Could anybody help me with this RVIZ plan&execute failing problem?

benny.ros2.construct · July 26, 2023, 3:30pm

Hi!
i just took the course and did the installation of moveit2 package using setup assistant
but look like there are some problem with installation that being warned here.

roslaunch moveit_setup_assistant setup_assistant.launch
… logging to /home/user/.ros/log/f79b0f16-2bc2-11ee-99ff-0242ac170006/roslaunch-3_xterm-904.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://3_xterm:36759/

SUMMARY

PARAMETERS

/rosdistro: noetic
/rosversion: 1.15.11

NODES
/
moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

ROS_MASTER_URI=http://3_simulation:11311

process[moveit_setup_assistant-1]: started with pid [931]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-user’
[ INFO] [1690382788.394639706, 95.579000000]: Loaded ur3e robot model.
[ INFO] [1690382788.397739344, 95.582000000]: Setting Param Server with Robot Description
[ INFO] [1690382788.401927840, 95.586000000]: Robot semantic model successfully loaded.
[ INFO] [1690382788.401976785, 95.586000000]: Setting Param Server with Robot Semantic Description
[ INFO] [1690382788.415397035, 95.600000000]: Loading robot model ‘ur3e’…
[ INFO] [1690382788.416097425, 95.600000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690382788.638001500, 95.821000000]: Stereo is NOT SUPPORTED
[ INFO] [1690382788.638103473, 95.822000000]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1690382788.638176514, 95.822000000]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1690382788.746518656, 95.926000000]: Loading robot model ‘ur3e’…
[ INFO] [1690382788.746976861, 95.926000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690382794.344528429, 101.504000000]: Loading Setup Assistant Complete
[ INFO] [1690382858.950095993, 165.687000000]: Updating kinematic model
[ INFO] [1690382858.950334150, 165.687000000]: Loading robot model ‘ur3e’…
[ WARN] [1690382858.950391982, 165.687000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690382858.950444338, 165.687000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690382930.759087119, 237.047000000]: Updating kinematic model
[ WARN] [1690382930.759273576, 237.047000000]: Group ‘ur_manipulator’ is empty.
[ INFO] [1690382930.759342869, 237.047000000]: Loading robot model ‘ur3e’…
[ WARN] [1690382930.759384916, 237.047000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690382930.759428788, 237.047000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1690382930.791030818, 237.079000000]: Group ‘ur_manipulator’ must have at least one validjoint
[ WARN] [1690382930.791095024, 237.079000000]: Failed to add group ‘ur_manipulator’
[ INFO] [1690382963.980536296, 269.060000000]: Updating kinematic model
[ INFO] [1690382963.981938489, 269.062000000]: Loading robot model ‘ur3e’…
[ WARN] [1690382963.981979829, 269.062000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690382963.982000302, 269.062000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690383015.742413468, 317.732000000]: Updating kinematic model
[ INFO] [1690383015.742584027, 317.732000000]: Loading robot model ‘ur3e’…
[ WARN] [1690383015.742640010, 317.732000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690383015.742687486, 317.732000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1690383220.919850529, 505.978000000]: Failed to generate entire configuration package
^C[moveit_setup_assistant-1] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done

And after i try to do open RVIZ with demo.launch
this is what it shows in terminal

source ~/catkin_ws/devel/setup.bash
user:~$ roslaunch my_moveit_config demo.launch
… logging to /home/user/.ros/log/f79b0f16-2bc2-11ee-99ff-0242ac170006/roslaunch-3_xterm-6407.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://3_xterm:33781/

