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Published 20 hours ago • verified publisher icon lopsided98

MoveIt2 move_group can't find class plugins

Open okvik opened this issue 1 year ago • 29 comments

After some patching and cherry picking issues I almost have a workable ROS 2 Humble environment with MoveIt2 and RViz2.

However, the move_group package that expects to load its capabilities from plugins have trouble finding them, even though the plugin objects themselves and the resource index stuff seem to be in place. Strangely enough the MoveIt2 planning pipelines, which are also plugins, get loaded fine...

I'm not exactly sure on how to continue debugging this. Did anyone encounter this with other packages before? I can't seem to find many references to relevant problems with plugins in past issues.

Later today I'll (try to) provide a way to reproduce this easily, but for now here's a log of running ros2 launch moveit_resources_fanuc_moveit_config demo.launch.py (Fanuc instead of Panda here because Panda config package is broken in the Humble release of MoveIt...

[INFO] [launch]: All log files can be found below /home/kvik/.ros/log/2023-05-18-16-22-50-727021-vpcd-dell-2379303
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [rviz2-1]: process started with pid [2379304]
[INFO] [static_transform_publisher-2]: process started with pid [2379306]
[INFO] [robot_state_publisher-3]: process started with pid [2379308]
[INFO] [move_group-4]: process started with pid [2379310]
[INFO] [ros2_control_node-5]: process started with pid [2379312]
[INFO] [spawner-6]: process started with pid [2379314]
[INFO] [spawner-7]: process started with pid [2379316]
[static_transform_publisher-2] [WARN] [1684419771.395976573] []: Old-style arguments are deprecated; see --help for new-style arguments
[ros2_control_node-5] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. 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.
[ros2_control_node-5]          at line 253 in /nix/store/4is2qsw3j6an766xhbzik16zzhrf6sg9-ros-humble-class-loader-2.2.0-r3/include/class_loader/class_loader/class_loader_core.hpp
[static_transform_publisher-2] [INFO] [1684419771.435410062] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1684419771.474847917] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1684419771.474940903] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1684419771.474970662] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1684419771.474988278] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1684419771.475001192] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1684419771.475013926] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1684419771.475028027] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1684419771.475053199] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1684419771.475066758] [robot_state_publisher]: got segment tool0
[ros2_control_node-5] [INFO] [1684419771.568447574] [resource_manager]: Loading hardware 'FanucFakeSystem' 
[ros2_control_node-5] [INFO] [1684419771.578953792] [resource_manager]: Initialize hardware 'FanucFakeSystem' 
[ros2_control_node-5] [WARN] [1684419771.579015382] [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-5] <state_interface name="velocity"> 
[ros2_control_node-5]   <param name="initial_value">0.0</param> 
[ros2_control_node-5] </state_interface>
[ros2_control_node-5] [INFO] [1684419771.579046827] [resource_manager]: Successful initialization of hardware 'FanucFakeSystem'
[ros2_control_node-5] [INFO] [1684419771.579105848] [resource_manager]: 'configure' hardware 'FanucFakeSystem' 
[ros2_control_node-5] [INFO] [1684419771.579117408] [resource_manager]: Successful 'configure' of hardware 'FanucFakeSystem'
[ros2_control_node-5] [INFO] [1684419771.579133298] [resource_manager]: 'activate' hardware 'FanucFakeSystem' 
[ros2_control_node-5] [INFO] [1684419771.579142027] [resource_manager]: Successful 'activate' of hardware 'FanucFakeSystem'
[ros2_control_node-5] [INFO] [1684419771.635727695] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1684419771.636125580] [controller_manager]: RT kernel is recommended for better performance
[move_group-4] [INFO] [1684419771.839521105] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00520669 seconds
[move_group-4] [INFO] [1684419771.839565106] [moveit_robot_model.robot_model]: Loading robot model 'fanuc'...
[move_group-4] [INFO] [1684419772.020825563] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1684419772.020999817] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1684419772.022911549] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1684419772.023932304] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1684419772.023959775] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1684419772.024778985] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1684419772.024806193] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1684419772.025873725] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1684419772.026822991] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1684419772.029829951] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1684419772.029874774] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1684419772.034603960] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-4] [INFO] [1684419772.318970527] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1684419772.426790493] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1684419772.426982403] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1684419772.427007566] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1684419772.427090255] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1684419772.427130172] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1684419772.427145480] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1684419772.427176694] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1684419772.427190608] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1684419772.427220354] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1684419772.427248841] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1684419772.427261039] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-4] [INFO] [1684419772.427271350] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1684419772.427279983] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1684419772.427288333] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1684419772.427298721] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1684419772.450675132] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-4] [ERROR] [1684419772.460930347] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-4] [INFO] [1684419772.471408380] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1684419772.471467313] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1684419772.471482260] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1684419772.471512763] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1684419772.471525645] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1684419772.471537708] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1684419772.471566485] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-4] [INFO] [1684419772.471578690] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1684419772.471586852] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1684419772.471594711] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1684419772.471604551] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [ERROR] [1684419772.491783740] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-4] [INFO] [1684419772.494937304] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ros2_control_node-5] [INFO] [1684419772.599846055] [controller_manager]: Loading controller 'fanuc_controller'
