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Published 20 hours ago • verified publisher icon ros-planning

AttributeError: 'moveit.planning.PlanningComponent' object has no attribute 'set_start_state'

Open ravijo opened this issue 2 years ago • 0 comments

Description

I am trying to get started with Motion Planning Python API by following the official tutorial. RViz window pops up, but the Panda arm is not moving. On the other hand, terminal is showing the following error:

[motion_planning_python_api_tutorial.py-1] Traceback (most recent call last):
[motion_planning_python_api_tutorial.py-1]   File "/home/user/ws_moveit2_main_iron/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py", line 176, in <module>
[motion_planning_python_api_tutorial.py-1]     main()
[motion_planning_python_api_tutorial.py-1]   File "/home/user/ws_moveit2_main_iron/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py", line 71, in main
[motion_planning_python_api_tutorial.py-1]     panda_arm.set_start_state(configuration_name="ready")
[motion_planning_python_api_tutorial.py-1] AttributeError: 'moveit.planning.PlanningComponent' object has no attribute 'set_start_state'. Did you mean: 'get_start_state'?

Your environment

  • ROS Distro: Iron

  • OS Version: Ubuntu 22.04.3 LTS

  • MoveIt Source or Binary build: Source

  • Below are the packages on my workspace

    user@dell:~/ws_moveit2_main_iron$ ls src/
moveit2            moveit_msgs       moveit_task_constructor  pick_ik      rviz_visual_tools
moveit2_tutorials  moveit_resources  moveit_visual_tools      ros2_kortex

  • All of these packages are updated as shown below:

    user@dell:~/ws_moveit2_main_iron/src$ vcs pull
.........
=== ./moveit2 (git) ===
Already up to date.
=== ./moveit2_tutorials (git) ===
Already up to date.
=== ./moveit_msgs (git) ===
Already up to date.
=== ./moveit_resources (git) ===
Already up to date.
=== ./moveit_task_constructor (git) ===
Already up to date.
=== ./moveit_visual_tools (git) ===
Already up to date.
=== ./pick_ik (git) ===
Already up to date.
=== ./ros2_kortex (git) ===
Already up to date.
=== ./rviz_visual_tools (git) ===
Already up to date.

  • All of these packages are up-to-date as confirmed below:

    user@dell:~/ws_moveit2_main_iron/src$ vcs status
.........
=== ./moveit2 (git) ===
On branch main
Your branch is up to date with 'origin/main'.

nothing to commit, working tree clean
=== ./moveit2_tutorials (git) ===
On branch main
Your branch is up to date with 'origin/main'.

nothing to commit, working tree clean
=== ./moveit_msgs (git) ===
On branch ros2
Your branch is up to date with 'origin/ros2'.

nothing to commit, working tree clean
=== ./moveit_resources (git) ===
On branch ros2
Your branch is up to date with 'origin/ros2'.

nothing to commit, working tree clean
=== ./moveit_task_constructor (git) ===
On branch ros2
Your branch is up to date with 'origin/ros2'.

nothing to commit, working tree clean
=== ./moveit_visual_tools (git) ===
On branch ros2
Your branch is up to date with 'origin/ros2'.

nothing to commit, working tree clean
=== ./pick_ik (git) ===
On branch main
Your branch is up to date with 'origin/main'.

nothing to commit, working tree clean
=== ./ros2_kortex (git) ===
On branch main
Your branch is up to date with 'origin/main'.

nothing to commit, working tree clean
=== ./rviz_visual_tools (git) ===
On branch ros2
Your branch is up to date with 'origin/ros2'.

nothing to commit, working tree clean

Steps to reproduce

I am executing the following command mentioned in the documentation.

ros2 launch moveit2_tutorials motion_planning_python_api_tutorial.launch.py

Expected behaviour

I expect the Panda arm to move.

