ERROR when trying to open robot model made with moveit in gazebo and rviz
Hello, I am trying to run robot arm model with rviz and gazebo but every time I try to launch it I get this error and I have tried different robot models from other githubs but they show the same error I tried to find a solution but I can't find it. I apologize if the problem may seem simple as I am still new to ros, gazebo and rviz.
This is the github link to the robot: https://github.com/andrewneill/abb_irb1600id_support.git
This is the launch code: roslaunch abbmoveitmobile1 demo_gazebo.launch
This is the following error:
SUMMARY
========
PARAMETERS
* /arm_controller/gains/joint_1/d: 1
* /arm_controller/gains/joint_1/i: 1
* /arm_controller/gains/joint_1/i_clamp: 1
* /arm_controller/gains/joint_1/p: 100
* /arm_controller/gains/joint_2/d: 1
* /arm_controller/gains/joint_2/i: 1
* /arm_controller/gains/joint_2/i_clamp: 1
* /arm_controller/gains/joint_2/p: 100
* /arm_controller/gains/joint_3/d: 1
* /arm_controller/gains/joint_3/i: 1
* /arm_controller/gains/joint_3/i_clamp: 1
* /arm_controller/gains/joint_3/p: 100
* /arm_controller/gains/joint_4/d: 1
* /arm_controller/gains/joint_4/i: 1
* /arm_controller/gains/joint_4/i_clamp: 1
* /arm_controller/gains/joint_4/p: 100
* /arm_controller/gains/joint_5/d: 1
* /arm_controller/gains/joint_5/i: 1
* /arm_controller/gains/joint_5/i_clamp: 1
* /arm_controller/gains/joint_5/p: 100
* /arm_controller/gains/joint_6/d: 1
* /arm_controller/gains/joint_6/i: 1
* /arm_controller/gains/joint_6/i_clamp: 1
* /arm_controller/gains/joint_6/p: 100
* /arm_controller/joints: ['joint_1', 'join...
* /arm_controller/type: effort_controller...
* /gazebo/enable_ros_network: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities:
* /move_group/default_planning_pipeline: ompl
* /move_group/disable_capabilities:
* /move_group/max_range: 5.0
* /move_group/monitor_dynamics: False
* /move_group/moveit_controller_manager: moveit_ros_contro...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planning_pipelines/chomp/collision_clearance: 0.2
* /move_group/planning_pipelines/chomp/collision_threshold: 0.07
* /move_group/planning_pipelines/chomp/enable_failure_recovery: False
* /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
* /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
* /move_group/planning_pipelines/chomp/learning_rate: 0.01
* /move_group/planning_pipelines/chomp/max_iterations: 200
* /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
* /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
* /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
* /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
* /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
* /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
* /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
* /move_group/planning_pipelines/chomp/ridge_factor: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
* /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
* /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
* /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
* /move_group/planning_pipelines/chomp/use_stochastic_descent: True
* /move_group/planning_pipelines/ompl/arm/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/arm/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/arm/projection_evaluator: joints(joint_1,jo...
* /move_group/planning_pipelines/ompl/gripping_tool/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners:
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
* /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
* /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
* /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
* /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
* /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
* /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
* /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
* /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
* /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
* /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
* /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
* /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
* /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
* /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
* /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
* /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
* /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
* /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
* /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters:
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/sense_for_plan/max_safe_path_cost: 1
* /move_group/sensors: []
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
* /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
* /robot_description_planning/cartesian_limits/max_trans_dec: -5
* /robot_description_planning/cartesian_limits/max_trans_vel: 1
* /robot_description_planning/default_acceleration_scaling_factor: 0.1
* /robot_description_planning/default_velocity_scaling_factor: 0.1
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_1/max_velocity: 3.142
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_2/max_velocity: 3.142
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_3/max_velocity: 3.142
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_4/max_velocity: 5.585
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_5/max_velocity: 6.632
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
* /robot_description_planning/joint_limits/joint_6/max_velocity: 8.029
* /robot_description_semantic: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.15.15
* /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_controller_spawner (controller_manager/spawner)
gazebo_gui (gazebo_ros/gzclient)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ahmed_MacBookPro_234527_4052640226398130763 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [234535]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 69be011a-bd2e-11ed-a4e6-6ff0535576d5
process[rosout-1]: started with pid [234545]
started core service [/rosout]
process[gazebo-2]: started with pid [234552]
process[gazebo_gui-3]: started with pid [234557]
process[spawn_gazebo_model-4]: started with pid [234562]
process[controller_spawner-5]: started with pid [234563]
process[gazebo_controller_spawner-6]: started with pid [234564]
process[robot_state_publisher-7]: started with pid [234565]
process[move_group-8]: started with pid [234566]
process[rviz_ahmed_MacBookPro_234527_4052640226398130763-9]: started with pid [234567]
[ WARN] [1678224257.245405650]: 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.
