daniel@horus:~/ros2_ws$ ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=virtual model:=m1013 host:=127.0.0.1 [INFO] [launch]: All log files can be found below /home/daniel/.ros/log/2025-01-07-20-54-44-502996-horus-69265 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [connection-1]: process started with pid [69268] [INFO] [ros2_control_node-2]: process started with pid [69270] [INFO] [robot_state_publisher-3]: process started with pid [69272] [INFO] [spawner-4]: process started with pid [69274] [INFO] [spawner-5]: process started with pid [69276] [INFO] [spawner-6]: process started with pid [69278] [INFO] [move_group-7]: process started with pid [69280] [ros2_control_node-2] [WARN] [1736279685.341107291] [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. [ros2_control_node-2] [INFO] [1736279685.342212373] [resource_manager]: Loading hardware 'm1013' [ros2_control_node-2] [INFO] [1736279685.361520597] [resource_manager]: Initialize hardware 'm1013' [robot_state_publisher-3] [INFO] [1736279685.364191702] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1736279685.364341562] [robot_state_publisher]: got segment link_1 [robot_state_publisher-3] [INFO] [1736279685.364360996] [robot_state_publisher]: got segment link_2 [robot_state_publisher-3] [INFO] [1736279685.364371699] [robot_state_publisher]: got segment link_3 [robot_state_publisher-3] [INFO] [1736279685.364381722] [robot_state_publisher]: got segment link_4 [robot_state_publisher-3] [INFO] [1736279685.364392249] [robot_state_publisher]: got segment link_5 [robot_state_publisher-3] [INFO] [1736279685.364401730] [robot_state_publisher]: got segment link_6 [robot_state_publisher-3] [INFO] [1736279685.364410446] [robot_state_publisher]: got segment world [move_group-7] Error: Semantic description is not specified for the same robot as the URDF [move_group-7] at line 681 in /home/daniel/ws_moveit2/src/srdfdom/src/model.cpp [move_group-7] [INFO] [1736279685.423712724] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0956393 seconds [move_group-7] [INFO] [1736279685.423795334] [moveit_robot_model.robot_model]: Loading robot model 'm1013'... [connection-1] [INFO] [1736279685.672658575] [connection_node]: @@@@@@@@@@@@@@@@@@@@@@@@@@@ run_drcf [connection-1] Run Emulator of the Doosan Robot Controller [connection-1] dirname: /home/daniel/ros2_ws/install/common2/share/common2/bin/run_drcf.sh [connection-1] server_port: 12345 [connection-1] robot model: m1013 [connection-1] ns: [connection-1] run : 'emulator' ... [move_group-7] [WARN] [1736279685.763341505] [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. [spawner-5] [INFO] [1736279685.804757522] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available... [connection-1] b408ee895f8f3e78cd8dab2806913e18db7e3c0fd6f3d4b9e6a133d6239165d4 [spawner-6] [INFO] [1736279685.964320755] [spawner_dsr_moveit_controller]: waiting for service /controller_manager/list_controllers to become available... [spawner-4] [INFO] [1736279685.971008179] [spawner_dsr_controller2]: waiting for service /controller_manager/list_controllers to become available... [connection-1] ARCH: 64-bit [move_group-7] [INFO] [1736279686.461699595] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-7] [INFO] [1736279686.461955696] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-7] [INFO] [1736279686.464952036] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-7] [INFO] [1736279686.466677858] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-7] [INFO] [1736279686.466715645] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-7] [INFO] [1736279686.468043706] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-7] [INFO] [1736279686.468073883] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-7] [INFO] [1736279686.469656947] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-7] [INFO] [1736279686.471022380] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-7] [WARN] [1736279686.473279933] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-7] [ERROR] [1736279686.473333049] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-7] [INFO] [1736279687.240374759] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp' [move_group-7] [INFO] [1736279687.256945604] [moveit.ros_planning.planning_pipeline]: Using planning interface 'CHOMP' [move_group-7] [ERROR] [1736279687.267341529] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeParameterization with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames [move_group-7] [INFO] [1736279687.272063913] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-7] [INFO] [1736279687.272152111] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000 [move_group-7] [INFO] [1736279687.272172707] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-7] [INFO] [1736279687.272217702] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-7] [INFO] [1736279687.272235534] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-7] [INFO] [1736279687.272263090] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100 [move_group-7] [INFO] [1736279687.272307905] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-7] [INFO] [1736279687.272326469] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-7] [INFO] [1736279687.272386915] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-7] [INFO] [1736279687.272402324] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-7] [INFO] [1736279687.281702116] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-7] [INFO] [1736279687.328864832] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-7] [INFO] [1736279687.338992320] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-7] [INFO] [1736279687.339035287] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-7] [INFO] [1736279687.339051221] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-7] [INFO] [1736279687.339120087] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-7] [INFO] [1736279687.339163696] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-7] [INFO] [1736279687.339178884] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-7] [INFO] [1736279687.339216734] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-7] [INFO] [1736279687.339231738] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-7] [INFO] [1736279687.339245445] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-7] [INFO] [1736279687.339281523] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-7] [INFO] [1736279687.339294870] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-7] [INFO] [1736279687.339306062] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-7] [INFO] [1736279687.339317398] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-7] [INFO] [1736279687.339328396] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-7] [INFO] [1736279687.339339126] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-7] [INFO] [1736279687.342394476] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner' [move_group-7] [INFO] [1736279687.357845322] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-7] [INFO] [1736279687.370648692] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-7] [INFO] [1736279687.370686511] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-7] [INFO] [1736279687.374407932] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC] [move_group-7] [INFO] [1736279687.374451902] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-7] [INFO] [1736279687.376831317] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN] [move_group-7] [INFO] [1736279687.377296918] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-7] [INFO] [1736279687.379658747] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP] [move_group-7] [INFO] [1736279687.379726010] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner' [move_group-7] [INFO] [1736279687.490162201] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for dsr_moveit_controller [move_group-7] [INFO] [1736279687.490460343] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279687.490510997] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279687.491475850] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-7] [INFO] [1736279687.491498462] [move_group.move_group]: MoveGroup debug mode is ON [move_group-7] [INFO] [1736279687.538496115] [move_group.move_group]: [move_group-7] [move_group-7] ******************************************************** [move_group-7] * MoveGroup using: [move_group-7] * - ApplyPlanningSceneService [move_group-7] * - ClearOctomapService [move_group-7] * - CartesianPathService [move_group-7] * - ExecuteTrajectoryAction [move_group-7] * - GetPlanningSceneService [move_group-7] * - KinematicsService [move_group-7] * - MoveAction [move_group-7] * - MotionPlanService [move_group-7] * - QueryPlannersService [move_group-7] * - StateValidationService [move_group-7] ******************************************************** [move_group-7] [move_group-7] [INFO] [1736279687.538559476] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-7] [INFO] [1736279687.538579776] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-7] Loading 'move_group/ApplyPlanningSceneService'... [move_group-7] Loading 'move_group/ClearOctomapService'... [move_group-7] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-7] Loading 'move_group/MoveGroupKinematicsService'... [move_group-7] Loading 'move_group/MoveGroupMoveAction'... [move_group-7] Loading 'move_group/MoveGroupPlanService'... [move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-7] Loading 'move_group/MoveGroupStateValidationService'... [move_group-7] [move_group-7] You can start planning now! [move_group-7] [ros2_control_node-2] [INFO] [1736279693.362351255] [dsr_hw_interface2]: [on_init] Hardware name : m1013, type : system, class type : dsr_hardware2/DRHWInterface [ros2_control_node-2] [INFO] [1736279693.382341204] [dsr_hw_interface2]: name: [ros2_control_node-2] [INFO] [1736279693.382471561] [dsr_hw_interface2]: rate: 100 [ros2_control_node-2] [INFO] [1736279693.382551784] [dsr_hw_interface2]: standby: 5000 [ros2_control_node-2] [INFO] [1736279693.382594202] [dsr_hw_interface2]: command: true [ros2_control_node-2] [INFO] [1736279693.382625058] [dsr_hw_interface2]: host: 127.0.0.1 [ros2_control_node-2] [INFO] [1736279693.382663627] [dsr_hw_interface2]: port: 12345 [ros2_control_node-2] [INFO] [1736279693.382693802] [dsr_hw_interface2]: mode: virtual [ros2_control_node-2] [INFO] [1736279693.382755736] [dsr_hw_interface2]: model: m1013 [ros2_control_node-2] [INFO] [1736279693.382783912] [dsr_hw_interface2]: gripper: none [ros2_control_node-2] [INFO] [1736279693.382844157] [dsr_hw_interface2]: mobile: none [ros2_control_node-2] [INFO] [1736279693.382980691] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.383006909] [dsr_hw_interface2]: INITAILIZE [ros2_control_node-2] [INFO] [1736279693.383042257] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] Depreciated API.. deleted soon. [ros2_control_node-2] Please use 'set_on_monitoring_data_ex' [ros2_control_node-2] Depreciated API.. deleted soon. [ros2_control_node-2] Please use 'set_on_monitoring_ctrl_io_ex'. [ros2_control_node-2] [INFO] [1736279693.490350301] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.490456550] [dsr_hw_interface2]: Access control granted [ros2_control_node-2] [INFO] [1736279693.490487964] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.490634165] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.490662242] [dsr_hw_interface2]: OPEN CONNECTION [ros2_control_node-2] [INFO] [1736279693.490674959] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.506364972] [dsr_hw_interface2]: Emulator Mode [ros2_control_node-2] [INFO] [1736279693.506456185] [dsr_hw_interface2]: DRCF version = GF03020000 [ros2_control_node-2] [INFO] [1736279693.506493545] [dsr_hw_interface2]: DRFL version = GL013100 [ros2_control_node-2] [INFO] [1736279693.506513810] [dsr_hw_interface2]: m_nVersionDRCF = 3020000 [ros2_control_node-2] [INFO] [1736279693.506525800] [dsr_hw_interface2]: _______________________________________________ [ros2_control_node-2] [ros2_control_node-2] [INFO] [1736279693.507666147] [resource_manager]: Successful initialization of hardware 'm1013' [ros2_control_node-2] [INFO] [1736279693.508125122] [resource_manager]: 'configure' hardware 'm1013' [ros2_control_node-2] [INFO] [1736279693.508147982] [resource_manager]: Successful 'configure' of hardware 'm1013' [ros2_control_node-2] [INFO] [1736279693.508164897] [resource_manager]: 'activate' hardware 'm1013' [ros2_control_node-2] [INFO] [1736279693.508175324] [resource_manager]: Successful 'activate' of hardware 'm1013' [ros2_control_node-2] [INFO] [1736279693.539238109] [controller_manager]: update rate is 10 Hz [ros2_control_node-2] [INFO] [1736279693.539292839] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-2] [WARN] [1736279693.539641574] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. [ros2_control_node-2] [INFO] [1736279693.575653864] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-5] [INFO] [1736279693.642746953] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-2] [INFO] [1736279693.646284463] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-2] [INFO] [1736279693.646489539] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2_control_node-2] [INFO] [1736279693.748383180] [controller_manager]: Loading controller 'dsr_controller2' [ros2_control_node-2] [INFO] [1736279693.795223265] [dsr_hw_interface2]: [DRFL address] 0x79fe309fe870 [ros2_control_node-2] [INFO] [1736279693.841168200] [controller_manager]: Loading controller 'dsr_moveit_controller' [spawner-4] [INFO] [1736279693.842772855] [spawner_dsr_controller2]: Loaded dsr_controller2 [ros2_control_node-2] [WARN] [1736279693.883849113] [dsr_moveit_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ros2_control_node-2] [INFO] [1736279693.941903024] [controller_manager]: Configuring controller 'dsr_controller2' [spawner-6] [INFO] [1736279693.943577010] [spawner_dsr_moveit_controller]: Loaded dsr_moveit_controller [ros2_control_node-2] [INFO] [1736279694.040457421] [controller_manager]: Configuring controller 'dsr_moveit_controller' [ros2_control_node-2] [INFO] [1736279694.040849347] [dsr_moveit_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-2] [INFO] [1736279694.040907457] [dsr_moveit_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. [ros2_control_node-2] [INFO] [1736279694.040959707] [dsr_moveit_controller]: Using 'splines' interpolation method. [ros2_control_node-2] [INFO] [1736279694.043644857] [dsr_moveit_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-2] [INFO] [1736279694.048881190] [dsr_moveit_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-5] [INFO] [1736279694.341456689] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-5]: process has finished cleanly [pid 69276] [spawner-4] [INFO] [1736279694.842980662] [spawner_dsr_controller2]: Configured and activated dsr_controller2 [spawner-6] [INFO] [1736279695.043065102] [spawner_dsr_moveit_controller]: Configured and activated dsr_moveit_controller [INFO] [spawner-4]: process has finished cleanly [pid 69274] [INFO] [spawner-6]: process has finished cleanly [pid 69278] [INFO] [rviz2-8]: process started with pid [69564] [rviz2-8] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-8] [INFO] [1736279696.127401766] [rviz2]: Stereo is NOT SUPPORTED [rviz2-8] [INFO] [1736279696.127740637] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-8] [INFO] [1736279696.189838588] [rviz2]: Stereo is NOT SUPPORTED [rviz2-8] 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. [rviz2-8] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-8] Error: Semantic description is not specified for the same robot as the URDF [rviz2-8] at line 681 in /home/daniel/ws_moveit2/src/srdfdom/src/model.cpp [rviz2-8] [INFO] [1736279696.849931671] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.121849 seconds [rviz2-8] [INFO] [1736279696.850022910] [moveit_robot_model.robot_model]: Loading robot model 'm1013'... [rviz2-8] [ERROR] [1736279701.225048386] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-8] [INFO] [1736279701.278950048] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-8] Error: Semantic description is not specified for the same robot as the URDF [rviz2-8] at line 681 in /home/daniel/ws_moveit2/src/srdfdom/src/model.cpp [rviz2-8] [INFO] [1736279701.378038940] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00987882 seconds [rviz2-8] [INFO] [1736279701.378099601] [moveit_robot_model.robot_model]: Loading robot model 'm1013'... [rviz2-8] [WARN] [1736279701.860019796] [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. [rviz2-8] [INFO] [1736279702.812117395] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-8] [INFO] [1736279702.813409436] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-8] [INFO] [1736279702.848067312] [interactive_marker_display_106701782623184]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-8] [WARN] [1736279702.855099576] [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. [rviz2-8] [INFO] [1736279702.880494922] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-8] [INFO] [1736279702.881453435] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-8] [INFO] [1736279702.888073046] [interactive_marker_display_106701782623184]: Sending request for interactive markers [rviz2-8] [INFO] [1736279702.913912925] [interactive_marker_display_106701782623184]: Service response received for initialization [rviz2-8] [INFO] [1736279702.946860370] [moveit_ros_visualization.motion_planning_frame]: group manipulator [rviz2-8] [INFO] [1736279702.946906998] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [rviz2-8] [INFO] [1736279702.985999315] [move_group_interface]: Ready to take commands for planning group manipulator. [move_group-7] [INFO] [1736279735.760988806] [moveit_move_group_default_capabilities.move_action_capability]: Received request [move_group-7] [INFO] [1736279735.761978953] [moveit_move_group_default_capabilities.move_action_capability]: executing.. [rviz2-8] [INFO] [1736279735.761487616] [move_group_interface]: Plan and Execute request accepted [move_group-7] [INFO] [1736279735.840722368] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-7] [INFO] [1736279735.840954808] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-7] [INFO] [1736279735.840985428] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl' [move_group-7] [INFO] [1736279735.842669111] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-7] [INFO] [1736279735.899428087] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279735.899491927] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279735.899673434] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-7] [INFO] [1736279735.940579790] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-7] [INFO] [1736279735.940688420] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279735.940734060] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-7] [INFO] [1736279735.941056173] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to dsr_moveit_controller [move_group-7] [INFO] [1736279735.942616553] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: dsr_moveit_controller started execution [move_group-7] [INFO] [1736279735.942660962] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [ros2_control_node-2] [INFO] [1736279735.942170250] [dsr_moveit_controller]: Received new action goal [ros2_control_node-2] [INFO] [1736279735.942299657] [dsr_moveit_controller]: Accepted new action goal [ros2_control_node-2] [INFO] [1736279745.239855743] [dsr_moveit_controller]: Goal reached, success! [move_group-7] [INFO] [1736279745.245383543] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'dsr_moveit_controller' successfully finished [move_group-7] [INFO] [1736279745.540458377] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ... [move_group-7] [INFO] [1736279745.541018115] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed. [rviz2-8] [INFO] [1736279745.542571943] [move_group_interface]: Plan and Execute request complete!