RViz “no planning library available” and controller_manager node missing in ROS 2 Jazzy

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

Hi VC,

I’m running into an issue that looks somewhat similar to a previous post, but this time RViz shows “no planning library available.”
This is my system configuration:

  • OS: Ubuntu 24.04.2 LTS (noble)
  • GPU: NVIDIA RTX A6000 ×2
  • Driver Version: 580.105.08
  • CUDA Version: 13.0
  • Cuda compilation tools: release 13.0, V13.0.48
  • Python: 3.12.3
  • Docker: 29.0.1, build eedd969
  • runc: 1.3.3 (commit: v1.3.3-0-gd842d771, spec: 1.2.1, go: go1.24.9, libseccomp: 2.5.3)
  • NVIDIA Container Toolkit CLI: 1.18.1 (commit: efe99418ef87500dbe059cadc9ab418b2815b9d5)
  • NVIDIA Container Runtime: 1.18.1 (commit: efe99418ef87500dbe059cadc9ab418b2815b9d5, spec: 1.3.0)
  • ROS 2 Distro: jazzy
  • Package: ros-jazzy-moveit-core Version: 2.12.4-1noble.20260126.203406

When I run:

ros2 service list | grep controller_manager

I can see /controller_manager/list_controllers.

However, when I run:

ros2 node list | grep controller_manager

there is no output at all. In other words, the service exists but the corresponding node does not.
I tried running controller_manager inside Docker, but I’m stuck at the same point every time:

admin@vlmdemo-SYS-551A-T:/workspaces/isaac_ros-dev$ ros2 run controller_manager ros2_control_node --ros-args -p robot_description:="$(cat /tmp/dual_v1.urdf)"
[INFO] [1770278024.482475882] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[WARN] [1770278024.485713919] [controller_manager]: The parameter 'deactivate_controllers_on_hardware_self_deactivate' is set to false. It is recommended to use the settings to true in order to avoid controllers to use inactive hardware components and to avoid any unexpected behavior. This feature might be removed in future releases and will be defaulted to true.
[INFO] [1770278024.488715205] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[INFO] [1770278024.491038668] [controller_manager]: update rate is 100 Hz
[INFO] [1770278024.491075016] [controller_manager]: Overruns handling is : enabled
[INFO] [1770278024.491082954] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[WARN] [1770278024.491255179] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[INFO] [1770278024.646350430] [controller_manager]: Received robot description from topic.
Stack trace (most recent call last):
#12   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
#11   Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x6006cf4b89c4, in _start
#10   Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x73fa5ec7328a]
#9    Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x73fa5ec731c9]
#8    Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x6006cf4b7e26, in main
#7    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73fa5f259f03, in rclcpp::executors::MultiThreadedExecutor::spin()
#6    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73fa5f259be6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
#5    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73fa5f247179, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
#4    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x73fa5f246a4a, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
#3    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73fa5f4feb34, in 
#2    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73fa5f46edca, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
#1    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x73fa5f46cb97, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#0    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x73fa5eae7ba0, in hardware_interface::ResourceManager::load_and_initialize_components(hardware_interface::ResourceManagerParams const&)
Segmentation fault (Address not mapped to object [0xd])
[ros2run]: Segmentation fault
Segmentation fault (Address not mapped to object [0xd])
[ros2run]: Segmentation fault

So the process always crashes at
hardware_interface::ResourceManager::load_and_initialize_components(…)
with a segmentation fault.

Here is my robot description file: eyou_descriptionfile
How can I resolve it? I would be very happy if I can get some advice. Thank you so much for your time.

2

Hello @g2739741069,

Could you first make sure the packages below all have the same version? You can run the following commands and share the output:

apt-cache policy ros-jazzy-controller-interface
apt-cache policy ros-jazzy-hardware-interface
apt-cache policy ros-jazzy-ros2-control
apt-cache policy ros-jazzy-controller-manager

Also, did you successfully run the example following this tutorial already?
What’s the command you used when you encountered the issue?

3

Hi,
Below is the output of the module version and thank you for your reply. Sadly, I didn’t even successfully run the example. I encountered this issue when I ran step 6 which is this line.

ros2 launch ROBOT_moveit_config ROBOT_moveit.launch.py

Which I ran ros2 launch eyou_config demo.launch.py but shows no planning library loaded like this image.

