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hybrid_planning_demo error on galactic

Open ChangcongWang opened this issue 3 years ago • 1 comments

Description

hybrid_planning_demo error on galactic. Loader for controller 'panda_joint_group_position_controller' not found. Loader for controller 'joint_state_broadcaster' not found. Timeout when waiting for /joint_states updates.

Your environment

  • ROS Distro: galactic
  • OS Version: Ubuntu 20.04
  • Binary build
  • Moveit is 2.3.4-1focal.20220526.154855. hybrid_planning is 2.3.4-1focal.20220601.135034

Steps to reproduce

Run ros2 launch moveit_hybrid_planning hybrid_planning_demo.launch.py on galactic.

Expected behaviour

Similar behavior as in the example GIF in https://moveit.picknik.ai/galactic/doc/examples/hybrid_planning/hybrid_planning_tutorial.html.

Actual behaviour

The robot is stuck and have some Error output.

Backtrace or Console output

[INFO] [launch]: All log files can be found below /home/sucro/.ros/log/2022-07-11-13-49-21-442370-sucro-533037
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [533048]
[INFO] [static_transform_publisher-2]: process started with pid [533050]
[INFO] [rviz2-3]: process started with pid [533052]
[INFO] [robot_state_publisher-4]: process started with pid [533054]
[INFO] [hybrid_planning_demo_node-5]: process started with pid [533056]
[INFO] [ros2_control_node-6]: process started with pid [533058]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-7]: process started with pid [533060]
[INFO] [ros2 run controller_manager spawner panda_joint_group_position_controller-8]: process started with pid [533063]
[static_transform_publisher-2] [INFO] [1657518562.195273822] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'
[ros2_control_node-6] [INFO] [1657518562.201780150] [controller_manager]: update rate is 500 Hz
[robot_state_publisher-4] Link panda_link1 had 1 children
[robot_state_publisher-4] Link panda_link2 had 1 children
[robot_state_publisher-4] Link panda_link3 had 1 children
[robot_state_publisher-4] Link panda_link4 had 1 children
[robot_state_publisher-4] Link panda_link5 had 1 children
[robot_state_publisher-4] Link panda_link6 had 1 children
[robot_state_publisher-4] Link panda_link7 had 1 children
[robot_state_publisher-4] Link panda_link8 had 1 children
[robot_state_publisher-4] Link panda_hand had 2 children
[robot_state_publisher-4] Link panda_leftfinger had 0 children
[robot_state_publisher-4] Link panda_rightfinger had 0 children
[robot_state_publisher-4] [INFO] [1657518562.206750060] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-4] [INFO] [1657518562.206854166] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-4] [INFO] [1657518562.206872623] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-4] [INFO] [1657518562.206882485] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-4] [INFO] [1657518562.206891257] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-4] [INFO] [1657518562.206900708] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-4] [INFO] [1657518562.206910195] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-4] [INFO] [1657518562.206919631] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-4] [INFO] [1657518562.206929426] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-4] [INFO] [1657518562.206939028] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-4] [INFO] [1657518562.206948007] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-4] [INFO] [1657518562.206956399] [robot_state_publisher]: got segment panda_rightfinger
[component_container_mt-1] [INFO] [1657518562.331470903] [hybrid_planning_container]: Load Library: /opt/ros/galactic/lib/libmoveit_global_planner_component.so.2.3.4
[component_container_mt-1] [INFO] [1657518562.332817458] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::GlobalPlannerComponent>
[component_container_mt-1] [INFO] [1657518562.332866597] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::GlobalPlannerComponent>
[component_container_mt-1] [INFO] [1657518562.377573594] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00181834 seconds
[component_container_mt-1] [INFO] [1657518562.377629032] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[component_container_mt-1] Link panda_link1 had 1 children
[component_container_mt-1] Link panda_link2 had 1 children
[component_container_mt-1] Link panda_link3 had 1 children
[component_container_mt-1] Link panda_link4 had 1 children
[component_container_mt-1] Link panda_link5 had 1 children
[component_container_mt-1] Link panda_link6 had 1 children
[component_container_mt-1] Link panda_link7 had 1 children
[component_container_mt-1] Link panda_link8 had 1 children
[component_container_mt-1] Link panda_hand had 2 children
[component_container_mt-1] Link panda_leftfinger had 0 children
[component_container_mt-1] Link panda_rightfinger had 0 children
