xd@xd-ThinkCentre-M80t:~$ ros2 launch ur_robot_driver [ur_control.launch.py]) ur_type:=ur3e robot_ip:=192.168.0.10 launch_rviz:=true initial_joint_controller:=joint_trajectory_controller
[INFO] [launch]: All log files can be found below /home/xd/.ros/log/2024-08-04-13-01-03-552999-xd-ThinkCentre-M80t-72793
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [72798]
[INFO] [controller_stopper_node-3]: process started with pid [72800]
[INFO] [ur_ros2_control_node-1]: process started with pid [72796]
[INFO] [urscript_interface-4]: process started with pid [72802]
[INFO] [robot_state_publisher-5]: process started with pid [72804]
[INFO] [rviz2-6]: process started with pid [72806]
[INFO] [spawner-7]: process started with pid [72808]
[INFO] [spawner-8]: process started with pid [72810]
[INFO] [spawner-9]: process started with pid [72812]
[robot_state_publisher-5] [INFO] [1722765664.143610197] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1722765664.143768505] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1722765664.143787867] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1722765664.143796675] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1722765664.143803384] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1722765664.143810326] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1722765664.143816695] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1722765664.143823459] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1722765664.143830418] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1722765664.143845914] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1722765664.143852330] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1722765664.143858790] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1722765664.143865523] [robot_state_publisher]: got segment wrist_3_link
[dashboard_client-2] [INFO] [1722765664.144092537] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2]
[controller_stopper_node-3] [INFO] [1722765664.149101120] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[controller_stopper_node-3] [INFO] [1722765664.159993490] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1722765664.160065674] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1722765664.160082443] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1722765664.161656085] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ur_ros2_control_node-1] terminate called after throwing an instance of ‘std::runtime_error’
[ur_ros2_control_node-1] what(): no ros2_control tag
[ur_ros2_control_node-1] Stack trace (most recent call last):
[ur_ros2_control_node-1] #15 Object “”, at 0xffffffffffffffff, in
[ur_ros2_control_node-1] #14 Object “/home/xd/ros2_ws/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node”, at 0x5559e4def1f4, in _start
[ur_ros2_control_node-1] #13 Source “…/csu/libc-start.c”, line 392, in __libc_start_main_impl [0x715214a29e3f]
[ur_ros2_control_node-1] #12 Source “…/sysdeps/nptl/libc_start_call_main.h”, line 58, in __libc_start_call_main [0x715214a29d8f]
[ur_ros2_control_node-1] #11 Object “/home/xd/ros2_ws/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node”, at 0x5559e4dee996, in main
[ur_ros2_control_node-1] #10 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0x715215400e79, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ur_ros2_control_node-1] #9 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0x7152153fc6bf, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ur_ros2_control_node-1] #8 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0x715214dc0c76, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool)
[ur_ros2_control_node-1] #7 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0x715214d9ad88, in
[ur_ros2_control_node-1] #6 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x715214eae4d7, in __cxa_throw
[ur_ros2_control_node-1] #5 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x715214eae276, in std::terminate()
[ur_ros2_control_node-1] #4 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x715214eae20b, in
[ur_ros2_control_node-1] #3 Object “/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30”, at 0x715214ea2b9d, in
[ur_ros2_control_node-1] #2 Source “./stdlib/abort.c”, line 79, in abort [0x715214a287f2]
[ur_ros2_control_node-1] #1 Source “…/sysdeps/posix/raise.c”, line 26, in raise [0x715214a42475]
[ur_ros2_control_node-1] #0 | Source “./nptl/pthread_kill.c”, line 89, in __pthread_kill_internal
[ur_ros2_control_node-1] | Source “./nptl/pthread_kill.c”, line 78, in __pthread_kill_implementation
[ur_ros2_control_node-1] Source “./nptl/pthread_kill.c”, line 44, in __pthread_kill [0x715214a969fc]
[ur_ros2_control_node-1] Aborted (Signal sent by tkill() 72796 1000)
[ERROR] [ur_ros2_control_node-1]: process has died [pid 72796, exit code -6, cmd ‘/home/xd/ros2_ws/install/ur_robot_driver/lib/ur_robot_driver/ur_ros2_control_node --ros-args --params-file /tmp/launch_params_0oxujtgi --params-file /home/xd/ros2_ws/install/ur_robot_driver/share/ur_robot_driver/config/ur3e_update_rate.yaml --params-file /tmp/launch_params_trnxlcsq’].
[spawner-9] [WARN] [1722765664.657473950] [spawner_forward_position_controller]: Controller already loaded, skipping load_controller
[spawner-8] [WARN] [1722765664.675914688] [spawner_joint_state_broadcaster]: Controller already loaded, skipping load_controller
[spawner-7] [WARN] [1722765664.677347289] [spawner_joint_trajectory_controller]: Controller already loaded, skipping load_controller
[spawner-8] [ERROR] [1722765664.677357382] [spawner_joint_state_broadcaster]: Failed to configure controller
[spawner-7] [INFO] [1722765664.695162861] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-9]: process has finished cleanly [pid 72812]
[ERROR] [spawner-8]: process has died [pid 72810, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner --controller-manager /controller_manager --controller-manager-timeout 10 joint_state_broadcaster io_and_status_controller speed_scaling_state_broadcaster force_torque_sensor_broadcaster --ros-args’].
[rviz2-6] [INFO] [1722765664.867874226] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1722765664.868006895] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-6] [INFO] [1722765664.970087472] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [spawner-7]: process has finished cleanly [pid 72808]
[rviz2-6] 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.
[rviz2-6] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-6] [ERROR] [1722765724.766383114] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-6] [INFO] [1722765725.162579471] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / → . Reloading params.
[rviz2-6] [WARN] [1722765725.173705668] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-6] [ERROR] [1722765735.203973266] [rviz2]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
[rviz2-6] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
[rviz2-6] at line 732 in /home/xd/ws_moveit2/src/srdfdom/src/model.cpp
[rviz2-6] [ERROR] [1722765736.627856261] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[rviz2-6] [ERROR] [1722765739.388795421] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded
we want to control the ur3e with ros with the moveit! in rviz2, but when we add the MotionPlanning topic, it says that “Unable to parse SRDF” and “Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.”
we are new to ros, and rviz, and moveit. we are clueless. also when we add the Motion Planing tab in rviz it says Status: Error inside the Moition Planning tab.
note that this is the command im running to run the program ( i run thiss and after that i open the exernal control program in the ur3e…)
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.0.10 launch_rviz:=true initial_joint_controller:=joint_trajectory_controller