ros2_SimRealRobotControl
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IFRA-Cranfield
Motion planning ur3 from rviz2 using an interactive marker does not work
Hi! First of all, I would like to congratulate you on creating this powerful repository, great job!
I encountered the following problem: ur3 motion planning using an interactive marker does not work. I visualized the robot in Gazebo.
Command called: ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_ur3 config:=ur3_2
Gazebo and rviz start up, moveit loads in rviz, but motion planning fails. Interestingly, moving the robot using
ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveJ', movej: {joint1: 0.00, joint2: 0.00, joint3: 0.00, joint4: 0.00, joint5: 0.00, joint6: 0.00}, speed: 1.0}"
works, and you can see the robot moving in Gazebo. I am attaching the logs from the call
ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_ur3 config:=ur3_2.
I followed the solution described in this issue and set the workspace name to the one I use (last entry), but this did not solve the problem.
I would be very grateful for any help in solving this problem. If you need additional logs, please contact me.
Best regards,
Jakub
Logs after planning request:
[move_group-15] [INFO] [1758379944.962649771] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-15] [INFO] [1758379944.962660528] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-15] [ERROR] [1758379944.962794097] [moveit.pilz_industrial_motion_planner]: No ContextLoader for planner_id '' found. Planning not possible.
[move_group-15] [INFO] [1758379944.962833104] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[rviz2-14] [INFO] [1758379944.963187233] [move_group_interface]: Plan and Execute request aborted
[rviz2-14] [ERROR] [1758379944.964030713] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
Full logs:
ros2 launch ros2srrc_launch moveit2.launch.py package:=ros2srrc_ur3 config:=ur3_2
[INFO] [launch]: All log files can be found below /home/lab010/.ros/log/2025-09-20-16-51-48-006619-roball-68258
[INFO] [launch]: Default logging verbosity is set to INFO
===== GAZEBO: Robot Simulation + MoveIt!2 Framework (ros2srrc_ur3_moveit2) =====
Robot configuration:
ur3_2 -> UR3 + Robotiq 2f-85 gripper on top of Robot Stand.
[INFO] [gzserver-1]: process started with pid [68260]
[INFO] [gzclient-2]: process started with pid [68262]
[INFO] [robot_state_publisher-3]: process started with pid [68264]
[INFO] [static_transform_publisher-4]: process started with pid [68266]
[INFO] [spawn_entity.py-5]: process started with pid [68268]
[static_transform_publisher-4] [WARN] [1758379909.232189963] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1758379909.239075026] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-4] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1758379909.243646932] [robot_state_publisher]: got segment EE_robotiq_2f85
[robot_state_publisher-3] [INFO] [1758379909.243721714] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1758379909.243730642] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1758379909.243736699] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1758379909.243742080] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1758379909.243747273] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1758379909.243752455] [robot_state_publisher]: got segment robot_stand
[robot_state_publisher-3] [INFO] [1758379909.243757760] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1758379909.243763327] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1758379909.243768616] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1758379909.243773895] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1758379909.243779156] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1758379909.243784487] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1758379909.243789722] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1758379909.243795680] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1758379909.243801009] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1758379909.243806372] [robot_state_publisher]: got segment robotiq_coupler
[robot_state_publisher-3] [INFO] [1758379909.243811581] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1758379909.243816707] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1758379909.243821851] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1758379909.243827003] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1758379909.243832134] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1758379909.243837256] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1758379909.243842270] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-5] [INFO] [1758379909.544761432] [spawn_entity]: Spawn Entity started
[spawn_entity.py-5] [INFO] [1758379909.545228835] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-5] [INFO] [1758379909.546574693] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-5] [INFO] [1758379909.548939822] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-5] [INFO] [1758379909.549365097] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-5] [INFO] [1758379910.303127470] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-5] [INFO] [1758379910.574266271] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur3]
[gzserver-1] [INFO] [1758379910.707657793] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1758379910.710821731] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1758379910.710950681] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1758379910.711620416] [gazebo_ros2_control]: Loading parameter files /home/lab010/colcon_workspace/install/ros2srrc_robots/share/ros2srrc_robots/ur3/config/controller.yaml
[gzserver-1] [INFO] [1758379910.711793086] [gazebo_ros2_control]: Loading parameter files /home/lab010/colcon_workspace/install/ros2srrc_endeffectors/share/ros2srrc_endeffectors/robotiq_2f85/config/controller.yaml
[gzserver-1] [INFO] [1758379910.714666905] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1758379910.716731966] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1758379910.732644291] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-1] [INFO] [1758379910.732799356] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.732832860] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733098675] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733113741] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.733204184] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733215545] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.733259586] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733270260] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.733277929] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733534309] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.733745602] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-1] [INFO] [1758379910.733757968] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.733765350] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733773860] [gazebo_ros2_control]: found initial value: -1.570796
[gzserver-1] [INFO] [1758379910.733782269] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.733790745] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733799238] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.733814340] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733826604] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.733842414] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733874551] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.733888859] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-1] [INFO] [1758379910.733897942] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.733904882] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733912295] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733920283] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.733927937] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733935453] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.733945178] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.733953424] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.733960743] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.733997069] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734011753] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-1] [INFO] [1758379910.734020486] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734027530] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734035131] [gazebo_ros2_control]: found initial value: -1.570796
