Gazebo does not work: mycoobot_280_moveit demo_gazebo.launch

Question

Gazebo does not work: mycoobot_280_moveit demo_gazebo.launch

Closed this issue 3 years ago · 1 comments

Hi,
when I run: roslaunch mycobot_280_movit demo_gazebo.launch rviz seems to properly launch, gazebo starts but there is no robot in gazebo.

Here is a screen shot of what I see and the full output in the terminal. My setup is:

ubuntu 20.04 running in VMWare Workstation 16 Player
ROS Noetic
I don't have a robot connected

/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver: kdl_kinematics_pl...
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_attempts: 3
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_search_resolution: 0.005
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_timeout: 0.005
/use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ubuntu_16721_3607413135093980549 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [16729]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 709dd776-6dcf-11ec-8eec-e37c200a2edc
process[rosout-1]: started with pid [16739]
started core service [/rosout]
process[gazebo-2]: started with pid [16746]
process[gazebo_gui-3]: started with pid [16749]
process[spawn_gazebo_model-4]: started with pid [16755]
process[controller_spawner-5]: started with pid [16757]
process[joint_state_publisher-6]: started with pid [16758]
process[robot_state_publisher-7]: started with pid [16759]
process[move_group-8]: started with pid [16760]
process[rviz_ubuntu_16721_3607413135093980549-9]: started with pid [16761]
[ WARN] [1641349827.030924094]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1641349827.033408878]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1641349827.058673316]: Loading robot model 'firefighter'...
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns]
[--timeout T] [--no-timeout]
[--shutdown-timeout SHUTDOWN_TIMEOUT]
controller [controller ...]
spawner: error: the following arguments are required: controller
[ INFO] [1641349827.504178327]: rviz version 1.14.11
[ INFO] [1641349827.504396633]: compiled against Qt version 5.12.8
[ INFO] [1641349827.504420363]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1641349827.525487372]: Forcing OpenGl version 0.
[INFO] [1641349827.619513, 0.000000]: Loading model XML from ros parameter robot_description
[ WARN] [1641349827.621072689]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration.
[INFO] [1641349827.630214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[controller_spawner-5] process has died [pid 16757, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log].
log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5*.log
[ INFO] [1641349827.915521987]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349827.922577590]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349828.066988916]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1641349828.069499135]: Listening to 'joint_states' for joint states
[ INFO] [1641349828.073427114]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1641349828.073531021]: Starting planning scene monitor
[ INFO] [1641349828.075194278]: Listening to '/planning_scene'
[ INFO] [1641349828.075270079]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1641349828.077371405]: Listening to '/collision_object'
[ INFO] [1641349828.079895945]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1641349828.170924351]: Stereo is NOT SUPPORTED
[ INFO] [1641349828.171161326]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1641349828.171273163]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1641349828.234091682]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349828.238270901]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349828.731545920]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1641349828.781624111, 0.009000000]: Physics dynamic reconfigure ready.
[INFO] [1641349828.847892, 0.057000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1641349828.916240, 0.087000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4*.log
[ INFO] [1641349830.136846206, 1.282000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 '
[ INFO] [1641349830.136963171, 1.282000000]: Loading planning pipeline ''
[ERROR] [1641349830.176414102, 1.309000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1641349830.240815089, 1.386000000]: Using planning interface 'OMPL'
[ INFO] [1641349830.246175492, 1.392000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1641349830.247408567, 1.393000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1641349830.248381045, 1.394000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349830.249325531, 1.395000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349830.250618166, 1.396000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1641349830.251783892, 1.397000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1641349830.251951548, 1.397000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1641349830.252084823, 1.397000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1641349830.252253775, 1.397000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1641349830.252330257, 1.397000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1641349830.252355201, 1.397000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1641349830.270842361, 1.415000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1641349830.293482806, 1.430000000]: Trajectory execution is managing controllers
[ INFO] [1641349830.293608443, 1.430000000]: 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'...
[ INFO] [1641349830.390214398, 1.520000000]:

