This repository provides ready-to-use ROS2 (Humble) packages to execute simple programs and sequences and control different Industrial and Collaborative Robots using ROS 2.
License: Apache License 2.0
Could you please inform me whether you plan to integrate the UR5?
When I run the following command：
xxx@hhz:~/dev_ws$ ros2 launch ros2srrc_ur3_moveit2 ur3_interface.launch.py
ERROR:
[ERROR] [spawn_entity.py-3]: process has died [pid 148536, exit code 1, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -topic robot_description -entity ur3 --ros-args'].
[INFO] [spawner-6]: process started with pid [148723]
[spawner-6] [INFO] [1705911838.238723039] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1705911840.258896577] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1705911842.265628297] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1705911844.272945277] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [ERROR] [1705911846.279376300] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-6]: process has died [pid 148723, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[INFO] [spawner-7]: process started with pid [148748]
[spawner-7] [INFO] [1705911848.725592119] [spawner_ur_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1705911850.733370673] [spawner_ur_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1705911852.740147053] [spawner_ur_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1705911854.747018006] [spawner_ur_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [ERROR] [1705911856.753634067] [spawner_ur_controller]: Controller manager not available
[ERROR] [spawner-7]: process has died [pid 148748, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner ur_controller -c /controller_manager --ros-args'].
...
[spawner-13] KeyboardInterrupt
[ERROR] [spawner-9]: process has died [pid 148780, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_RKJ -c /controller_manager --ros-args'].
[ERROR] [spawner-12]: process has died [pid 148786, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_LFTJ -c /controller_manager --ros-args'].
[ERROR] [spawner-11]: process has died [pid 148784, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_RIKJ -c /controller_manager --ros-args'].
[ERROR] [spawner-10]: process has died [pid 148782, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_LIKJ -c /controller_manager --ros-args'].
[ERROR] [spawner-13]: process has died [pid 148788, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_RFTJ -c /controller_manager --ros-args'].
[INFO] [static_transform_publisher-4]: process has finished cleanly [pid 148538]
[INFO] [robot_state_publisher-5]: process has finished cleanly [pid 148540]
[ERROR] [spawner-8]: process has died [pid 148778, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner robotiq_controller_LKJ -c /controller_manager --ros-args'].
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[gzserver-1] [INFO] [1705911865.296004467] [rclcpp]: signal_handler(signum=15)
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL'
[INFO] [gzserver-1]: sending signal 'SIGKILL' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 148532, exit code -9, cmd 'gzserver /home/hhz/dev_ws/install/ros2srrc_ur3_gazebo/share/ros2srrc_ur3_gazebo/worlds/ur3.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
I used the Point to Point to plan trajectory but it always throw Plain failed , my command is
ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveXYZW', movexyzw: {x: 0.7853980007731769, y: -1.570788582328058, z: 1.5707964646142587, yaw: 0.00, pitch: 0.00, roll: 0.00}, speed: 1.0}"
I found there're an error message in console
[move_group-9] [INFO] [1692658495.763689947] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-9] [INFO] [1692658495.763697796] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-9] [INFO] [1692658495.763776024] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-9] [INFO] [1692658495.763795986] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[move_group-9] [ERROR] [1692658495.813873341] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Unable to find IK solution.
[move_group-9] [ERROR] [1692658495.813902390] [moveit.pilz_industrial_motion_planner.trajectory_generator]: No IK solution for goal pose
[move_group-9] [INFO] [1692658495.813919642] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[move-10] [INFO] [1692658495.814276558] [move_group_interface]: Planning request aborted
[move-10] [ERROR] [1692658495.863602203] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[move-10] [INFO] [1692658495.863630966] [move]: ur10e - MoveXYZW: Planning failed!
Seems I need to setup IK ? where could set it ?