[ros2_control_node-5] [ERROR] [1684419772.599913459] [controller_manager]: Loader for controller 'fanuc_controller' (type 'joint_trajectory_controller/JointTrajectoryController') not found.
[ros2_control_node-5] [INFO] [1684419772.599940160] [controller_manager]: Available classes:
[spawner-7] [FATAL] [1684419772.601958438] [spawner_fanuc_controller]: Failed loading controller fanuc_controller
[ros2_control_node-5] [INFO] [1684419772.614986765] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-5] [ERROR] [1684419772.615072547] [controller_manager]: Loader for controller 'joint_state_broadcaster' (type 'joint_state_broadcaster/JointStateBroadcaster') not found.
[ros2_control_node-5] [INFO] [1684419772.615099909] [controller_manager]: Available classes:
[spawner-6] [FATAL] [1684419772.616889022] [spawner_joint_state_broadcaster]: Failed loading controller joint_state_broadcaster
[move_group-4] [INFO] [1684419772.663971850] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [INFO] [1684419772.700874160] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-4] [INFO] [1684419772.700922936] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-4] [INFO] [1684419772.808354117] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-4] [INFO] [1684419772.808390199] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[ERROR] [spawner-7]: process has died [pid 2379316, exit code 1, cmd '/nix/store/m7ina7nh7kbjh7v3g0b5xzxy4hiinrsq-ros-env/lib/controller_manager/spawner fanuc_controller --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-6]: process has died [pid 2379314, exit code 1, cmd '/nix/store/m7ina7nh7kbjh7v3g0b5xzxy4hiinrsq-ros-env/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[move_group-4] [INFO] [1684419772.905813467] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-4] [INFO] [1684419772.905844391] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1684419773.000638998] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-4] [INFO] [1684419773.000670608] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-4] [INFO] [1684419773.239878362] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for fanuc_controller
[move_group-4] [INFO] [1684419773.240084507] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-4] [INFO] [1684419773.240106683] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-4] [INFO] [1684419773.242027206] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1684419773.242067232] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [ERROR] [1684419773.328710516] [move_group.move_group]: Exception while loading move_group capability 'move_group/ApplyPlanningSceneService': MultiLibraryClassLoader: Could not create object of class type move_group::ApplyPlanningSceneService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.329524896] [move_group.move_group]: Exception while loading move_group capability 'move_group/ClearOctomapService': MultiLibraryClassLoader: Could not create object of class type move_group::ClearOctomapService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.330203128] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupCartesianPathService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupCartesianPathService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.330793381] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupExecuteTrajectoryAction': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupExecuteTrajectoryAction as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.331391961] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupGetPlanningSceneService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupGetPlanningSceneService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.331985438] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupKinematicsService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupKinematicsService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.332579819] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupMoveAction': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupMoveAction as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.333170154] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupPlanService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupPlanService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.333756696] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupQueryPlannersService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupQueryPlannersService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [ERROR] [1684419773.334355791] [move_group.move_group]: Exception while loading move_group capability 'move_group/MoveGroupStateValidationService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupStateValidationService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[move_group-4] [INFO] [1684419773.334373699] [move_group.move_group]: 
[move_group-4] 
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using: 
[move_group-4] ********************************************************
[move_group-4] 
[move_group-4] [INFO] [1684419773.334390641] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1684419773.334427629] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4] 
[move_group-4] move_group is running but no capabilities are loaded.
[move_group-4] 
[rviz2-1] [INFO] [1684419773.412574322] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1684419773.412707086] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1684419773.574942743] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1]          at line 253 in /nix/store/4is2qsw3j6an766xhbzik16zzhrf6sg9-ros-humble-class-loader-2.2.0-r3/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1684419774.600614515] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00726014 seconds
[rviz2-1] [INFO] [1684419774.600664240] [moveit_robot_model.robot_model]: Loading robot model 'fanuc'...
[rviz2-1] [ERROR] [1684419777.705631853] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1684419777.739027489] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1684419777.808391617] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00468551 seconds
[rviz2-1] [INFO] [1684419777.808424943] [moveit_robot_model.robot_model]: Loading robot model 'fanuc'...
[rviz2-1] [INFO] [1684419778.060652468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1684419778.062024862] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1684419778.064195528] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1684419778.066709227] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1684419778.082813147] [interactive_marker_display_56998960]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1684419778.100772041] [interactive_marker_display_56998960]: Sending request for interactive markers
[rviz2-1] [INFO] [1684419778.124283060] [interactive_marker_display_56998960]: Service response received for initialization
[rviz2-1] [INFO] [1684419783.065809727] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1684419783.089468291] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1684419783.089534574] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-1] [INFO] [1684419783.089545966] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-1] [INFO] [1684419843.116869728] [move_group_interface]: Ready to take commands for planning group manipulator.