[gzserver-1] [INFO] [1758379910.734043137] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734050029] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734057497] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734064656] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734072043] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734078796] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734097194] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734109957] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-1] [INFO] [1758379910.734138849] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734147612] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734154994] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734162827] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734169541] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734176968] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734184017] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734191447] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734198149] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734218712] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734230361] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-1] [INFO] [1758379910.734239279] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734247514] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734254577] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734263700] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734273461] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734281644] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734288849] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734296357] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734303044] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734319844] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734330950] [gazebo_ros2_control]: Loading joint: robotiq_85_left_knuckle_joint
[gzserver-1] [INFO] [1758379910.734338925] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734345580] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734352611] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734360373] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734367567] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734374888] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734381399] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734392038] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734403035] [gazebo_ros2_control]: Loading joint: robotiq_85_right_knuckle_joint
[gzserver-1] [INFO] [1758379910.734410925] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734417425] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734424226] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734432011] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734439070] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734446339] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734453929] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734464397] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734476413] [gazebo_ros2_control]: Loading joint: robotiq_85_left_inner_knuckle_joint
[gzserver-1] [INFO] [1758379910.734484628] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734491214] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734498161] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734505875] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734514022] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734521288] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734527864] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734541975] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734553414] [gazebo_ros2_control]: Loading joint: robotiq_85_right_inner_knuckle_joint
[gzserver-1] [INFO] [1758379910.734561325] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734568040] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734574940] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734587405] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734595218] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734602543] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734609216] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734620753] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734631109] [gazebo_ros2_control]: Loading joint: robotiq_85_left_finger_tip_joint
[gzserver-1] [INFO] [1758379910.734647271] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734655298] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734662690] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734670571] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734677771] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734688446] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734695545] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734707000] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734718047] [gazebo_ros2_control]: Loading joint: robotiq_85_right_finger_tip_joint
[gzserver-1] [INFO] [1758379910.734726085] [gazebo_ros2_control]: State:
[gzserver-1] [INFO] [1758379910.734732889] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734739936] [gazebo_ros2_control]: found initial value: 0.000000
[gzserver-1] [INFO] [1758379910.734747705] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.734754893] [gazebo_ros2_control]: effort
[gzserver-1] [INFO] [1758379910.734762214] [gazebo_ros2_control]: Command:
[gzserver-1] [INFO] [1758379910.734770740] [gazebo_ros2_control]: position
[gzserver-1] [INFO] [1758379910.734781025] [gazebo_ros2_control]: velocity
[gzserver-1] [INFO] [1758379910.735046749] [resource_manager]: Initialize hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736031309] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736276081] [resource_manager]: 'configure' hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736292465] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736302885] [resource_manager]: 'activate' hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736307682] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[gzserver-1] [INFO] [1758379910.736739782] [gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [WARN] [1758379910.759335004] [gazebo_ros2_control]: Desired controller update period (0.004 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1758379910.760655246] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 68268]
[INFO] [spawner-6]: process started with pid [68420]
[INFO] [spawner-7]: process started with pid [68422]
[gzserver-1] [INFO] [1758379911.070170836] [controller_manager]: Loading controller 'joint_trajectory_controller'
[gzserver-1] [WARN] [1758379911.092444640] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1758379911.112120014] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[gzserver-1] [INFO] [1758379911.113139442] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[gzserver-1] [INFO] [1758379911.113944310] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1758379911.114083106] [joint_trajectory_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[gzserver-1] [INFO] [1758379911.114181130] [joint_trajectory_controller]: Using 'splines' interpolation method.
