Hi,
I have installed and reinstalled ros2 humble, ros-humble-ur and I am able to use the joint_trajectory_controller to control the robot via python scripts. Now I am willing to start moveit and it launches, complains a lot and does not send commands to the robot.
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
It shows the current robot pose, and simulated the movement from the current pose to the up pose, but when I ask it to plan and execute it fails. Note the repetition of the same message at the end.
Can some one point me a solution?
INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-06-24-14-59-48-849673-RDaneel-18102
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [18110]
[INFO] [rviz2-2]: process started with pid [18112]
[INFO] [servo_node_main-3]: process started with pid [18114]
[move_group-1] [WARN] [1750773589.490711106] [move_group.move_group]: Falling back to using the the move_group node namespace (dep
recated behavior).
[servo_node_main-3] [WARN] [1750773589.491465864] [moveit_servo.servo_node]: Intra-process communication is disabled, consider ena
bling it by adding:
[servo_node_main-3] extra_arguments=[{‘use_intra_process_comms’ : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [INFO] [1750773589.492398216] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00158741 seconds
[move_group-1] [INFO] [1750773589.492416492] [moveit_robot_model.robot_model]: Loading robot model ‘ur’…
[move_group-1] [INFO] [1750773589.492420566] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming f
ixed joint
[servo_node_main-3] [INFO] [1750773589.493541257] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00103203 seconds
[servo_node_main-3] [INFO] [1750773589.493556149] [moveit_robot_model.robot_model]: Loading robot model ‘ur’…
[servo_node_main-3] [INFO] [1750773589.493559359] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assum
ing fixed joint
[servo_node_main-3] [WARN] [1750773589.500475007] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load ki
nematics.yaml!
[rviz2-2] [INFO] [1750773589.703286047] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1750773589.703334689] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1750773589.715277996] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_defa
ult_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries con
taining plugins are directly linked against an executable (the one running right now generating this message). Please separate plu
gins out into their own library or just don’t link against the library and use either class_loader::ClassLoader/MultiLibraryClassL
oader to open.
[rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[move_group-1] [INFO] [1750773590.337137788] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained pla
nning scene on ‘monitored_planning_scene’
[move_group-1] [INFO] [1750773590.337235927] [moveit.ros_planning_interface.moveit_cpp]: Listening to ‘joint_states’ for joint states
[move_group-1] [INFO] [1750773590.337774794] [moveit_ros.current_state_monitor]: Listening to joint states on topic ‘joint_states’
[move_group-1] [INFO] [1750773590.338180244] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to ‘/attached_c
ollision_object’ for attached collision objects
[move_group-1] [INFO] [1750773590.338202799] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene m
onitor
[move_group-1] [INFO] [1750773590.737217751] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to ‘/planning_s
cene’
[move_group-1] [INFO] [1750773590.737252853] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry u
pdate monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1750773590.738412440] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to ‘collision_o
bject’
[move_group-1] [INFO] [1750773590.738973612] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to ‘planning_sc
ene_world’ for planning scene world geometry
[move_group-1] [WARN] [1750773590.739082520] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Oc
tomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1750773590.739095154] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined
for octomap updates
[move_group-1] [INFO] [1750773590.743204220] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline ‘move_group’
[move_group-1] [INFO] [1750773590.749164182] [moveit.ros_planning.planning_pipeline]: Using planning interface ‘OMPL’