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

[ INFO] [1641349830.391504732, 1.522000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1641349830.391895943, 1.522000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1641349832.206084179, 3.308000000]: Loading robot model 'firefighter'...
[ WARN] [1641349832.743275778, 3.837000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349833.313376442, 4.401000000]: Starting planning scene monitor
[ INFO] [1641349833.318581304, 4.407000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1641349834.088218209, 5.181000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace ''
[ INFO] [1641349835.246391752, 6.314000000]: Ready to take commands for planning group arm_group.
^C[rviz_ubuntu_16721_3607413135093980549-9] killing on exit
[move_group-8] killing on exit
[robot_state_publisher-7] killing on exit
[joint_state_publisher-6] killing on exit
[gazebo-2] killing on exit
[gazebo_gui-3] killing on exit
^C[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robot@ubuntu:$
robot@ubuntu:$ roslaunch mycobot_280_moveit demo_gazebo.launch
... logging to /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/roslaunch-ubuntu-17366.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://ubuntu:38505/

SUMMARY

PARAMETERS

/controller_list: []
/gazebo/enable_ros_network: True
/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/generic_hw_control_loop/loop_hz: 300
/hardware_interface/joints: ['vitual_joint', ...
/hardware_interface/sim_control_mode: 1
/joint_state_controller/publish_rate: 50
/joint_state_controller/type: joint_state_contr...
/joint_state_publisher/source_list: ['/joint_states']
/joint_state_publisher/use_gui: False
/move_group/allow_trajectory_execution: True
/move_group/arm_group/default_planner_config: None
/move_group/arm_group/longest_valid_segment_fraction: 0.005
/move_group/arm_group/planner_configs: ['SBL', 'EST', 'L...
/move_group/arm_group/projection_evaluator: joints(joint2_to_...
/move_group/capabilities:
/move_group/controller_list: []
/move_group/disable_capabilities:
/move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/move_group/generic_hw_control_loop/loop_hz: 300
/move_group/hardware_interface/joints: ['vitual_joint', ...
/move_group/hardware_interface/sim_control_mode: 1
/move_group/jiggle_fraction: 0.05
/move_group/joint_state_controller/publish_rate: 50
/move_group/joint_state_controller/type: joint_state_contr...
/move_group/max_range: 5.0
/move_group/max_safe_path_cost: 1
/move_group/moveit_controller_manager: moveit_simple_con...
/move_group/moveit_manage_controllers: True
/move_group/moveit_sim_hw_interface/joint_model_group: arm_group
/move_group/moveit_sim_hw_interface/joint_model_group_pose: init_pose
/move_group/octomap_resolution: 0.025
/move_group/planner_configs/BFMT/balanced: 0
/move_group/planner_configs/BFMT/cache_cc: 1
/move_group/planner_configs/BFMT/extended_fmt: 1
/move_group/planner_configs/BFMT/heuristics: 1
/move_group/planner_configs/BFMT/nearest_k: 1
/move_group/planner_configs/BFMT/num_samples: 1000
/move_group/planner_configs/BFMT/optimality: 1
/move_group/planner_configs/BFMT/radius_multiplier: 1.0
/move_group/planner_configs/BFMT/type: geometric::BFMT
/move_group/planner_configs/BKPIECE/border_fraction: 0.9
/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/BKPIECE/range: 0.0
/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
/move_group/planner_configs/BiEST/range: 0.0
/move_group/planner_configs/BiEST/type: geometric::BiEST
/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
/move_group/planner_configs/BiTRRT/init_temperature: 100
/move_group/planner_configs/BiTRRT/range: 0.0
/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
/move_group/planner_configs/EST/goal_bias: 0.05
/move_group/planner_configs/EST/range: 0.0
/move_group/planner_configs/EST/type: geometric::EST
/move_group/planner_configs/FMT/cache_cc: 1
/move_group/planner_configs/FMT/extended_fmt: 1
/move_group/planner_configs/FMT/heuristics: 0
/move_group/planner_configs/FMT/nearest_k: 1
/move_group/planner_configs/FMT/num_samples: 1000
/move_group/planner_configs/FMT/radius_multiplier: 1.1
/move_group/planner_configs/FMT/type: geometric::FMT
/move_group/planner_configs/KPIECE/border_fraction: 0.9
/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/KPIECE/goal_bias: 0.05
/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/KPIECE/range: 0.0
/move_group/planner_configs/KPIECE/type: geometric::KPIECE
/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/LBKPIECE/range: 0.0
/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/move_group/planner_configs/LBTRRT/epsilon: 0.4
/move_group/planner_configs/LBTRRT/goal_bias: 0.05
/move_group/planner_configs/LBTRRT/range: 0.0
/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
/move_group/planner_configs/LazyPRM/range: 0.0
/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
/move_group/planner_configs/PDST/type: geometric::PDST
/move_group/planner_configs/PRM/max_nearest_neighbors: 10
/move_group/planner_configs/PRM/type: geometric::PRM
/move_group/planner_configs/PRMstar/type: geometric::PRMstar
/move_group/planner_configs/ProjEST/goal_bias: 0.05
/move_group/planner_configs/ProjEST/range: 0.0
