which branch should I use ? #52
Description
Which branch should I choose? I'm currently using Humble, but I encountered some issues while running the demo—the robotic arm doesn't seem to move.
$ros2 launch annin_ar4_moveit_config demo.launch.py
[INFO] [launch]: All log files can be found below /home/wrsadmin/.ros/log/2025-06-19-14-24-42-804866-pek-jli15-d1-4095785
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [4095798]
[INFO] [rviz2-2]: process started with pid [4095800]
[INFO] [robot_state_publisher-3]: process started with pid [4095802]
[INFO] [ros2_control_node-4]: process started with pid [4095804]
[INFO] [spawner-5]: process started with pid [4095806]
[INFO] [spawner-6]: process started with pid [4095808]
[INFO] [spawner-7]: process started with pid [4095810]
[ros2_control_node-4] [WARN] [1750314283.445711496] [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-4] text not specified in the tf_prefix tag
[ros2_control_node-4] text not specified in the tf_prefix tag
[ros2_control_node-4] [INFO] [1750314283.445956723] [resource_manager]: Loading hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446307534] [resource_manager]: Initialize hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446351217] [resource_manager]: Successful initialization of hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446373362] [resource_manager]: Loading hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446384734] [resource_manager]: Initialize hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446397893] [resource_manager]: Successful initialization of hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446434229] [resource_manager]: 'configure' hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446605834] [resource_manager]: Successful 'configure' of hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446614159] [resource_manager]: 'activate' hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446619945] [resource_manager]: Successful 'activate' of hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750314283.446624193] [resource_manager]: 'configure' hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446628280] [resource_manager]: Successful 'configure' of hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446634472] [resource_manager]: 'activate' hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.446638631] [resource_manager]: Successful 'activate' of hardware 'mk3'
[ros2_control_node-4] [INFO] [1750314283.447828852] [controller_manager]: update rate is 60 Hz
[ros2_control_node-4] [INFO] [1750314283.447848788] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-4] [WARN] [1750314283.447965232] [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.
[robot_state_publisher-3] [INFO] [1750314283.460951136] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1750314283.461016117] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-3] [INFO] [1750314283.461022318] [robot_state_publisher]: got segment ee_link
[robot_state_publisher-3] [INFO] [1750314283.461025909] [robot_state_publisher]: got segment gripper_base_link
[robot_state_publisher-3] [INFO] [1750314283.461029189] [robot_state_publisher]: got segment gripper_jaw1_link
[robot_state_publisher-3] [INFO] [1750314283.461032167] [robot_state_publisher]: got segment gripper_jaw2_link
[robot_state_publisher-3] [INFO] [1750314283.461035197] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1750314283.461038493] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1750314283.461041589] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1750314283.461044694] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1750314283.461047770] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1750314283.461050705] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1750314283.461053745] [robot_state_publisher]: got segment world
[move_group-1] [INFO] [1750314283.470338195] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0183962 seconds
[move_group-1] [INFO] [1750314283.470380998] [moveit_robot_model.robot_model]: Loading robot model 'mk3'...
[move_group-1] [INFO] [1750314283.470386337] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ros2_control_node-4] [INFO] [1750314283.568902527] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-4] [WARN] [1750314283.572953453] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-4] [INFO] [1750314283.581667461] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1750314283.592445890] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-4] [INFO] [1750314283.598466899] [controller_manager]: Loading controller 'gripper_controller'
[spawner-5] [INFO] [1750314283.606552446] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-4] [INFO] [1750314283.615092648] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-4] [INFO] [1750314283.615212332] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-4] [INFO] [1750314283.615224457] [joint_trajectory_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-4] [INFO] [1750314283.615236171] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-4] [INFO] [1750314283.615789509] [joint_trajectory_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-4] [INFO] [1750314283.617338413] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1750314283.623009751] [spawner_gripper_controller]: Loaded gripper_controller
[ros2_control_node-4] [INFO] [1750314283.631629523] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1750314283.631676977] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-4] [INFO] [1750314283.648349220] [controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-4] [INFO] [1750314283.648417845] [gripper_controller]: Action status changes will be monitored at 20.000000 Hz.