okvik avatar May 18 '23 14:05 okvik

Hi, I've no experience with MoveIt. I'd need to wait for your .nix files so that I can try to reproduce the issue you're reporting.

wentasah avatar May 18 '23 15:05 wentasah

@wentasah Here's a flake that can reproduce the move_group capability plugins issue. nix develop it and run

ros2 launch moveit_resources_fanuc_moveit_config demo.launch.py

You should get the same log as above. Take note of the lines like:

[move_group.move_group]: Exception while loading move_group capability 'move_group/ApplyPlanningSceneService': MultiLibraryClassLoader: Could not create object of class type move_group::ApplyPlanningSceneService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()

{
  description = "";

  inputs = {
    nixpkgs.url = "github:nixos/nixpkgs/nixos-unstable";
    flake-utils.url = "github:numtide/flake-utils";
    nix-ros-overlay.url = "github:okvik/nix-ros-overlay/reproduce-moveit-plugin-issue";
  };

  outputs = { self, nixpkgs, flake-utils, nix-ros-overlay }: flake-utils.lib.eachDefaultSystem (system:
    let
      pkgs = import nixpkgs {
        inherit system;
        config = {};
        overlays = [
          nix-ros-overlay.overlays.default
        ];
      };
      ros = pkgs.rosPackages.humble;
    in {
      devShells.default = pkgs.mkShell {
        name = "ROS 2 development";
        LC_NUMERIC = "en_US.UTF-8";
        buildInputs = [
          (ros.buildEnv {
            name = "ROS 2 Environment";
            paths = [              
              ros.ros-environment
              ros.ros-base
              ros.ros2-control
              ros.rviz2
              ros.moveit
              ros.moveit-resources
              ros.moveit-resources-panda-description
              ros.moveit-resources-panda-moveit-config
            ];
          })
        ];
      };
    }
  );
}

The nix-ros-overlay.url = "github:okvik/nix-ros-overlay/reproduce-moveit-plugin-issue" input is just nix-ros-overlay master with a few fixes to get the MoveIt stuff building, it doesn't seem like these changes are relevant to the issue at hand but you might wanna take a look anyway.

okvik avatar May 18 '23 18:05 okvik

Now I can reproduce your problem with the missing capabilities.

You mentioned that "plugin objects are in place". As I don't have any moveit experience, I don't really know where should these objects be located. I tried searching all dependencies for files with names similar to what's printed in the error messages, but it didn't find anything. Can you tell me which objects it is supposed to load?

wentasah avatar May 19 '23 09:05 wentasah

The plugins are described in the plugin description file (you may have a different hash but look for move-group.

/nix/store/5092rwrx983f3s8vg0k4ifik9zasdxjd-ros-humble-moveit-ros-move-group-2.5.4-r1/share/moveit_ros_move_group/default_capabilities_plugin_description.xml

This file lists the plugin classes (in this case MoveIt Move Group "capabilities") and points to the shared library object that contains them. This .so file itself is located in the same package at:

/nix/store/5092rwrx983f3s8vg0k4ifik9zasdxjd-ros-humble-moveit-ros-move-group-2.5.4-r1/lib/libmoveit_move_group_default_capabilities.so

It is my understanding that the pluginlib (a library responsible for plugin loading throughout ROS2) searches through plugin description files it knows about when it gets asked to load a plugin class, hopefully finding a match and loading it's object from the shared object file. The resource index (located at ./share/ament_index/resource_index in the same package) is there, I think, only to speed up the process of searching for viable plugins, so the search doesn't have to go through all the plugin .xml descriptions.

All of these things seem to be in place for the move-group package but loading the plugins still fails as seen above.

okvik avatar May 19 '23 10:05 okvik

I've discovered a program in the move group package that lists the available capabilities. This one seems to find the plugins just fine?!

$ ros2 run moveit_ros_move_group list_move_group_capabilities

Available capabilities:
move_group/ApplyPlanningSceneService
move_group/ClearOctomapService
move_group/MoveGroupCartesianPathService
move_group/MoveGroupExecuteService
move_group/MoveGroupExecuteTrajectoryAction
move_group/MoveGroupGetPlanningSceneService
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPlanService
move_group/MoveGroupQueryPlannersService
move_group/MoveGroupStateValidationService
move_group/TfPublisher
pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService

okvik avatar May 19 '23 11:05 okvik

I found the same issue reported upstream, so this might not be a problem with Nix packaging here: https://github.com/ros-planning/moveit2/issues/1907

okvik avatar May 19 '23 11:05 okvik

I encountered the same issue but have also not found a solution

Thieso avatar Apr 18 '24 16:04 Thieso

Ok so I think this is a path issue. On humble and by using buildEnv I do not encounter this issue. On iron I cannot use buildEnv due to #391 which makes AMENT_PREFIX_PATH be very long. So I assume fixing #391 would also fix this issue potentially.

