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  1. [INFO] [launch]: All log files can be found below /home/otischung/.ros/log/2025-02-24-19-29-22-216242-scream-Ubuntu-24-587959
  2. [INFO] [launch]: Default logging verbosity is set to INFO
  3. [INFO] [rviz2-1]: process started with pid [587984]
  4. [INFO] [static_transform_publisher-2]: process started with pid [587985]
  5. [INFO] [robot_state_publisher-3]: process started with pid [587986]
  6. [INFO] [move_group-4]: process started with pid [587987]
  7. [INFO] [ros2_control_node-5]: process started with pid [587988]
  8. [INFO] [moveit_joint_republisher-6]: process started with pid [587989]
  9. [INFO] [ros2 run controller_manager spawner left_arm_controller-7]: process started with pid [587990]
  10. [INFO] [ros2 run controller_manager spawner right_arm_controller-8]: process started with pid [587991]
  11. [INFO] [ros2 run controller_manager spawner left_hand_controller-9]: process started with pid [587992]
  12. [INFO] [ros2 run controller_manager spawner right_hand_controller-10]: process started with pid [587994]
  13. [INFO] [ros2 run controller_manager spawner joint_state_broadcaster-11]: process started with pid [587998]
  14. [ros2_control_node-5] 2025-02-24 19:29:22.414 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  15. [robot_state_publisher-3] 2025-02-24 19:29:22.419 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  16. [static_transform_publisher-2] [INFO] [1740396562.426773472] [static_transform_publisher]: Spinning until stopped - publishing transform
  17. [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
  18. [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
  19. [static_transform_publisher-2] from 'world' to 'base_link'
  20. [move_group-4] 2025-02-24 19:29:22.435 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  21. [robot_state_publisher-3] [WARN] [1740396562.440616319] [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.
  22. [robot_state_publisher-3] [INFO] [1740396562.440694828] [robot_state_publisher]: Robot initialized
  23. [ros2_control_node-5] [INFO] [1740396562.444796012] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
  24. [ros2_control_node-5] [INFO] [1740396562.455066698] [controller_manager]: update rate is 100 Hz
  25. [ros2_control_node-5] [INFO] [1740396562.455100161] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
  26. [ros2_control_node-5] [WARN] [1740396562.455189861] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
  27. [ros2_control_node-5] [INFO] [1740396562.456018269] [controller_manager]: Received robot description from topic.
  28. [ros2_control_node-5] [INFO] [1740396562.459271616] [controller_manager.resource_manager]: Loading hardware 'FakeSystem'
  29. [ros2_control_node-5] [INFO] [1740396562.459704597] [controller_manager.resource_manager]: Loaded hardware 'FakeSystem' from plugin 'mock_components/GenericSystem'
  30. [ros2_control_node-5] [INFO] [1740396562.459726065] [controller_manager.resource_manager]: Initialize hardware 'FakeSystem'
  31. [ros2_control_node-5] [INFO] [1740396562.459788246] [controller_manager.resource_manager]: Successful initialization of hardware 'FakeSystem'
  32. [ros2_control_node-5] [INFO] [1740396562.459838633] [resource_manager]: 'configure' hardware 'FakeSystem'
  33. [ros2_control_node-5] [INFO] [1740396562.459841726] [resource_manager]: Successful 'configure' of hardware 'FakeSystem'
  34. [ros2_control_node-5] [INFO] [1740396562.459847426] [resource_manager]: 'activate' hardware 'FakeSystem'
  35. [ros2_control_node-5] [INFO] [1740396562.459849767] [resource_manager]: Successful 'activate' of hardware 'FakeSystem'
  36. [ros2_control_node-5] [INFO] [1740396562.459855232] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
  37. [ros2_control_node-5] [INFO] [1740396562.469910257] [controller_manager]: Received robot description from topic.
  38. [ros2_control_node-5] [WARN] [1740396562.469936759] [controller_manager]: ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description.
  39. [move_group-4] [INFO] [1740396562.474951904] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00656582 seconds
  40. [move_group-4] [INFO] [1740396562.475075880] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'robot_v4'...