[gzserver-1] [INFO] [1758379911.116562792] [joint_trajectory_controller]: Controller state will be published at 250.00 Hz.
[gzserver-1] [INFO] [1758379911.126019999] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-1] [INFO] [1758379911.141957996] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1758379911.142546269] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[spawner-7] [INFO] [1758379911.171246353] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-1] [INFO] [1758379911.172136709] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1758379911.172251772] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1758379911.182506109] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 68420]
[INFO] [spawner-8]: process started with pid [68473]
[INFO] [spawner-9]: process started with pid [68475]
[INFO] [spawner-10]: process started with pid [68477]
[INFO] [spawner-11]: process started with pid [68479]
[INFO] [spawner-12]: process started with pid [68481]
[INFO] [spawner-13]: process started with pid [68483]
[INFO] [spawner-7]: process has finished cleanly [pid 68422]
[gzserver-1] [INFO] [1758379911.646001754] [controller_manager]: Loading controller 'robotiq_controller_RIKJ'
[gzserver-1] [INFO] [1758379911.661510710] [controller_manager]: Loading controller 'robotiq_controller_LFTJ'
[gzserver-1] [INFO] [1758379911.674260896] [controller_manager]: Loading controller 'robotiq_controller_RKJ'
[gzserver-1] [INFO] [1758379911.688212976] [controller_manager]: Loading controller 'robotiq_controller_RFTJ'
[spawner-10] [INFO] [1758379911.689000860] [spawner_robotiq_controller_RIKJ]: Loaded robotiq_controller_RIKJ
[spawner-9] [INFO] [1758379911.697011444] [spawner_robotiq_controller_LFTJ]: Loaded robotiq_controller_LFTJ
[spawner-12] [INFO] [1758379911.705002848] [spawner_robotiq_controller_RKJ]: Loaded robotiq_controller_RKJ
[gzserver-1] [INFO] [1758379911.762301040] [controller_manager]: Loading controller 'robotiq_controller_LKJ'
[spawner-8] [INFO] [1758379911.778710175] [spawner_robotiq_controller_RFTJ]: Loaded robotiq_controller_RFTJ
[gzserver-1] [INFO] [1758379911.809740911] [controller_manager]: Configuring controller 'robotiq_controller_LFTJ'
[gzserver-1] [INFO] [1758379911.810028796] [robotiq_controller_LFTJ]: Action status changes will be monitored at 20.000000 Hz.
[gzserver-1] [INFO] [1758379911.814499966] [controller_manager]: Loading controller 'robotiq_controller_LIKJ'
[spawner-13] [INFO] [1758379911.826418714] [spawner_robotiq_controller_LKJ]: Loaded robotiq_controller_LKJ
[gzserver-1] [INFO] [1758379911.869691827] [controller_manager]: Configuring controller 'robotiq_controller_RKJ'
[gzserver-1] [INFO] [1758379911.869789404] [robotiq_controller_RKJ]: Action status changes will be monitored at 20.000000 Hz.
[gzserver-1] [INFO] [1758379911.873811428] [controller_manager]: Configuring controller 'robotiq_controller_RIKJ'
[gzserver-1] [INFO] [1758379911.873876407] [robotiq_controller_RIKJ]: Action status changes will be monitored at 20.000000 Hz.
[spawner-11] [INFO] [1758379911.888781305] [spawner_robotiq_controller_LIKJ]: Loaded robotiq_controller_LIKJ
[gzserver-1] [INFO] [1758379911.924135815] [controller_manager]: Configuring controller 'robotiq_controller_RFTJ'
[gzserver-1] [INFO] [1758379911.924209217] [robotiq_controller_RFTJ]: Action status changes will be monitored at 20.000000 Hz.
[spawner-9] [INFO] [1758379911.924813559] [spawner_robotiq_controller_LFTJ]: Configured and activated robotiq_controller_LFTJ
[gzserver-1] [INFO] [1758379912.001780934] [controller_manager]: Configuring controller 'robotiq_controller_LKJ'
[gzserver-1] [INFO] [1758379912.001876021] [robotiq_controller_LKJ]: Action status changes will be monitored at 20.000000 Hz.
