Error of Demo launch

[YusakuNakajima]

Hi

I'm triyng to use Moveit2 on ROS2 Humble.
I want to got a running Cobotta on Gazebo.
However, the robot doesn't move with Interactive Marker of Moveit.

I can open Gazebo and Rviz with command of ros2 launch denso_robot_bringup denso_robot_bringup.launch.py model:="cobotta".

I got this informations

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-04-27-20-25-52-435041-091ec6df4f4e-24838
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo -r-1]: process started with pid [24854]
[INFO] [create-2]: process started with pid [24856]
[INFO] [spawner-3]: process started with pid [24859]
[INFO] [move_group-4]: process started with pid [24861]
[INFO] [rviz2-5]: process started with pid [24863]
[INFO] [static_transform_publisher-6]: process started with pid [24867]
[INFO] [robot_state_publisher-7]: process started with pid [24895]
[INFO] [spawner-8]: process started with pid [24907]
[create-2] [INFO] [1682594753.060174285] [ros_gz_sim]: Requesting list of world names.
[move_group-4] [WARN] [1682594753.055754706] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[static_transform_publisher-6] [WARN] [1682594753.076983332] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-6] [INFO] [1682594753.088202694] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-6] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-6] from 'world' to 'base_link'
[move_group-4] [INFO] [1682594753.158124949] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-4] [INFO] [1682594753.158191355] [moveit_robot_model.robot_model]: Loading robot model 'cobotta'...
[rviz2-5] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[robot_state_publisher-7] [INFO] [1682594753.282240714] [robot_state_publisher]: got segment J1
[robot_state_publisher-7] [INFO] [1682594753.282355752] [robot_state_publisher]: got segment J2
[robot_state_publisher-7] [INFO] [1682594753.282361715] [robot_state_publisher]: got segment J3
[robot_state_publisher-7] [INFO] [1682594753.282365353] [robot_state_publisher]: got segment J4
[robot_state_publisher-7] [INFO] [1682594753.282368892] [robot_state_publisher]: got segment J5
[robot_state_publisher-7] [INFO] [1682594753.282372020] [robot_state_publisher]: got segment J6
[robot_state_publisher-7] [INFO] [1682594753.282375212] [robot_state_publisher]: got segment base_link
[robot_state_publisher-7] [INFO] [1682594753.282378397] [robot_state_publisher]: got segment world
[move_group-4] [INFO] [1682594753.289969250] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1682594753.290130991] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[move_group-4] [INFO] [1682594753.291112516] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[move_group-4] [INFO] [1682594753.291895529] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/planning_scene_monitor' for attached collision objects
[move_group-4] [INFO] [1682594753.291916852] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1682594753.292452813] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/move_group/publish_planning_scene'
[move_group-4] [INFO] [1682594753.292471336] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1682594753.293066012] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1682594753.293530553] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1682594753.293909105] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [INFO] [1682594753.293944637] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-4] [INFO] [1682594753.297387360] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-4] [INFO] [1682594753.320666236] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1682594753.326471013] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1682594753.326519679] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1682594753.326524755] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1682594753.326539913] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1682594753.326557200] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-4] [INFO] [1682594753.326562006] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1682594753.326572969] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1682594753.326577795] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1682594753.326583402] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1682594753.326595509] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1682594753.326600046] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1682594753.326603519] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1682594753.326606284] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1682594753.326609369] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-4] [INFO] [1682594753.365171628] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for denso_joint_trajectory_controller
[move_group-4] [INFO] [1682594753.365317198] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-4] [INFO] [1682594753.365337639] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-4] [INFO] [1682594753.365850098] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-4] [INFO] [1682594753.365867300] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-4] [INFO] [1682594753.410918510] [move_group.move_group]: 
[move_group-4] 
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using: 
[move_group-4] *     - ApplyPlanningSceneService
[move_group-4] *     - ClearOctomapService
[move_group-4] *     - CartesianPathService
[move_group-4] *     - ExecuteTrajectoryAction
[move_group-4] *     - GetPlanningSceneService
[move_group-4] *     - KinematicsService
[move_group-4] *     - MoveAction
[move_group-4] *     - MotionPlanService
[move_group-4] *     - QueryPlannersService
[move_group-4] *     - StateValidationService
[move_group-4] ********************************************************
[move_group-4] 
[move_group-4] [INFO] [1682594753.410980743] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1682594753.410992130] [moveit_move_group_capabilities_base.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/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] 
[move_group-4] You can start planning now!
[move_group-4] 
[ign gazebo -r-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-5] [INFO] [1682594753.678720869] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1682594753.678816042] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-5] [INFO] [1682594753.744577413] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] 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.
[rviz2-5]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[spawner-3] [INFO] [1682594755.526148893] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594755.627037734] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-5] [ERROR] [1682594756.864876379] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-5] [INFO] [1682594756.893053126] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-5] [INFO] [1682594757.027686320] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-5] [INFO] [1682594757.027809061] [moveit_robot_model.robot_model]: Loading robot model 'cobotta'...