image
image688×609 40.9 KB

This is the output of launch file and node list:

admin@vlmdemo-SYS-551A-T:/workspaces/isaac_ros-dev$ ros2 launch eyou_config demo.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-06-14-54-41-618972-vlmdemo-SYS-551A-T-166509
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [166512]
[INFO] [robot_state_publisher-2]: process started with pid [166513]
[INFO] [move_group-3]: process started with pid [166514]
[INFO] [rviz2-4]: process started with pid [166515]
[INFO] [ros2_control_node-5]: process started with pid [166516]
[static_transform_publisher-1] [INFO] [1770360882.007247664] [static_transform_publisher0]: Spinning until stopped - publishing transform
[static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-1] from 'world' to 'base_link'
[robot_state_publisher-2] [WARN] [1770360882.013587620] [kdl_parser]: The root link base_link 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.
[robot_state_publisher-2] [INFO] [1770360882.013708143] [robot_state_publisher]: Robot initialized
[ros2_control_node-5] [INFO] [1770360882.025819118] [controller_manager]: Using ROS clock for triggering controller manager cycles.
[rviz2-4] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[ros2_control_node-5] [WARN] [1770360882.028573229] [controller_manager]: The parameter 'deactivate_controllers_on_hardware_self_deactivate' is set to false. It is recommended to use the settings to true in order to avoid controllers to use inactive hardware components and to avoid any unexpected behavior. This feature might be removed in future releases and will be defaulted to true.
[ros2_control_node-5] [INFO] [1770360882.030885172] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-5] [INFO] [1770360882.032876118] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1770360882.032893634] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-5] [INFO] [1770360882.032898040] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-5] [WARN] [1770360882.032959945] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[move_group-3] [INFO] [1770360882.054185966] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00525697 seconds
[move_group-3] [INFO] [1770360882.054292290] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'eyou_dual_v1_with_gripper'...
[move_group-3] [WARN] [1770360882.107572917] [move_group.moveit.moveit.core.robot_model]: Link arm_L1_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107629144] [move_group.moveit.moveit.core.robot_model]: Link arm_L2_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107636893] [move_group.moveit.moveit.core.robot_model]: Link arm_L3_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107643899] [move_group.moveit.moveit.core.robot_model]: Link arm_L4_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107649760] [move_group.moveit.moveit.core.robot_model]: Link arm_L5_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107656340] [move_group.moveit.moveit.core.robot_model]: Link arm_L6_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.107662220] [move_group.moveit.moveit.core.robot_model]: Link arm_L7_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117569083] [move_group.moveit.moveit.core.robot_model]: Link arm_L1_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117598347] [move_group.moveit.moveit.core.robot_model]: Link arm_L2_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117607522] [move_group.moveit.moveit.core.robot_model]: Link arm_L3_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117615281] [move_group.moveit.moveit.core.robot_model]: Link arm_L4_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117622459] [move_group.moveit.moveit.core.robot_model]: Link arm_L5_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117628621] [move_group.moveit.moveit.core.robot_model]: Link arm_L6_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.117634365] [move_group.moveit.moveit.core.robot_model]: Link arm_L7_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-3] [WARN] [1770360882.149694649] [kdl_parser]: The root link base_link 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.
[move_group-3] [INFO] [1770360882.149787926] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1 1
[move_group-3] [WARN] [1770360882.149969570] [kdl_parser]: The root link base_link 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.
[move_group-3] [INFO] [1770360882.150032413] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1 1
[move_group-3] [WARN] [1770360882.150162951] [kdl_parser]: The root link base_link 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.
[move_group-3] [INFO] [1770360882.150185254] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'head': 1 1 1
[ros2_control_node-5] [INFO] [1770360882.193986995] [controller_manager]: Received robot description from topic.
[ros2_control_node-5] Stack trace (most recent call last) in thread 166615:
[ros2_control_node-5] #10   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-5] #9    Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x75f7957b4c6b]
[ros2_control_node-5] #8    Source "./nptl/pthread_create.c", line 447, in start_thread [0x75f795727aa3]
[ros2_control_node-5] #7    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x75f7959b9db3, in 
[ros2_control_node-5] #6    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x75f795c9bbe6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ros2_control_node-5] #5    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x75f795c89179, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[ros2_control_node-5] #4    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x75f795c88a4a, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[ros2_control_node-5] #3    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x75f795f40b34, in 
[ros2_control_node-5] #2    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x75f795eb0dca, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
[ros2_control_node-5] #1    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x75f795eaeb97, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-5] #0    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x75f795529ba0, in hardware_interface::ResourceManager::load_and_initialize_components(hardware_interface::ResourceManagerParams const&)
[ros2_control_node-5] Segmentation fault (Address not mapped to object [0xd])
[rviz2-4] [INFO] [1770360882.337421971] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1770360882.337515358] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[ERROR] [ros2_control_node-5]: process has died [pid 166516, exit code -11, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /workspaces/isaac_ros-dev/install/eyou_config/share/eyou_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_1vmj0554 --params-file /tmp/launch_params_f8vpfoky -r /controller_manager/robot_description:=/robot_description'].
[rviz2-4] [INFO] [1770360882.357099478] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] 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.
[rviz2-4]          at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[move_group-3] [INFO] [1770360882.497573928] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1770360882.497719207] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1770360882.498317476] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1770360882.498611117] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1770360882.498620887] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-3] [INFO] [1770360882.498705401] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-3] [INFO] [1770360882.498901223] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1770360882.498957063] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1770360882.499167112] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1770360882.499174968] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1770360882.499748461] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1770360882.499931996] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1770360882.500666199] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[move_group-3]   what():  expected [string_array] got [string]
[move_group-3] Stack trace (most recent call last):
[move_group-3] #17   Object "", at 0xffffffffffffffff, in 
