_isaac-1 | [INFO] [robot_state_publisher-4]: process started with pid [58]
isaac_panda-demo_isaac-1 | [INFO] [move_group-5]: process started with pid [60]
isaac_panda-demo_isaac-1 | [INFO] [ros2_control_node-6]: process started with pid [62]
isaac_panda-demo_isaac-1 | [INFO] [spawner-7]: process started with pid [64]
isaac_panda-demo_isaac-1 | [INFO] [spawner-8]: process started with pid [66]
isaac_panda-demo_isaac-1 | [INFO] [spawner-9]: process started with pid [74]
isaac_panda-demo_isaac-1 | [static_transform_publisher-2] [WARN] [1691113256.465668657] []: Old-style arguments are deprecated; see --help for new-style arguments
isaac_panda-demo_isaac-1 | [static_transform_publisher-3] [WARN] [1691113256.472380100] []: Old-style arguments are deprecated; see --help for new-style arguments
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [WARN] [1691113256.497841557] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
isaac_panda-demo_isaac-1 |
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498552971] [robot_state_publisher]: got segment panda_hand
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498616269] [robot_state_publisher]: got segment panda_leftfinger
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498626819] [robot_state_publisher]: got segment panda_link0
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498631829] [robot_state_publisher]: got segment panda_link1
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498636869] [robot_state_publisher]: got segment panda_link2
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498641499] [robot_state_publisher]: got segment panda_link3
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498646029] [robot_state_publisher]: got segment panda_link4
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498650768] [robot_state_publisher]: got segment panda_link5
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498655308] [robot_state_publisher]: got segment panda_link6
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498659808] [robot_state_publisher]: got segment panda_link7
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498664348] [robot_state_publisher]: got segment panda_link8
isaac_panda-demo_isaac-1 | [robot_state_publisher-4] [INFO] [1691113256.498668938] [robot_state_publisher]: got segment panda_rightfinger
isaac_panda-demo_isaac-1 | [static_transform_publisher-2] [INFO] [1691113256.502854511] [static_transform_publisher]: Spinning until stopped - publishing transform
isaac_panda-demo_isaac-1 | [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
isaac_panda-demo_isaac-1 | [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
isaac_panda-demo_isaac-1 | [static_transform_publisher-2] from 'world' to 'panda_link0'
isaac_panda-demo_isaac-1 | [static_transform_publisher-3] [INFO] [1691113256.503739830] [static_transform_publisher]: Spinning until stopped - publishing transform
isaac_panda-demo_isaac-1 | [static_transform_publisher-3] translation: ('0.040000', '0.000000', '0.040000')
isaac_panda-demo_isaac-1 | [static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
isaac_panda-demo_isaac-1 | [static_transform_publisher-3] from 'panda_hand' to 'sim_camera'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.505609297] [resource_manager]: Loading hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.525525713] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00299423 seconds
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.525639420] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.539457578] [resource_manager]: Initialize hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.540651141] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.540804967] [moveit_kinematics_base.kinematics_base]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1
isaac_panda-demo_isaac-1 | [rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.564638372] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.564843427] [resource_manager]: Loading hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.564871367] [resource_manager]: Initialize hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.567011877] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.567263241] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.568940852] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.569382552] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.569399431] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.569695995] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.569707024] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.570215582] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.570461067] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.570840288] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
isaac_panda-demo_isaac-1 | [move_group-5] [ERROR] [1691113256.570860397] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577172070] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577254098] [resource_manager]: 'configure' hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577263018] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577273878] [resource_manager]: 'activate' hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577280388] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577285488] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577290667] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577296407] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.577301887] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.579609744] [moveit_ros.current_state_monitor]: Unable to update multi-DOF joint 'virtual_joint':Failure to lookup transform between 'world'and 'panda_link0' with TF exception: "world" passed to lookupTransform argument target_frame does not exist.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.586294448] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.586921383] [controller_manager]: update rate is 100 Hz
isaac_panda-demo_isaac-1 | [ros2_control_node-6] [INFO] [1691113256.587324464] [controller_manager]: RT kernel is recommended for better performance
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588388869] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588406989] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588411718] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588429518] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588443108] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588448098] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588458527] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588463737] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588468157] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588478257] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588486307] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588490427] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588516316] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588520166] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.588523506] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.593001352] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594023678] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594039328] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594043798] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594055387] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594067647] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594071967] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594082547] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594087287] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594091266] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594101306] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594105306] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594108406] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594111356] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.594114526] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.596416102] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.597003709] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.597020388] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.600210224] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.600222043] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.601144302] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.601156022] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.601768478] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.601776777] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.602373353] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.602381353] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603400890] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603438479] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603443489] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603454718] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603459548] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603463568] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603474588] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603478848] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603482038] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.603485218] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.659092143] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.659150912] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.661552006] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.661720312] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.661746871] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.662478904] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.662496014] [move_group.move_group]: MoveGroup debug mode is ON
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.682317332] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
isaac_panda-demo_isaac-1 | [ros2_control_node-6] Stack trace (most recent call last) in thread 118:
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #7 Object "", at 0xffffffffffffffff, in
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa9219b9ff, in
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.685850370] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.685985217] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686076374] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686091764] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686128123] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686165042] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686192822] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686220311] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686246720] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686301969] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686344058] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686385577] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.686463845] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686485205] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686493125] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686519074] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686565083] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686600602] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686650531] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686687980] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686738619] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686775298] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686824417] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113256.686858786] [move_group]: Failed loading deceleration limits
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa92109b42, in
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faa923992b2, in
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #3 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x559d7b221856, in
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #2 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faa91fa1f39, in hardware_interface::ResourceManager::write(rclcpp::Time const&, rclcpp::Duration const&)
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #1 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faa91fc8b74, in hardware_interface::System::write(rclcpp::Time const&, rclcpp::Duration const&)
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.687663927] [move_group.move_group]:
isaac_panda-demo_isaac-1 | [move_group-5]
isaac_panda-demo_isaac-1 | [move_group-5] ********************************************************
isaac_panda-demo_isaac-1 | [move_group-5] * MoveGroup using:
isaac_panda-demo_isaac-1 | [move_group-5] * - ApplyPlanningSceneService
isaac_panda-demo_isaac-1 |
isaac_panda-demo_isaac-1 | [move_group-5] * - ClearOctomapService
isaac_panda-demo_isaac-1 | [move_group-5] * - CartesianPathService
isaac_panda-demo_isaac-1 | [move_group-5] * - ExecuteTrajectoryAction
isaac_panda-demo_isaac-1 | [move_group-5] * - GetPlanningSceneService
isaac_panda-demo_isaac-1 | [move_group-5] * - KinematicsService
isaac_panda-demo_isaac-1 | [move_group-5] * - MoveAction
isaac_panda-demo_isaac-1 | [move_group-5] * - MotionPlanService
isaac_panda-demo_isaac-1 | [move_group-5] * - QueryPlannersService
isaac_panda-demo_isaac-1 | [move_group-5] * - StateValidationService
isaac_panda-demo_isaac-1 | [move_group-5] * - SequenceAction
isaac_panda-demo_isaac-1 | [move_group-5] * - SequenceService
isaac_panda-demo_isaac-1 | [move_group-5] ********************************************************
isaac_panda-demo_isaac-1 | [move_group-5]
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.687698567] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113256.687707756] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/ApplyPlanningSceneService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/ClearOctomapService'...
isaac_panda-demo_isaac-1 |
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupCartesianPathService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupGetPlanningSceneService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupKinematicsService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupMoveAction'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupPlanService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupQueryPlannersService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'move_group/MoveGroupStateValidationService'...
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
isaac_panda-demo_isaac-1 |
isaac_panda-demo_isaac-1 | [move_group-5] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
isaac_panda-demo_isaac-1 | [move_group-5]
isaac_panda-demo_isaac-1 | [move_group-5] You can start planning now!
isaac_panda-demo_isaac-1 | [move_group-5]
isaac_panda-demo_isaac-1 | [ros2_control_node-6] #0 Object "/root/isaac_moveit_tutorial_ws/install/topic_based_ros2_control/lib/libtopic_based_ros2_control.so", at 0x7faa8cc4a442, in topic_based_ros2_control::TopicBasedSystem::write(rclcpp::Time const&, rclcpp::Duration const&)
isaac_panda-demo_isaac-1 | [ros2_control_node-6] Segmentation fault (Address not mapped to object [(nil)])
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113257.057163504] [rviz2]: Stereo is NOT SUPPORTED
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113257.057503406] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
isaac_panda-demo_isaac-1 | [ERROR] [ros2_control_node-6]: process has died [pid 62, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_91r0pkar --params-file /opt/ros/humble/share/moveit_resources_panda_moveit_config/config/ros2_controllers.yaml'].