Thieso avatar Apr 22 '24 19:04 Thieso

Ok so I think this is a path issue. On humble and by using buildEnv I do not encounter this issue. On iron I cannot use buildEnv due to #391 which makes AMENT_PREFIX_PATH be very long. So I assume fixing #391 would also fix this issue potentially.

Were you able to fix this? I am also getting the same error. What do you mean by using buildEnv. Are you able to give an example?

nilp-dromeda avatar May 18 '24 15:05 nilp-dromeda

Sadly, I was not able to fix this. As I am not a MoveIt expert, it is unclear to me, where exactly this originates and this issue also does not mention a solution except reinstallation. I did not have more time to look into this.

Thieso avatar May 21 '24 07:05 Thieso

So looking into this myself as well, it seems that the pluginlib or the class_loader packages are unable to read the symbols from the MoveIt library.

Essentially, going back up the callstack from

[move_group-4] [INFO 1716497236.304083998] [pluginlib.ClassLoader]: Exception raised by low-level multi-library class loader when attempting to create instance of class move_group/MoveGroupStateValidationService. (createUniqueInstance() at /tmp/install/include/pluginlib/pluginlib/class_loader_imp.hpp:178)

The ClassLoader * getClassLoaderForClass(const std::string & class_name) function located at multi_library_class_loader.hpp from the class_loader returns nullptr.

This is in turns due to the template<class Base> std::vector<std::string> getAvailableClasses() const from class_loader.hpp from the same package returning an empty std::vector<std::string>.

The debug output (which I hacked by changing the log level of some of the logging functions) of some of the class_loader_core functions also seems to indicate this:

move_group-4] Warning: class_loader.impl: Attempting to load library /tmp/install/lib/libmoveit_move_group_default_capabilities.so on behalf of ClassLoader handle 0x1293650...
[move_group-4]          at line 433 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'.../
[move_group-4] Warning: class_loader.impl: Successfully loaded library /tmp/install/lib/libmoveit_move_group_default_capabilities.so into memory (handle = 0x12c33f0).
[move_group-4]          at line 474 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Though the library /tmp/install/lib/libmoveit_move_group_default_capabilities.so was just loaded, it seems no factory metaobjects were registered. Checking factory graveyard for previously loaded metaobjects.../
[move_group-4]          at line 482 in .../src/class_loader/src/class_loader_core.cpp

In a normal run (outside of Nix), we get something like this:

[move_group-4] [INFO 1716496724.767593825] [pluginlib.ClassLoader]: Loading library: ...//code/ros2/install/lib/libmoveit_move_group_default_capabilities.so (loadLibraryForClass() at .../install/include/pluginlib/pluginlib/class_loader_imp.hpp:654)
[move_group-4] Warning: class_loader.impl: Attempting to load library .../install/lib/libmoveit_move_group_default_capabilities.so on behalf of ClassLoader handle 0x5e99297e6850.../
[move_group-4]          at line 433 in .../src/class_loader/src/class_loader_core.cpp
.../ [omitted]
[move_group-4] Warning: class_loader.impl: Registering plugin factory for class = move_group::ApplyPlanningSceneService, ClassLoader* = 0x5e99297e6850 and library name .../install/lib/libmoveit_move_group_default_capabilities.so.
[move_group-4]          at line 215 in .../install/include/class_loader/class_loader/class_loader_core.hpp
[move_group-4] Warning: factoryMapMap.size() = 7 (N10move_group19MoveGroupCapabilityE)
[move_group-4]          at line 68 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Registration of move_group::ApplyPlanningSceneService complete (Metaobject Address = 0x5e99297ea780)
.../ [omitted]
[move_group-4] Warning: class_loader.impl: Successfully loaded library .../install/lib/libmoveit_move_group_default_capabilities.so into memory (handle = 0x5e99297e76a0).
[move_group-4]          at line 474 in .../src/class_loader/src/class_loader_core.cpp
[move_group-4] Warning: class_loader.impl: Library .../install/lib/libmoveit_move_group_default_capabilities.so generated new factory metaobjects on load. Destroying graveyarded objects from previous loads.../
[move_group-4]          at line 491 in .../src/class_loader/src/class_loader_core.cpp

Takishima avatar May 23 '24 21:05 Takishima

Rather, the init functions from the plugins defined within libmoveit_move_group_default_capabilities.so are not called when this gets dlopen-ed by the class loader.

