unable to use moveit task constructor related launch the example files provided with the humble build!

[samiulextreem]

Description

Overview of your issue here.

Your environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04
  I am trying to launch the example files provided with the humble build. But none of them works as expected. Can anybody look not the problem?

Steps to reproduce

ros2 launch moveit2_tutorials demo.launch.py
ros2 launch moveit2_tutorials pick_place_demo.launch.py

Backtrace or Console output

[INFO] [launch]: All log files can be found below /home/samiul/.ros/log/2022-06-15-20-12-04-261710-samiul-H110M-S2PH-6814
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mtc_tutorial-1]: process started with pid [6817]
[mtc_tutorial-1] [INFO] [1655302330.988382762] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0250817 seconds
[mtc_tutorial-1] [INFO] [1655302330.988526453] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[mtc_tutorial-1] Link panda_link1 had 1 children
[mtc_tutorial-1] Link panda_link2 had 1 children
[mtc_tutorial-1] Link panda_link3 had 1 children
[mtc_tutorial-1] Link panda_link4 had 1 children
[mtc_tutorial-1] Link panda_link5 had 1 children
[mtc_tutorial-1] Link panda_link6 had 1 children
[mtc_tutorial-1] Link panda_link7 had 1 children
[mtc_tutorial-1] Link panda_link8 had 1 children
[mtc_tutorial-1] Link panda_hand had 2 children
[mtc_tutorial-1] Link panda_leftfinger had 0 children
[mtc_tutorial-1] Link panda_rightfinger had 0 children
[mtc_tutorial-1] [INFO] [1655302331.109981162] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[mtc_tutorial-1] [INFO] [1655302331.118015736] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[mtc_tutorial-1] [INFO] [1655302331.118065828] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[mtc_tutorial-1] [INFO] [1655302331.118077833] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[mtc_tutorial-1] [INFO] [1655302331.118140121] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[mtc_tutorial-1] [INFO] [1655302331.118177474] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[mtc_tutorial-1] [INFO] [1655302331.118189353] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[mtc_tutorial-1] [INFO] [1655302331.118210880] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[mtc_tutorial-1] [INFO] [1655302331.118219060] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[mtc_tutorial-1] [INFO] [1655302331.118274518] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[mtc_tutorial-1] [INFO] [1655302331.118303777] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[mtc_tutorial-1] [INFO] [1655302331.118318061] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[mtc_tutorial-1] [INFO] [1655302331.118324861] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[mtc_tutorial-1] [INFO] [1655302331.118331047] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[mtc_tutorial-1] [INFO] [1655302331.118336786] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[mtc_tutorial-1] [INFO] [1655302331.118344027] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[mtc_tutorial-1] Stack trace (most recent call last):
[mtc_tutorial-1] #10 Object "", at 0xffffffffffffffff, in
[mtc_tutorial-1] #9 Object "/home/samiul/Documents/ros_arm/install/moveit2_tutorials/lib/moveit2_tutorials/mtc_tutorial", at 0x556e550aa044, in _start
[mtc_tutorial-1] #8 Source "../csu/libc-start.c", line 392, in _libc_start_main_impl [0x7f9010df6e3f]
[mtc_tutorial-1] #7 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in libc_start_call_main [0x7f9010df6d8f]
[mtc_tutorial-1] #6 Source "/home/samiul/Documents/ros_arm/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp", line 375, in main [0x556e550af5d9]
[mtc_tutorial-1] 372: });
[mtc_tutorial-1] 373:
[mtc_tutorial-1] 374: mtc_task_node->setupPlanningScene();
[mtc_tutorial-1] > 375: mtc_task_node->doTask();
[mtc_tutorial-1] 376:
[mtc_tutorial-1] 377: spin_thread->join();
[mtc_tutorial-1] 378: rclcpp::shutdown();
[mtc_tutorial-1] #5 Source "/home/samiul/Documents/ros_arm/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp", line 73, in doTask [0x556e550aa623]
[mtc_tutorial-1] 71: try
[mtc_tutorial-1] 72: {
[mtc_tutorial-1] > 73: task.init();
[mtc_tutorial-1] 74: }
[mtc_tutorial-1] 75: catch (mtc::InitStageException& e)
[mtc_tutorial-1] 76: {
[mtc_tutorial-1] #4 Object "/home/samiul/Documents/ros_arm/install/moveit_task_constructor_core/lib/libmoveit_task_constructor_core.so", at 0x7f90116fc187, in moveit::task_constructor::Introspection::publishTaskDescription()
[mtc_tutorial-1] #3 Object "/home/samiul/Documents/ros_arm/install/moveit_task_constructor_core/lib/libmoveit_task_constructor_core.so", at 0x7f90116f8193, in moveit::task_constructor::Introspection::fillTaskDescription(moveit_task_constructor_msgs::msg::TaskDescription<std::allocator >&)
[mtc_tutorial-1] #2 Object "/home/samiul/Documents/ros_arm/install/moveit_task_constructor_core/lib/libmoveit_task_constructor_core.so", at 0x7f90116d482c, in moveit::task_constructor::ContainerBase::traverseRecursively(std::function<bool (moveit::task_constructor::Stage const&, unsigned int)> const&) const
[mtc_tutorial-1] #1 Object "/home/samiul/Documents/ros_arm/install/moveit_task_constructor_core/lib/libmoveit_task_constructor_core.so", at 0x7f90116f84cb, in moveit::task_constructor::Introspection::fillTaskDescription(moveit_task_constructor_msgs::msg::TaskDescription<std::allocator >&)::{lambda(moveit::task_constructor::Stage const&, unsigned int)#1}::operator()(moveit::task_constructor::Stage const&, unsigned int) const [clone .constprop.0]
[mtc_tutorial-1] #0 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f9011162e2c, in std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_assign(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[mtc_tutorial-1] Segmentation fault (Address not mapped to object [0x43])
[ERROR] [mtc_tutorial-1]: process has died [pid 6817, exit code -11, cmd '/home/samiul/Documents/ros_arm/install/moveit2_tutorials/lib/moveit2_tutorials/mtc_tutorial --ros-args --params-file /tmp/launch_params_9wz5j4ax'].

[JafarAbdi]

@samiulextreem It got fixed with moveit/moveit_task_constructor#372, please use that until it gets merged upstream