[component_container_mt-1] [INFO] [1657518562.406319483] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[component_container_mt-1] [INFO] [1657518562.407352280] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[component_container_mt-1] [INFO] [1657518562.408009631] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[component_container_mt-1] [INFO] [1657518562.409111275] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[component_container_mt-1] [INFO] [1657518562.409349847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[component_container_mt-1] [INFO] [1657518562.410427703] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[component_container_mt-1] [INFO] [1657518562.410453255] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[component_container_mt-1] [INFO] [1657518562.410866792] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[component_container_mt-1] [INFO] [1657518562.411504912] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[component_container_mt-1] [WARN] [1657518562.411633285] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[component_container_mt-1] [ERROR] [1657518562.411653587] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[component_container_mt-1] [INFO] [1657518562.412803683] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[component_container_mt-1] [INFO] [1657518562.422145798] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[component_container_mt-1] [WARN] [1657518562.424843446] [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.
[component_container_mt-1] [INFO] [1657518562.440474282] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[component_container_mt-1] [INFO] [1657518562.442177921] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[component_container_mt-1] [INFO] [1657518562.442351139] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[component_container_mt-1] [INFO] [1657518562.442773567] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[component_container_mt-1] [INFO] [1657518562.442795684] [global_planner_component]: Using global planner plugin 'moveit_hybrid_planning/MoveItPlanningPipeline'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/global_planner' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1657518562.448711175] [hybrid_planning_container]: Load Library: /opt/ros/galactic/lib/libmoveit_local_planner_component.so.2.3.4
[component_container_mt-1] [INFO] [1657518562.452374601] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::LocalPlannerComponent>
[component_container_mt-1] [INFO] [1657518562.452492914] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::LocalPlannerComponent>
[component_container_mt-1] [INFO] [1657518562.457945211] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00141368 seconds
[component_container_mt-1] [INFO] [1657518562.457977197] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[component_container_mt-1] Link panda_link1 had 1 children
[component_container_mt-1] Link panda_link2 had 1 children
[component_container_mt-1] Link panda_link3 had 1 children
[component_container_mt-1] Link panda_link4 had 1 children
[component_container_mt-1] Link panda_link5 had 1 children
[component_container_mt-1] Link panda_link6 had 1 children
[component_container_mt-1] Link panda_link7 had 1 children
[component_container_mt-1] Link panda_link8 had 1 children
[component_container_mt-1] Link panda_hand had 2 children
[component_container_mt-1] Link panda_leftfinger had 0 children
[component_container_mt-1] Link panda_rightfinger had 0 children
[component_container_mt-1] [INFO] [1657518562.485806001] [local_planner_component]: Starting planning scene monitors
[component_container_mt-1] [INFO] [1657518562.485838348] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[component_container_mt-1] [INFO] [1657518562.487120314] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[component_container_mt-1] [INFO] [1657518562.487157087] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[component_container_mt-1] [INFO] [1657518562.487679210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[component_container_mt-1] [INFO] [1657518562.488340424] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[component_container_mt-1] [WARN] [1657518562.488423505] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[component_container_mt-1] [ERROR] [1657518562.488437383] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[component_container_mt-1] [INFO] [1657518562.490471153] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[component_container_mt-1] [INFO] [1657518562.491034068] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[component_container_mt-1] [INFO] [1657518562.492693013] [local_planner_component]: Using trajectory operator interface 'moveit_hybrid_planning/SimpleSampler'
[component_container_mt-1] [INFO] [1657518562.494414084] [local_planner_component]: Using constraint solver interface 'moveit_hybrid_planning/ForwardTrajectory'
[component_container_mt-1] [INFO] [1657518562.497374013] [local_planner_component]: Using 'std_msgs/Float64MultiArray' as local solution topic type
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/local_planner' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1657518562.500218015] [hybrid_planning_container]: Load Library: /opt/ros/galactic/lib/libmoveit_hybrid_planning_manager.so.2.3.4
[component_container_mt-1] [INFO] [1657518562.501435408] [hybrid_planning_container]: Found class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::HybridPlanningManager>