However, when loading the library manually:

#include <dlfcn.h>

int main()
{
  const char * library_path = "/tmp/install/lib/libmoveit_move_group_default_capabilities.so";
  void * handle = dlopen(library_path, RTLD_LAZY);
  if (handle == nullptr) {
    return 1;
  }
  dlclose(handle);

  return 0;
}

Those get called.

I tried looking for different linker flags passed on by Nix using export NIX_DEBUG=1 when compiling MoveIt, but have not found anything yet. I also tried using export NIX_HARDENING_ENABLE=''

Takishima avatar May 24 '24 10:05 Takishima

[EDIT] Keeping the message below for context, but this explanation does not hold upon further investigations.

I think I found the culprit. Still need to run some more tests to 100% confirm this.

By default Nix builds derivation with bindnow in NIX_HARDENING_ENABLE. This in turns silently adds -Wl,-z,now to any linker command.

This then wreaks havoc with pluginlib which loads libraries with dlopen() and relies on the fact that libraries are loaded lazily in order to attribute the symbols it loads to a particular shared library.

Takishima avatar May 24 '24 14:05 Takishima

I stand corrected, it is a bit more than just that.

[INFO] [1716561773.091904226] [pluginlib.ClassLoader]: [search path for 'pilz_industrial_motion_planner']: '/nix/store/XXX-env/bin/pilz_industrial_motion_planner/liblibpilz_industrial_motion_plannerd.so'
[INFO] [1716561773.091906893] [pluginlib.ClassLoader]: Iterating through all possible paths where pilz_industrial_motion_planner could be located...
[INFO] [1716561773.091909363] [pluginlib.ClassLoader]: Checking path /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so 
[INFO] [1716561773.091916802] [pluginlib.ClassLoader]: Library pilz_industrial_motion_planner found at explicit path /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so.
[INFO] [1716561773.091920312] [pluginlib.ClassLoader]: Loading library: /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so

The issue is that libpilz_industrial_motion_planner.so is actually dependent on libmoveit_move_group_interface.so.2.5.5 , but only within Nix.

Outside of Nix:

> ldd /opt/ros/humble/lib/libpilz_industrial_motion_planner.so | grep move_group

Within of Nix:

> ldd /nix/store/XXX-env/lib/libpilz_industrial_motion_planner.so | grep move_group
	libmoveit_move_group_interface.so.2.5.5 => .../install/libmoveit_move_group_interface.so.2.5.5 (0x0000746c6098d000)
	libmoveit_move_group_default_capabilities.so.2.5.5 => .../install/lib/libmoveit_move_group_default_capabilities.so.2.5.5 (0x0000746c60200000)
	libmoveit_move_group_capabilities_base.so.2.5.5 => .../install/lib/libmoveit_move_group_capabilities_base.so.2.5.5 (0x0000746c6089b000)

Takishima avatar May 24 '24 14:05 Takishima

Cool, thanks for looking into this :) So turning off NIX_HARDENING_ENABLE fixes the issue? I am a bit confused that it works in humble for me but not in iron

Thieso avatar May 25 '24 09:05 Thieso

Unfortunately no. I think that my theory is wrong after looking into it some more...

The one key difference I can see in the linker commands between normal and Nix build is that Nix does not have -Wl,--as-needed which means a lot of the dependencies stay explicit, which in turns make the linker load more than one shared library when loading the plugins.

Takishima avatar May 25 '24 09:05 Takishima

No clue where that comes from yet though.

Takishima avatar May 25 '24 09:05 Takishima

Hm okay, sadly this is a bit too deep for my CS knowledge, so I cannot help you there.

Thieso avatar May 25 '24 10:05 Thieso

I am actively looking into this issue as well. Will keep you guys updated with any breakthrough.

nilp-dromeda avatar May 25 '24 10:05 nilp-dromeda

Outside of Nix you get:

> patchelf --print-needed libmoveit_planning_scene_interface.so.2.5.5 
libmoveit_msgs__rosidl_typesupport_cpp.so
librclcpp.so
librcl.so
librmw.so
librcutils.so
libtracetools.so
libstdc++.so.6
libgcc_s.so.1
libc.so.6
ld-linux-x86-64.so.2

While inside we get:

> patchelf --print-needed /nix/store/XXX/lib/libmoveit_planning_scene_interface.so.2.5.5
libmoveit_move_group_default_capabilities.so.2.5.5
libmoveit_move_group_capabilities_base.so.2.5.5
libstd_srvs__rosidl_typesupport_introspection_c.so
libstd_srvs__rosidl_typesupport_fastrtps_c.so
libstd_srvs__rosidl_typesupport_introspection_cpp.so
libstd_srvs__rosidl_typesupport_fastrtps_cpp.so
libstd_srvs__rosidl_typesupport_cpp.so
libstd_srvs__rosidl_generator_py.so
libstd_srvs__rosidl_typesupport_c.so
libstd_srvs__rosidl_generator_c.so
libstatic_transform_broadcaster_node.so
libmoveit_constraint_sampler_manager_loader.so.2.5.5
libmoveit_plan_execution.so.2.5.5
libmoveit_default_planning_request_adapter_plugins.so.2.5.5
libmoveit_cpp.so.2.5.5
libmoveit_planning_pipeline.so.2.5.5
libmoveit_trajectory_execution_manager.so.2.5.5
libmoveit_planning_scene_monitor.so.2.5.5
libmoveit_ros_occupancy_map_monitor.so.2.5.5
libmoveit_robot_model_loader.so.2.5.5
libmoveit_kinematics_plugin_loader.so.2.5.5
libmoveit_rdf_loader.so.2.5.5
libmoveit_collision_plugin_loader.so.2.5.5
libcollision_detector_bullet_plugin.so.2.5.5
libmoveit_butterworth_filter.so.2.5.5
librclcpp_lifecycle.so
librcl_lifecycle.so
liblifecycle_msgs__rosidl_typesupport_introspection_c.so
liblifecycle_msgs__rosidl_typesupport_fastrtps_c.so
liblifecycle_msgs__rosidl_typesupport_introspection_cpp.so
liblifecycle_msgs__rosidl_typesupport_fastrtps_cpp.so
liblifecycle_msgs__rosidl_typesupport_cpp.so
liblifecycle_msgs__rosidl_generator_py.so
liblifecycle_msgs__rosidl_typesupport_c.so
liblifecycle_msgs__rosidl_generator_c.so
librsl.so
libmoveit_collision_distance_field.so.2.5.5
libmoveit_collision_detection_bullet.so.2.5.5
libBulletDynamics.so.3.25
libBulletCollision.so.3.25
libLinearMath.so.3.25
libBulletSoftBody.so.3.25
libmoveit_dynamics_solver.so.2.5.5
libkdl_parser.so
libmoveit_constraint_samplers.so.2.5.5
libmoveit_distance_field.so.2.5.5
libmoveit_kinematics_metrics.so.2.5.5
libmoveit_planning_interface.so.2.5.5
libmoveit_planning_request_adapter.so.2.5.5
libmoveit_planning_scene.so.2.5.5
libmoveit_kinematic_constraints.so.2.5.5
libmoveit_collision_detection_fcl.so.2.5.5
libmoveit_collision_detection.so.2.5.5
libfcl.so.0.7
libccd.so.2
libmoveit_smoothing_base.so.2.5.5
libmoveit_test_utils.so.2.5.5
libmoveit_trajectory_processing.so.2.5.5
libmoveit_robot_trajectory.so.2.5.5
libmoveit_robot_state.so.2.5.5
libmoveit_robot_model.so.2.5.5
libmoveit_exceptions.so.2.5.5
libmoveit_kinematics_base.so
libsrdfdom.so.2.0.4
liborocos-kdl.so.1.5
liburdf.so
libruckig.so
libmoveit_transforms.so.2.5.5
libtf2_ros.so
librclcpp_action.so
librcl_action.so
libtf2.so
libtf2_msgs__rosidl_typesupport_introspection_c.so
libtf2_msgs__rosidl_typesupport_fastrtps_c.so
libtf2_msgs__rosidl_typesupport_introspection_cpp.so
libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so
libtf2_msgs__rosidl_typesupport_cpp.so
libtf2_msgs__rosidl_generator_py.so
libtf2_msgs__rosidl_typesupport_c.so
libtf2_msgs__rosidl_generator_c.so
libgeometric_shapes.so.2.1.3
libvisualization_msgs__rosidl_typesupport_fastrtps_c.so
libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so
libvisualization_msgs__rosidl_typesupport_introspection_c.so
libvisualization_msgs__rosidl_typesupport_introspection_cpp.so
libvisualization_msgs__rosidl_typesupport_cpp.so
libvisualization_msgs__rosidl_generator_py.so
libvisualization_msgs__rosidl_typesupport_c.so
libvisualization_msgs__rosidl_generator_c.so
liboctomap.so.1.9
liboctomath.so.1.9
libresource_retriever.so
libcurl.so.4
librandom_numbers.so
libassimp.so.5
libqhull_r.so.8.0
liburdfdom_sensor.so.3.0
liburdfdom_model_state.so.3.0
liburdfdom_model.so.3.0
liburdfdom_world.so.3.0
libtinyxml.so
libmoveit_utils.so.2.5.5
libmoveit_msgs__rosidl_typesupport_introspection_c.so
libobject_recognition_msgs__rosidl_typesupport_introspection_c.so
libaction_msgs__rosidl_typesupport_introspection_c.so
libunique_identifier_msgs__rosidl_typesupport_introspection_c.so
libsensor_msgs__rosidl_typesupport_introspection_c.so
libshape_msgs__rosidl_typesupport_introspection_c.so
liboctomap_msgs__rosidl_typesupport_introspection_c.so
libtrajectory_msgs__rosidl_typesupport_introspection_c.so