[move_group-1] [INFO] [1750773590.749972856] [moveit_ros.add_time_optimal_parameterization]: Param ‘move_group.path_tolerance’ was
not set. Using default value: 0.100000
[move_group-1] [INFO] [1750773590.749981166] [moveit_ros.add_time_optimal_parameterization]: Param ‘move_group.resample_dt’ was no
t set. Using default value: 0.100000
[move_group-1] [INFO] [1750773590.749983461] [moveit_ros.add_time_optimal_parameterization]: Param ‘move_group.min_angle_change’ w
as not set. Using default value: 0.001000
[move_group-1] [INFO] [1750773590.749990335] [moveit_ros.fix_workspace_bounds]: Param ‘move_group.default_workspace_bounds’ was no
t set. Using default value: 10.000000
[move_group-1] [INFO] [1750773590.749997924] [moveit_ros.fix_start_state_bounds]: Param ‘move_group.start_state_max_bounds_error’
was set to 0.100000
[move_group-1] [INFO] [1750773590.750000209] [moveit_ros.fix_start_state_bounds]: Param ‘move_group.start_state_max_dt’ was not se
t. Using default value: 0.500000
[move_group-1] [INFO] [1750773590.750005777] [moveit_ros.fix_start_state_collision]: Param ‘move_group.start_state_max_dt’ was not
set. Using default value: 0.500000
[move_group-1] [INFO] [1750773590.750007782] [moveit_ros.fix_start_state_collision]: Param ‘move_group.jiggle_fraction’ was not se
t. Using default value: 0.020000
[move_group-1] [INFO] [1750773590.750009734] [moveit_ros.fix_start_state_collision]: Param ‘move_group.max_sampling_attempts’ was
not set. Using default value: 100
[move_group-1] [INFO] [1750773590.750015252] [moveit.ros_planning.planning_pipeline]: Using planning request adapter ‘Add Time Opt
imal Parameterization’
[move_group-1] [INFO] [1750773590.750017213] [moveit.ros_planning.planning_pipeline]: Using planning request adapter ‘Fix Workspac
e Bounds’
[move_group-1] [INFO] [1750773590.750018764] [moveit.ros_planning.planning_pipeline]: Using planning request adapter ‘Fix Start St
ate Bounds’
[move_group-1] [INFO] [1750773590.750020000] [moveit.ros_planning.planning_pipeline]: Using planning request adapter ‘Fix Start St
ate In Collision’
[move_group-1] [INFO] [1750773590.750038483] [moveit.ros_planning.planning_pipeline]: Using planning request adapter ‘Fix Start St
ate Path Constraints’
[servo_node_main-3] [INFO] [1750773591.405413642] [moveit_ros.current_state_monitor]: Listening to joint states on topic ‘/joint_s
tates’
[servo_node_main-3] [ERROR] [1750773591.406738215] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_pan_joint’ not
found in model ‘ur’
[servo_node_main-3] [ERROR] [1750773591.406767140] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_lift_joint’ not
found in model ‘ur’
[servo_node_main-3] [ERROR] [1750773591.406771322] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_elbow_joint’ not found i
n model ‘ur’
[servo_node_main-3] [ERROR] [1750773591.406774530] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_1_joint’ not found
in model ‘ur’
[servo_node_main-3] [ERROR] [1750773591.406777413] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_2_joint’ not found
in model ‘ur’
[servo_node_main-3] [ERROR] [1750773591.406780061] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_3_joint’ not found
in model ‘ur’
[move_group-1] [ERROR] [1750773591.447438322] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_pan_joint’ not found
in model ‘ur’
[move_group-1] [ERROR] [1750773591.447469778] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_lift_joint’ not foun
d in model ‘ur’
[move_group-1] [ERROR] [1750773591.447473993] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_elbow_joint’ not found in mod
el ‘ur’
[move_group-1] [ERROR] [1750773591.447476856] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_1_joint’ not found in m
odel ‘ur’
[move_group-1] [ERROR] [1750773591.447479217] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_2_joint’ not found in m
odel ‘ur’
[move_group-1] [ERROR] [1750773591.447481499] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_wrist_3_joint’ not found in m
odel ‘ur’
[move_group-1] [ERROR] [1750773591.570894247] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_pan_joint’ not found
in model ‘ur’
[move_group-1] [ERROR] [1750773591.570925011] [moveit_robot_model.robot_model]: Joint ‘UR20255301162_shoulder_lift_joint’ not foun
d in model ‘ur’