I followed the instructions including adding improved move_group_interface_improved.h
However colcon build fails with:
OS: Ubuntu 22.04.3 LTS
ROS2: Humble
Moveit2: 2.5.5
/usr/bin/ld: CMakeFiles/robmove.dir/src/robmove.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Robmove> >)':
robmove.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action7RobmoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action7RobmoveEEEE]+0x81b): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
/usr/bin/ld: CMakeFiles/move.dir/src/move.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Move> >)':
move.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE]+0x16bf): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
/usr/bin/ld: move.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE]+0x1de3): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/robmove.dir/build.make:366: robmove] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:195: CMakeFiles/robmove.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/move.dir/build.make:518: move] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:143: CMakeFiles/move.dir/all] Error 2
/usr/bin/ld: CMakeFiles/sequence.dir/src/sequence.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Sequence> >)':
sequence.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action8SequenceEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action8SequenceEEEE]+0x1641): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/sequence.dir/build.make:526: sequence] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:169: CMakeFiles/sequence.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< ros2srrc_execution [2.01s, exited with code 2]
UPDATE:
After deleting all the code built with these warnings:
[Processing: ros2srrc_execution]
--- stderr: ros2srrc_execution
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:74:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declaration]
74 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:41:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Robmove_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:115:77: warning: unused parameter ‘uuid’ [-Wunused-parameter]
115 | rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Robmove::Goal> goal)
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Robmove> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:178:17: warning: comparison with string literal results in unspecified behavior [-Waddress]
178 | if (RES == "PLANNING: OK"){
| ~~~~^~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:180:122: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
180 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:41:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:34:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In function ‘int main(int, char**)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:244:25: warning: format ‘%s’ expects argument of type ‘char*’, but argument 5 has type ‘std::__cxx11::basic_string<char>’ [-Wformat=]
244 | RCLCPP_INFO(logger, "MoveGroupInterface object created for ROBOT: %s", ROBname);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:244:72: note: format string is defined here
244 | RCLCPP_INFO(logger, "MoveGroupInterface object created for ROBOT: %s", ROBname);
| ~^
| |
| char*
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp: In function ‘MoveRSTRUCT MoveRAction(ros2srrc_data::msg::Joint, std::vector<double, std::allocator<double> >, std::string)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp:201:27: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
201 | } else if (InputJoint = "NotValid"){
| ~~~~~~~~~~~^~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:130:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
130 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_EE()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:149:107: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
149 | bool success = (move_group_interface_EE.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Move_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:199:16: warning: unused variable ‘speed’ [-Wunused-variable]
199 | double speed = goal->speed;
| ^~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:193:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
193 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Move> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:422:122: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
422 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp: In function ‘MoveRSTRUCT MoveRAction(ros2srrc_data::msg::Joint, std::vector<double, std::allocator<double> >, std::string)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp:201:27: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
201 | } else if (InputJoint = "NotValid"){
| ~~~~~~~~~~~^~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:143:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
143 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_EE()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:162:107: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
162 | bool success = (move_group_interface_EE.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘bool ATTACH(ros2srrc_data::msg::Linkattacher)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:205:18: warning: unused variable ‘attachOK’ [-Wunused-variable]
205 | if (bool attachOK = RES->success) {
| ^~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘bool DETACH(ros2srrc_data::msg::Linkattacher)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:233:18: warning: unused variable ‘detachOK’ [-Wunused-variable]
233 | if (bool detachOK = RES->success) {
| ^~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Sequence_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:321:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
321 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Sequence> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:561:130: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
561 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
---
Finished <<< ros2srrc_execution [50.5s]
Summary: 30 packages finished [1min 12s]
1 package had stderr output: ros2srrc_execution
I have an ABB IRB2600 robot and a PC on which Ubuntu 22.04 and ROS2 Humble are installed.
I am trying to establish a connection between the ROS2 PC and the robot by using the following command:
ros2 launch ros2srrc_irb2600_bringup irb2600_bringup.launch.py
I have adapted the robot description and configuration files and renamed all files to fit my robot model.
After I have entered the command I receive the following response:
nihe@ws-autom-03:~$ source /opt/ros/humble/setup.bash
nihe@ws-autom-03:~$ source /var/Airbus/dev_ws/install/setup.bash
nihe@ws-autom-03:~$ ros2 launch ros2srrc_irb2600_bringup irb2600_bringup.launch.py
[INFO] [launch]: All log files can be found below /home/nihe/.ros/log/2023-09-20-15-37-19-339069-ws-autom-03-41673
[INFO] [launch]: Default logging verbosity is set to INFO
===== ABB IRB-2600: Robot Bringup (ros2srrc_irb2600_bringup) =====
Robot configuration:
- IP Address:
Please input the IP Address of the Robot: 10.83.141.60
- Cell layout:
+ Option N1: ABB IRB-2600 alone.
+ Option N2: Cranfield University: IA Lab enclosure.
+ Option N3: Pick and Place use-case.
Please select: 1
- End-effector:
+ Option N1: No end-effector.
+ Option N2: Schunk EGP-64 parallel gripper.