  41. [move_group-4] [WARN] [1740396562.505446030] [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.
  42. [move_group-4] [INFO] [1740396562.505552912] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1
  43. [move_group-4] [WARN] [1740396562.505879835] [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.
  44. [move_group-4] [INFO] [1740396562.505915727] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1
  45. [move_group-4] [INFO] [1740396562.585689549] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  46. [move_group-4] [INFO] [1740396562.585828466] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
  47. [move_group-4] [INFO] [1740396562.586435147] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
  48. [move_group-4] [INFO] [1740396562.586782203] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
  49. [move_group-4] [INFO] [1740396562.586792307] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
  50. [move_group-4] [INFO] [1740396562.586896787] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
  51. [move_group-4] [INFO] [1740396562.587132281] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  52. [move_group-4] [INFO] [1740396562.587189067] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  53. [move_group-4] [INFO] [1740396562.587422358] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
  54. [move_group-4] [INFO] [1740396562.587431695] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
  55. [move_group-4] [INFO] [1740396562.587956154] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
  56. [move_group-4] [INFO] [1740396562.588173058] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
  57. [move_group-4] [WARN] [1740396562.588736767] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
  58. [move_group-4] [ERROR] [1740396562.588747034] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
  59. [move_group-4] [INFO] [1740396562.611805512] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
  60. [move_group-4] [INFO] [1740396562.613648815] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  61. [move_group-4] [INFO] [1740396562.614394866] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  62. [move_group-4] [INFO] [1740396562.614404564] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  63. [move_group-4] [INFO] [1740396562.614543610] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  64. [move_group-4] [INFO] [1740396562.614546566] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  65. [move_group-4] [INFO] [1740396562.614561414] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  66. [move_group-4] [INFO] [1740396562.614563528] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  67. [move_group-4] [INFO] [1740396562.614569235] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  68. [move_group-4] [INFO] [1740396562.616306518] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  69. [move_group-4] [INFO] [1740396562.618109144] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  70. [move_group-4] [INFO] [1740396562.618119120] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  71. [move_group-4] [INFO] [1740396562.619544090] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  72. [move_group-4] [INFO] [1740396562.619554065] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  73. [move_group-4] [INFO] [1740396562.619889641] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  74. [move_group-4] [INFO] [1740396562.623506860] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
  75. [move_group-4] [INFO] [1740396562.625196589] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  76. [move_group-4] [INFO] [1740396562.625329272] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  77. [move_group-4] [INFO] [1740396562.625331722] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  78. [move_group-4] [INFO] [1740396562.625416364] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  79. [move_group-4] [INFO] [1740396562.625418902] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  80. [move_group-4] [INFO] [1740396562.625428191] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  81. [move_group-4] [INFO] [1740396562.625430359] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  82. [move_group-4] [INFO] [1740396562.625436196] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  83. [move_group-4] [INFO] [1740396562.627041090] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  84. [move_group-4] [INFO] [1740396562.627331524] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  85. [move_group-4] [INFO] [1740396562.627337326] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  86. [move_group-4] [INFO] [1740396562.627573158] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  87. [move_group-4] [INFO] [1740396562.627579311] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  88. [move_group-4] [INFO] [1740396562.627733060] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  89. [move_group-4] [INFO] [1740396562.630412362] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  90. [move_group-4] [INFO] [1740396562.634381662] [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
  91. [move_group-4] [INFO] [1740396562.634397325] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
  92. [move_group-4] [INFO] [1740396562.635430948] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
  93. [move_group-4] [INFO] [1740396562.635443966] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