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113257.218283892] [rviz2]: Stereo is NOT SUPPORTED
isaac_panda-demo_isaac-1 | [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.
isaac_panda-demo_isaac-1 | [rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
isaac_panda-demo_isaac-1 | [spawner-7] [INFO] [1691113258.759203615] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-9] [INFO] [1691113258.806472245] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-8] [INFO] [1691113258.823528727] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [rviz2-1] [ERROR] [1691113260.337004264] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.362608228] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.375111826] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00258277 seconds
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.375173575] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.665740136] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00333796 seconds
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.665793265] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
isaac_panda-demo_isaac-1 | [rviz2-1] [WARN] [1691113260.686284307] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113260.686448323] [moveit_kinematics_base.kinematics_base]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1
isaac_panda-demo_isaac-1 | [spawner-7] [INFO] [1691113260.773445497] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-9] [INFO] [1691113260.820305045] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-8] [INFO] [1691113260.836796371] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.236930489] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.238312237] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.242517169] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.245328733] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113261.245479030] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'sim_camera' to planning frame'world' (Could not find a connection between 'world' and 'sim_camera' because they are not part of the same tree.Tf has two or more unconnected trees.)
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.261230803] [interactive_marker_display_93983034353904]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
isaac_panda-demo_isaac-1 | [rviz2-1] [WARN] [1691113261.265364367] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113261.356731058] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'sim_camera' to planning frame'world' (Could not find a connection between 'world' and 'sim_camera' because they are not part of the same tree.Tf has two or more unconnected trees.)
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.358687332] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.358751021] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.386294329] [move_group_interface]: Ready to take commands for planning group panda_arm.
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.625796309] [interactive_marker_display_93983034353904]: Sending request for interactive markers
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113261.817352035] [interactive_marker_display_93983034353904]: Service response received for initialization
isaac_panda-demo_isaac-1 | [spawner-7] [INFO] [1691113262.787687087] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-9] [INFO] [1691113262.837931816] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-8] [INFO] [1691113262.851605667] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-7] [INFO] [1691113264.803018410] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-9] [INFO] [1691113264.854501520] [spawner_panda_hand_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-8] [INFO] [1691113264.862910284] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
isaac_panda-demo_isaac-1 | [spawner-7] [ERROR] [1691113266.821315791] [spawner_joint_state_broadcaster]: Controller manager not available
isaac_panda-demo_isaac-1 | [spawner-9] [ERROR] [1691113266.868391874] [spawner_panda_hand_controller]: Controller manager not available
isaac_panda-demo_isaac-1 | [spawner-8] [ERROR] [1691113266.879465556] [spawner_panda_arm_controller]: Controller manager not available
isaac_panda-demo_isaac-1 | [ERROR] [spawner-7]: process has died [pid 64, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
isaac_panda-demo_isaac-1 | [ERROR] [spawner-9]: process has died [pid 74, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_hand_controller -c /controller_manager --ros-args'].
isaac_panda-demo_isaac-1 | [ERROR] [spawner-8]: process has died [pid 66, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_arm_controller -c /controller_manager --ros-args'].
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113275.821861294] [moveit_move_group_default_capabilities.move_action_capability]: Received request
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113275.822291694] [moveit_move_group_default_capabilities.move_action_capability]: executing..
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113275.830692398] [move_group_interface]: Plan and Execute request accepted
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.822735025] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1691113275.822586, but latest received state has time 0.000000.
isaac_panda-demo_isaac-1 | [move_group-5] Check clock synchronization if your are running ROS across multiple machines!
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113276.822815503] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113276.822881071] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'sim_camera' to planning frame'world' (Could not find a connection between 'world' and 'sim_camera' because they are not part of the same tree.Tf has two or more unconnected trees.)
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.822941010] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.823041068] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.823196544] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.823677213] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'panda_link5' (type 'Robot link') and 'panda_link7' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.823722632] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.823734081] [moveit_ros.fix_start_state_collision]: Start state appears to be in collision with respect to group panda_arm
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113276.840920800] [moveit_ros.fix_start_state_collision]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.020000 and 100 sampling attempts). Passing the original planning request to the planner.
isaac_panda-demo_isaac-1 | [move_group-5] [WARN] [1691113276.841025128] [moveit.ros_planning.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner.
isaac_panda-demo_isaac-1 | [move_group-5] [INFO] [1691113276.841061297] [moveit_move_group_default_capabilities.move_action_capability]: START_STATE_IN_COLLISION
isaac_panda-demo_isaac-1 | [rviz2-1] [INFO] [1691113276.841681052] [move_group_interface]: Plan and Execute request aborted
isaac_panda-demo_isaac-1 | [rviz2-1] [ERROR] [1691113276.842549752] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
4. Screenshot
(1) Rviz
(2) rqt graph