Please select: 1
[INFO] [ros2_control_node-1]: process started with pid [41679]
[INFO] [robot_state_publisher-2]: process started with pid [41681]
[INFO] [static_transform_publisher-3]: process started with pid [41683]
[INFO] [spawner-4]: process started with pid [41685]
[INFO] [spawner-5]: process started with pid [41687]
[INFO] [rws_client-6]: process started with pid [41689]
[static_transform_publisher-3] [WARN] [1695217060.038130787] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1695217060.044351888] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'world' to 'base_link'
[robot_state_publisher-2] [INFO] [1695217060.046552659] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1695217060.046595124] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1695217060.046598763] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1695217060.046601146] [robot_state_publisher]: got segment link_1
[robot_state_publisher-2] [INFO] [1695217060.046602966] [robot_state_publisher]: got segment link_2
[robot_state_publisher-2] [INFO] [1695217060.046604773] [robot_state_publisher]: got segment link_3
[robot_state_publisher-2] [INFO] [1695217060.046606572] [robot_state_publisher]: got segment link_4
[robot_state_publisher-2] [INFO] [1695217060.046608293] [robot_state_publisher]: got segment link_5
[robot_state_publisher-2] [INFO] [1695217060.046610030] [robot_state_publisher]: got segment link_6
[robot_state_publisher-2] [INFO] [1695217060.046611891] [robot_state_publisher]: got segment tool0
[robot_state_publisher-2] [INFO] [1695217060.046613805] [robot_state_publisher]: got segment world
[ros2_control_node-1] [INFO] [1695217060.049850046] [resource_manager]: Loading hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.053529694] [resource_manager]: Initialize hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.215627067] [ABBSystemHardware]: Robot controller description:
[ros2_control_node-1] ============================================================
[ros2_control_node-1] = Summary of robot controller at '10.83.141.60:80'
[ros2_control_node-1] ============================================================
[ros2_control_node-1] # General Information:
[ros2_control_node-1] |- RobotWare version: 6.13.01.00
[ros2_control_node-1] |- System name: 2600-117066
[ros2_control_node-1] |- System type: Real Controller
[ros2_control_node-1] |- Options:
[ros2_control_node-1] |- RobotWare Base
[ros2_control_node-1] |- 888-2 PROFINET Controller/Device
[ros2_control_node-1] |- 997-1 PROFIsafe F-Device
[ros2_control_node-1] |- 996-1 Safety Module
[ros2_control_node-1] |- 988-1 RW Add-In Prepared
[ros2_control_node-1] |- 608-1 World Zones
[ros2_control_node-1] |- 611-1 Path Recovery
[ros2_control_node-1] |- 613-1 Collision Detection
[ros2_control_node-1] |- 616-1 PC Interface
[ros2_control_node-1] |- 617-1 FlexPendant Interface
[ros2_control_node-1] |- 623-1 Multitasking
[ros2_control_node-1] |- 689-1 Externally Guided Motion (EGM)
[ros2_control_node-1] |- UDPUC Driver
[ros2_control_node-1] |- 1125-2 SafeMove Pro
[ros2_control_node-1] |- Motor Commutation
[ros2_control_node-1] |- Service Info System
[ros2_control_node-1] |- Pendelum Calibration
[ros2_control_node-1] |- Drive System IRB 2600/390/4400/6400R
[ros2_control_node-1] |- IRB 2600-20/1.65 Type B
[ros2_control_node-1] |- Axis Calibration
[ros2_control_node-1]
[ros2_control_node-1] # Mechanical Units:
[ros2_control_node-1] |- Unit: ROB_1
[ros2_control_node-1]
[ros2_control_node-1] # Mechanical Unit Groups:
[ros2_control_node-1] |- N/A (only for MultiMove systems)
[ros2_control_node-1] ============================================================
[ros2_control_node-1] [INFO] [1695217060.215686877] [ABBSystemHardware]: Configuring EGM interface...
[ros2_control_node-1] [INFO] [1695217060.215868184] [ABBSystemHardware]: Configuring EGM for mechanical unit group on port 6511
[ros2_control_node-1] [INFO] [1695217060.222640339] [resource_manager]: Successful initialization of hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.222969956] [resource_manager]: 'configure' hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.222985511] [resource_manager]: Successful 'configure' of hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.223000702] [resource_manager]: 'activate' hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1695217060.223008084] [ABBSystemHardware]: Connecting to robot...
[rws_client-6] [INFO] [1695217060.224645263] [rws_client]: RWS client services initialized!
