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Failed to initialize planning pipeline 'isaac_ros_cumotion'. #28

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Crejan opened this issue Jan 22, 2025 · 0 comments
Open

Failed to initialize planning pipeline 'isaac_ros_cumotion'. #28

Crejan opened this issue Jan 22, 2025 · 0 comments

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@Crejan
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Crejan commented Jan 22, 2025

Hi!

I have a problem using isaac_ros_cumotion_examples with UR. Is there anything i am missing?

$ ros2 launch isaac_ros_cumotion_examples ur.launch.py ur_type:=ur10e                                                                                                          
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-01-22-16-11-45-695061-lr-ipc1-7431                                                                          
[INFO] [launch]: Default logging verbosity is set to INFO                                                                                                                               
[INFO] [move_group-1]: process started with pid [7438]                                                                                                                                  
[INFO] [rviz2-2]: process started with pid [7440]                                                                                                                                       
[INFO] [servo_node_main-3]: process started with pid [7442]                                                                                                                             
[servo_node_main-3] [WARN] [1737558706.628540248] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding:                                   
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]                                                                                                                
[servo_node_main-3] to the Servo composable node in the launch file                                                                                                                     
[move_group-1] [WARN] [1737558706.630910013] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline c
onfiguration                                                                                                                                                                            
[move_group-1] [WARN] [1737558706.630974133] [move_group.move_group]: Using default pipeline 'ompl'                                                                                     
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'                                                                                                   
[move_group-1] [INFO] [1737558706.634879169] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00373902 seconds                                                                   
[move_group-1] [INFO] [1737558706.634912413] [moveit_robot_model.robot_model]: Loading robot model 'ur'...                                                                              
[move_group-1] [INFO] [1737558706.634922688] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint                                            
[servo_node_main-3] [INFO] [1737558706.635490754] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00255593 seconds                                                              
[servo_node_main-3] [INFO] [1737558706.635517237] [moveit_robot_model.robot_model]: Loading robot model 'ur'...                                                                         
[servo_node_main-3] [INFO] [1737558706.635525892] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint                                       
[servo_node_main-3] [WARN] [1737558706.648776868] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!                                        
[servo_node_main-3] [INFO] [1737558706.682875793] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'                                                
[servo_node_main-3] [INFO] [1737558706.686583808] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects  
[servo_node_main-3] [INFO] [1737558706.686606973] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor                                           
[servo_node_main-3] [INFO] [1737558706.687669782] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'                                            
[servo_node_main-3] [INFO] [1737558706.687684636] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached obj
ects, octomap updates.                                                                                                                                                                  
[move_group-1] [INFO] [1737558706.687949458] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'             
[servo_node_main-3] [INFO] [1737558706.688024305] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'                                           
[move_group-1] [INFO] [1737558706.688095684] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states                                                   
[servo_node_main-3] [INFO] [1737558706.688343897] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry     
[move_group-1] [INFO] [1737558706.688598393] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'                                                      
[servo_node_main-3] [WARN] [1737558706.688679698] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead         
[servo_node_main-3] [ERROR] [1737558706.688694517] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1737558706.688953907] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1737558706.688964773] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1737558706.689188813] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1737558706.689199648] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects,
 octomap updates.
[move_group-1] [INFO] [1737558706.689459017] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1737558706.689731047] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1737558706.689963973] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1737558706.689972984] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1737558706.688953907] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1737558706.688964773] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1737558706.689188813] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1737558706.689199648] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects,
 octomap updates.
[move_group-1] [INFO] [1737558706.689459017] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1737558706.689731047] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1737558706.689963973] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1737558706.689972984] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node_main-3] [INFO] [1737558706.692728579] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scen
e'
[move_group-1] [INFO] [1737558706.693374315] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1737558706.694068922] [moveit.ros_planning.planning_pipeline]: Multiple planning plugins available. You should specify the '~planning_plugin' parameter. Using 'i