Backtrace or Console output

$ ros2 launch moveit2_tutorials motion_planning_python_api_tutorial.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2023-10-29-13-19-59-065079-dell22-80141
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_planning_python_api_tutorial.py-1]: process started with pid [80144]
[INFO] [robot_state_publisher-2]: process started with pid [80146]
[INFO] [ros2_control_node-3]: process started with pid [80148]
[INFO] [rviz2-4]: process started with pid [80150]
[INFO] [static_transform_publisher-5]: process started with pid [80152]
[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process started with pid [80154]
[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process started with pid [80156]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process started with pid [80158]
[static_transform_publisher-5] [INFO] [1698553199.396768861] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-5] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-5] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-5] from 'world' to 'panda_link0'
[robot_state_publisher-2] [WARN] [1698553199.400565239] [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.
[robot_state_publisher-2] [INFO] [1698553199.400696707] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-2] [INFO] [1698553199.400728991] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-2] [INFO] [1698553199.400734467] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-2] [INFO] [1698553199.400737997] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-2] [INFO] [1698553199.400741322] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-2] [INFO] [1698553199.400744646] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-2] [INFO] [1698553199.400747989] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-2] [INFO] [1698553199.400751417] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-2] [INFO] [1698553199.400754755] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-2] [INFO] [1698553199.400758138] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-2] [INFO] [1698553199.400761479] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-2] [INFO] [1698553199.400764837] [robot_state_publisher]: got segment panda_rightfinger
[rviz2-4] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ros2_control_node-3] [WARN] [1698553199.412927003] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] [INFO] [1698553199.413096478] [resource_manager]: Loading hardware 'PandaFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413673023] [resource_manager]: Initialize hardware 'PandaFakeSystem' 
[ros2_control_node-3] [WARN] [1698553199.413694004] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: 
[ros2_control_node-3] <state_interface name="velocity"> 
[ros2_control_node-3]   <param name="initial_value">0.0</param> 
[ros2_control_node-3] </state_interface>
[ros2_control_node-3] [INFO] [1698553199.413700561] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.413711717] [resource_manager]: Loading hardware 'PandaHandFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413717435] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413723008] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.413748851] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413751908] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.413755086] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413757760] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.413760402] [resource_manager]: 'configure' hardware 'PandaFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413762830] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.413766310] [resource_manager]: 'activate' hardware 'PandaFakeSystem' 
[ros2_control_node-3] [INFO] [1698553199.413768849] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[ros2_control_node-3] [INFO] [1698553199.416778720] [controller_manager]: update rate is 100 Hz
[ros2_control_node-3] [INFO] [1698553199.416971267] [controller_manager]: RT kernel is recommended for better performance
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.445222260] [moveit_cpp_initializer]: Initialize rclcpp
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.445732150] [moveit_cpp_initializer]: Initialize node parameters
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.445742697] [moveit_cpp_initializer]: Initialize node and executor
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.468568793] [moveit_cpp_initializer]: Spin separate thread
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.475862653] [moveit_1639447295.rdf_loader]: Loaded robot model in 0.0016267 seconds
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.475902635] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[motion_planning_python_api_tutorial.py-1] [WARN] [1698553199.488319874] [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.
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.488368679] [moveit_kinematics_base.kinematics_base]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.507756938] [moveit_1639447295.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.507830342] [moveit_1639447295.moveit_cpp]: Listening to '/joint_states' for joint states
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.508516135] [moveit_1639447295.current_state_monitor]: Listening to joint states on topic '/joint_states'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.508721064] [moveit_1639447295.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.508732073] [moveit_1639447295.planning_scene_monitor]: Starting planning scene monitor
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.508874647] [moveit_1639447295.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.508881461] [moveit_1639447295.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.509041940] [moveit_1639447295.planning_scene_monitor]: Listening to 'collision_object'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553199.509201396] [moveit_1639447295.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[motion_planning_python_api_tutorial.py-1] [WARN] [1698553199.509937178] [moveit_1639447295.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[motion_planning_python_api_tutorial.py-1] [ERROR] [1698553199.509958785] [moveit_1639447295.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-4] [INFO] [1698553199.662240161] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1698553199.662334581] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-4] [INFO] [1698553199.703383002] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [WARN] [1698553199.774745029] [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.
[rviz2-4] [INFO] [1698553199.789805493] [rviz2.rdf_loader]: Loaded robot model in 0.00190983 seconds