[rws_client-6] [INFO] [1695217060.328933511] [rws_client]: RWS state publisher initialized!
[ros2_control_node-1] [INFO] [1695217060.723230666] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217061.723624846] [ABBSystemHardware]: Not connected to robot...
[spawner-5] [INFO] [1695217062.194168494] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1695217062.194262892] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[ros2_control_node-1] [INFO] [1695217062.724055181] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217063.724514652] [ABBSystemHardware]: Not connected to robot...
[spawner-5] [INFO] [1695217064.206666214] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[spawner-4] [INFO] [1695217064.206822352] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[ros2_control_node-1] [INFO] [1695217064.725035900] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217065.725563891] [ABBSystemHardware]: Not connected to robot...
[spawner-4] [INFO] [1695217066.218913375] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1695217066.218926162] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ros2_control_node-1] [INFO] [1695217066.726038631] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217067.726593491] [ABBSystemHardware]: Not connected to robot...
[spawner-4] [INFO] [1695217068.231779535] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1695217068.231825933] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ros2_control_node-1] [INFO] [1695217068.727029265] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217069.727507168] [ABBSystemHardware]: Not connected to robot...
[spawner-4] [ERROR] [1695217070.244324257] [spawner_joint_state_broadcaster]: Controller manager not available
[spawner-5] [ERROR] [1695217070.244537101] [spawner_joint_trajectory_controller]: Controller manager not available
[ERROR] [spawner-4]: process has died [pid 41685, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-5]: process has died [pid 41687, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_trajectory_controller -c /controller_manager --ros-args'].
[INFO] [move_group-7]: process started with pid [41770]
[INFO] [move-8]: process started with pid [41772]
[INFO] [sequence-9]: process started with pid [41774]
[INFO] [robmove-10]: process started with pid [41776]
[INFO] [robpose-11]: process started with pid [41778]
[sequence-9] [INFO] [1695217070.499233279] [sequence]: ROB_PARAM received -> irb2600
[move-8] [INFO] [1695217070.499400784] [move]: ROB_PARAM received -> irb2600
[move-8] [WARN] [1695217070.499589772] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robpose-11] [INFO] [1695217070.499405808] [robpose]: ROB_PARAM received -> irb2600
[robpose-11] [WARN] [1695217070.499682417] [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.
[sequence-9] [WARN] [1695217070.499443391] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move_group-7] [WARN] [1695217070.499746522] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[robmove-10] [INFO] [1695217070.500433454] [robmove]: ROB_PARAM received -> irb2600
[robmove-10] [WARN] [1695217070.500611582] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move_group-7] [INFO] [1695217070.501626790] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00176857 seconds
[move_group-7] [INFO] [1695217070.501652343] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[sequence-9] [INFO] [1695217070.503072551] [sequence]: EE_PARAM received -> none
[sequence-9] [WARN] [1695217070.503192282] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move-8] [INFO] [1695217070.503990788] [move]: EE_PARAM received -> none
[move-8] [WARN] [1695217070.504094142] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robpose-11] [INFO] [1695217070.505937438] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robpose-11] [INFO] [1695217070.505964069] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[robmove-10] [INFO] [1695217070.506461072] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[robmove-10] [INFO] [1695217070.506486460] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[sequence-9] [INFO] [1695217070.506683297] [sequence]: ENV_PARAM received -> bringup
[sequence-9] [WARN] [1695217070.506823220] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move-8] [INFO] [1695217070.507690470] [move]: ENV_PARAM received -> bringup
[move-8] [WARN] [1695217070.507773342] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move-8] [INFO] [1695217070.511821407] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00138969 seconds
[move-8] [INFO] [1695217070.511838768] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[sequence-9] [INFO] [1695217070.512193414] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00176303 seconds
[sequence-9] [INFO] [1695217070.512212114] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[move_group-7] [INFO] [1695217070.687729770] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-7] [INFO] [1695217070.687814758] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-7] [INFO] [1695217070.688206396] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-7] [INFO] [1695217070.688388496] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-7] [INFO] [1695217070.688396069] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-7] [INFO] [1695217070.688503511] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-7] [INFO] [1695217070.688509898] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-7] [INFO] [1695217070.688625503] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-7] [INFO] [1695217070.688726978] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-7] [WARN] [1695217070.688881582] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-7] [ERROR] [1695217070.688887576] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[ros2_control_node-1] [INFO] [1695217070.727904336] [ABBSystemHardware]: Not connected to robot...