[spawner-6] [INFO] [1750314283.698721668] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[spawner-5] [INFO] [1750314283.731933102] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-7] [INFO] [1750314283.765488889] [spawner_gripper_controller]: Configured and activated gripper_controller
[move_group-1] [INFO] [1750314283.771222567] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1750314283.771337045] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1750314283.771541452] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1750314283.771707516] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1750314283.771716127] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1750314283.772030133] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1750314283.772037963] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1750314283.772162580] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1750314283.772300198] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1750314283.772417283] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1750314283.772433525] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[INFO] [spawner-6]: process has finished cleanly [pid 4095808]
[INFO] [spawner-5]: process has finished cleanly [pid 4095806]
[INFO] [spawner-7]: process has finished cleanly [pid 4095810]
[move_group-1] [INFO] [1750314283.959454812] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1750314283.965894882] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1750314283.967014675] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1750314283.967023696] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1750314283.967026444] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1750314283.967037669] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1750314283.967045236] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1750314283.967048149] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1750314283.967054184] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1750314283.967056651] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1750314283.967059267] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1750314283.967065109] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1750314283.967068155] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1750314283.967070174] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1750314283.967072182] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1750314283.967074090] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1750314283.967075891] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1750314283.974713338] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1750314283.974742187] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[move_group-1] [INFO] [1750314283.975354693] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for gripper_controller
[move_group-1] [INFO] [1750314283.975451184] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1750314283.975468587] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1750314283.975657776] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1750314283.975669699] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1750314283.982814913] [move_group.move_group]:
[move_group-1]
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using:
[move_group-1] * - ApplyPlanningSceneService
[move_group-1] * - ClearOctomapService
[move_group-1] * - CartesianPathService
[move_group-1] * - ExecuteTrajectoryAction
[move_group-1] * - GetPlanningSceneService
[move_group-1] * - KinematicsService
[move_group-1] * - MoveAction
[move_group-1] * - MotionPlanService
[move_group-1] * - QueryPlannersService
[move_group-1] * - StateValidationService
[move_group-1] ********************************************************
[move_group-1]
[move_group-1] [INFO] [1750314283.982837723] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1750314283.982842751] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1]
[move_group-1] You can start planning now!
[move_group-1]
[rviz2-2] [INFO] [1750314284.064039806] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1750314284.064137878] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-2] [INFO] [1750314284.149176532] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] 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.
[rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1750314287.206497494] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1750314287.227008191] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1750314287.475068691] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0143749 seconds
[rviz2-2] [INFO] [1750314287.475096999] [moveit_robot_model.robot_model]: Loading robot model 'mk3'...
[rviz2-2] [INFO] [1750314287.475103697] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1750314288.025321882] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1750314288.026840381] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1750314288.142979926] [interactive_marker_display_105021006613216]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1750314288.145728576] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'ar_gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-2] [INFO] [1750314288.148665153] [moveit_ros_visualization.motion_planning_frame]: group ar_gripper
[rviz2-2] [INFO] [1750314288.148678592] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ar_gripper' in namespace ''
[rviz2-2] [INFO] [1750314288.151922103] [move_group_interface]: Ready to take commands for planning group ar_gripper.
[rviz2-2] [INFO] [1750314288.717888026] [interactive_marker_display_105021006613216]: Sending request for interactive markers
[rviz2-2] [INFO] [1750314289.075791643] [interactive_marker_display_105021006613216]: Service response received for initialization
[move_group-1] [INFO] [1750314308.160947090] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-2] [INFO] [1750314308.161057611] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1750314308.161070865] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1750314308.164915154] [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-1] [INFO] [1750314308.165005002] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1750314308.165018332] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-1] [INFO] [1750314308.165611644] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ar_gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [WARN] [1750314308.172278304] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[move_group-1] [INFO] [1750314308.172656709] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1750314308.172669186] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1750314308.172707677] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1750314308.181640973] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1750314308.181681245] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1750314308.181699712] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[ros2_control_node-4] [INFO] [1750314308.181930420] [gripper_controller]: Received & accepted new action goal
[move_group-1] [INFO] [1750314308.281822563] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-1] [INFO] [1750314308.291834421] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-2] [INFO] [1750314308.292961170] [move_group_interface]: Plan and Execute request complete!