  94. [move_group-4] [INFO] [1740396562.636138997] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
  95. [move_group-4] [INFO] [1740396562.636149145] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
  96. [move_group-4] [INFO] [1740396562.636807117] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
  97. [move_group-4] [INFO] [1740396562.636818813] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
  98. [move_group-4] [INFO] [1740396562.638539284] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  99. [move_group-4] [INFO] [1740396562.638690117] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  100. [move_group-4] [INFO] [1740396562.638694922] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  101. [move_group-4] [INFO] [1740396562.638823689] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  102. [move_group-4] [INFO] [1740396562.638828880] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  103. [move_group-4] [INFO] [1740396562.638845471] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  104. [move_group-4] [INFO] [1740396562.638848678] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  105. [move_group-4] [INFO] [1740396562.638856164] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  106. [move_group-4] [INFO] [1740396562.640697685] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  107. [move_group-4] [INFO] [1740396562.641320895] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  108. [move_group-4] [INFO] [1740396562.641330772] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  109. [move_group-4] [INFO] [1740396562.641536181] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  110. [move_group-4] [INFO] [1740396562.663999688] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for left_arm_controller
  111. [move_group-4] [INFO] [1740396562.665054544] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for right_arm_controller
  112. [move_group-4] [INFO] [1740396562.666892393] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for left_hand_controller
  113. [move_group-4] [INFO] [1740396562.667907623] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for right_hand_controller
  114. [move_group-4] [INFO] [1740396562.668019087] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 4 controllers in list
  115. [move_group-4] [INFO] [1740396562.668043109] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 4 controllers in list
  116. [move_group-4] [INFO] [1740396562.668294694] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
  117. [move_group-4] [INFO] [1740396562.668304661] [move_group]: MoveGroup debug mode is ON
  118. [move_group-4] [INFO] [1740396562.685137788] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
  119. [move_group-4] [INFO] [1740396562.686612050] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  120. [move_group-4] [INFO] [1740396562.686812667] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  121. [move_group-4] [INFO] [1740396562.687277722] [move_group.moveit.moveit.ros.move_group.executable]:
  122. [move_group-4]
  123. [move_group-4] ********************************************************
  124. [move_group-4] * MoveGroup using:
  125. [move_group-4] *     - apply_planning_scene_service
  126. [move_group-4] *     - clear_octomap_service
  127. [move_group-4] *     - ExecuteTaskSolution
  128. [move_group-4] *     - get_group_urdf
  129. [move_group-4] *     - load_geometry_from_file
  130. [move_group-4] *     - CartesianPathService
  131. [move_group-4] *     - execute_trajectory_action
  132. [move_group-4] *     - get_planning_scene_service
  133. [move_group-4] *     - kinematics_service
  134. [move_group-4] *     - move_action
  135. [move_group-4] *     - motion_plan_service
  136. [move_group-4] *     - query_planners_service
  137. [move_group-4] *     - state_validation_service
  138. [move_group-4] *     - save_geometry_to_file
  139. [move_group-4] *     - SequenceAction
  140. [move_group-4] *     - SequenceService
  141. [move_group-4] ********************************************************
  142. [move_group-4]
  143. [move_group-4] [INFO] [1740396562.687321463] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
  144. [move_group-4] [INFO] [1740396562.687328082] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
  145. [move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
  146. [move_group-4] Loading 'move_group/ClearOctomapService'...
  147. [move_group-4] Loading 'move_group/ExecuteTaskSolutionCapability'...
  148. [move_group-4] Loading 'move_group/GetUrdfService'...
  149. [move_group-4] Loading 'move_group/LoadGeometryFromFileService'...
  150. [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
  151. [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
  152. [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
  153. [move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
  154. [move_group-4] Loading 'move_group/MoveGroupMoveAction'...
  155. [move_group-4] Loading 'move_group/MoveGroupPlanService'...
  156. [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
  157. [move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
  158. [move_group-4] Loading 'move_group/SaveGeometryToFileService'...
  159. [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
  160. [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
  161. [move_group-4]
  162. [move_group-4] You can start planning now!
