[INFO] [launch]: All log files can be found below /home/otischung/.ros/log/2025-02-24-19-34-42-418950-scream-Ubuntu-24-592975
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [592978]
[INFO] [static_transform_publisher-2]: process started with pid [592979]
[INFO] [robot_state_publisher-3]: process started with pid [592980]
[INFO] [move_group-4]: process started with pid [592981]
[INFO] [ros2_control_node-5]: process started with pid [592982]
[INFO] [moveit_joint_republisher-6]: process started with pid [592983]
[INFO] [ros2 run controller_manager spawner left_arm_controller-7]: process started with pid [592984]
[INFO] [ros2 run controller_manager spawner right_arm_controller-8]: process started with pid [592985]
[INFO] [ros2 run controller_manager spawner left_hand_controller-9]: process started with pid [592986]
[INFO] [ros2 run controller_manager spawner right_hand_controller-10]: process started with pid [592988]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-11]: process started with pid [592989]
[ros2_control_node-5] 2025-02-24 19:34:42.616 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[robot_state_publisher-3] 2025-02-24 19:34:42.622 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[static_transform_publisher-2] [INFO] [1740396882.628929758] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [WARN] [1740396882.640306268] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-3] [INFO] [1740396882.640380243] [robot_state_publisher]: Robot initialized
[move_group-4] 2025-02-24 19:34:42.641 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2_control_node-5] [INFO] [1740396882.647492693] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[move_group-4] [INFO] [1740396882.671227126] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[move_group-4] [INFO] [1740396882.671293533] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'robot_v4'...
[move_group-4] [WARN] [1740396882.692052272] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[move_group-4] [INFO] [1740396882.692117493] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1
[move_group-4] [WARN] [1740396882.692282074] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[move_group-4] [INFO] [1740396882.692302007] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1
[move_group-4] [INFO] [1740396882.772563188] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1740396882.772699334] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1740396882.773257449] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1740396882.773558787] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1740396882.773567303] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-4] [INFO] [1740396882.773670121] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-4] [INFO] [1740396882.773857169] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1740396882.773906495] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1740396882.774106282] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1740396882.774114375] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1740396882.774516987] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1740396882.774726676] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1740396882.775293354] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1740396882.775303547] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1740396882.797580896] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
[move_group-4] [INFO] [1740396882.799417321] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.800155092] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.800163130] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.800327214] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.800331413] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.800347233] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.800349658] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.800356076] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.802006604] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-4] [INFO] [1740396882.803579477] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-4] [INFO] [1740396882.803588107] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.804935568] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.804945539] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.805333023] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.808978756] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
[move_group-4] [INFO] [1740396882.810675473] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.810826107] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.810829435] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.810944484] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.810948732] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.810964700] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.810968456] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.810974725] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.812598123] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-4] [INFO] [1740396882.812870706] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-4] [INFO] [1740396882.812876243] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.813153559] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.813162391] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.813357657] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.816119199] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [INFO] [1740396882.820848195] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1740396882.820861905] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-4] [INFO] [1740396882.821863404] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
[move_group-4] [INFO] [1740396882.821873865] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-4] [INFO] [1740396882.822522165] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
[move_group-4] [INFO] [1740396882.822530179] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-4] [INFO] [1740396882.823134153] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
[move_group-4] [INFO] [1740396882.823141984] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
[move_group-4] [INFO] [1740396882.824810421] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.824946581] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-4] [INFO] [1740396882.824949244] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.825068757] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-4] [INFO] [1740396882.825074106] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.825089055] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-4] [INFO] [1740396882.825091441] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.825098352] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-4] [INFO] [1740396882.826738911] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.827306826] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-4] [INFO] [1740396882.827315726] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.827492299] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-4] [INFO] [1740396882.851208019] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for left_arm_controller
[move_group-4] [INFO] [1740396882.852267737] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for right_arm_controller
[move_group-4] [INFO] [1740396882.853234629] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for left_hand_controller
[move_group-4] [INFO] [1740396882.854210802] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for right_hand_controller
[move_group-4] [INFO] [1740396882.854319513] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 4 controllers in list
[move_group-4] [INFO] [1740396882.854340742] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 4 controllers in list
[move_group-4] [INFO] [1740396882.854579989] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1740396882.854590427] [move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1740396882.875464491] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
[move_group-4] [INFO] [1740396882.876948999] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [INFO] [1740396882.877147961] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-4] [INFO] [1740396882.877611826] [move_group.moveit.moveit.ros.move_group.executable]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] *     - apply_planning_scene_service
[move_group-4] *     - clear_octomap_service
[move_group-4] *     - ExecuteTaskSolution
[move_group-4] *     - get_group_urdf
[move_group-4] *     - load_geometry_from_file
[move_group-4] *     - CartesianPathService
[move_group-4] *     - execute_trajectory_action
[move_group-4] *     - get_planning_scene_service
[move_group-4] *     - kinematics_service
[move_group-4] *     - move_action
[move_group-4] *     - motion_plan_service
[move_group-4] *     - query_planners_service
[move_group-4] *     - state_validation_service
[move_group-4] *     - save_geometry_to_file
[move_group-4] *     - SequenceAction
[move_group-4] *     - SequenceService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1740396882.877652127] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
[move_group-4] [INFO] [1740396882.877659006] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
[move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-4] Loading 'move_group/ClearOctomapService'...