[component_container_mt-1] [INFO] [1657518562.501468885] [hybrid_planning_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<moveit::hybrid_planning::HybridPlanningManager>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/hybrid_planning_manager' in container '/hybrid_planning_container'
[component_container_mt-1] [INFO] [1657518562.507626539] [hybrid_planning_manager]: Using planner logic interface 'moveit_hybrid_planning/ReplanInvalidatedTrajectory'
[rviz2-3] [INFO] [1657518562.644679710] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1657518562.644901193] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1657518562.665572839] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-6] [INFO] [1657518562.766543588] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-6] [ERROR] [1657518562.766593135] [controller_manager]: Loader for controller 'joint_state_broadcaster' not found.
[ros2_control_node-6] [INFO] [1657518562.766606758] [controller_manager]: Available classes:
[ros2_control_node-6] [INFO] [1657518562.766620488] [controller_manager]:   controller_manager/test_controller
[ros2_control_node-6] [INFO] [1657518562.766630750] [controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-6] [INFO] [1657518562.766640234] [controller_manager]:   controller_manager/test_controller_with_interfaces
[rviz2-3] [INFO] [1657518562.789205201] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00265649 seconds
[rviz2-3] [INFO] [1657518562.789294705] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[ros2_control_node-6] [INFO] [1657518562.804194023] [controller_manager]: Loading controller 'panda_joint_group_position_controller'
[ros2_control_node-6] [ERROR] [1657518562.804235992] [controller_manager]: Loader for controller 'panda_joint_group_position_controller' not found.
[ros2_control_node-6] [INFO] [1657518562.804245535] [controller_manager]: Available classes:
[ros2_control_node-6] [INFO] [1657518562.804253431] [controller_manager]:   controller_manager/test_controller
[ros2_control_node-6] [INFO] [1657518562.804259743] [controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-6] [INFO] [1657518562.804265741] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ERROR] [ros2 run controller_manager spawner joint_state_broadcaster-7]: process has died [pid 533060, exit code 1, cmd 'ros2 run controller_manager spawner joint_state_broadcaster'].
[ERROR] [ros2 run controller_manager spawner panda_joint_group_position_controller-8]: process has died [pid 533063, exit code 1, cmd 'ros2 run controller_manager spawner panda_joint_group_position_controller'].
[rviz2-3] [INFO] [1657518563.161309792] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00128651 seconds
[rviz2-3] [INFO] [1657518563.161478384] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1657518563.177119629] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] [INFO] [1657518563.226008793] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1657518563.227259020] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[hybrid_planning_demo_node-5] [INFO] [1657518567.237197626] [test_hybrid_planning_client]: Initialize Planning Scene Monitor
[hybrid_planning_demo_node-5] [INFO] [1657518567.246871765] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00904597 seconds
[hybrid_planning_demo_node-5] [INFO] [1657518567.247008882] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[hybrid_planning_demo_node-5] [WARN] [1657518567.266395745] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[hybrid_planning_demo_node-5] [INFO] [1657518567.283078861] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[hybrid_planning_demo_node-5] [INFO] [1657518567.283563965] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[hybrid_planning_demo_node-5] [INFO] [1657518567.285640939] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/planning_scene'
[hybrid_planning_demo_node-5] [INFO] [1657518567.285780456] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[hybrid_planning_demo_node-5] [INFO] [1657518567.287012729] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[hybrid_planning_demo_node-5] [INFO] [1657518572.287131155] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 5.000000 seconds.
[hybrid_planning_demo_node-5] Check clock synchronization if your are running ROS across multiple machines!
[hybrid_planning_demo_node-5] [WARN] [1657518572.287169092] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state.
[hybrid_planning_demo_node-5] [ERROR] [1657518572.287176104] [test_hybrid_planning_client]: Timeout when waiting for /joint_states updates. Is the robot running?

ChangcongWang avatar Jul 11 '22 05:07 ChangcongWang

It happened that I solved this problem when I installed the dependency package of another project. But I don't know which package solved the problem. The packages I installed are ros-galactic-control-toolbox, ros-galactic-realtime-tools, ros-galactic-ament-clang-format, ros-galactic-ament-cmake- clang-format, ros-galactic-rviz-visual-tools, ros-galactic-moveit-common, ros-galactic-moveit-ros-perception, ros-galactic- moveit-servo. And I'm confused as to why these dependency packages are not written into the depend of package.xml.

ChangcongWang avatar Jul 18 '22 09:07 ChangcongWang