[move_group-7] [INFO] [1695217070.773081596] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-7] [INFO] [1695217070.774265111] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-7] [INFO] [1695217070.775696289] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-7] [INFO] [1695217070.775703343] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-7] [INFO] [1695217070.776224859] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-7] [INFO] [1695217070.776230085] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-7] [INFO] [1695217070.776575255] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-7] [INFO] [1695217070.776579205] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-7] [INFO] [1695217070.776896198] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-7] [INFO] [1695217070.776901492] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-7] [INFO] [1695217070.784506712] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-7] [INFO] [1695217070.784574007] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-7] [INFO] [1695217070.784582499] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-7] [INFO] [1695217070.784827856] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-7] [INFO] [1695217070.784834905] [move_group.move_group]: MoveGroup debug mode is ON
[robpose-11] [INFO] [1695217070.791335544] [move_group_interface]: Ready to take commands for planning group irb2600_arm.
[robpose-11] [WARN] [1695217070.791378982] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[move-8] [INFO] [1695217070.791692327] [move_group_interface]: Ready to take commands for planning group irb2600_arm.
[sequence-9] [INFO] [1695217070.791950212] [move_group_interface]: Ready to take commands for planning group irb2600_arm.
[move-8] [INFO] [1695217070.792046650] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[sequence-9] [INFO] [1695217070.792363284] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[robmove-10] [INFO] [1695217070.792769772] [move_group_interface]: Ready to take commands for planning group irb2600_arm.
[robmove-10] [INFO] [1695217070.792788062] [RobMove_INTERFACE]: MoveGroupInterface object created for ROBOT: @����
[move_group-7] [INFO] [1695217070.793770052] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
[move_group-7] [INFO] [1695217070.794847779] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-7] [WARN] [1695217070.794918538] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.794968069] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.794980817] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.794992172] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795003607] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795014572] [move_group]: Failed loading deceleration limits
[move_group-7] [INFO] [1695217070.795042143] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-7] [WARN] [1695217070.795055896] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795071662] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795085949] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795101377] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795116418] [move_group]: Failed loading deceleration limits
[move_group-7] [WARN] [1695217070.795127745] [move_group]: Failed loading deceleration limits
[move_group-7] [INFO] [1695217070.795398476] [move_group.move_group]:
[move_group-7]
[move_group-7] ********************************************************
[move_group-7] * MoveGroup using:
[move_group-7] * - ApplyPlanningSceneService
[move_group-7] * - ClearOctomapService
[move_group-7] * - CartesianPathService
[move_group-7] * - ExecuteTrajectoryAction
[move_group-7] * - GetPlanningSceneService
[move_group-7] * - KinematicsService
[move_group-7] * - MoveAction
[move_group-7] * - MotionPlanService
[move_group-7] * - QueryPlannersService
[move_group-7] * - StateValidationService
[move_group-7] * - SequenceAction
[move_group-7] * - SequenceService
[move_group-7] ********************************************************
[move_group-7]
[move_group-7] [INFO] [1695217070.795415492] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-7] [INFO] [1695217070.795419499] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-7] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-7] Loading 'move_group/ClearOctomapService'...
[move_group-7] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-7] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-7] Loading 'move_group/MoveGroupMoveAction'...
[move_group-7] Loading 'move_group/MoveGroupPlanService'...
[move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-7] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-7] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-7] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-7]
[move_group-7] You can start planning now!
[move_group-7]
[robmove-10] [WARN] [1695217070.796145198] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[robpose-11] [INFO] [1695217070.845030116] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[ros2_control_node-1] [INFO] [1695217071.728325846] [ABBSystemHardware]: Not connected to robot...
[move-8] [INFO] [1695217071.792269594] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move-8] Check clock synchronization if your are running ROS across multiple machines!
[move-8] [ERROR] [1695217071.792362695] [move_group_interface]: Failed to fetch current robot state
[sequence-9] [INFO] [1695217071.792557733] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[sequence-9] Check clock synchronization if your are running ROS across multiple machines!
[sequence-9] [ERROR] [1695217071.792613843] [move_group_interface]: Failed to fetch current robot state
[ros2_control_node-1] [INFO] [1695217072.728672612] [ABBSystemHardware]: Not connected to robot...
