PluginlibFactory: The plugin for class 'moveit_rviz_plugin/PlanningScene' failed to load

[doshininad]

When I run 'ros2 launch scene demo.launch.py' for any of the scenes it gives me this error. Can you please help me solve this.

[Briancbn]

Hi @doshininad, sorry about the late response,

Based on the console output you have, it seems that you are missing the moveit_visualization_plugins.
If you are using MoveIt with Source build. Please make sure to source the moveit workspace setup.bash before running the launch file.
If you are using MoveIt with Binary installation, please run the following command to install the necessary visualization plugin.

sudo apt install ros-foxy-moveit-ros-visualization

Instead of using the the demo.launch.py, we recommend you testing out emd_grasp_execution using the following commands.

ros2 launch run_grasp_execution grasp_execution.launch.py

In another terminal run

ros2 launch run_grasp_execution fake_task_publisher.launch.xml

[Mukaram01]

Hello everyone,

After spending considerable days trying to solve following issues, I've decided to ask the community. Would greatly appreciate any help.

1. RViz Planning Scene Warning: After executing
   ros2 launch run_grasp_execution grasp_execution.launch.py
   I noticed a warning regarding the planning scene in RViz (Image). Despite my efforts, I haven't been able to identify the cause of this warning. If anyone has encountered a similar issue or has suggestions on how to troubleshoot it, I would be grateful for your assistance.

2. Adjusting Robot Pose: I've been attempting to modify the pose of the robot within RViz without success. If anyone has experience or tips on how to achieve this, I would be eager to hear your recommendations.

3. Error with
   ros2 launch run_grasp_execution fake_task_publisher.launch.xml
   When attempting to run this command in new terminal as suggested by @Briancbn in the previous comment, I encountered an error output on the first terminal where I am running ros2 launch run_grasp_execution grasp_execution.launch.py . I'm struggling to interpret this error.

Details

[demo_node-3] [INFO] [1709585255.593717323] [grasp_execution]: [demo_node-3] [#box-8cab0963-8acc-4b8a-b0b9-8bdd3f7a347c-0] Register object in the world>>>>>> [demo_node-3] [demo_node-3] [INFO] [1709585255.638499148] [grasp_execution]: [demo_node-3] <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< [demo_node-3] [demo_node-3] [INFO] [1709585255.639097096] [grasp_execution_node]: New job [#box-8cab0963-8acc-4b8a-b0b9-8bdd3f7a347c-0] started!! [demo_node-3] [INFO] [1709585255.639968055] [grasp_execution_node]: [demo_node-3] [#box-8cab0963-8acc-4b8a-b0b9-8bdd3f7a347c-0] Plan toGrasp location>>>>>>>>>>>>> [demo_node-3] [demo_node-3] [INFO] [1709585255.640079054] [grasp_execution]: [demo_node-3] Starting strategy 1: Cartesian move to destination with 1cm step. This works well within relatively empty space [demo_node-3] [INFO] [1709585256.640312346] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds. [demo_node-3] Check clock synchronization if your are running ROS across multiple machines! [demo_node-3] [ERROR] [1709585256.640384943] [moveit.ros_planning_interface.moveit_cpp]: Did not receive robot state [demo_node-3] [INFO] [1709585256.640400694] [grasp_execution]: Received request to compute Cartesian path [ERROR] [demo_node-3]: process has died [pid 8081, exit code -11, cmd '/home/ros2/workcell_ws/install/run_grasp_execution/lib/run_grasp_execution/demo_node --ros-args -r __node:=grasp_execution_node --params-file /home/ros2/workcell_ws/install/run_grasp_execution/share/run_grasp_execution/config/grasp_execution.yaml --params-file /tmp/launch_params_mr_ea2fy --params-file /tmp/launch_params_5rjder2s --params-file /tmp/launch_params_1wfgnh56 --params-file /tmp/launch_params_jx7 /fdv0c --params-file /tmp/launch_params_lmkd18df --params-file /tmp/launch_params_efglqmi7 --params-file /tmp/launch_params_ek12_hyk --params-file /tmp/launch_params_wi30dfod']. [rviz2-2] [INFO] [1709586054.404456703] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [INFO] [rviz2-2]: process has finished cleanly [pid 8079]

Any guidance on resolving this issue would be immensely helpful.

Thank you in advance for any assistance you can provide.

Best regards,