[spawner-12] [INFO] [1758379912.002183446] [spawner_robotiq_controller_RKJ]: Configured and activated robotiq_controller_RKJ
[gzserver-1] [INFO] [1758379912.014546123] [controller_manager]: Configuring controller 'robotiq_controller_LIKJ'
[gzserver-1] [INFO] [1758379912.014633760] [robotiq_controller_LIKJ]: Action status changes will be monitored at 20.000000 Hz.
[spawner-10] [INFO] [1758379912.015226222] [spawner_robotiq_controller_RIKJ]: Configured and activated robotiq_controller_RIKJ
[spawner-8] [INFO] [1758379912.028261132] [spawner_robotiq_controller_RFTJ]: Configured and activated robotiq_controller_RFTJ
[spawner-13] [INFO] [1758379912.137984602] [spawner_robotiq_controller_LKJ]: Configured and activated robotiq_controller_LKJ
[spawner-11] [INFO] [1758379912.147180453] [spawner_robotiq_controller_LIKJ]: Configured and activated robotiq_controller_LIKJ
[INFO] [spawner-9]: process has finished cleanly [pid 68475]
[INFO] [spawner-12]: process has finished cleanly [pid 68481]
[INFO] [spawner-10]: process has finished cleanly [pid 68477]
[INFO] [spawner-8]: process has finished cleanly [pid 68473]
[INFO] [spawner-13]: process has finished cleanly [pid 68483]
[INFO] [spawner-11]: process has finished cleanly [pid 68479]
[INFO] [rviz2-14]: process started with pid [68576]
[INFO] [move_group-15]: process started with pid [68578]
[move_group-15] [WARN] [1758379913.072036622] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-15] [INFO] [1758379913.076186466] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-15] [INFO] [1758379913.076207056] [moveit_robot_model.robot_model]: Loading robot model 'ur3'...
[move_group-15] [WARN] [1758379913.193908854] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-14] [INFO] [1758379913.477821246] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-14] [INFO] [1758379913.477929649] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-14] [INFO] [1758379913.501501114] [rviz2]: Stereo is NOT SUPPORTED
[move_group-15] [INFO] [1758379913.559714209] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-15] [INFO] [1758379913.559886223] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-15] [INFO] [1758379913.560294082] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-15] [INFO] [1758379913.560755078] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-15] [INFO] [1758379913.560769978] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-15] [INFO] [1758379913.561824667] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-15] [INFO] [1758379913.561839472] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-15] [INFO] [1758379913.562229495] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-15] [INFO] [1758379913.562649675] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-15] [WARN] [1758379913.563361266] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-15] [ERROR] [1758379913.563383790] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-14] 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.
[rviz2-14] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[move_group-15] [INFO] [1758379913.796361053] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-15] [INFO] [1758379913.800277232] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-15] [INFO] [1758379913.808328402] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-15] [INFO] [1758379913.808353911] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-15] [INFO] [1758379913.810494459] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-15] [INFO] [1758379913.810512464] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-15] [INFO] [1758379913.811775766] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-15] [INFO] [1758379913.811789325] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-15] [INFO] [1758379913.812967474] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-15] [INFO] [1758379913.812985801] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-15] [INFO] [1758379913.832520931] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.834984407] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_LKJ
[move_group-15] [INFO] [1758379913.835084283] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.868805425] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_RKJ
[move_group-15] [INFO] [1758379913.868848326] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.870266228] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_LIKJ
[move_group-15] [INFO] [1758379913.870374210] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.871777100] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_RIKJ
[move_group-15] [INFO] [1758379913.871860513] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.873595406] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_LFTJ
[move_group-15] [INFO] [1758379913.873674787] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-15] [INFO] [1758379913.916051892] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for robotiq_controller_RFTJ
[move_group-15] [INFO] [1758379913.917738260] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-15] [INFO] [1758379913.919662094] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-15] [INFO] [1758379913.919969669] [moveit.plugins.moveit_simple_controller_manager]: Returned 8 controllers in list
[move_group-15] [INFO] [1758379913.920007523] [moveit.plugins.moveit_simple_controller_manager]: Returned 8 controllers in list
[move_group-15] [INFO] [1758379913.958441893] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-15] [INFO] [1758379913.958493828] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-15] [INFO] [1758379914.059629208] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