[ERROR] [sequence-9]: process has died [pid 41774, exit code -11, cmd '/var/Airbus/dev_ws/install/ros2srrc_execution/lib/ros2srrc_execution/sequence --ros-args -r __node:=sequence --params-file /tmp/launch_params_0_ecgr97 --params-file /tmp/launch_params_4yo8qeov --params-file /tmp/launch_params_rmwgzth8 --params-file /tmp/launch_params_rrh7zit6 --params-file /tmp/launch_params_ez0y3h2j --params-file /tmp/launch_params_e5ue26jt'].
[ros2_control_node-1] [INFO] [1695217073.728924436] [ABBSystemHardware]: Not connected to robot...
[ERROR] [move-8]: process has died [pid 41772, exit code -11, cmd '/var/Airbus/dev_ws/install/ros2srrc_execution/lib/ros2srrc_execution/move --ros-args -r __node:=move --params-file /tmp/launch_params_yaks8qyd --params-file /tmp/launch_params_yq3frs3_ --params-file /tmp/launch_params_5iuqws65 --params-file /tmp/launch_params_4sqxulv4 --params-file /tmp/launch_params_9ro7t9v6 --params-file /tmp/launch_params_zvlha160'].
[ros2_control_node-1] [INFO] [1695217074.729262168] [ABBSystemHardware]: Not connected to robot...
[INFO] [rviz2-12]: process started with pid [41891]
[ros2_control_node-1] [INFO] [1695217075.729692568] [ABBSystemHardware]: Not connected to robot...
[rviz2-12] [INFO] [1695217075.827669137] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-12] [INFO] [1695217075.827759230] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-12] [INFO] [1695217075.921944165] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-12] 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.
[rviz2-12] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2_control_node-1] [INFO] [1695217076.730074176] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217077.730622457] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217078.731136318] [ABBSystemHardware]: Not connected to robot...
[rviz2-12] [ERROR] [1695217078.972356122] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-12] [INFO] [1695217078.992524504] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-12] [INFO] [1695217079.047735335] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00130333 seconds
[rviz2-12] [INFO] [1695217079.047761926] [moveit_robot_model.robot_model]: Loading robot model 'irb2600'...
[rviz2-12] [INFO] [1695217079.225942411] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[rviz2-12] [INFO] [1695217079.247462536] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-12] [INFO] [1695217079.247856247] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-12] [INFO] [1695217079.371929239] [interactive_marker_display_94791189675424]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-12] [INFO] [1695217079.376729302] [moveit_ros_visualization.motion_planning_frame]: group irb2600_arm
[rviz2-12] [INFO] [1695217079.376740701] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'irb2600_arm' in namespace ''
[rviz2-12] [INFO] [1695217079.379241416] [move_group_interface]: Ready to take commands for planning group irb2600_arm.
[rviz2-12] [INFO] [1695217079.379697255] [moveit_ros_visualization.motion_planning_frame]: group irb2600_arm
[rviz2-12] [INFO] [1695217079.379718869] [moveit_ros_visualization.motion_planning_frame]: group irb2600_arm
[rviz2-12] [INFO] [1695217079.386548606] [interactive_marker_display_94791189675424]: Sending request for interactive markers
[rviz2-12] [INFO] [1695217079.419267664] [interactive_marker_display_94791189675424]: Service response received for initialization
[ros2_control_node-1] [INFO] [1695217079.731601901] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217080.732042825] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217081.732464611] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217082.732799894] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217083.733229108] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217084.733663053] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217085.734065863] [ABBSystemHardware]: Not connected to robot...
[ros2_control_node-1] [INFO] [1695217086.734539034] [ABBSystemHardware]: Not connected to robot...
As you can see the general information of the robot is displayed but the ros2_control_node cannot connect to the robot.
Some things I tried or believe are important:
CallbackReturn ABBSystemHardware::on_activate(const rclcpp_lifecycle::State& /* previous_state */)
{
size_t counter = 0;
RCLCPP_INFO(LOGGER, "Connecting to robot...");
while (rclcpp::ok() && ++counter < NUM_CONNECTION_TRIES)
{
// Wait for a message on any of the configured EGM channels.
if (egm_manager_->waitForMessage(500))
{
RCLCPP_INFO(LOGGER, "Connected to robot");
break;
}
RCLCPP_INFO(LOGGER, "Not connected to robot...");
if (counter == NUM_CONNECTION_TRIES)
{
RCLCPP_ERROR(LOGGER, "Failed to connect to robot");
return CallbackReturn::ERROR;
}
rclcpp::sleep_for(500ms);
}
It seems that the egm_manager_ has to send a message in order to get a "Connected to robot" line. So maybe theres somethiong wrong with the EGM-connection? I also looked into the egm_manager.cpp file but I was not able to find something that helped me.