saac_ros_cumotion_moveit/CumotionPlanner' for now.
[move_group-1] [WARN] [1737558706.694095984] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-1] [ERROR] [1737558706.694346120] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load libra
ry /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this 
macro and your XML. Error string: Could not load library dlopen error: libmoveit_planning_interface.so.2.5.5: cannot open shared object file: No such file or directory, at ./src/shared
_library.c:99Available plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [ERROR] [1737558706.695926953] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'ompl'.
[move_group-1] [INFO] [1737558706.696599341] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'isaac_ros_cumotion'
[move_group-1] [WARN] [1737558706.697296419] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-1] [ERROR] [1737558706.697510925] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load libra
ry /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this 
macro and your XML. Error string: Could not load library dlopen error: libmoveit_planning_interface.so.2.5.5: cannot open shared object file: No such file or directory, at ./src/shared
_library.c:99Available plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1737558706.698917720] [moveit_ros.fix_workspace_bounds]: Param 'isaac_ros_cumotion.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1737558706.698936529] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1737558706.698941617] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1737558706.698951717] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1737558706.698956851] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1737558706.698961806] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1737558706.698973947] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1737558706.698979203] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1737558706.698986885] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1737558706.698990068] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1737558706.699639496] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'isaac_ros_cumotion'.
[move_group-1] [ERROR] [1737558706.700295352] [moveit.ros_planning_interface.moveit_cpp]: Failed to load any planning pipelines.
[move_group-1] [FATAL] [1737558706.700315992] [moveit.ros_planning_interface.moveit_cpp]: Failed to load planning pipelines from parameter server
[move_group-1] terminate called after throwing an instance of 'std::runtime_error'
[move_group-1]   what():  Failed to load planning pipelines from parameter server
[move_group-1] Stack trace (most recent call last):
[move_group-1] #12   Object "", at 0xffffffffffffffff, in 
[move_group-1] #11   Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5bef2c60e724, in 
[move_group-1] #10   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7345c5e7be3f, in __libc_start_main
[move_group-1] #9    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7345c5e7bd8f, in 
[move_group-1] #8    Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5bef2c60d2c2, in 
[move_group-1] #7    Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.7", at 0x7345c67e060a, in 
[move_group-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7345c61494d7, in __cxa_throw
[move_group-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7345c6149276, in std::terminate()
[move_group-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7345c614920b, in 
[move_group-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7345c613db9d, in 
[move_group-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7345c5e7a7f2, in abort
[move_group-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7345c5e94475, in raise
[move_group-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7345c5ee89fc, in pthread_kill
[move_group-1] Aborted (Signal sent by tkill() 7438 1000)
[ERROR] [move_group-1]: process has died [pid 7438, exit code -6, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_vg8y1kxd --param
s-file /tmp/launch_params_e2r22hp4 --params-file /tmp/launch_params_0lskne9r --params-file /opt/ros/humble/share/ur_moveit_config/config/kinematics.yaml --params-file /tmp/launch_param
s_7i3iyow1 --params-file /tmp/launch_params_3gvtq805 --params-file /tmp/launch_params_8vioicod --params-file /tmp/launch_params_cidqayyj --params-file /tmp/launch_params_4x0ux1d9 --par
ams-file /tmp/launch_params_s9si0txn --params-file /tmp/launch_params_di78ycrr --params-file /tmp/launch_params_km6wdi88 --params-file /tmp/launch_params_twruwvj0'].
[rviz2-2] [INFO] [1737558707.230385627] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1737558707.230479005] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1737558707.329330667] [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 f
actory 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] [1737558710.404395994] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1737558710.417716662] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1737558710.466446811] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00258654 seconds
[rviz2-2] [INFO] [1737558710.466483056] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1737558710.466495470] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1737558710.519332733] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1737558710.519898345] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1737558710.755982728] [interactive_marker_display_110499983203248]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_
topic
[rviz2-2] [INFO] [1737558710.818279291] [interactive_marker_display_110499983203248]: Sending request for interactive markers
[rviz2-2] [INFO] [1737558710.857476321] [interactive_marker_display_110499983203248]: Service response received for initialization
[servo_node_main-3] [INFO] [1737558711.693449598] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[servo_node_main-3] [WARN] [1737558711.706636222] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1737558711.706666267] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[rviz2-2] [INFO] [1737558715.759765289] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1737558715.759827480] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1737558715.759833906] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1737558775.769428363] [move_group_interface]: Ready to take commands for planning group ur_manipulator.

How to reproduce:

  • start ur simulator on host machine: ros2 run ur_client_library start_ursim.sh -m ur10e
  • Inside recent isaac docker container
    • Start UR driver: ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101
    • connect ur simulator with external control program
    • create urdf for ur10e
    • start cumotion_planner_mode: ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=$(ros2 pkg prefix --share isaac_ros_cumotion_robot_description)/xrdf/ur10e.xrdf -p urdf_path:=${ISAAC_ROS_WS}/isaac_ros_assets/urdf/ur10e.urdf
    • start cumotion example: ros2 launch isaac_ros_cumotion_examples ur.launch.py ur_type:=ur10e

using the default planners with the moveit example to control the robot works though.
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@Crejan