[ INFO] [1678224257.540303395]: Loading robot model 'abb_irb1600id'...
[ INFO] [1678224257.544276487]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1678224257.825439543]: 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.
[ INFO] [1678224258.053356141]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1678224258.065908633]: Listening to 'joint_states' for joint states
[ INFO] [1678224258.086221437]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1678224258.086292195]: Starting planning scene monitor
[ INFO] [1678224258.098068276]: Listening to '/planning_scene'
[ INFO] [1678224258.098141754]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1678224258.105411403]: rviz version 1.14.19
[ INFO] [1678224258.105478161]: compiled against Qt version 5.12.8
[ INFO] [1678224258.105499240]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1678224258.133657032]: Listening to '/collision_object'
[ INFO] [1678224258.137691082]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1678224258.149199493]: Loading planning pipeline 'chomp'
[ INFO] [1678224258.190506556]: Forcing OpenGl version 0.
[ INFO] [1678224258.312194266]: Using planning interface 'CHOMP'
[ INFO] [1678224258.317675382]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1678224258.324255818]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1678224258.325001110]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678224258.325613327]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678224258.326162867]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1678224258.327472818]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1678224258.327759487]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1678224258.327886042]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1678224258.328075995]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1678224258.328261948]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1678224258.328446422]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1678224258.328650654]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1678224258.328834927]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1678224258.336501402]: Loading planning pipeline 'ompl'
[ INFO] [1678224258.684913714]: Using planning interface 'OMPL'
[ INFO] [1678224258.696331929]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1678224258.697131859]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1678224258.699422534]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678224258.700110428]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1678224258.700623609]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1678224258.704078520]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1678224258.704183876]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1678224258.704215195]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1678224258.704241074]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1678224258.704271153]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1678224258.704295232]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1678224258.704319471]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1678224258.704343630]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1678224258.704424867]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ INFO] [1678224258.709613674]: Reading limits from namespace /robot_description_planning
[ INFO] [1678224258.808889619]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1678224258.808960137]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
[ INFO] [1678224258.812272613]: Registered Algorithm [CIRC]
[ INFO] [1678224258.812425208]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
[ INFO] [1678224258.815103268]: Registered Algorithm [LIN]
[ INFO] [1678224258.815307660]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1678224258.817946362]: Registered Algorithm [PTP]
[ INFO] [1678224258.826472965]: Using planning interface 'Pilz Industrial Motion Planner'
[ INFO] [1678224258.844199225]: Started moveit_ros_control_interface::MoveItControllerManager for namespace /
[ INFO] [1678224258.875050557]: Trajectory execution is managing controllers
[ INFO] [1678224258.875271468]: MoveGroup debug mode is ON
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1678224259.149055398]: initialize move group sequence action
[INFO] [1678224259.156876, 0.000000]: Waiting for /clock to be available...
[ INFO] [1678224259.184318445]: Reading limits from namespace /robot_description_planning
[INFO] [1678224259.229962, 0.000000]: Waiting for /clock to be available...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1678224259.249498939]: Reading limits from namespace /robot_description_planning
[ INFO] [1678224259.308077558]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
* - SequenceAction
* - SequenceService
********************************************************
[ INFO] [1678224259.309238875]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1678224259.309285033]: MoveGroup context initialization complete
You can start planning now!
[INFO] [1678224259.401301, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1678224259.429367, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1678224259.550773044]: Stereo is NOT SUPPORTED
[ INFO] [1678224259.551775447]: OpenGL device: llvmpipe (LLVM 12.0.0, 128 bits)
[ INFO] [1678224259.552051076]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1678224260.347571262]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678224260.350665307]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678224260.655664113]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1678224260.659902875]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1678224261.530234472]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1678224261.547095, 0.000000]: Calling service /gazebo/spawn_urdf_model
Error [parser.cc:488] parse as old deprecated model file failed.
Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
Error Code 8 Msg: Error reading element (plugin)
Error Code 8 Msg: Error reading element (model)
Error Code 8 Msg: Error reading element (sdf)
I am running: -ROS-Noetic -Ubuntu20.04
Also it should be noted that it works fine if I only use demo.launch but then I wouldn't be able to use gazebo and only rviz.
Asked by RE on 2023-03-07 16:40:49 UTC
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