When execution the Exercise 4.4 solution I get the following errors (see [ERROR] messages). Sometimes the arm performs the second pose after the first; others it stops after the first one.
user:~/ros2_ws$ colcon build --packages-select moveit2_scripts;source install/setup.bash ;ros2 launch moveit2_scripts test_trajectory_3.launch.py
Starting >>> moveit2_scripts
--- stderr: moveit2_scripts
/home/user/ros2_ws/src/moveit2_scripts/src/test_trajectory3.cpp: In member function 'void TestTrajectory::go_position1()':
/home/user/ros2_ws/src/moveit2_scripts/src/test_trajectory3.cpp:64:10: warning: unused variable 'success_arm' [-Wunused-variable]
64 | bool success_arm = (move_group_arm.plan(my_plan_arm) ==
| ^~~~~~~~~~~
/home/user/ros2_ws/src/moveit2_scripts/src/test_trajectory3.cpp: In member function 'void TestTrajectory::go_position2()':
/home/user/ros2_ws/src/moveit2_scripts/src/test_trajectory3.cpp:84:10: warning: unused variable 'success_arm' [-Wunused-variable]
84 | bool success_arm = (move_group_arm.move() ==
| ^~~~~~~~~~~
---
Finished <<< moveit2_scripts [24.0s]
Summary: 1 package finished [24.7s]
1 package had stderr output: moveit2_scripts
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2022-09-27-09-55-55-473017-2_xterm-11278
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [test_trajectory3-1]: process started with pid [11295]
[test_trajectory3-1] [WARN] [1664272556.512050639] [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, preventingany further logs for that name from being published on the rosout topic.
[test_trajectory3-1] [WARN] [1664272556.670569139] [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, preventingany further logs for that name from being published on the rosout topic.
[test_trajectory3-1] Parsing robot urdf xml string.
[test_trajectory3-1] [INFO] [1664272556.692659826] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[test_trajectory3-1] [INFO] [1664272556.692730568] [moveit_robot_model.robot_model]: Loading robot model 'ur3e'...
[test_trajectory3-1] [WARN] [1664272556.692785010] [moveit_robot_model.robot_model]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[test_trajectory3-1] [INFO] [1664272556.692797636] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[test_trajectory3-1] Link ground_plane_box had 0 children
[test_trajectory3-1] Link base_link had 2 children
[test_trajectory3-1] Link base had 0 children
[test_trajectory3-1] Link shoulder_link had 1 children
[test_trajectory3-1] Link upper_arm_link had 1 children
[test_trajectory3-1] Link forearm_link had 1 children
[test_trajectory3-1] Link wrist_1_link had 1 children
[test_trajectory3-1] Link wrist_2_link had 1 children
[test_trajectory3-1] Link wrist_3_link had 2 children
[test_trajectory3-1] Link ee_link had 0 children
[test_trajectory3-1] Link tool0 had 1 children
[test_trajectory3-1] Link egh_gripper_base_link had 2 children
[test_trajectory3-1] Link egh_gripper_left_finger had 0 children
[test_trajectory3-1] Link egh_gripper_right_finger had 0 children
[test_trajectory3-1] [INFO] [1664272556.966259217] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[test_trajectory3-1] [INFO] [1664272556.970338302] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[test_trajectory3-1] [INFO] [1664272557.472154932] [move_group_demo]: Planning frame: world
[test_trajectory3-1] [INFO] [1664272557.473651671] [move_group_demo]: End-effector link: tool0
[test_trajectory3-1] [INFO] [1664272557.474105935] [move_group_demo]: Available Planning Groups:
[test_trajectory3-1] [INFO] [1664272557.475373502] [move_group_demo]: Get Robot Current State
[test_trajectory3-1] [INFO] [1664272557.475859937] [move_group_demo]: Planning to Joint Space
[test_trajectory3-1] [INFO] [1664272557.778331148] [move_group_interface]: Planning request accepted
[test_trajectory3-1] [INFO] [1664272560.227784236] [move_group_interface]: Planning request complete!
[test_trajectory3-1] [INFO] [1664272560.327966393] [move_group_interface]: time taken to generate plan: 0.0701277 seconds
[test_trajectory3-1] [INFO] [1664272560.634250831] [move_group_interface]: Execute request accepted
[test_trajectory3-1] [INFO] [1664272564.771708643] [move_group_interface]: Execute request aborted
[test_trajectory3-1] [ERROR] [1664272564.872335967] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[test_trajectory3-1] [INFO] [1664272564.872410216] [move_group_demo]: Get Robot Current State
[test_trajectory3-1] [INFO] [1664272564.872441962] [move_group_demo]: Planning to Joint Space
[test_trajectory3-1] [INFO] [1664272565.173260348] [move_group_interface]: Plan and Execute request accepted
[test_trajectory3-1] [INFO] [1664272574.363635083] [move_group_interface]: Plan and Execute request aborted
[test_trajectory3-1] [ERROR] [1664272574.463899478] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[test_trajectory3-1] [INFO] [1664272585.962920034] [rclcpp]: signal_handler(signal_value=2)
[INFO] [test_trajectory3-1]: process has finished cleanly [pid 11295]
[test_trajectory3-1] gripper, ur_manipulator,