[move_group-1] [INFO] [1750314311.001242819] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1750314311.001354060] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1750314311.001356275] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1750314311.014968103] [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-1] [INFO] [1750314311.015046268] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions
[move_group-1] [INFO] [1750314311.015060227] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met.
[rviz2-2] [INFO] [1750314311.015314413] [move_group_interface]: Plan and Execute request complete!
[move_group-1] [INFO] [1750314313.192304653] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-1] [INFO] [1750314313.192395208] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-2] [INFO] [1750314313.192417674] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1750314313.198242709] [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-1] [INFO] [1750314313.198290005] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions
[move_group-1] [INFO] [1750314313.198299661] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met.
[rviz2-2] [INFO] [1750314313.198542096] [move_group_interface]: Plan and Execute request complete!
[rviz2-2] [INFO] [1750314316.495009017] [moveit_ros_visualization.motion_planning_frame]: group ar_manipulator
[rviz2-2] [INFO] [1750314316.495093977] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ar_manipulator' in namespace ''
[rviz2-2] [INFO] [1750314316.508352973] [move_group_interface]: Ready to take commands for planning group ar_manipulator.
[rviz2-2] [INFO] [1750314368.898606858] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'ar_gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-2] [INFO] [1750314368.900102780] [moveit_ros_visualization.motion_planning_frame]: group ar_gripper
[rviz2-2] [INFO] [1750314368.900147919] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ar_gripper' in namespace ''
[rviz2-2] [INFO] [1750314368.912951457] [move_group_interface]: Ready to take commands for planning group ar_gripper.
[rviz2-2] [INFO] [1750314412.479804299] [moveit_ros_visualization.motion_planning_frame]: group ar_manipulator
[rviz2-2] [INFO] [1750314412.479875043] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ar_manipulator' in namespace ''
[rviz2-2] [INFO] [1750314412.490278512] [move_group_interface]: Ready to take commands for planning group ar_manipulator.
[rviz2-2] [INFO] [1750314430.302264296] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[ERROR] [rviz2-2]: process has died [pid 4095800, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/echo/ros/ar4_ros_driver/install/annin_ar4_moveit_config/share/annin_ar4_moveit_config/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_eeed91j0 --params-file /tmp/launch_params_hje78kxz --params-file /tmp/launch_params_q1wwt5h1 --params-file /tmp/launch_params_pf6jzmvm'].
warehouse_ros.database_loader^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1750317383.259559202] [rclcpp]: signal_handler(signum=2)
[move_group-1] [INFO] [1750317383.259568849] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-4] [INFO] [1750317383.259585566] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-4] [INFO] [1750317383.259795748] [controller_manager]: Shutdown request received....
[ros2_control_node-4] [INFO] [1750317383.259937359] [controller_manager]: Shutting down all controllers in the controller manager.