/move_group/planner_configs/ProjEST/type: geometric::ProjEST
/move_group/planner_configs/RRT/goal_bias: 0.05
/move_group/planner_configs/RRT/range: 0.0
/move_group/planner_configs/RRT/type: geometric::RRT
/move_group/planner_configs/RRTConnect/range: 0.0
/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
/move_group/planner_configs/RRTstar/delay_collision_checking: 1
/move_group/planner_configs/RRTstar/goal_bias: 0.05
/move_group/planner_configs/RRTstar/range: 0.0
/move_group/planner_configs/RRTstar/type: geometric::RRTstar
/move_group/planner_configs/SBL/range: 0.0
/move_group/planner_configs/SBL/type: geometric::SBL
/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARS/max_failures: 1000
/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARS/stretch_factor: 3.0
/move_group/planner_configs/SPARS/type: geometric::SPARS
/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARStwo/max_failures: 5000
/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
/move_group/planner_configs/STRIDE/degree: 16
/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
/move_group/planner_configs/STRIDE/goal_bias: 0.05
/move_group/planner_configs/STRIDE/max_degree: 18
/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
/move_group/planner_configs/STRIDE/min_degree: 12
/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/move_group/planner_configs/STRIDE/range: 0.0
/move_group/planner_configs/STRIDE/type: geometric::STRIDE
/move_group/planner_configs/STRIDE/use_projected_distance: 0
/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
/move_group/planner_configs/TRRT/frountier_threshold: 0.0
/move_group/planner_configs/TRRT/goal_bias: 0.05
/move_group/planner_configs/TRRT/init_temperature: 10e-6
/move_group/planner_configs/TRRT/k_constant: 0.0
/move_group/planner_configs/TRRT/max_states_failed: 10
/move_group/planner_configs/TRRT/min_temperature: 10e-10
/move_group/planner_configs/TRRT/range: 0.0
/move_group/planner_configs/TRRT/temp_change_factor: 2.0
/move_group/planner_configs/TRRT/type: geometric::TRRT
/move_group/planning_plugin: ompl_interface/OM...
/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/request_adapters: default_planner_r...
/move_group/sensors: [{'filtered_cloud...
/move_group/start_state_max_bounds_error: 0.1
/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
/moveit_sim_hw_interface/joint_model_group: arm_group
/moveit_sim_hw_interface/joint_model_group_pose: init_pose
/robot_description: <?xml version="1....
/robot_description_kinematics/arm_group/kinematics_solver: kdl_kinematics_pl...
/robot_description_kinematics/arm_group/kinematics_solver_attempts: 3
/robot_description_kinematics/arm_group/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/arm_group/kinematics_solver_timeout: 0.005
/robot_description_planning/joint_limits/joint2_to_joint1/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint2_to_joint1/has_velocity_limits: False
/robot_description_planning/joint_limits/joint2_to_joint1/max_acceleration: 0
/robot_description_planning/joint_limits/joint2_to_joint1/max_velocity: 0
/robot_description_planning/joint_limits/joint3_to_joint2/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint3_to_joint2/has_velocity_limits: False
/robot_description_planning/joint_limits/joint3_to_joint2/max_acceleration: 0
/robot_description_planning/joint_limits/joint3_to_joint2/max_velocity: 0
/robot_description_planning/joint_limits/joint4_to_joint3/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint4_to_joint3/has_velocity_limits: False
/robot_description_planning/joint_limits/joint4_to_joint3/max_acceleration: 0
/robot_description_planning/joint_limits/joint4_to_joint3/max_velocity: 0
/robot_description_planning/joint_limits/joint5_to_joint4/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint5_to_joint4/has_velocity_limits: False
/robot_description_planning/joint_limits/joint5_to_joint4/max_acceleration: 0
/robot_description_planning/joint_limits/joint5_to_joint4/max_velocity: 0
/robot_description_planning/joint_limits/joint6_to_joint5/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint6_to_joint5/has_velocity_limits: False
/robot_description_planning/joint_limits/joint6_to_joint5/max_acceleration: 0
/robot_description_planning/joint_limits/joint6_to_joint5/max_velocity: 0
/robot_description_planning/joint_limits/joint6output_to_joint6/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint6output_to_joint6/has_velocity_limits: False
/robot_description_planning/joint_limits/joint6output_to_joint6/max_acceleration: 0
/robot_description_planning/joint_limits/joint6output_to_joint6/max_velocity: 0
/robot_description_semantic: <?xml version="1....
/rosdistro: noetic
/rosversion: 1.15.13
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver: kdl_kinematics_pl...
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_attempts: 3
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_search_resolution: 0.005
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_timeout: 0.005
/use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ubuntu_17366_7161459687332021435 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [17374]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 92b76b60-6dcf-11ec-8eec-e37c200a2edc
process[rosout-1]: started with pid [17384]