libgeometry_msgs__rosidl_typesupport_introspection_c.so
libstd_msgs__rosidl_typesupport_introspection_c.so
libmoveit_msgs__rosidl_typesupport_fastrtps_c.so
libobject_recognition_msgs__rosidl_typesupport_fastrtps_c.so
libaction_msgs__rosidl_typesupport_fastrtps_c.so
libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so
libsensor_msgs__rosidl_typesupport_fastrtps_c.so
libshape_msgs__rosidl_typesupport_fastrtps_c.so
liboctomap_msgs__rosidl_typesupport_fastrtps_c.so
libtrajectory_msgs__rosidl_typesupport_fastrtps_c.so
libgeometry_msgs__rosidl_typesupport_fastrtps_c.so
libstd_msgs__rosidl_typesupport_fastrtps_c.so
libmoveit_msgs__rosidl_typesupport_introspection_cpp.so
libobject_recognition_msgs__rosidl_typesupport_introspection_cpp.so
libaction_msgs__rosidl_typesupport_introspection_cpp.so
libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so
libsensor_msgs__rosidl_typesupport_introspection_cpp.so
libshape_msgs__rosidl_typesupport_introspection_cpp.so
liboctomap_msgs__rosidl_typesupport_introspection_cpp.so
libtrajectory_msgs__rosidl_typesupport_introspection_cpp.so
libgeometry_msgs__rosidl_typesupport_introspection_cpp.so
libstd_msgs__rosidl_typesupport_introspection_cpp.so
libmoveit_msgs__rosidl_typesupport_fastrtps_cpp.so
libobject_recognition_msgs__rosidl_typesupport_fastrtps_cpp.so
libaction_msgs__rosidl_typesupport_fastrtps_cpp.so
libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so
libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so
libshape_msgs__rosidl_typesupport_fastrtps_cpp.so
liboctomap_msgs__rosidl_typesupport_fastrtps_cpp.so
libtrajectory_msgs__rosidl_typesupport_fastrtps_cpp.so
libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so
libstd_msgs__rosidl_typesupport_fastrtps_cpp.so
libmoveit_msgs__rosidl_typesupport_cpp.so
libobject_recognition_msgs__rosidl_typesupport_cpp.so
libaction_msgs__rosidl_typesupport_cpp.so
libunique_identifier_msgs__rosidl_typesupport_cpp.so
libsensor_msgs__rosidl_typesupport_cpp.so
libshape_msgs__rosidl_typesupport_cpp.so
liboctomap_msgs__rosidl_typesupport_cpp.so
libtrajectory_msgs__rosidl_typesupport_cpp.so
libgeometry_msgs__rosidl_typesupport_cpp.so
libstd_msgs__rosidl_typesupport_cpp.so
libmoveit_msgs__rosidl_generator_py.so
libmoveit_msgs__rosidl_typesupport_c.so
libmoveit_msgs__rosidl_generator_c.so
libobject_recognition_msgs__rosidl_generator_py.so
libobject_recognition_msgs__rosidl_typesupport_c.so
libobject_recognition_msgs__rosidl_generator_c.so
libaction_msgs__rosidl_generator_py.so
libaction_msgs__rosidl_typesupport_c.so
libaction_msgs__rosidl_generator_c.so
libunique_identifier_msgs__rosidl_generator_py.so
libunique_identifier_msgs__rosidl_typesupport_c.so
libunique_identifier_msgs__rosidl_generator_c.so
libsensor_msgs__rosidl_generator_py.so
libsensor_msgs__rosidl_typesupport_c.so
libsensor_msgs__rosidl_generator_c.so
libshape_msgs__rosidl_generator_py.so
libshape_msgs__rosidl_typesupport_c.so
libshape_msgs__rosidl_generator_c.so
liboctomap_msgs__rosidl_generator_py.so
liboctomap_msgs__rosidl_typesupport_c.so
liboctomap_msgs__rosidl_generator_c.so
libtrajectory_msgs__rosidl_generator_py.so
libtrajectory_msgs__rosidl_typesupport_c.so
libtrajectory_msgs__rosidl_generator_c.so
libgeometry_msgs__rosidl_generator_py.so
libgeometry_msgs__rosidl_typesupport_c.so
libgeometry_msgs__rosidl_generator_c.so
libstd_msgs__rosidl_generator_py.so
libstd_msgs__rosidl_typesupport_c.so
libstd_msgs__rosidl_generator_c.so
libboost_chrono.so.1.81.0
libboost_date_time.so.1.81.0
libboost_filesystem.so.1.81.0
libboost_atomic.so.1.81.0
libboost_iostreams.so.1.81.0
libboost_program_options.so.1.81.0
libboost_regex.so.1.81.0
libboost_serialization.so.1.81.0
libboost_system.so.1.81.0
libboost_thread.so.1.81.0
libclass_loader.so
libconsole_bridge.so.1.0
libmessage_filters.so
librclcpp.so
liblibstatistics_collector.so
librcl.so
librmw_implementation.so
libament_index_cpp.so
librcl_logging_spdlog.so
librcl_logging_interface.so
libfmt.so.10
librcl_interfaces__rosidl_typesupport_introspection_c.so
librcl_interfaces__rosidl_typesupport_fastrtps_c.so
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Takishima avatar May 25 '24 12:05 Takishima

