MoveIt Servo publishes no commands to /forward_position_controller/commands #1591
Description
Affected ROS2 Driver version(s)
ur_robot_driver, ur_moveit_config
Used ROS distribution.
Jazzy
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel inside Docker container.
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
UR10e with simulated hardware
Issue details
Summary
MoveIt Servo on ROS2 Jazzy publishes no commands to /forward_position_controller/commands even though node is active and parameters are correct.
Issue details
I am using Ubuntu 24.04 and ROS2 Jazzy and have installed the UR ROS2 driver using binary. I want to use MoveIt Servo to move the arm in Cartesian space. Currently I am testing in the rviz using mockup hardware before trying on the real UR10e.
I can drag the robot in Rviz and plan and execute the motion using moveit, and also the ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py moves the end effector to set poses. When using moveit servo node I want to move the end effector in z direction by publishing a Twist message on the /servo_node/delta_twist_cmds topic, but there are no messages being published on the /forward_position_controller/commands topic by the servo node.
The servo node is ran by using launch_servo:=true flag when running ur_moveit.launch.py , then the forward_position_controller is activated and scaled_joint_trajectory_controller deactivated. The command type is set to "1" (Twist). Then I publish the Twist message to move the end-effector but it doesn't move in the Rviz.
Steps to Reproduce
1. Launch UR mockup hardware - terminal 1
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true
2. Launch MoveIt (including MoveIt Servo) - terminal 2
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true launch_servo:=true use_mock_hardware:=true
3. Set command type to be twist - terminal 3
ros2 service call /servo_node/switch_command_type moveit_msgs/srv/ServoCommandType "{command_type: 1}"
4. Deactivate scaled JTC and activate forward positioning controller
ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller --activate forward_position_controller"
5. Publish a Twist message to move the robot
ros2 topic pub -r 50 /servo_node/delta_twist_cmds geometry_msgs/msg/TwistStamped \ "{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.0, y: 0.0, z: -0.5}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"
Expected Behavior
End-effector to travel in -z direction 0.5 m/s
Actual Behavior
It doesn't move. When echoing /servo_node/delta_twist_cmds there are messages being sent but no messages when echoing /forward_position_controller/commands
Notes
- I believe the servo_node is started automatically when launched like this with moveit because service
/servo_node/start_servoisn't available andservo_node/statuspublishes 0 which is okay. - In the
ur_servo.yamlthe command_out_type is set to "std_msgs/Float64MultiArray" (FPC uses that), planning_frame is set to "base_link", ee_frame and robot_link_command_frame are "tool0" and command_out_topic is set to "/forward_position_controller/commands"
Relevant log output
Terminal1:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-12-04-17-54-03-105358-marin-Legion-282991
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [282995]
[INFO] [robot_state_publisher-2]: process started with pid [282996]
[INFO] [rviz2-3]: process started with pid [282997]
[INFO] [trajectory_until_node-4]: process started with pid [282998]
[INFO] [spawner-5]: process started with pid [282999]
[INFO] [spawner-6]: process started with pid [283000]
[robot_state_publisher-2] [INFO] [1764867243.291154413] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1764867243.294810627] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ros2_control_node-1] [INFO] [1764867243.297098310] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1764867243.298592916] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1764867243.298608224] [controller_manager]: Overruns handling is : enabled
[ros2_control_node-1] [INFO] [1764867243.298612437] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [INFO] [1764867243.298697852] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[spawner-5] [INFO] [1764867243.484530620] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[rviz2-3] [INFO] [1764867243.689725257] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1764867243.689813709] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1764867243.742907123] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-1] [INFO] [1764867243.786151743] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1764867243.790347639] [controller_manager]: Loading hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.791026986] [controller_manager]: Loaded hardware 'ur10e' from plugin 'mock_components/GenericSystem'