  163. [move_group-4]
  164. [ros2 run controller_manager spawner left_arm_controller-7] 2025-02-24 19:29:22.752 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  165. [ros2 run controller_manager spawner right_hand_controller-10] 2025-02-24 19:29:22.769 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  166. [ros2 run controller_manager spawner left_hand_controller-9] 2025-02-24 19:29:22.773 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  167. [ros2 run controller_manager spawner right_arm_controller-8] 2025-02-24 19:29:22.775 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  168. [ros2 run controller_manager spawner joint_state_broadcaster-11] 2025-02-24 19:29:22.777 [XMLPARSER Error] realpath failed No such file or directory -> Function loadDefaultXMLFile
  169. [ros2_control_node-5] [INFO] [1740396562.822911449] [controller_manager]: Loading controller : 'right_hand_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  170. [ros2_control_node-5] [INFO] [1740396562.822942265] [controller_manager]: Loading controller 'right_hand_controller'
  171. [ros2_control_node-5] [WARN] [1740396562.825572370] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
  172. [ros2_control_node-5] [INFO] [1740396562.825594084] [controller_manager]: Controller 'right_hand_controller' node arguments: --ros-args --params-file /home/otischung/workspace/screamlab/ws_jazzy/robot_ws/install/robot_moveit_config/share/robot_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_dp2sd6k_ -r /controller_manager/robot_description:=/robot_description
  173. [ros2 run controller_manager spawner right_hand_controller-10] [INFO] [1740396562.843901059] [spawner_right_hand_controller]: Loaded right_hand_controller
  174. [ros2_control_node-5] [INFO] [1740396562.877674085] [controller_manager]: Configuring controller: 'right_hand_controller'
  175. [ros2_control_node-5] [INFO] [1740396562.877807870] [right_hand_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  176. [ros2_control_node-5] [INFO] [1740396562.877824799] [right_hand_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  177. [ros2_control_node-5] [INFO] [1740396562.877844212] [right_hand_controller]: Using 'splines' interpolation method.
  178. [ros2_control_node-5] [INFO] [1740396562.883255113] [right_hand_controller]: Action status changes will be monitored at 20.00 Hz.
  179. [ros2_control_node-5] [INFO] [1740396562.896820075] [controller_manager]: Activating controllers: [ right_hand_controller ]
  180. [ros2 run controller_manager spawner right_hand_controller-10] [INFO] [1740396562.916576075] [spawner_right_hand_controller]: Configured and activated right_hand_controller
  181. [ros2_control_node-5] [INFO] [1740396562.929146949] [controller_manager]: Loading controller : 'left_hand_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  182. [ros2_control_node-5] [INFO] [1740396562.929193335] [controller_manager]: Loading controller 'left_hand_controller'
  183. [ros2_control_node-5] [WARN] [1740396562.929303170] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
  184. [ros2_control_node-5] [INFO] [1740396562.929311215] [controller_manager]: Controller 'left_hand_controller' node arguments: --ros-args --params-file /home/otischung/workspace/screamlab/ws_jazzy/robot_ws/install/robot_moveit_config/share/robot_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_dp2sd6k_ -r /controller_manager/robot_description:=/robot_description
  185. [ros2_control_node-5] [INFO] [1740396562.947298690] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
  186. [ros2_control_node-5] [INFO] [1740396562.947331222] [controller_manager]: Loading controller 'joint_state_broadcaster'
  187. [ros2_control_node-5] [WARN] [1740396562.948915377] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
  188. [ros2_control_node-5] [INFO] [1740396562.948929882] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /home/otischung/workspace/screamlab/ws_jazzy/robot_ws/install/robot_moveit_config/share/robot_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_dp2sd6k_ -r /controller_manager/robot_description:=/robot_description
  189. [ros2 run controller_manager spawner left_hand_controller-9] [INFO] [1740396562.953555398] [spawner_left_hand_controller]: Loaded left_hand_controller
  190. [ros2_control_node-5] [INFO] [1740396562.955427426] [controller_manager]: Configuring controller: 'left_hand_controller'
  191. [ros2_control_node-5] [INFO] [1740396562.955510837] [left_hand_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  192. [ros2_control_node-5] [INFO] [1740396562.955535366] [left_hand_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  193. [ros2_control_node-5] [INFO] [1740396562.955546935] [left_hand_controller]: Using 'splines' interpolation method.