[move_group-3] #16   Object "/workspaces/isaac_ros-dev/build/moveit_ros_move_group/move_group", at 0x5f0194b1b254, in _start
[move_group-3] #15   Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x794c710b228a]
[move_group-3] #14   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x794c710b21c9]
[move_group-3] #13   Object "/workspaces/isaac_ros-dev/build/moveit_ros_move_group/move_group", at 0x5f0194b1a219, in main
[move_group-3] #12   Object "/workspaces/isaac_ros-dev/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.14.1", at 0x794c71ab3941, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-3] #11   Object "/workspaces/isaac_ros-dev/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.14.1", at 0x794c71ab1a47, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-3] #10   Object "/workspaces/isaac_ros-dev/install/moveit_ros_planning/lib/libmoveit_planning_pipeline_interfaces.so.2.14.1", at 0x794c70dfc0c7, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-3] #9    Object "/workspaces/isaac_ros-dev/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.14.1", at 0x794c70c813a4, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-3] #8    Object "/workspaces/isaac_ros-dev/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.14.1", at 0x794c70cc063d, in planning_pipeline_parameters::ParamListener::declare_params()
[move_group-3] #7    Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x794c71659447, in 
[move_group-3] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x794c71383390, in __cxa_throw
[move_group-3] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x794c7136da54, in std::terminate()
[move_group-3] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x794c713830d9, in 
[move_group-3] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x794c7136dff4, in 
[move_group-3] #2    Source "./stdlib/abort.c", line 79, in abort [0x794c710b08fe]
[move_group-3] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x794c710cd27d]
[move_group-3] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-3]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-3]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x794c71126b2c]
[move_group-3] Aborted (Signal sent by tkill() 166514 1000)
[ERROR] [move_group-3]: process has died [pid 166514, exit code -6, cmd '/workspaces/isaac_ros-dev/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_6yocu27y --params-file /tmp/launch_params_a7y4ja__'].
[INFO] [spawner-6]: process started with pid [166671]
[spawner-6] [INFO] [1770360884.356202377] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-4] [ERROR] [1770360885.459873512] [moveit_547941511.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-4] [INFO] [1770360885.476710507] [moveit_547941511.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-4] [INFO] [1770360885.526464383] [moveit_547941511.moveit.ros.rdf_loader]: Loaded robot model in 0.00500329 seconds
[rviz2-4] [INFO] [1770360885.526533572] [moveit_547941511.moveit.core.robot_model]: Loading robot model 'eyou_dual_v1_with_gripper'...
[rviz2-4] [WARN] [1770360885.580752584] [moveit_547941511.moveit.core.robot_model]: Link arm_L1_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580813943] [moveit_547941511.moveit.core.robot_model]: Link arm_L2_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580825332] [moveit_547941511.moveit.core.robot_model]: Link arm_L3_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580834673] [moveit_547941511.moveit.core.robot_model]: Link arm_L4_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580842811] [moveit_547941511.moveit.core.robot_model]: Link arm_L5_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580850956] [moveit_547941511.moveit.core.robot_model]: Link arm_L6_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.580859472] [moveit_547941511.moveit.core.robot_model]: Link arm_L7_l has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592194814] [moveit_547941511.moveit.core.robot_model]: Link arm_L1_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592228677] [moveit_547941511.moveit.core.robot_model]: Link arm_L2_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592237600] [moveit_547941511.moveit.core.robot_model]: Link arm_L3_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592245670] [moveit_547941511.moveit.core.robot_model]: Link arm_L4_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592252936] [moveit_547941511.moveit.core.robot_model]: Link arm_L5_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592259772] [moveit_547941511.moveit.core.robot_model]: Link arm_L6_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.592266344] [moveit_547941511.moveit.core.robot_model]: Link arm_L7_r has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-4] [WARN] [1770360885.633214984] [kdl_parser]: The root link base_link 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.
[rviz2-4] [INFO] [1770360885.633372649] [moveit_547941511.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1 1
[rviz2-4] [WARN] [1770360885.633814613] [kdl_parser]: The root link base_link 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.
[rviz2-4] [INFO] [1770360885.633877530] [moveit_547941511.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1 1
[rviz2-4] [WARN] [1770360885.634186837] [kdl_parser]: The root link base_link 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.
[rviz2-4] [INFO] [1770360885.634217588] [moveit_547941511.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'head': 1 1 1
[INFO] [spawner-7]: process started with pid [166720]
[INFO] [spawner-8]: process started with pid [166721]
[INFO] [spawner-9]: process started with pid [166722]
[INFO] [spawner-10]: process started with pid [166723]
[INFO] [spawner-11]: process started with pid [166724]
[rviz2-4] [INFO] [1770360886.032893181] [moveit_547941511.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-4] [INFO] [1770360886.034857446] [moveit_547941511.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-4] [INFO] [1770360886.365213689] [interactive_marker_display_108584958075312]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-4] [WARN] [1770360886.369326699] [kdl_parser]: The root link base_link 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.
[rviz2-4] [WARN] [1770360886.369426107] [kdl_parser]: The root link base_link 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.
[rviz2-4] [WARN] [1770360886.369463110] [kdl_parser]: The root link base_link 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.
[rviz2-4] [INFO] [1770360886.422491987] [interactive_marker_display_108584958075312]: Sending request for interactive markers
[rviz2-4] [INFO] [1770360886.458080775] [interactive_marker_display_108584958075312]: Service response received for initialization
[rviz2-4] [INFO] [1770360891.374050931] [moveit_547941511.moveit.ros.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-4] [INFO] [1770360891.374218098] [moveit_547941511.moveit.ros.motion_planning_frame]: group head
[rviz2-4] [INFO] [1770360891.374237626] [moveit_547941511.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'head' in namespace ''
[spawner-6] [WARN] [1770360894.363588332] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1770360894.363869352] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-6] [WARN] [1770360904.370038766] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[spawner-6] [INFO] [1770360904.370313820] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [WARN] [1770360906.386215984] [ros2_control_controller_spawner_right_arm_controller]: Attempt 1 failed. Retrying in 3 seconds...
[spawner-10] [WARN] [1770360906.387392107] [ros2_control_controller_spawner_right_gripper_controller]: Attempt 1 failed. Retrying in 3 seconds...
[spawner-11] [WARN] [1770360906.404234481] [ros2_control_controller_spawner_head_controller]: Attempt 1 failed. Retrying in 3 seconds...
[spawner-9] [WARN] [1770360906.429729442] [ros2_control_controller_spawner_left_gripper_controller]: Attempt 1 failed. Retrying in 3 seconds...
[spawner-7] [WARN] [1770360906.431782410] [ros2_control_controller_spawner_left_arm_controller]: Attempt 1 failed. Retrying in 3 seconds...
[spawner-6] [WARN] [1770360914.377084407] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers


admin@vlmdemo-SYS-551A-T:/workspaces/isaac_ros-dev$ ros2 node list
/interactive_marker_display_108584958075312
/moveit_547941511
/robot_state_publisher
/rviz
/rviz_private_133701128842496
/spawner_joint_state_broadcaster
/static_transform_publisher0
/transform_listener_impl_62c1e77b7260
/transform_listener_impl_7999b8426ec0

Output of module detection:

admin@vlmdemo-SYS-551A-T:/workspaces/isaac_ros-dev$ apt-cache policy ros-jazzy-controller-interface
apt-cache policy ros-jazzy-hardware-interface
apt-cache policy ros-jazzy-ros2-control
apt-cache policy ros-jazzy-controller-manager
ros-jazzy-controller-interface:
  Installed: 4.42.2-1noble.20260126.195028
  Candidate: 4.42.2-1noble.20260126.195028
  Version table:
 *** 4.42.2-1noble.20260126.195028 500
        500 http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
        100 /var/lib/dpkg/status
ros-jazzy-hardware-interface:
  Installed: 4.38.0-1noble.20251007.235557
  Candidate: 4.42.2-1noble.20260126.193506
  Version table:
     4.42.2-1noble.20260126.193506 500
        500 http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
 *** 4.38.0-1noble.20251007.235557 100
        100 /var/lib/dpkg/status
ros-jazzy-ros2-control:
  Installed: 4.42.2-1noble.20260126.200511
  Candidate: 4.42.2-1noble.20260126.200511
  Version table:
 *** 4.42.2-1noble.20260126.200511 500
        500 http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
        100 /var/lib/dpkg/status
ros-jazzy-controller-manager:
  Installed: 4.42.2-1noble.20260126.195504
  Candidate: 4.42.2-1noble.20260126.195504
  Version table:
 *** 4.42.2-1noble.20260126.195504 500
        500 http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages
        100 /var/lib/dpkg/status

And this is the link for my demo.launch.py FYI. Thank you again for your time.

4

I can see that ros-jazzy-hardware-interface is on a different version than the rest of your ros2_control stack. Please upgrade it to match the other packages first, as we’ve seen similar version mismatches cause segmentation faults before.