[ros2_control_node-1] [INFO] [1764867243.791124790] [controller_manager]: Initialize hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.799258828] [controller_manager]: Successful initialization of hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.799963371] [resource_manager]: 'configure' hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.799975255] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.799999018] [resource_manager]: 'activate' hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.800003121] [resource_manager]: Successful 'activate' of hardware 'ur10e'
[ros2_control_node-1] [INFO] [1764867243.800060782] [controller_manager]: Registering statistics for : ur10e
[ros2_control_node-1] [INFO] [1764867243.800096101] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[ros2_control_node-1] [INFO] [1764867243.986518303] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[ros2_control_node-1] [INFO] [1764867243.986576795] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1764867243.988426764] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-5] [INFO] [1764867243.995624973] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1764867243.996136640] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1764867243.996213079] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [INFO] [1764867244.002115791] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[ros2_control_node-1] [INFO] [1764867244.003117833] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.005785689] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-1] [INFO] [1764867244.006336197] [controller_manager]: Loading controller : 'io_and_status_controller' of type 'ur_controllers/GPIOController'
[ros2_control_node-1] [INFO] [1764867244.006356541] [controller_manager]: Loading controller 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1764867244.009976802] [controller_manager]: Controller 'io_and_status_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-5] [INFO] [1764867244.015815555] [spawner_joint_state_broadcaster]: Loaded io_and_status_controller
[ros2_control_node-1] [INFO] [1764867244.015924802] [controller_manager]: Configuring controller: 'io_and_status_controller'
[ros2_control_node-1] [INFO] [1764867244.018226843] [controller_manager]: Activating controllers: [ io_and_status_controller ]
[ros2_control_node-1] [WARN] [1764867244.022600618] [controller_manager]: Overrun might occur, Total time : 3834.161 us (Expected < 2000.000 us) --> Read time : 11.795 us, Update time : 3820.370 us (Switch time : 3807.681 us (Switch chained mode time : 0.268 us, perform mode change time : 7.575 us, Activation time : 3798.599 us, Deactivation time : 0.177 us)), Write time : 1.996 us
[ros2_control_node-1] [WARN] [1764867244.022618832] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 3.859657 ms (missed cycles : 2).
[ros2_control_node-1] [INFO] [1764867244.022603127] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.023387784] [spawner_joint_state_broadcaster]: Configured and activated io_and_status_controller
[ros2_control_node-1] [INFO] [1764867244.023884143] [controller_manager]: Loading controller : 'speed_scaling_state_broadcaster' of type 'ur_controllers/SpeedScalingStateBroadcaster'
[ros2_control_node-1] [INFO] [1764867244.023901060] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1764867244.024098143] [controller_manager]: Controller 'speed_scaling_state_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[ros2_control_node-1] [INFO] [1764867244.027903033] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix:
[spawner-5] [INFO] [1764867244.029436975] [spawner_joint_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1764867244.029531369] [controller_manager]: Configuring controller: 'speed_scaling_state_broadcaster'
[ros2_control_node-1] [INFO] [1764867244.029565660] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[ros2_control_node-1] [INFO] [1764867244.031131723] [controller_manager]: Activating controllers: [ speed_scaling_state_broadcaster ]
[ros2_control_node-1] [INFO] [1764867244.032824724] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.035416646] [spawner_joint_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ros2_control_node-1] [INFO] [1764867244.035805564] [controller_manager]: Loading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'
[ros2_control_node-1] [INFO] [1764867244.035823588] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1764867244.036494256] [controller_manager]: Controller 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-5] [INFO] [1764867244.043418972] [spawner_joint_state_broadcaster]: Loaded force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1764867244.043528000] [controller_manager]: Configuring controller: 'force_torque_sensor_broadcaster'
[ros2_control_node-1] [INFO] [1764867244.044685450] [force_torque_sensor_broadcaster]: configure successful
[ros2_control_node-1] [INFO] [1764867244.047452388] [controller_manager]: Activating controllers: [ force_torque_sensor_broadcaster ]