SUMMARY

PARAMETERS

/move_group/allow_trajectory_execution: True
/move_group/capabilities:
/move_group/controller_list: [{‘name’: 'fake_u…
/move_group/default_planning_pipeline: ompl
/move_group/disable_capabilities:
/move_group/initial: [{‘group’: 'ur_ma…
/move_group/jiggle_fraction: 0.05
/move_group/max_range: 5.0
/move_group/max_safe_path_cost: 1
/move_group/moveit_controller_manager: moveit_fake_contr…
/move_group/moveit_manage_controllers: True
/move_group/octomap_resolution: 0.025
/move_group/planning_pipelines/chomp/collision_clearence: 0.2
/move_group/planning_pipelines/chomp/collision_threshold: 0.07
/move_group/planning_pipelines/chomp/enable_failure_recovery: True
/move_group/planning_pipelines/chomp/joint_update_limit: 0.1
/move_group/planning_pipelines/chomp/learning_rate: 0.01
/move_group/planning_pipelines/chomp/max_iterations: 200
/move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
/move_group/planning_pipelines/chomp/max_recovery_attempts: 5
/move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
/move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C…
/move_group/planning_pipelines/chomp/planning_time_limit: 10.0
/move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
/move_group/planning_pipelines/chomp/request_adapters: default_planner_r…
/move_group/planning_pipelines/chomp/ridge_factor: 0.01
/move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
/move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
/move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
/move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
/move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
/move_group/planning_pipelines/chomp/use_pseudo_inverse: False
/move_group/planning_pipelines/chomp/use_stochastic_descent: True
/move_group/planning_pipelines/ompl/gripper/planner_configs: ['AnytimePathShor…
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners:
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
/move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim…
/move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
/move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
/move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
/move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
/move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
/move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
/move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
/move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
/move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
/move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
/move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
/move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
/move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
/move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
/move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
/move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
/move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
/move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
/move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
/move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR…
/move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
/move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
/move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
/move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
/move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
/move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon…
/move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
/move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
/move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
/move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
/move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
/move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
/move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
/move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
/move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
/move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
/move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
/move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
/move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
/move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
/move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
/move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
/move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
/move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
/move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
/move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM…
/move_group/planning_pipelines/ompl/request_adapters: default_planner_r…
/move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
/move_group/planning_pipelines/ompl/ur_manipulator/longest_valid_segment_fraction: 0.005
/move_group/planning_pipelines/ompl/ur_manipulator/planner_configs: ['AnytimePathShor…
/move_group/planning_pipelines/ompl/ur_manipulator/projection_evaluator: joints(shoulder_p…
/move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m…
/move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m…
/move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters:
/move_group/planning_pipelines/pilz_industrial_motion_planner/start_state_max_bounds_error: 0.1
/move_group/planning_scene_monitor/publish_geometry_updates: True
/move_group/planning_scene_monitor/publish_planning_scene: True
/move_group/planning_scene_monitor/publish_state_updates: True
/move_group/planning_scene_monitor/publish_transforms_updates: True
/move_group/sensors: [{}]
/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/move_group/trajectory_execution/allowed_start_tolerance: 0.01
/robot_description: <?xml version="1…
/robot_description_kinematics/ur_manipulator/kinematics_solver: kdl_kinematics_pl…
/robot_description_kinematics/ur_manipulator/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/ur_manipulator/kinematics_solver_timeout: 0.005
/robot_description_planning/cartesian_limits/max_rot_vel: 1.57
/robot_description_planning/cartesian_limits/max_trans_acc: 2.25
/robot_description_planning/cartesian_limits/max_trans_dec: -5
/robot_description_planning/cartesian_limits/max_trans_vel: 1
/robot_description_planning/default_acceleration_scaling_factor: 0.1
/robot_description_planning/default_velocity_scaling_factor: 0.1
/robot_description_planning/joint_limits/egh_gripper_finger_left_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/egh_gripper_finger_left_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/egh_gripper_finger_left_joint/max_acceleration: 0
/robot_description_planning/joint_limits/egh_gripper_finger_left_joint/max_velocity: 0.0525
/robot_description_planning/joint_limits/egh_gripper_finger_right_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/egh_gripper_finger_right_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/egh_gripper_finger_right_joint/max_acceleration: 0
/robot_description_planning/joint_limits/egh_gripper_finger_right_joint/max_velocity: 0.0525
/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.28
/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.28
/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.28
/robot_description_semantic: <?xml version="1…
/rosdistro: noetic
/rosversion: 1.15.11

NODES
/
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_3_xterm_6407_5265797791390755144 (rviz/rviz)