[spawner-3] [INFO] [1682594757.536702247] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594757.635767599] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594758.060506671] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594759.546576210] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594759.648010848] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-5] [INFO] [1682594759.917453996] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-5] [INFO] [1682594759.918304102] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-5] [INFO] [1682594759.960735614] [interactive_marker_display_94273492450352]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-5] [INFO] [1682594759.977581223] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-5] [INFO] [1682594759.977636179] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-5] [INFO] [1682594760.021679445] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-5] [INFO] [1682594761.472167265] [interactive_marker_display_94273492450352]: Sending request for interactive markers
[spawner-3] [INFO] [1682594761.557174850] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594761.658586329] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[rviz2-5] [INFO] [1682594762.284860143] [interactive_marker_display_94273492450352]: Service response received for initialization
[create-2] [INFO] [1682594763.060842775] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594763.567403358] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594763.668773777] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594765.576674658] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594765.677998531] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594767.585232494] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594767.686493666] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594768.061224138] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594769.594823295] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594769.697677858] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594771.604223278] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594771.707420531] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594773.061739254] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594773.612553927] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594773.716942691] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594775.622577562] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594775.725566984] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594777.632769431] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594777.735368204] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594778.062117999] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594779.642100794] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594779.744685938] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594781.652512624] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594781.756447425] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594783.067001436] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594783.662794998] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594783.766248258] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594785.672391183] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594785.775757636] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594787.682601207] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594787.785042195] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594788.067276421] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594789.692269064] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594789.794734728] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594791.701836833] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594791.804451707] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594793.067520268] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594793.711859958] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594793.813886761] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594795.722165671] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594795.824262955] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594797.731244582] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594797.833768449] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594798.067774489] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594799.740949346] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594799.842787166] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594801.751998401] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594801.853461221] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594803.068061912] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594803.761879079] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594803.862893010] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594805.773646067] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594805.876161045] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594807.783335219] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594807.887211141] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594808.068550598] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594809.792951119] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594809.897372354] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594811.803122640] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594811.906721442] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594813.068796577] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594813.813300708] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594813.917646935] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594815.822491244] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594815.927045811] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594817.831186296] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594817.938148967] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594818.069097456] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594819.841097668] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594819.947139678] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-3] [INFO] [1682594821.852083507] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594821.957518818] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594823.069660923] [ros_gz_sim]: Requesting list of world names.
[spawner-3] [INFO] [1682594823.861459001] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594823.969073770] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[create-2] [INFO] [1682594825.471190568] [ros_gz_sim]: Waiting messages on topic [/robot_description].
[create-2] [INFO] [1682594825.578705516] [ros_gz_sim]: Requested creation of entity.
[create-2] [INFO] [1682594825.579734235] [ros_gz_sim]: OK creation of entity.
[INFO] [create-2]: process has finished cleanly [pid 24856]
[ign gazebo -r-1] [INFO] [1682594825.754744613] [ignition_ros_control]: [ign_ros2_control] Fixed joint [joint_w] (Entity=31)] is skipped
[spawner-3] [INFO] [1682594825.870980276] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594825.979511813] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ign gazebo -r-1] [ERROR] [1682594826.257413814] [ignition_ros_control]: robot_state_publisher service not available, waiting again...