[rviz2-4] [INFO] [1698553199.789843079] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[ros2_control_node-3] [INFO] [1698553199.918696335] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-3] [WARN] [1698553199.946301071] [panda_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-3] [INFO] [1698553199.947431269] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1698553199.947804944] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-3] [INFO] [1698553199.957338830] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-3] [INFO] [1698553199.957536348] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-3] [INFO] [1698553199.957563729] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-3] [INFO] [1698553199.957581912] [panda_arm_controller]: Using 'splines' interpolation method.
[ros2 run controller_manager spawner joint_state_broadcaster-8] [INFO] [1698553199.957701485] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1698553199.963270229] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-3] [INFO] [1698553199.968046957] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1698553199.968109140] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2 run controller_manager spawner panda_arm_controller-6] [INFO] [1698553199.988289725] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[rviz2-4] [INFO] [1698553199.991379656] [rviz2.rdf_loader]: Loaded robot model in 0.00246287 seconds
[rviz2-4] [INFO] [1698553199.991428903] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-4] [WARN] [1698553200.007575683] [rviz2.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ros2 run controller_manager spawner joint_state_broadcaster-8] [INFO] [1698553200.007984863] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.024089337] [moveit_1639447295.planning_pipeline]: Using planning interface 'OMPL'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028110580] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028134746] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028139426] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028143592] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028147387] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.028151188] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.031786423] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[motion_planning_python_api_tutorial.py-1] [WARN] [1698553200.032765986] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[motion_planning_python_api_tutorial.py-1] [WARN] [1698553200.032780118] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported.
[rviz2-4] [INFO] [1698553200.034209234] [rviz2.planning_scene_monitor]: Starting planning scene monitor
[rviz2-4] [INFO] [1698553200.036403058] [rviz2.planning_scene_monitor]: Listening to '/moveit_cpp/monitored_planning_scene'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.036833481] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.036852793] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.037543941] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.037553134] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.037961776] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.037969748] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.038355337] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.038362325] [moveit_1639447295.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.041363903] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.041382695] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.041387175] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.041391117] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.046251346] [moveit_1639447295.planning_pipeline]: Using planning interface 'CHOMP'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.049426284] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.049449474] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.049455914] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.049459830] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.049463719] [moveit_1639447295.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.074830339] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.074868994] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.078304438] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.078382398] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.078406980] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.078693158] [moveit_1639447295.trajectory_execution_manager]: Trajectory execution is managing controllers
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.082973297] [moveit_py.pose_goal]: MoveItPy instance created
[motion_planning_python_api_tutorial.py-1] Traceback (most recent call last):
[motion_planning_python_api_tutorial.py-1]   File "/home/user/ws_moveit2_main_iron/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py", line 176, in <module>
[motion_planning_python_api_tutorial.py-1]     main()
[motion_planning_python_api_tutorial.py-1]   File "/home/user/ws_moveit2_main_iron/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py", line 71, in main
[motion_planning_python_api_tutorial.py-1]     panda_arm.set_start_state(configuration_name="ready")
[motion_planning_python_api_tutorial.py-1] AttributeError: 'moveit.planning.PlanningComponent' object has no attribute 'set_start_state'. Did you mean: 'get_start_state'?
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.111919548] [moveit_1639447295.moveit_cpp]: Deleting MoveItCpp
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.117838194] [moveit_1639447295.planning_scene_monitor]: Stopped publishing maintained planning scene.
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.118418570] [moveit_1639447295.planning_scene_monitor]: Stopping world geometry monitor
[motion_planning_python_api_tutorial.py-1] [INFO] [1698553200.118552100] [moveit_1639447295.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process has finished cleanly [pid 80154]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process has finished cleanly [pid 80158]
[ERROR] [motion_planning_python_api_tutorial.py-1]: process has died [pid 80144, exit code 1, cmd '/home/user/ws_moveit2_main_iron/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_tutorial.py --ros-args -r __node:=moveit_py --params-file /tmp/launch_params_hhrkw6rl'].
[ros2_control_node-3] [INFO] [1698553200.769182467] [controller_manager]: Loading controller 'panda_hand_controller'
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1698553200.801769785] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-3] [INFO] [1698553200.802470360] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-3] [INFO] [1698553200.802525915] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[ros2 run controller_manager spawner panda_hand_controller-7] [INFO] [1698553200.819829624] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process has finished cleanly [pid 80156]
[rviz2-4] [INFO] [1698553205.111913437] [rviz2.planning_scene_monitor]: GetPlanningScene service call to get_planning_scene timed out. at /home/user/ws_moveit2_main_iron/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:607

The issue is related with https://github.com/ros-planning/moveit2_tutorials/issues/804

ravijo avatar Nov 01 '23 10:11 ravijo