ROS_MASTER_URI=http://3_simulation:11311

process[robot_state_publisher-1]: started with pid [6443]
process[move_group-2]: started with pid [6444]
process[rviz_3_xterm_6407_5265797791390755144-3]: started with pid [6445]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to ‘/tmp/runtime-user’
[ INFO] [1690384864.193809584]: rviz version 1.14.9
[ INFO] [1690384864.193885069]: compiled against Qt version 5.12.8
[ INFO] [1690384864.193917133]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1690384864.228309524]: Forcing OpenGl version 0.
[ INFO] [1690384864.260969278]: Loading robot model ‘ur3e’…
[ WARN] [1690384864.264406509]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690384864.264447510]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690384864.452382069]: Stereo is NOT SUPPORTED
[ INFO] [1690384864.452495027]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1690384864.452572298]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1690384869.868625804, 2118.872000000]: Publishing maintained planning scene on ‘monitored_planning_scene’
[ INFO] [1690384869.884663363, 2118.887000000]: Listening to ‘joint_states’ for joint states
[ INFO] [1690384869.931381907, 2118.937000000]: Listening to ‘/attached_collision_object’ for attached collision objects
[ INFO] [1690384869.931454356, 2118.937000000]: Starting planning scene monitor
[ INFO] [1690384869.954399452, 2118.961000000]: Listening to ‘/planning_scene’
[ INFO] [1690384869.954594319, 2118.961000000]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1690384869.981413896, 2118.990000000]: Listening to ‘/collision_object’
[ INFO] [1690384869.988289684, 2118.997000000]: Listening to ‘/planning_scene_world’ for planning scene world geometry
[ERROR] [1690384869.990967305, 2118.999000000]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1690384870.059531696, 2119.063000000]: Loading planning pipeline ‘chomp’
[ INFO] [1690384870.149900637, 2119.152000000]: Using planning interface ‘CHOMP’
[ INFO] [1690384870.155795819, 2119.160000000]: Param ‘default_workspace_bounds’ was not set. Using default value: 10
[ INFO] [1690384870.157530046, 2119.161000000]: Param ‘start_state_max_bounds_error’ was set to 0.1
[ INFO] [1690384870.159541982, 2119.163000000]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1690384870.161404673, 2119.165000000]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1690384870.163446479, 2119.167000000]: Param ‘jiggle_fraction’ was not set. Using default value: 0.02
[ INFO] [1690384870.165820627, 2119.170000000]: Param ‘max_sampling_attempts’ was not set. Using default value: 100
[ INFO] [1690384870.165893526, 2119.170000000]: Using planning request adapter ‘Add Time Parameterization’
[ INFO] [1690384870.165961347, 2119.170000000]: Using planning request adapter ‘Resolve constraint frames to robot links’
[ INFO] [1690384870.166003320, 2119.170000000]: Using planning request adapter ‘Fix Workspace Bounds’
[ INFO] [1690384870.166042081, 2119.170000000]: Using planning request adapter ‘Fix Start State Bounds’
[ INFO] [1690384870.166082913, 2119.170000000]: Using planning request adapter ‘Fix Start State In Collision’
[ INFO] [1690384870.166125357, 2119.170000000]: Using planning request adapter ‘Fix Start State Path Constraints’
[ INFO] [1690384870.169092716, 2119.173000000]: Loading planning pipeline ‘ompl’
[ INFO] [1690384870.416378731, 2119.396000000]: Using planning interface ‘OMPL’
[ INFO] [1690384870.426340559, 2119.407000000]: Param ‘default_workspace_bounds’ was not set. Using default value: 10
[ INFO] [1690384870.428136064, 2119.408000000]: Param ‘start_state_max_bounds_error’ was set to 0.1
[ INFO] [1690384870.429681923, 2119.411000000]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1690384870.431069027, 2119.411000000]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1690384870.432835566, 2119.414000000]: Param ‘jiggle_fraction’ was not set. Using default value: 0.02
[ INFO] [1690384870.434020553, 2119.416000000]: Param ‘max_sampling_attempts’ was not set. Using default value: 100
[ INFO] [1690384870.434229206, 2119.417000000]: Using planning request adapter ‘Add Time Parameterization’
[ INFO] [1690384870.434264215, 2119.417000000]: Using planning request adapter ‘Resolve constraint frames to robot links’
[ INFO] [1690384870.434309631, 2119.417000000]: Using planning request adapter ‘Fix Workspace Bounds’
[ INFO] [1690384870.434376993, 2119.417000000]: Using planning request adapter ‘Fix Start State Bounds’
[ INFO] [1690384870.434414839, 2119.417000000]: Using planning request adapter ‘Fix Start State In Collision’
[ INFO] [1690384870.434441818, 2119.417000000]: Using planning request adapter ‘Fix Start State Path Constraints’
[ INFO] [1690384870.434543388, 2119.417000000]: Loading planning pipeline ‘pilz_industrial_motion_planner’
[ INFO] [1690384870.442584486, 2119.424000000]: Reading limits from namespace /robot_description_planning
[ INFO] [1690384870.646452965, 2119.591000000]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1690384870.646525459, 2119.591000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
[ INFO] [1690384870.655311639, 2119.599000000]: Registered Algorithm [CIRC]
[ INFO] [1690384870.655374389, 2119.599000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
[ INFO] [1690384870.657779244, 2119.601000000]: Registered Algorithm [LIN]
[ INFO] [1690384870.657834137, 2119.601000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1690384870.660059691, 2119.602000000]: Registered Algorithm [PTP]
[ INFO] [1690384870.660114741, 2119.602000000]: Using planning interface ‘Pilz Industrial Motion Planner’
[ INFO] [1690384870.700735808, 2119.643000000]: Loading robot model ‘ur3e’…
[ WARN] [1690384870.700801894, 2119.643000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690384870.700829359, 2119.643000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690384870.998930770, 2119.921000000]: Set joints of group ‘ur_manipulator’ to pose ‘home’.
[ INFO] [1690384870.999011056, 2119.921000000]: Set joints of group ‘gripper’ to pose ‘open’.
[ INFO] [1690384870.999565930, 2119.921000000]: Fake controller ‘fake_ur_manipulator_controller’ with joints [ shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ INFO] [1690384871.003290820, 2119.925000000]: Fake controller ‘fake_gripper_controller’ with joints [ egh_gripper_finger_left_joint ]
[ INFO] [1690384871.007824251, 2119.930000000]: Returned 2 controllers in list
[ INFO] [1690384871.076273061, 2119.998000000]: Trajectory execution is managing controllers
[ INFO] [1690384871.076386476, 2119.998000000]: MoveGroup debug mode is ON
Loading ‘move_group/ApplyPlanningSceneService’…
Loading ‘move_group/ClearOctomapService’…
Loading ‘move_group/MoveGroupCartesianPathService’…
Loading ‘move_group/MoveGroupExecuteTrajectoryAction’…
Loading ‘move_group/MoveGroupGetPlanningSceneService’…
Loading ‘move_group/MoveGroupKinematicsService’…
Loading ‘move_group/MoveGroupMoveAction’…
Loading ‘move_group/MoveGroupPickPlaceAction’…
Loading ‘move_group/MoveGroupPlanService’…
Loading ‘move_group/MoveGroupQueryPlannersService’…
Loading ‘move_group/MoveGroupStateValidationService’…
Loading ‘pilz_industrial_motion_planner/MoveGroupSequenceAction’…
[ INFO] [1690384871.346500107, 2120.253000000]: initialize move group sequence action
[ INFO] [1690384871.386732866, 2120.286000000]: Reading limits from namespace /robot_description_planning
Loading ‘pilz_industrial_motion_planner/MoveGroupSequenceService’…
[ INFO] [1690384871.541768296, 2120.442000000]: Reading limits from namespace /robot_description_planning
[ INFO] [1690384871.692222528, 2120.578000000]:

MoveGroup using:
```
- ApplyPlanningSceneService
```
```
- ClearOctomapService
```
```
- CartesianPathService
```
```
- ExecuteTrajectoryAction
```
```
- GetPlanningSceneService
```
```
- KinematicsService
```
```
- MoveAction
```
```
- PickPlaceAction
```
```
- MotionPlanService
```
```
- QueryPlannersService
```
```
- StateValidationService
```
```
- SequenceAction
```
```
- SequenceService
```

[ INFO] [1690384871.692389126, 2120.579000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1690384871.692481355, 2120.579000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1690384873.188319618, 2121.962000000]: Loading robot model ‘ur3e’…
[ WARN] [1690384873.188404138, 2121.962000000]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’
[ INFO] [1690384873.188439569, 2121.962000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1690384878.612121211, 2127.038000000]: Starting planning scene monitor
[ INFO] [1690384878.620046410, 2127.046000000]: Listening to ‘/move_group/monitored_planning_scene’
[ INFO] [1690384879.312035744, 2127.626000000]: No active joints or end effectors found for group ‘gripper’. Make sure that kinematics.yaml is loaded in this node’s namespace.
[ INFO] [1690384879.314189858, 2127.628000000]: No active joints or end effectors found for group ‘gripper’. Make sure that kinematics.yaml is loaded in this node’s namespace.
[ INFO] [1690384879.385553585, 2127.680000000]: Constructing new MoveGroup connection for group ‘gripper’ in namespace ‘’
[ INFO] [1690384880.359749356, 2128.595000000]: Ready to take commands for planning group gripper.
[ INFO] [1690384880.359870251, 2128.595000000]: Looking around: no
[ INFO] [1690384880.359921193, 2128.595000000]: Replanning: no

benny.ros2.construct · July 26, 2023, 3:31pm

after i chose planning group, start state and goal state just like in the tutorial
but when i press plan button it always says “failed” inside RVIZ.