[ign gazebo -r-1] [ERROR] [1682594826.757672829] [ignition_ros_control]: robot_state_publisher service not available, waiting again...
[ign gazebo -r-1] [ERROR] [1682594827.257933987] [ignition_ros_control]: robot_state_publisher service not available, waiting again...
[ign gazebo -r-1] [ERROR] [1682594827.758203143] [ignition_ros_control]: robot_state_publisher service not available, waiting again...
[spawner-3] [INFO] [1682594827.881640933] [spawner_denso_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1682594827.988894207] [spawner_denso_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[ign gazebo -r-1] [ERROR] [1682594828.258417984] [ignition_ros_control]: robot_state_publisher service not available, waiting again...
[ign gazebo -r-1] [INFO] [1682594828.693175634] [ignition_ros_control]: connected to service!! robot_state_publisher asking for robot_description
[ign gazebo -r-1] [INFO] [1682594828.693787235] [ignition_ros_control]: Received URDF from param server
[ign gazebo -r-1] [INFO] [1682594828.712885868] [ignition_ros_control]: Loading joint: joint_1
[ign gazebo -r-1] [INFO] [1682594828.713034298] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713051213] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713059387] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713066504] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713073152] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713079630] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713086606] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713117418] [ignition_ros_control]: Loading joint: joint_2
[ign gazebo -r-1] [INFO] [1682594828.713125405] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713131867] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713138068] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713144632] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713150435] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713156315] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713162219] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713177851] [ignition_ros_control]: Loading joint: joint_3
[ign gazebo -r-1] [INFO] [1682594828.713184428] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713190090] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713195574] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713201467] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713208399] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713214773] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713220791] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713234026] [ignition_ros_control]: Loading joint: joint_4
[ign gazebo -r-1] [INFO] [1682594828.713240109] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713245725] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713251758] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713257779] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713263504] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713269572] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713275014] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713289406] [ignition_ros_control]: Loading joint: joint_5
[ign gazebo -r-1] [INFO] [1682594828.713296210] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713302208] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713308873] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713316837] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713322850] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713329936] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713338116] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713356082] [ignition_ros_control]: Loading joint: joint_6
[ign gazebo -r-1] [INFO] [1682594828.713364187] [ignition_ros_control]:         State:
[ign gazebo -r-1] [INFO] [1682594828.713370872] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713380959] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713389136] [ignition_ros_control]:                  effort
[ign gazebo -r-1] [INFO] [1682594828.713408021] [ignition_ros_control]:         Command:
[ign gazebo -r-1] [INFO] [1682594828.713415420] [ignition_ros_control]:                  position
[ign gazebo -r-1] [INFO] [1682594828.713424793] [ignition_ros_control]:                  velocity
[ign gazebo -r-1] [INFO] [1682594828.713656422] [resource_manager]: Initialize hardware 'IgnitionSystem' 
[ign gazebo -r-1] [WARN] [1682594828.713683931] [ignition_ros_control]: On init...
[ign gazebo -r-1] [INFO] [1682594828.713795494] [resource_manager]: Successful initialization of hardware 'IgnitionSystem'
[ign gazebo -r-1] [INFO] [1682594828.713877005] [resource_manager]: 'configure' hardware 'IgnitionSystem' 
[ign gazebo -r-1] [INFO] [1682594828.713888446] [ignition_ros_control]: System Successfully configured!
[ign gazebo -r-1] [INFO] [1682594828.713911492] [resource_manager]: Successful 'configure' of hardware 'IgnitionSystem'
[ign gazebo -r-1] [INFO] [1682594828.713922282] [resource_manager]: 'activate' hardware 'IgnitionSystem' 
[ign gazebo -r-1] [INFO] [1682594828.713927264] [resource_manager]: Successful 'activate' of hardware 'IgnitionSystem'
[ign gazebo -r-1] [INFO] [1682594828.713942040] [ignition_ros_control]: Loading controller_manager
[ign gazebo -r-1] [INFO] [1682594828.908811806] [controller_manager]: Loading controller 'denso_joint_trajectory_controller'
[spawner-3] [INFO] [1682594828.945895516] [spawner_denso_joint_trajectory_controller]: Loaded denso_joint_trajectory_controller
[ign gazebo -r-1] [INFO] [1682594828.948849762] [controller_manager]: Configuring controller 'denso_joint_trajectory_controller'
[ign gazebo -r-1] [INFO] [1682594828.949101204] [denso_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ign gazebo -r-1] [INFO] [1682594828.949154983] [denso_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ign gazebo -r-1] [INFO] [1682594828.949183095] [denso_joint_trajectory_controller]: Using 'splines' interpolation method.
[ign gazebo -r-1] [INFO] [1682594828.954237822] [denso_joint_trajectory_controller]: Controller state will be published at 1000.00 Hz.
[ign gazebo -r-1] [INFO] [1682594828.962545054] [denso_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ign gazebo -r-1] [INFO] [1682594829.002211238] [controller_manager]: Loading controller 'denso_joint_state_broadcaster'
[spawner-8] [INFO] [1682594829.025819558] [spawner_denso_joint_state_broadcaster]: Loaded denso_joint_state_broadcaster
[ign gazebo -r-1] [INFO] [1682594829.027175308] [controller_manager]: Configuring controller 'denso_joint_state_broadcaster'
[ign gazebo -r-1] [INFO] [1682594829.027328347] [denso_joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-8] [INFO] [1682594829.051237502] [spawner_denso_joint_state_broadcaster]: Configured and activated denso_joint_state_broadcaster
[spawner-3] [INFO] [1682594829.071953171] [spawner_denso_joint_trajectory_controller]: Configured and activated denso_joint_trajectory_controller
[INFO] [spawner-8]: process has finished cleanly [pid 24907]
[INFO] [spawner-3]: process has finished cleanly [pid 24859]