There are 2 other lines in my example which might cause the connection issues but I am not sure of that. The "spawner_joint_trajectory_controller" and the "spawner_joint_state_broadcaster" are waiting for '/controller_manager' services to be available. I don't know if the controller manager issue and the connection problem are related to each other but if one problem is solved the other might be too.
I searched for some other people who had the same problems and I also contacted the people who developed the ABB Driver but until now I wasn't able to solve my issue.
Maybe I can find help here :)
using Ubuntu 22.04 and ros2 humble
Hello, i get this when trying to colcon build :
Starting >>> abb_libegm
Starting >>> abb_librws
Starting >>> abb_irb1200_support
Starting >>> abb_rapid_msgs
Starting >>> abb_robot_msgs
Starting >>> linkattacher_msgs
Starting >>> serial
Starting >>> abb_egm_msgs
Starting >>> abb_resources
Starting >>> gazebo_ros2_control
Starting >>> ros2srrc_data
Starting >>> abb_irb4600_support
Starting >>> abb_ros2
Starting >>> robotiq_controllers
Starting >>> robotiq_description
Starting >>> ros2srrc_dobot_gazebo
Starting >>> ros2srrc_dobot_moveit2
Starting >>> ros2srrc_irb120_bringup
Starting >>> ros2srrc_irb120_gazebo
Starting >>> ros2srrc_irb120_moveit2
Finished <<< abb_irb1200_support [0.43s]
Finished <<< abb_librws [0.45s]
Finished <<< ros2srrc_dobot_gazebo [0.41s]
Finished <<< abb_ros2 [0.43s]
Starting >>> abb_irb1200_5_90_moveit_config
Starting >>> ros2srrc_ur10e_bringup
Starting >>> ros2srrc_ur10e_gazebo
Starting >>> ros2srrc_ur10e_moveit2
Finished <<< abb_irb4600_support [0.48s]
Finished <<< robotiq_description [0.47s]
Starting >>> ros2srrc_ur3_bringup
Finished <<< ros2srrc_dobot_moveit2 [0.47s]
Finished <<< ros2srrc_irb120_gazebo [0.47s]
Finished <<< abb_resources [0.51s]
Finished <<< ros2srrc_irb120_bringup [0.48s]
Finished <<< robotiq_controllers [0.50s]
Starting >>> ros2srrc_ur3_gazebo
Starting >>> ros2srrc_ur3_moveit2
Finished <<< ros2srrc_irb120_moveit2 [0.49s]
Finished <<< gazebo_ros2_control [0.55s]
Starting >>> gazebo_ros2_control_demos
Finished <<< abb_libegm [0.61s]
Starting >>> abb_egm_rws_managers
Finished <<< ros2srrc_ur10e_moveit2 [0.24s]
Finished <<< ros2srrc_ur10e_bringup [0.26s]
Finished <<< abb_irb1200_5_90_moveit_config [0.28s]
Finished <<< ros2srrc_ur10e_gazebo [0.28s]
Finished <<< ros2srrc_ur3_bringup [0.25s]
Starting >>> abb_bringup
Finished <<< ros2srrc_ur3_gazebo [0.25s]
Finished <<< ros2srrc_ur3_moveit2 [0.26s]
Finished <<< linkattacher_msgs [0.87s]
Starting >>> ros2_linkattacher
Finished <<< gazebo_ros2_control_demos [0.33s]
Finished <<< abb_egm_msgs [0.89s]
Finished <<< abb_egm_rws_managers [0.32s]
Starting >>> abb_hardware_interface
Finished <<< abb_bringup [0.20s]
Finished <<< ros2_linkattacher [0.20s]
Finished <<< abb_hardware_interface [0.20s]
Finished <<< abb_rapid_msgs [1.13s]
Finished <<< ros2srrc_data [1.11s]
Starting >>> abb_rapid_sm_addin_msgs
Finished <<< serial [1.36s]
Starting >>> robotiq_driver
Finished <<< abb_robot_msgs [1.50s]
Starting >>> ros2srrc_execution
Finished <<< abb_rapid_sm_addin_msgs [0.76s]
Starting >>> abb_rws_client
Finished <<< abb_rws_client [0.17s]
--- stderr: ros2srrc_execution
CMake Error at CMakeLists.txt:47 (find_package):
By not providing "Findros2_robotiqgripper.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"ros2_robotiqgripper", but CMake did not find one.