[ros2_control_node-1] [INFO] [1764867244.048899613] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.051565236] [spawner_joint_state_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[ros2_control_node-1] [INFO] [1764867244.052008690] [controller_manager]: Loading controller : 'ur_configuration_controller' of type 'ur_controllers/URConfigurationController'
[ros2_control_node-1] [INFO] [1764867244.052025095] [controller_manager]: Loading controller 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1764867244.052114037] [controller_manager]: Controller 'ur_configuration_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-5] [INFO] [1764867244.057618255] [spawner_joint_state_broadcaster]: Loaded ur_configuration_controller
[ros2_control_node-1] [INFO] [1764867244.057752738] [controller_manager]: Configuring controller: 'ur_configuration_controller'
[ros2_control_node-1] [INFO] [1764867244.059399437] [controller_manager]: Activating controllers: [ ur_configuration_controller ]
[ros2_control_node-1] [INFO] [1764867244.060846250] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.063624132] [spawner_joint_state_broadcaster]: Configured and activated ur_configuration_controller
[ros2_control_node-1] [INFO] [1764867244.064529993] [controller_manager]: Loading controller : 'scaled_joint_trajectory_controller' of type 'ur_controllers/ScaledJointTrajectoryController'
[ros2_control_node-1] [INFO] [1764867244.064544128] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.064661085] [controller_manager]: Controller 'scaled_joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[ros2_control_node-1] [INFO] [1764867244.068334739] [scaled_joint_trajectory_controller]: Using scaling state from the hardware from interface speed_scaling/speed_scaling_factor.
[spawner-5] [INFO] [1764867244.073609096] [spawner_joint_state_broadcaster]: Loaded scaled_joint_trajectory_controller
[ros2_control_node-1] [INFO] [1764867244.073771979] [controller_manager]: Configuring controller: 'scaled_joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.073912900] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1764867244.073929538] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1764867244.073949944] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1764867244.075484338] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1764867244.079282260] [controller_manager]: Activating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1764867244.080941380] [controller_manager]: Successfully switched controllers!
[spawner-5] [INFO] [1764867244.083512520] [spawner_joint_state_broadcaster]: Configured and activated scaled_joint_trajectory_controller
[spawner-6] [INFO] [1764867244.138973631] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[INFO] [spawner-5]: process has finished cleanly [pid 282999]
[ros2_control_node-1] [INFO] [1764867244.722044568] [controller_manager]: Loading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[ros2_control_node-1] [INFO] [1764867244.722091247] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.722346060] [controller_manager]: Controller 'joint_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.736031065] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1764867244.736795745] [controller_manager]: Configuring controller: 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.736951216] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1764867244.736963355] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1764867244.736971970] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1764867244.737701558] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1764867244.741843881] [controller_manager]: Loading controller : 'forward_velocity_controller' of type 'velocity_controllers/JointGroupVelocityController'
[ros2_control_node-1] [INFO] [1764867244.741875248] [controller_manager]: Loading controller 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1764867244.743251556] [controller_manager]: Controller 'forward_velocity_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.751368156] [spawner_joint_trajectory_controller]: Loaded forward_velocity_controller
[ros2_control_node-1] [INFO] [1764867244.751492828] [controller_manager]: Configuring controller: 'forward_velocity_controller'
[ros2_control_node-1] [INFO] [1764867244.751848656] [forward_velocity_controller]: configure successful
[ros2_control_node-1] [INFO] [1764867244.754338832] [controller_manager]: Loading controller : 'forward_position_controller' of type 'position_controllers/JointGroupPositionController'
[ros2_control_node-1] [INFO] [1764867244.754361537] [controller_manager]: Loading controller 'forward_position_controller'
[ros2_control_node-1] [INFO] [1764867244.754872853] [controller_manager]: Controller 'forward_position_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.763874507] [spawner_joint_trajectory_controller]: Loaded forward_position_controller
[ros2_control_node-1] [INFO] [1764867244.764137834] [controller_manager]: Configuring controller: 'forward_position_controller'