and in terminal it shows

[ INFO] [1690384996.575336066, 2242.663000000]: Constructing new MoveGroup connection for group ‘ur_manipulator’ in namespace ‘’
[ INFO] [1690384996.745483780, 2242.835000000]: Ready to take commands for planning group ur_manipulator.
[ INFO] [1690384996.745581496, 2242.835000000]: Looking around: no
[ INFO] [1690384996.745627964, 2242.835000000]: Replanning: no
[ WARN] [1690385003.035999904, 2248.780000000]: Unable to find a random collision free configuration after100 attempts
[ INFO] [1690385003.867215786, 2249.562000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1690385003.867480817, 2249.562000000]: Planning attempt 1 of at most 1
[ INFO] [1690385003.867538635, 2249.562000000]: Using planning pipeline ‘ompl’
[ INFO] [1690385003.868120557, 2249.562000000]: Found a contact between ‘shoulder_link’ (type ‘Robot link’) and ‘base_link’ (type ‘Robot link’), which constitutes a collision. Contact information is not stored.
[ INFO] [1690385003.868169773, 2249.562000000]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1690385003.868208673, 2249.562000000]: Start state appears to be in collision with respect to group ur_manipulator
[ WARN] [1690385003.902333762, 2249.608000000]: Unable to find a valid state nearby the start state (usingjiggle fraction of 0.020000 and 100 sampling attempts). Passing the original planning request to the planner.
[ INFO] [1690385003.906524083, 2249.613000000]: Planner configuration ‘ur_manipulator’ will use planner ‘geometric::RRTConnect’. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1690385003.908178672, 2249.615000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ WARN] [1690385003.908339139, 2249.616000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.908460496, 2249.616000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.908547028, 2249.616000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.908718810, 2249.616000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.908852178, 2249.616000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.909013548, 2249.616000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ERROR] [1690385003.909123622, 2249.616000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.909256089, 2249.616000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001628 seconds
[ WARN] [1690385003.909480470, 2249.616000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.909546859, 2249.616000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.909716371, 2249.616000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ WARN] [1690385003.909801553, 2249.617000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.909883563, 2249.617000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ERROR] [1690385003.909993486, 2249.617000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.910119036, 2249.617000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.910279542, 2249.617000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.910391952, 2249.617000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000998 seconds
[ WARN] [1690385003.910542243, 2249.618000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ WARN] [1690385003.910692934, 2249.618000000]: ur_manipulator/ur_manipulator: Skipping invalid start state (invalid state)
[ERROR] [1690385003.910756683, 2249.618000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ERROR] [1690385003.911145391, 2249.619000000]: ur_manipulator/ur_manipulator: Motion planning start tree could not be initialized!
[ WARN] [1690385003.911236927, 2249.619000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000760 seconds
[ WARN] [1690385003.913628625, 2249.621000000]: Goal sampling thread never did any work.
[ INFO] [1690385003.913779444, 2249.621000000]: Unable to solve the planning problem
[ INFO] [1690385003.924046375, 2249.634000000]: ABORTED: No motion plan found. No execution attempted.

can anybody help me with this
thank you very much!

albertoezquerro · July 27, 2023, 7:51am

Hello @benny.ros2.construct ,

So you are still on the first part of the notebook, where you create the Moveit1 package. This looks very much like you missed / did some step wrong during the creation of the package. Could you please remove it and create it again, making sure that you follow all the steps indicated in the notebook?

If it’s still not working after this, let me know and then I’ll check your setup and try to figure out what’s going on.

benny.ros2.construct · July 28, 2023, 8:17am

First of all, thank you very much for your response
Yes, I’ve already deleted my_moveit_config folder once before i try this.
So all of these terminal message are from my second try after I did the reinstallation. (and terminal message is pretty much the same as before I try reinstallation, saying something about fixed frame when I try to move robot inside RVIZ)
Could you please help me look through this.

albertoezquerro · July 31, 2023, 3:37pm

Hello @benny.ros2.construct ,

I just checked your package and I’ve seen that you didn’t generate the collision matrix as indicated in the 1st step of the instructions:

Because of this, the robot arm thinks it’s in collision all the time and cannot perform any planning. Please, create the Moveit package again, but this time make sure you generate the collisions matrix.

benny.ros2.construct · August 5, 2023, 1:04pm

look like I can execute it now
just want to ask about the warning about fixed base
thank you

[ WARN] [1521188902.220001947]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’

this is shown in my terminal back when I tried to create the joint

albertoezquerro · August 8, 2023, 7:41am

@benny.ros2.construct You can ignore that warning.