[move_group-4] Loading 'move_group/ExecuteTaskSolutionCapability'...
[move_group-4] Loading 'move_group/GetUrdfService'...
[move_group-4] Loading 'move_group/LoadGeometryFromFileService'...
[move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-4] Loading 'move_group/MoveGroupMoveAction'...
[move_group-4] Loading 'move_group/MoveGroupPlanService'...
[move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-4] Loading 'move_group/SaveGeometryToFileService'...
[move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-4]
[move_group-4] You can start planning now!
[move_group-4]
[ros2 run controller_manager spawner right_arm_controller-8] 2025-02-24 19:34:42.952 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2 run controller_manager spawner left_arm_controller-7] 2025-02-24 19:34:42.955 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2 run controller_manager spawner right_hand_controller-10] 2025-02-24 19:34:42.971 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2 run controller_manager spawner joint_state_broadcaster-11] 2025-02-24 19:34:42.978 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2 run controller_manager spawner left_hand_controller-9] 2025-02-24 19:34:43.005 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
[ros2 run controller_manager spawner left_arm_controller-7] [INFO] [1740396883.017422268] [spawner_left_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner right_arm_controller-8] [INFO] [1740396883.022102702] [spawner_right_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner right_hand_controller-10] [INFO] [1740396883.030462125] [spawner_right_hand_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner joint_state_broadcaster-11] [INFO] [1740396883.042366496] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner left_hand_controller-9] [INFO] [1740396883.066363166] [spawner_left_hand_controller]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-1] [INFO] [1740396883.473286431] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1740396883.473382142] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1740396883.595837577] [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 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.
[rviz2-1]          at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [WARN] [1740396883.657246235] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.
[rviz2-1] [INFO] [1740396883.674463850] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-1] [INFO] [1740396883.674520992] [rviz2.moveit.core.robot_model]: Loading robot model 'robot_v4'...
[rviz2-1] [ERROR] [1740396886.787454430] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1740396886.816410894] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [WARN] [1740396886.832728701] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.
[rviz2-1] [INFO] [1740396886.868618216] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-1] [INFO] [1740396886.868657127] [rviz2.moveit.core.robot_model]: Loading robot model 'robot_v4'...
[rviz2-1] [WARN] [1740396886.890711982] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1740396886.890797869] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1
[rviz2-1] [WARN] [1740396886.890999834] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1740396886.891021515] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1
[rviz2-1] [INFO] [1740396886.996851743] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1740396886.997523324] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1740396887.003617827] [interactive_marker_display_104335276846208]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [WARN] [1740396887.005629756] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [WARN] [1740396887.005684090] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [WARN] [1740396887.005700045] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [WARN] [1740396887.005716303] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1740396887.015078590] [rviz2.moveit.ros.motion_planning_frame]: group right_arm
[rviz2-1] [INFO] [1740396887.015096116] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''
[rviz2-1] [INFO] [1740396887.024286499] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group right_arm.
[rviz2-1] [INFO] [1740396887.070850216] [interactive_marker_display_104335276846208]: Sending request for interactive markers
[rviz2-1] [INFO] [1740396887.100905142] [interactive_marker_display_104335276846208]: Service response received for initialization
[ros2 run controller_manager spawner right_arm_controller-8] [WARN] [1740396893.031336119] [spawner_right_arm_controller]: Could not contact service /controller_manager/list_controllers
[ros2 run controller_manager spawner left_arm_controller-7] [WARN] [1740396893.031607168] [spawner_left_arm_controller]: Could not contact service /controller_manager/list_controllers
[ros2 run controller_manager spawner right_arm_controller-8] [INFO] [1740396893.032032819] [spawner_right_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner left_arm_controller-7] [INFO] [1740396893.032992421] [spawner_left_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner right_hand_controller-10] [WARN] [1740396893.040395869] [spawner_right_hand_controller]: Could not contact service /controller_manager/list_controllers
[ros2 run controller_manager spawner right_hand_controller-10] [INFO] [1740396893.041082685] [spawner_right_hand_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner joint_state_broadcaster-11] [WARN] [1740396893.052162376] [spawner_joint_state_broadcaster]: Could not contact service /controller_manager/list_controllers
[ros2 run controller_manager spawner joint_state_broadcaster-11] [INFO] [1740396893.052809891] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2 run controller_manager spawner left_hand_controller-9] [WARN] [1740396893.075552659] [spawner_left_hand_controller]: Could not contact service /controller_manager/list_controllers
[ros2 run controller_manager spawner left_hand_controller-9] [INFO] [1740396893.075797854] [spawner_left_hand_controller]: waiting for service /controller_manager/list_controllers to become available...