[ros2_control_node-1] [INFO] [1764867244.764551993] [forward_position_controller]: configure successful
[ros2_control_node-1] [INFO] [1764867244.765704580] [controller_manager]: Loading controller : 'forward_effort_controller' of type 'effort_controllers/JointGroupEffortController'
[ros2_control_node-1] [INFO] [1764867244.765725065] [controller_manager]: Loading controller 'forward_effort_controller'
[ros2_control_node-1] [INFO] [1764867244.766413605] [controller_manager]: Controller 'forward_effort_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.775663968] [spawner_joint_trajectory_controller]: Loaded forward_effort_controller
[ros2_control_node-1] [INFO] [1764867244.775850598] [controller_manager]: Configuring controller: 'forward_effort_controller'
[ros2_control_node-1] [INFO] [1764867244.776164862] [forward_effort_controller]: configure successful
[ros2_control_node-1] [INFO] [1764867244.777615379] [controller_manager]: Loading controller : 'force_mode_controller' of type 'ur_controllers/ForceModeController'
[ros2_control_node-1] [INFO] [1764867244.777631771] [controller_manager]: Loading controller 'force_mode_controller'
[ros2_control_node-1] [INFO] [1764867244.777764159] [controller_manager]: Controller 'force_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.785571725] [spawner_joint_trajectory_controller]: Loaded force_mode_controller
[ros2_control_node-1] [INFO] [1764867244.785697196] [controller_manager]: Configuring controller: 'force_mode_controller'
[ros2_control_node-1] [INFO] [1764867244.789707740] [controller_manager]: Loading controller : 'passthrough_trajectory_controller' of type 'ur_controllers/PassthroughTrajectoryController'
[ros2_control_node-1] [INFO] [1764867244.789724582] [controller_manager]: Loading controller 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.789853584] [controller_manager]: Controller 'passthrough_trajectory_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.797637895] [spawner_joint_trajectory_controller]: Loaded passthrough_trajectory_controller
[ros2_control_node-1] [INFO] [1764867244.797780440] [controller_manager]: Configuring controller: 'passthrough_trajectory_controller'
[ros2_control_node-1] [INFO] [1764867244.801831622] [controller_manager]: Loading controller : 'freedrive_mode_controller' of type 'ur_controllers/FreedriveModeController'
[ros2_control_node-1] [INFO] [1764867244.801849630] [controller_manager]: Loading controller 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1764867244.802007154] [controller_manager]: Controller 'freedrive_mode_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.809711138] [spawner_joint_trajectory_controller]: Loaded freedrive_mode_controller
[ros2_control_node-1] [INFO] [1764867244.809853303] [controller_manager]: Configuring controller: 'freedrive_mode_controller'
[ros2_control_node-1] [INFO] [1764867244.812206666] [controller_manager]: Loading controller : 'tool_contact_controller' of type 'ur_controllers/ToolContactController'
[ros2_control_node-1] [INFO] [1764867244.812230505] [controller_manager]: Loading controller 'tool_contact_controller'
[ros2_control_node-1] [INFO] [1764867244.812379616] [controller_manager]: Controller 'tool_contact_controller' node arguments: --ros-args --params-file /opt/ros/jazzy/share/ur_robot_driver/config/ur10e_update_rate.yaml --params-file /tmp/launch_params_7h0rix6c
[spawner-6] [INFO] [1764867244.819502657] [spawner_joint_trajectory_controller]: Loaded tool_contact_controller
[ros2_control_node-1] [INFO] [1764867244.819654604] [controller_manager]: Configuring controller: 'tool_contact_controller'
[INFO] [spawner-6]: process has finished cleanly [pid 283000]
[ros2_control_node-1] [WARN] [1764867251.665432626] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.673339 ms (missed cycles : 2).
[ros2_control_node-1] [WARN] [1764867300.875270451] [controller_manager]: Controller Manager: to switch controllers you need to specify a strictness level of controller_manager_msgs::SwitchController::STRICT (2) or ::BEST_EFFORT (1). When unspecified, the default is BEST_EFFORT
[ros2_control_node-1] [INFO] [1764867300.875321840] [controller_manager]: Activating controllers: [ forward_position_controller ]
[ros2_control_node-1] [INFO] [1764867300.875325810] [controller_manager]: Deactivating controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1764867300.875407760] [controller_manager]: Requested controller switch from non-realtime loop
[ros2_control_node-1] [INFO] [1764867300.875491611] [forward_position_controller]: activate successful
[ros2_control_node-1] [INFO] [1764867300.875533452] [controller_manager]: Deactivated controllers: [ scaled_joint_trajectory_controller ]
[ros2_control_node-1] [INFO] [1764867300.875538044] [controller_manager]: Activated controllers: [ forward_position_controller ]
[ros2_control_node-1] [INFO] [1764867300.875540705] [controller_manager]: Successfully switched controllers!