Cool, thanks for looking into this :) So turning off NIX_HARDENING_ENABLE fixes the issue? I am a bit confused that it works in humble for me but not in iron

I am testing on humble, and it does not work for me? How were you able to get it to function on humble?

nilp-dromeda avatar May 27 '24 04:05 nilp-dromeda

I am obtaining this error:

[ros2_control_node-5] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class mock_components::GenericSystem. 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.
[ros2_control_node-5]          at line 253 in /nix/store/QJKWYVARM2R71DKBM2L5YRVH6P7F3FVR-ros-humble-class-loader-2.2.0-r3/include/class_loader/class_loader/class_loader_core.hpp

Is any one also obtaining this error? I wonder if this error is related.

nilp-dromeda avatar May 27 '24 05:05 nilp-dromeda

If you run the following command:

LD_PRELOAD=/nix/store/xxx/lib/libmoveit_move_group_default_capabilities.so.2.5.5 nixGL ros2 launch <robot-moveit-config> demo.launch.py

The simulation launches and finds all the required capabilties. So, it looks like the shared object files are not in the correct place or the symlinks to the shared object files for the move_group_default_capabilities.so are incorrect.

nilp-dromeda avatar May 27 '24 11:05 nilp-dromeda

I think the issue is that the moveit_ros_move_group is added to ament_target_dependencies calls in places where it is not necessary. Particularly in:

  • moveit-ros-planning-interface: particularly in planning_scene_interface/CMakeLists.txt and move_group_interface/CMakeLists.txt
  • pilz-industrial-motion-planner: in CMakeListst.txt

Fixing the dependencies within the CMake files solved my issues and I was able to run the Fanuc demo launch file.

I think that this is not apparent outside of Nix, because some of the libraries MoveIt is linking to add -Wl,--as-needed to the linker command whereas the Nix derivations do not have that flag.

Takishima avatar May 27 '24 14:05 Takishima

Were you able to apply these changes through overridingAttrs of the propgatedBuildInputs for pilz-industrial-motion-planner and moveit-ros-planning-interface packages (move_group_interface is not a package either, its just added as subdirectory call in the CMakeLists.txt file)? Or did you have to manually patch the CMakeList files?

nilp-dromeda avatar May 27 '24 23:05 nilp-dromeda

I had to patch the CMake files since you need to change the calls to ament_target_dependencies

Takishima avatar May 28 '24 03:05 Takishima

Do you plan on upstreaming these patches by any chance? If not, posting them here would be greatly appreciated. Great work by the way, and thanks.

okvik avatar May 30 '24 15:05 okvik

As much as I'd like to post the patches here or upstream them right now, I first have to wait for the official permission from the company. As soon as this process is done, I'll post them.

Takishima avatar May 31 '24 15:05 Takishima

The LD_PRELOAD trick worked for me, but that was causing issues with other shell use. Using patchelf to insert the dependencies worked for me;

        moveit-ros-move-group = prev.moveit-ros-move-group.overrideAttrs (old: {
          postFixup = (old.postFixup or '''') + ''
            patchelf --add-needed libmoveit_move_group_default_capabilities.so $out/lib/moveit_ros_move_group/move_group
            patchelf --add-needed libmoveit_move_group_default_capabilities.so $out/lib/moveit_ros_move_group/list_move_group_capabilities
          '';
        });
        moveit-ros-move-group = prev.moveit-ros-move-group.overrideAttrs (old: {
          postFixup = (old.postFixup or '''') + ''
            patchelf --add-needed libmoveit_move_group_default_capabilities.so $out/lib/python3.11/site-packages/moveit/core.cpython-311-x86_64-linux-gnu.so
            patchelf --add-needed libmoveit_move_group_default_capabilities.so $out/lib/python3.11/site-packages/moveit/planning.cpython-311-x86_64-linux-gnu.so
          '';
        });

khaninger avatar Aug 08 '24 16:08 khaninger