started core service [/rosout]
process[gazebo-2]: started with pid [17391]
process[gazebo_gui-3]: started with pid [17394]
process[spawn_gazebo_model-4]: started with pid [17401]
process[controller_spawner-5]: started with pid [17402]
process[joint_state_publisher-6]: started with pid [17403]
process[robot_state_publisher-7]: started with pid [17404]
process[move_group-8]: started with pid [17405]
process[rviz_ubuntu_17366_7161459687332021435-9]: started with pid [17406]
[ WARN] [1641349884.300905129]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1641349884.306829416]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1641349884.358769088]: Loading robot model 'firefighter'...
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout]
[--shutdown-timeout SHUTDOWN_TIMEOUT]
controller [controller ...]
spawner: error: the following arguments are required: controller
[ INFO] [1641349884.591287303]: rviz version 1.14.11
[ INFO] [1641349884.591414982]: compiled against Qt version 5.12.8
[ INFO] [1641349884.591436916]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1641349884.648803696]: Forcing OpenGl version 0.
[controller_spawner-5] process has died [pid 17402, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log].
log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5*.log
[INFO] [1641349884.883613, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1641349884.889865, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ WARN] [1641349884.901099560]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349885.184700151]: Stereo is NOT SUPPORTED
[ INFO] [1641349885.184990839]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1641349885.185083236]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1641349885.207383147]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349885.215393125]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349885.409836319]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1641349885.413670776]: Listening to 'joint_states' for joint states
[ INFO] [1641349885.424290118]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1641349885.424386190]: Starting planning scene monitor
[ INFO] [1641349885.427009962]: Listening to '/planning_scene'
[ INFO] [1641349885.427231742]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1641349885.429874028]: Listening to '/collision_object'
[ INFO] [1641349885.432958575]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1641349885.493739962]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349885.495811508]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349885.928483870]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1641349885.969412620, 0.017000000]: Physics dynamic reconfigure ready.
[INFO] [1641349886.103939, 0.135000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1641349886.322105, 0.315000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4*.log
[ INFO] [1641349887.352675213, 1.346000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 '
[ INFO] [1641349887.352767131, 1.346000000]: Loading planning pipeline ''
[ERROR] [1641349887.392816981, 1.388000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1641349887.445387988, 1.431000000]: Using planning interface 'OMPL'
[ INFO] [1641349887.453674895, 1.440000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1641349887.455007054, 1.441000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1641349887.456185042, 1.442000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349887.459965453, 1.446000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349887.461015850, 1.447000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1641349887.462624840, 1.449000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1641349887.462768665, 1.449000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1641349887.462853641, 1.449000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1641349887.463575200, 1.449000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1641349887.463639807, 1.450000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1641349887.463725295, 1.450000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1641349887.480374589, 1.462000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1641349887.515772856, 1.492000000]: Trajectory execution is managing controllers
[ INFO] [1641349887.515964940, 1.492000000]: 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'...
[ INFO] [1641349887.718422177, 1.701000000]:

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

[ INFO] [1641349887.718528208, 1.701000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1641349887.718551365, 1.701000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1641349889.393690916, 3.346000000]: Loading robot model 'firefighter'...
[ WARN] [1641349890.017421293, 3.956000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349890.586570516, 4.515000000]: Starting planning scene monitor
[ INFO] [1641349890.593662163, 4.523000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1641349891.442518922, 5.352000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace ''
[ INFO] [1641349892.468871406, 6.366000000]: Ready to take commands for planning group arm_group.

Answer 1 · 2022-01-30T02:16:34.000Z

Just saw this was a pinned issue.