Terminal2:
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true launch_servo:=true use_mock_hardware:=true
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-12-04-17-54-10-964644-marin-Legion-283277
[INFO] [launch]: Default logging verbosity is set to INFO
WARNING:root:Cannot infer URDF from `/opt/ros/jazzy/share/ur_moveit_config`. -- using config/ur.urdf
WARNING:root:Cannot infer SRDF from `/opt/ros/jazzy/share/ur_moveit_config`. -- using config/ur.srdf
WARNING:root:"File /opt/ros/jazzy/share/ur_moveit_config/config/ur.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[INFO] [wait_for_robot_description-1]: process started with pid [283287]
[wait_for_robot_description-1] [INFO] [1764867251.154404128] [wait_for_robot_description]: Waiting for message on /robot_description.
[wait_for_robot_description-1] [INFO] [1764867251.366978766] [wait_for_robot_description]: Received message on /robot_description. Shutting down.
[INFO] [wait_for_robot_description-1]: process has finished cleanly [pid 283287]
[INFO] [move_group-2]: process started with pid [283325]
[INFO] [rviz2-3]: process started with pid [283326]
[INFO] [servo_node-4]: process started with pid [283327]
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[servo_node-4] [INFO] [1764867251.567128617] [servo_node]: Enabled SCHED_FIFO and higher thread priority.
[servo_node-4] [WARN] [1764867251.567220247] [servo_node]: Realtime kernel is recommended for better performance.
[servo_node-4] [INFO] [1764867251.746001803] [servo_node.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.178006 seconds
[servo_node-4] [INFO] [1764867251.746050878] [servo_node.moveit.moveit.core.robot_model]: Loading robot model 'ur10e'...
[servo_node-4] [INFO] [1764867251.746062254] [servo_node.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-2] [INFO] [1764867251.747119183] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.175071 seconds
[move_group-2] [INFO] [1764867251.747234844] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'ur10e'...
[move_group-2] [INFO] [1764867251.747252681] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node-4] [INFO] [1764867251.754724635] [servo_node.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[move_group-2] [INFO] [1764867251.758228807] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[servo_node-4] [INFO] [1764867251.786235224] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[servo_node-4] [INFO] [1764867251.786776307] [servo_node.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node-4] [INFO] [1764867251.787031612] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node-4] [INFO] [1764867251.787043994] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[servo_node-4] [INFO] [1764867251.787207476] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node-4] [INFO] [1764867251.787214790] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node-4] [INFO] [1764867251.787389952] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[servo_node-4] [INFO] [1764867251.787560530] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [INFO] [1764867251.796239681] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1764867251.796350928] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1764867251.796888803] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1764867251.797183990] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1764867251.797194555] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-2] [INFO] [1764867251.797258689] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-2] [INFO] [1764867251.797501938] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1764867251.797546581] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1764867251.797904480] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1764867251.797915341] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1764867251.798135017] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1764867251.798356334] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1764867251.798452672] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1764867251.798461915] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1764867251.810164583] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
[move_group-2] [INFO] [1764867251.810697757] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.811308887] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.811316283] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.811457826] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.811463236] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.811477091] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.811479916] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.811486568] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.811994757] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.813392724] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.813402202] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.814822054] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.814833953] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.815207779] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.817326856] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
[move_group-2] [INFO] [1764867251.817806707] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.817844682] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.817848381] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.817951307] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.817956352] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.817966751] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.817969619] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.817976068] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.818424238] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.818592774] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.818597711] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.818814135] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.818822927] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.819019551] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.820574294] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1764867251.823949253] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1764867251.823969756] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-2] [INFO] [1764867251.825134013] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
[move_group-2] [INFO] [1764867251.825152099] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-2] [INFO] [1764867251.825898092] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