[move_group-15] [INFO] [1758379914.137950053] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-15] [WARN] [1758379914.138071313] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138197886] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138243296] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138284805] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138323967] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138373104] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138424334] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138473026] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138522425] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138589876] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138620817] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138642543] [move_group]: Failed loading deceleration limits
[move_group-15] [INFO] [1758379914.138713027] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-15] [WARN] [1758379914.138731929] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138753895] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138774171] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138794306] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138814322] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138852701] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138878223] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138898799] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138919059] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138939641] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138959186] [move_group]: Failed loading deceleration limits
[move_group-15] [WARN] [1758379914.138978381] [move_group]: Failed loading deceleration limits
[move_group-15] [INFO] [1758379914.140896985] [move_group.move_group]:
[move_group-15]
[move_group-15] ********************************************************
[move_group-15] * MoveGroup using:
[move_group-15] * - ApplyPlanningSceneService
[move_group-15] * - ClearOctomapService
[move_group-15] * - CartesianPathService
[move_group-15] * - ExecuteTrajectoryAction
[move_group-15] * - GetPlanningSceneService
[move_group-15] * - KinematicsService
[move_group-15] * - MoveAction
[move_group-15] * - MotionPlanService
[move_group-15] * - QueryPlannersService
[move_group-15] * - StateValidationService
[move_group-15] * - SequenceAction
[move_group-15] * - SequenceService
[move_group-15] ********************************************************
[move_group-15]
[move_group-15] [INFO] [1758379914.141039356] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-15] [INFO] [1758379914.141057678] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-15] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-15] Loading 'move_group/ClearOctomapService'...
[move_group-15] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-15] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-15] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-15] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-15] Loading 'move_group/MoveGroupMoveAction'...
[move_group-15] Loading 'move_group/MoveGroupPlanService'...
[move_group-15] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-15] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-15] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-15] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-15]
[move_group-15] You can start planning now!
[move_group-15]
[INFO] [move-16]: process started with pid [68672]
[INFO] [robmove-17]: process started with pid [68674]
[INFO] [robpose-18]: process started with pid [68676]
[robmove-17] [WARN] [1758379916.168629810] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[move-16] [WARN] [1758379916.169659180] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[robpose-18] [WARN] [1758379916.170248242] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[robmove-17] [INFO] [1758379916.172003904] [robmove]: ROB_PARAM received -> ur3
[robmove-17] [WARN] [1758379916.172271520] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[robpose-18] [INFO] [1758379916.173916389] [robpose]: ROB_PARAM received -> ur3
[move-16] [INFO] [1758379916.174347697] [move]: ROB_PARAM received -> ur3
[robpose-18] [WARN] [1758379916.175223816] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[move-16] [WARN] [1758379916.175397186] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[robmove-17] [INFO] [1758379916.187463149] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robmove-17] [INFO] [1758379916.187516514] [moveit_robot_model.robot_model]: Loading robot model 'ur3'...
[robpose-18] [INFO] [1758379916.188081143] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robpose-18] [INFO] [1758379916.188109196] [moveit_robot_model.robot_model]: Loading robot model 'ur3'...
[move-16] [INFO] [1758379916.188372623] [move]: EE_PARAM received -> robotiq_2f85
[move-16] [WARN] [1758379916.192251931] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[move-16] [INFO] [1758379916.206674487] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move-16] [INFO] [1758379916.206760794] [moveit_robot_model.robot_model]: Loading robot model 'ur3'...
[robmove-17] [WARN] [1758379916.318769835] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[robpose-18] [WARN] [1758379916.322155673] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move-16] [WARN] [1758379916.330660993] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[robmove-17] [INFO] [1758379916.365043860] [move_group_interface]: Ready to take commands for planning group ur3_arm.
[robmove-17] [INFO] [1758379916.365075205] [robmove]: MoveGroupInterface object created for ROBOT: ur3
[robpose-18] [INFO] [1758379916.367229656] [move_group_interface]: Ready to take commands for planning group ur3_arm.