[ros2_control_node-4] [INFO] [1750317383.259980632] [controller_manager]: Deactivating controller 'joint_trajectory_controller'
[ros2_control_node-4] [INFO] [1750317383.260072183] [controller_manager]: Shutting down controller 'joint_trajectory_controller'
[ros2_control_node-4] [INFO] [1750317383.260247333] [controller_manager]: Deactivating controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1750317383.260322898] [controller_manager]: Shutting down controller 'joint_state_broadcaster'
[ros2_control_node-4] [INFO] [1750317383.260391674] [controller_manager]: Deactivating controller 'gripper_controller'
[ros2_control_node-4] [INFO] [1750317383.260495814] [controller_manager]: Shutting down controller 'gripper_controller'
[ros2_control_node-4] [INFO] [1750317383.260570657] [resource_manager]: 'deactivate' hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750317383.260601853] [resource_manager]: Successful 'deactivate' of hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750317383.260615804] [resource_manager]: 'shutdown' hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750317383.260642303] [resource_manager]: Successful 'shutdown' of hardware 'ARGripperFakeSystem'
[ros2_control_node-4] [INFO] [1750317383.260659209] [resource_manager]: 'deactivate' hardware 'mk3'
[ros2_control_node-4] [INFO] [1750317383.260678985] [resource_manager]: Successful 'deactivate' of hardware 'mk3'
[ros2_control_node-4] [INFO] [1750317383.260692073] [resource_manager]: 'shutdown' hardware 'mk3'
[ros2_control_node-4] [INFO] [1750317383.260708805] [resource_manager]: Successful 'shutdown' of hardware 'mk3'
[ros2_control_node-4] [INFO] [1750317383.260723247] [controller_manager]: Shutting down the controller manager.
[move_group-1] [INFO] [1750317383.300819153] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-1] [INFO] [1750317383.301481015] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1750317383.303697583] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1750317383.304809402] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[move_group-1] at line 127 in ./src/class_loader.cpp
[move_group-1] Stack trace (most recent call last):
[move_group-1] #16 Object "", at 0xffffffffffffffff, in
[move_group-1] #15 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x647d1b678724, in
[move_group-1] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x71d549029e3f]
[move_group-1] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in _libc_start_call_main [0x71d549029d8f]
[move_group-1] #12 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x647d1b67765b, in
[move_group-1] #11 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x647d1b679709, in
[move_group-1] #10 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.9", at 0x71d549cde876, in moveit_cpp::MoveItCpp::~MoveItCpp()
[move_group-1] #9 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.9", at 0x71d549cdcba9, in
[move_group-1] #8 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.9", at 0x71d549278495, in trajectory_execution_manager::TrajectoryExecutionManager::~TrajectoryExecutionManager()
[move_group-1] #7 Object "/opt/ros/humble/lib/libmoveit_trajectory_execution_manager.so.2.5.9", at 0x71d54928b3a9, in
[move_group-1] #6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d54993e8ac, in rclcpp::Node::~Node()
[move_group-1] #5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d54993e84e, in rclcpp::Node::~Node()
[move_group-1] #4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d549919c69, in
[move_group-1] #3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d549947ef9, in
[move_group-1] #2 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d549947e40, in rclcpp::node_interfaces::NodeBase::~NodeBase()
[move_group-1] #1 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d549919c69, in
[move_group-1] #0 Object "/opt/ros/humble/lib/librclcpp.so", at 0x71d54991e9e1, in rclcpp::CallbackGroup::~CallbackGroup()
[move_group-1] Segmentation fault (Address not mapped to object [0x71d543af6798])
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1750317383.477834915] [rclcpp]: signal_handler(signum=2)
[ERROR] [ros2_control_node-4]: process has died [pid 4095804, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params__6iz8yqq --params-file /tmp/launch_params_lbt59b3 --params-file /tmp/launch_params_5u_jlk30 -r ~/robot_description:=robot_description'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1750317383.623532008] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1750317383.807274265] [rclcpp]: signal_handler(signum=2)
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[robot_state_publisher-3] [INFO] [1750317384.154946669] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 4095802]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ERROR] [move_group-1]: process has died [pid 4095798, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_1slwpm_5 --params-file /tmp/launch_params_n9oy9_hh --params-file /tmp/launch_params_n1lxk1zn --params-file /tmp/launch_params_vu4pmx10 --params-file /tmp/launch_params_73m91sv3 --params-file /tmp/launch_params_wfuelm98 --params-file /tmp/launch_params_stu2h4bh --params-file /tmp/launch_params_djlkb1wu --params-file /tmp/launch_params_psaskgy0'].
[move_group-1]