[move_group-2] [INFO] [1764867251.825911817] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1764867251.826657148] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
[move_group-2] [INFO] [1764867251.826671267] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
[move_group-2] [INFO] [1764867251.827271975] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.827319217] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.827323748] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.827543787] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.827551357] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.827565843] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.827569388] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.827578089] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.828129264] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.828894748] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.828907749] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.829132453] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.831623958] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP'
[move_group-2] [INFO] [1764867251.832188813] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.832235231] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1764867251.832239980] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.832406401] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1764867251.832411593] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.832424013] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1764867251.832427419] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.832435182] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1764867251.832957551] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.833305322] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1764867251.833311855] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.833571363] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1764867251.833581883] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.833810677] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1764867251.867098889] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-2] [INFO] [1764867251.868662951] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-2] [INFO] [1764867251.868871449] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1764867251.868901239] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1764867251.869218805] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1764867251.869238060] [move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1764867251.884017808] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
[move_group-2] [INFO] [1764867251.886046748] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1764867251.886213743] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1764867251.886774179] [move_group.moveit.moveit.ros.move_group.executable]:
[move_group-2]
[move_group-2] ********************************************************
[move_group-2] * MoveGroup using:
[move_group-2] * - apply_planning_scene_service
[move_group-2] * - clear_octomap_service
[move_group-2] * - get_group_urdf
[move_group-2] * - load_geometry_from_file
[move_group-2] * - CartesianPathService
[move_group-2] * - execute_trajectory_action
[move_group-2] * - get_planning_scene_service
[move_group-2] * - kinematics_service
[move_group-2] * - move_action
[move_group-2] * - motion_plan_service
[move_group-2] * - query_planners_service
[move_group-2] * - state_validation_service
[move_group-2] * - save_geometry_to_file
[move_group-2] * - SequenceAction
[move_group-2] * - SequenceService
[move_group-2] ********************************************************
[move_group-2]
[move_group-2] [INFO] [1764867251.886816011] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
[move_group-2] [INFO] [1764867251.886824263] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
[move_group-2] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-2] Loading 'move_group/ClearOctomapService'...
[move_group-2] Loading 'move_group/GetUrdfService'...
[move_group-2] Loading 'move_group/LoadGeometryFromFileService'...
[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-2] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-2] Loading 'move_group/MoveGroupMoveAction'...
[move_group-2] Loading 'move_group/MoveGroupPlanService'...
[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-2] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-2] Loading 'move_group/SaveGeometryToFileService'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-2]
[move_group-2] You can start planning now!
[move_group-2]
[rviz2-3] [INFO] [1764867251.900427679] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1764867251.900484305] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1764867251.935068738] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] 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.
[rviz2-3] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-3] [WARN] [1764867251.977041008] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_moveit'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_moveit' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[servo_node-4] [INFO] [1764867252.744268988] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[servo_node-4] [INFO] [1764867252.744377014] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[servo_node-4] [INFO] [1764867252.744945340] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[servo_node-4] [INFO] [1764867252.745151115] [servo_node.moveit.moveit.ros.move_group.collision_monitor]: Collision monitor started
[servo_node-4] 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.
[servo_node-4] at line 127 in ./src/class_loader.cpp
[servo_node-4] [INFO] [1764867252.746740841] [servo_node.moveit.moveit.ros.servo]: Servo initialized successfully
[servo_node-4] [INFO] [1764867252.751811108] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867253.751851880] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867254.751969262] [servo_node]: Waiting to receive robot state update.
[rviz2-3] [ERROR] [1764867254.993523022] [rviz2_moveit.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] [INFO] [1764867255.009144924] [rviz2_moveit.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-3] [WARN] [1764867255.051353229] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_moveit'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_moveit' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [INFO] [1764867255.070717307] [rviz2_moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.0196302 seconds
[rviz2-3] [INFO] [1764867255.070758059] [rviz2_moveit.moveit.core.robot_model]: Loading robot model 'ur10e'...