  194. [ros2_control_node-5] [INFO] [1740396562.956491180] [left_hand_controller]: Action status changes will be monitored at 20.00 Hz.
  195. [ros2 run controller_manager spawner joint_state_broadcaster-11] [INFO] [1740396562.964427611] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
  196. [ros2_control_node-5] [INFO] [1740396562.965519704] [controller_manager]: Loading controller : 'right_arm_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  197. [ros2_control_node-5] [INFO] [1740396562.965542883] [controller_manager]: Loading controller 'right_arm_controller'
  198. [ros2_control_node-5] [WARN] [1740396562.965668039] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
  199. [ros2_control_node-5] [INFO] [1740396562.965681824] [controller_manager]: Controller 'right_arm_controller' node arguments: --ros-args --params-file /home/otischung/workspace/screamlab/ws_jazzy/robot_ws/install/robot_moveit_config/share/robot_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_dp2sd6k_ -r /controller_manager/robot_description:=/robot_description
  200. [ros2_control_node-5] [INFO] [1740396562.985466446] [controller_manager]: Activating controllers: [ left_hand_controller ]
  201. [ros2 run controller_manager spawner right_arm_controller-8] [INFO] [1740396562.998102800] [spawner_right_arm_controller]: Loaded right_arm_controller
  202. [ros2_control_node-5] [INFO] [1740396563.005470402] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
  203. [ros2_control_node-5] [INFO] [1740396563.005513758] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
  204. [ros2 run controller_manager spawner left_hand_controller-9] [INFO] [1740396563.006074910] [spawner_left_hand_controller]: Configured and activated left_hand_controller
  205. [ros2_control_node-5] [INFO] [1740396563.015729354] [controller_manager]: Configuring controller: 'right_arm_controller'
  206. [ros2_control_node-5] [INFO] [1740396563.015884982] [right_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  207. [ros2_control_node-5] [INFO] [1740396563.015905624] [right_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  208. [ros2_control_node-5] [INFO] [1740396563.015919988] [right_arm_controller]: Using 'splines' interpolation method.
  209. [ros2_control_node-5] [INFO] [1740396563.016928401] [right_arm_controller]: Action status changes will be monitored at 20.00 Hz.
  210. [ros2_control_node-5] [INFO] [1740396563.025573516] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
  211. [ros2_control_node-5] [INFO] [1740396563.045472897] [controller_manager]: Activating controllers: [ right_arm_controller ]
  212. [ros2 run controller_manager spawner joint_state_broadcaster-11] [INFO] [1740396563.046461010] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
  213. [ros2 run controller_manager spawner right_arm_controller-8] [INFO] [1740396563.066551667] [spawner_right_arm_controller]: Configured and activated right_arm_controller
  214. [ros2_control_node-5] [INFO] [1740396563.066915224] [controller_manager]: Loading controller : 'left_arm_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
  215. [ros2_control_node-5] [INFO] [1740396563.066948916] [controller_manager]: Loading controller 'left_arm_controller'
  216. [ros2_control_node-5] [WARN] [1740396563.067111413] [controller_manager]: The use of remapping arguments to the controller_manager node is deprecated. Please use the '--controller-ros-args' argument of the spawner to pass remapping arguments to the controller node.
  217. [ros2_control_node-5] [INFO] [1740396563.067149180] [controller_manager]: Controller 'left_arm_controller' node arguments: --ros-args --params-file /home/otischung/workspace/screamlab/ws_jazzy/robot_ws/install/robot_moveit_config/share/robot_moveit_config/config/ros2_controllers.yaml --params-file /tmp/launch_params_dp2sd6k_ -r /controller_manager/robot_description:=/robot_description
  218. [INFO] [ros2 run controller_manager spawner right_hand_controller-10]: process has finished cleanly [pid 587994]
  219. [ros2 run controller_manager spawner left_arm_controller-7] [INFO] [1740396563.092271465] [spawner_left_arm_controller]: Loaded left_arm_controller
  220. [ros2_control_node-5] [INFO] [1740396563.093135994] [controller_manager]: Configuring controller: 'left_arm_controller'
  221. [ros2_control_node-5] [INFO] [1740396563.093257596] [left_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  222. [ros2_control_node-5] [INFO] [1740396563.093271821] [left_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  223. [ros2_control_node-5] [INFO] [1740396563.093280101] [left_arm_controller]: Using 'splines' interpolation method.
