Error in terminal #1
[move_group-1] [INFO] [1759806187.842310292] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1759806187.842320638] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1759806187.842710748] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [INFO] [1759806187.956541233] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1759806187.956580730] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1759806187.956594759] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1759806187.956600751] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [ERROR] [1759806187.956607923] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[move_group-1] [ERROR] [1759806187.956615832] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-1] controller 'gripper_controller' controls joints:
[move_group-1] robotiq_85_left_knuckle_joint
[move_group-1]
[move_group-1] [ERROR] [1759806187.956655706] [moveit_ros.plan_execution]: Apparently trajectory initialization failed
[move_group-1] [INFO] [1759806187.956680024] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
Error in terminal #2
[INFO] [rviz2-1]: process started with pid [12666]
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-user'
[rviz2-1] [INFO] [1759806174.846228141] [rviz2]: Stereo is NOT SUPPORTED[rviz2-1] [INFO] [1759806174.846314314] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1759806174.873935648] [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 O
VERWRITE 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 /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1759806178.035746558] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1759806178.051302421] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1759806178.213040707] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.101325 seconds
[rviz2-1] [INFO] [1759806178.213097912] [moveit_robot_model.robot_model]: Loading robot model 'name'...
[rviz2-1] [INFO] [1759806178.346941299] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1759806178.347633758] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [ERROR] [1759806178.495519430] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.495806853] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.748043388] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.748285079] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [INFO] [1759806178.756954322] [interactive_marker_display_93853699634464]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic[rviz2-1] [ERROR] [1759806178.757988421] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.758278978] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.761404607] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [ERROR] [1759806178.761666713] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-1]
[rviz2-1] [INFO] [1759806178.764302604] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] [INFO] [1759806178.765050437] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] [INFO] [1759806178.770107105] [moveit_ros_visualization.motion_planning_frame]: group gripper
[rviz2-1] [INFO] [1759806178.770125999] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[rviz2-1] [INFO] [1759806178.784915815] [move_group_interface]: Ready to take commands for planning group gripper.
[rviz2-1] [INFO] [1759806178.785524154] [moveit_ros_visualization.motion_planning_frame]: group gripper
[rviz2-1] [INFO] [1759806178.875682133] [interactive_marker_display_93853699634464]: Sending request for interactive markers
[rviz2-1] [INFO] [1759806178.957164223] [interactive_marker_display_93853699634464]: Service response received for initialization
[rviz2-1] [INFO] [1759806184.278161183] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-1] [INFO] [1759806184.278198735] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-1] [INFO] [1759806184.289510842] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-1] [INFO] [1759806187.842394190] [move_group_interface]: Plan and Execute request accepted
[rviz2-1] [INFO] [1759806187.960736338] [move_group_interface]: Plan and Execute request aborted
[rviz2-1] [ERROR] [1759806188.041203230] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[rviz2-1] [WARN] [1759806188.712931348] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Maybe failed to update robot state, time diff: 1759802325.029s
I’m not really sure what I did wrong here…I don’t think I’ve skipped any steps.