[rviz2-3] [INFO] [1764867255.070767711] [rviz2_moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-3] [INFO] [1764867255.080139243] [rviz2_moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[rviz2-3] [INFO] [1764867255.114932516] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1764867255.115472352] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-3] [INFO] [1764867255.240395128] [interactive_marker_display_103392214755088]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-3] [INFO] [1764867255.243860566] [rviz2_moveit.moveit.ros.motion_planning_frame]: group ur_manipulator
[rviz2-3] [INFO] [1764867255.243872356] [rviz2_moveit.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-3] [INFO] [1764867255.251361372] [rviz2_moveit.moveit.ros.move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-3] [INFO] [1764867255.252921219] [interactive_marker_display_103392214755088]: Sending request for interactive markers
[rviz2-3] [INFO] [1764867255.287106076] [interactive_marker_display_103392214755088]: Service response received for initialization
[servo_node-4] [INFO] [1764867255.752044285] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867256.752094570] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867257.752166471] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867258.752238069] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867259.752294996] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867260.752352471] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867261.752418726] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867262.752597333] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867263.752650049] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867264.753155918] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867265.753201251] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867266.753261785] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867267.753399649] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867268.753471210] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867269.753621448] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867270.753680424] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867271.753803499] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867272.753869651] [servo_node]: Waiting to receive robot state update.
[servo_node-4] [INFO] [1764867273.753930229] [servo_node]: Waiting to receive robot state update.
Terminal3:
ros2 control list_controllers
tool_contact_controller ur_controllers/ToolContactController inactive
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
io_and_status_controller ur_controllers/GPIOController active
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
ur_configuration_controller ur_controllers/URConfigurationController active
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
forward_position_controller position_controllers/JointGroupPositionController inactive
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController active
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive
forward_effort_controller effort_controllers/JointGroupEffortController inactive
force_mode_controller ur_controllers/ForceModeController inactive
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller --activate forward_position_controller
[INFO] [1764867300.124072610] [_ros2cli_284046]: waiting for service /controller_manager/switch_controller to become available...
Successfully switched controllers!
Deactivated controllers: [ scaled_joint_trajectory_controller ]
Activated controllers: [ forward_position_controller ]
ros2 control list_controllers
[INFO] [1764867307.201170515] [_ros2cli_284196]: waiting for service /controller_manager/list_controllers to become available...
tool_contact_controller ur_controllers/ToolContactController inactive
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
io_and_status_controller ur_controllers/GPIOController active
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
ur_configuration_controller ur_controllers/URConfigurationController active
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
forward_position_controller position_controllers/JointGroupPositionController active
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController inactive
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController inactive
forward_effort_controller effort_controllers/JointGroupEffortController inactive
force_mode_controller ur_controllers/ForceModeController inactive
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
freedrive_mode_controller ur_controllers/FreedriveModeController inactive
ros2 service call /servo_node/switch_command_type moveit_msgs/srv/ServoCommandType "{command_type: 1}"
waiting for service to become available...
requester: making request: moveit_msgs.srv.ServoCommandType_Request(command_type=1)
response:
moveit_msgs.srv.ServoCommandType_Response(success=True)
ros2 topic pub -r 50 /servo_node/delta_twist_cmds geometry_msgs/msg/TwistStamped \
"{header: {frame_id: 'base_link'}, twist: {linear: {x: 0.0, y: 0.0, z: -0.8}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"
publisher: beginning loop
publishing #1: geometry_msgs.msg.TwistStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='base_link'), twist=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=-0.8), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)))
publishing #2: geometry_msgs.msg.TwistStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='base_link'), twist=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=-0.8), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)))
publishing #3: geometry_msgs.msg.TwistStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='base_link'), twist=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=-0.8), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)))
publishing #4: geometry_msgs.msg.TwistStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='base_link'), twist=geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=-0.8), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0)))Accept Public visibility
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