  224. [ros2_control_node-5] [INFO] [1740396563.093936976] [left_arm_controller]: Action status changes will be monitored at 20.00 Hz.
  225. [ros2_control_node-5] [INFO] [1740396563.106225104] [controller_manager]: Activating controllers: [ left_arm_controller ]
  226. [ros2 run controller_manager spawner left_arm_controller-7] [INFO] [1740396563.126142236] [spawner_left_arm_controller]: Configured and activated left_arm_controller
  227. [INFO] [ros2 run controller_manager spawner left_hand_controller-9]: process has finished cleanly [pid 587992]
  228. [INFO] [ros2 run controller_manager spawner joint_state_broadcaster-11]: process has finished cleanly [pid 587998]
  229. [INFO] [ros2 run controller_manager spawner right_arm_controller-8]: process has finished cleanly [pid 587991]
  230. [INFO] [ros2 run controller_manager spawner left_arm_controller-7]: process has finished cleanly [pid 587990]
  231. [rviz2-1] [INFO] [1740396563.368297764] [rviz2]: Stereo is NOT SUPPORTED
  232. [rviz2-1] [INFO] [1740396563.368376829] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
  233. [rviz2-1] [INFO] [1740396563.509297491] [rviz2]: Stereo is NOT SUPPORTED
  234. [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.
  235. [rviz2-1]          at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
  236. [rviz2-1] [WARN] [1740396563.569449007] [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.
  237. [rviz2-1] [INFO] [1740396563.585434273] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.0027801 seconds
  238. [rviz2-1] [INFO] [1740396563.585483319] [rviz2.moveit.core.robot_model]: Loading robot model 'robot_v4'...
  239. [rviz2-1] [ERROR] [1740396566.698760984] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
  240. [rviz2-1] [INFO] [1740396566.723410181] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
  241. [rviz2-1] [WARN] [1740396566.739105419] [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.
  242. [rviz2-1] [INFO] [1740396566.768596643] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00297653 seconds
  243. [rviz2-1] [INFO] [1740396566.768633561] [rviz2.moveit.core.robot_model]: Loading robot model 'robot_v4'...
  244. [rviz2-1] [WARN] [1740396566.791380988] [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.
  245. [rviz2-1] [INFO] [1740396566.791470327] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'left_arm': 1 1 1 1 1 1
  246. [rviz2-1] [WARN] [1740396566.791687517] [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.
  247. [rviz2-1] [INFO] [1740396566.791710424] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'right_arm': 1 1 1 1 1 1
  248. [rviz2-1] [INFO] [1740396566.881299162] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  249. [rviz2-1] [INFO] [1740396566.881946782] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
  250. [rviz2-1] [INFO] [1740396566.891958489] [interactive_marker_display_105159211559696]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
  251. [rviz2-1] [WARN] [1740396566.898919880] [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.
  252. [rviz2-1] [WARN] [1740396566.899040919] [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.
  253. [rviz2-1] [WARN] [1740396566.899078876] [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.
  254. [rviz2-1] [WARN] [1740396566.899122024] [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.
  255. [rviz2-1] [INFO] [1740396566.934831253] [rviz2.moveit.ros.motion_planning_frame]: group right_arm
  256. [rviz2-1] [INFO] [1740396566.934889298] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''
  257. [rviz2-1] [INFO] [1740396566.959407951] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group right_arm.
  258. [rviz2-1] [INFO] [1740396566.974159403] [interactive_marker_display_105159211559696]: Sending request for interactive markers
  259. [rviz2-1] [INFO] [1740396567.006709947] [interactive_marker_display_105159211559696]: Service response received for initialization
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