Could not find a package configuration file provided by
"ros2_robotiqgripper" with any of the following names:
ros2_robotiqgripperConfig.cmake
ros2_robotiqgripper-config.cmake
Add the installation prefix of "ros2_robotiqgripper" to CMAKE_PREFIX_PATH
or set "ros2_robotiqgripper_DIR" to a directory containing one of the above
files. If "ros2_robotiqgripper" provides a separate development package or
SDK, be sure it has been installed.
---
Failed <<< ros2srrc_execution [2.28s, exited with code 1]
Aborted <<< robotiq_driver [6.19s]
Summary: 34 packages finished [7.72s]
1 package failed: ros2srrc_execution
1 package aborted: robotiq_driver
1 package had stderr output: ros2srrc_execution
1 package not processed
I haven't found this ros2_robotiqgripper online so i'm not sure what is the problem.
Can you help me please ?
Thanks a lot in advance,
Tom
I would like to clarify some questions regarding integration with the UR3e robot. Are code modifications required for operation with this model? Does the URCaps file provided by Universal Robots remain unchanged and follow the same usage protocol?
Thanks for your support. The project is very good. Thanks!
I was able to launch MoveIt and Gazebo for the UR10e using this command:
ros2 launch ros2srrc_ur10e_moveit2 ur10e_interface.launch.py
However, I encountered the following warning messages:
[move_group-9] [WARN] [1692597319.044961714] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597320.073657477] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597321.095780231] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597322.097822385] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing BASE_TF_joint, TCP_joint
[move_group-9] [WARN] [1692597323.121625694] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing BASE_TF_joint, TCP_joint
Do these warning messages affect the functionality?
Hello,
I was trying to run simulations after I installed ros2_SimRealRobotControl following all the steps in the ReadMe (including the new IFRA_LinkAttacher ROS2-Gazebo plugin). However, when I launched the Gazebo simulation environment or the Gazebo + MoveIt!2 environment, my robot always falled off without maintaining its home position. I could not run any other programs to contorl its movements as well. What could be the reasons?
I tried the following command:
ros2 launch ros2srrc_irb120_gazebo simulation.launch.py layout:=ros2srrc_irb120_1 endeffector:=RobAlone
ros2 launch ros2srrc_irb120_moveit2 moveit2.launch.py layout:=ros2srrc_irb120_1 endeffector:=RobAlone
These were some of the log messages:
[ERROR] [spawner-7]: process has died [pid 10964, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner egp64_finger_left_controller -c /controller_manager --ros-args'].
[INFO] [spawner-8]: process started with pid [11008]
[spawner-8] [INFO] [1711945806.801040381] [spawner_egp64_finger_right_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1711945808.817141369] [spawner_egp64_finger_right_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1711945810.833380512] [spawner_egp64_finger_right_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1711945812.848078482] [spawner_egp64_finger_right_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [ERROR] [1711945814.865378198] [spawner_egp64_finger_right_controller]: Controller manager not available
[ERROR] [spawner-8]: process has died [pid 11008, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner egp64_finger_right_controller -c /controller_manager --ros-args'].
xxx@hhz:~/dev_ws$ ros2 run ros2srrc_execution sequence.py --ros-args -p PROGRAM_FILENAME:="ur3" -p ROBOT_MODEL:="ur3" -p EE_MODEL:="robotiq_2f85" -p GzBr_ENV:="gazebo"
--- Cranfield University ---
(c) IFRA Group
ros2srrc_execution --> SEQUENCE EXECUTION
Python script -> sequence.py
[INFO] [1705907216.091645655] [ros2srrc_program_param]: PROGRAM_FILENAME ROS2 Parameter received: ur3
[INFO] [1705907216.109238656] [ros2srrc_robot_param]: ROBOT_MODEL ROS2 Parameter received: ur3
[INFO] [1705907216.125560796] [ros2srrc_ee_param]: EE_MODEL ROS2 Parameter received: robotiq_2f85
[INFO] [1705907216.142580490] [ros2srrc_gzbr_param]: GzBr_ENV ROS2 Parameter received: gazebo
Waiting for ros2srrc_data/Sequence ACTION SERVER to be available...
What should I do to get to the next step?
hi, man
i meet a question,how can i solve it?
Could you waste some time to help me?
Thank U,Sir.
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