[robpose-18] [INFO] [1758379916.367306675] [robpose]: MoveGroupInterface object created for ROBOT: ur3
[robpose-18] [WARN] [1758379916.368216276] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[robmove-17] [WARN] [1758379916.376158326] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[move-16] [INFO] [1758379916.389265330] [move_group_interface]: Ready to take commands for planning group ur3_arm.
[move-16] [INFO] [1758379916.390154199] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move-16] [INFO] [1758379916.390528952] [move]: MoveGroupInterface object created for ROBOT: ur3
[move-16] [INFO] [1758379916.400480345] [move_group_interface]: Ready to take commands for planning group robotiq_2f85.
[move-16] [INFO] [1758379916.400723731] [move]: MoveGroupInterface object created for END-EFFECTOR: robotiq_2f85
[robpose-18] [INFO] [1758379916.424751674] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-14] [ERROR] [1758379916.644390102] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-14] [INFO] [1758379916.661938354] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[move-16] [WARN] [1758379916.667025398] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[rviz2-14] [INFO] [1758379916.734499340] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.1 seconds
[rviz2-14] [INFO] [1758379916.734570681] [moveit_robot_model.robot_model]: Loading robot model 'ur3'...
[rviz2-14] [WARN] [1758379916.894517247] [moveit_robot_model.robot_model]: Link EE_robotiq_2f85 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-14] [INFO] [1758379917.302606621] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[rviz2-14] [INFO] [1758379917.321096294] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-14] [INFO] [1758379917.322439872] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-14] [ERROR] [1758379917.511938397] [rviz2]: The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.512243270] [rviz2]: The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.642566365] [rviz2]: The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.642852401] [rviz2]: The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [INFO] [1758379917.650364459] [interactive_marker_display_96333390125984]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-14] [ERROR] [1758379917.651842260] [rviz2]: The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.652179362] [rviz2]: The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.655202266] [rviz2]: The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [ERROR] [1758379917.655555533] [rviz2]: The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-14]
[rviz2-14] [INFO] [1758379917.657957846] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'robotiq_2f85'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-14] [INFO] [1758379917.659060044] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'robotiq_2f85'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-14] [INFO] [1758379917.666059687] [moveit_ros_visualization.motion_planning_frame]: group robotiq_2f85
[rviz2-14] [INFO] [1758379917.666114635] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'robotiq_2f85' in namespace ''
[rviz2-14] [INFO] [1758379917.677695301] [move_group_interface]: Ready to take commands for planning group robotiq_2f85.
[rviz2-14] [INFO] [1758379917.678714183] [moveit_ros_visualization.motion_planning_frame]: group robotiq_2f85
[rviz2-14] [INFO] [1758379917.678786389] [moveit_ros_visualization.motion_planning_frame]: group robotiq_2f85
[rviz2-14] [INFO] [1758379917.680758385] [interactive_marker_display_96333390125984]: Sending request for interactive markers
[rviz2-14] [INFO] [1758379917.713124098] [interactive_marker_display_96333390125984]: Service response received for initialization
[rviz2-14] [INFO] [1758379938.946246529] [moveit_ros_visualization.motion_planning_frame]: group ur3_arm
[rviz2-14] [INFO] [1758379938.946290945] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur3_arm' in namespace ''
[rviz2-14] [INFO] [1758379938.956027900] [move_group_interface]: Ready to take commands for planning group ur3_arm.
[move_group-15] [INFO] [1758379944.962169632] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-14] [INFO] [1758379944.962391451] [move_group_interface]: Plan and Execute request accepted
[move_group-15] [INFO] [1758379944.962445150] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-15] [INFO] [1758379944.962560772] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-15] [INFO] [1758379944.962649771] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-15] [INFO] [1758379944.962660528] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-15] [ERROR] [1758379944.962794097] [moveit.pilz_industrial_motion_planner]: No ContextLoader for planner_id '' found. Planning not possible.
[move_group-15] [INFO] [1758379944.962833104] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[rviz2-14] [INFO] [1758379944.963187233] [move_group_interface]: Plan and Execute request aborted
[rviz2-14] [ERROR] [1758379944.964030713] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
Hi @PartyKusZ ,
Thanks for your message.
I'm not 100% sure, but you are getting that error because you are not selecting the Pilz Motion Planner's movement type: PTP or LIN. You have to select it manually (Motion Planning/context) before making any movement request in RViZ.
Please do have a try and let me know!
Regards, Mikel
