Error launching moveit2_tutorials demo.launch.py about moveit2_tutorials HOT 5 OPEN

I ran it again and this is the new output,

ros2 launch moveit2_tutorials demo.launch.py
[INFO] [launch]: All log files can be found below /home/jbravo/.ros/log/2023-12-15-11-37-15-203215-jbravo-HP-Z200-SFF-Workstation-411232
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [411233]
[INFO] [static_transform_publisher-2]: process started with pid [411235]
[INFO] [robot_state_publisher-3]: process started with pid [411237]
[INFO] [move_group-4]: process started with pid [411239]
[INFO] [ros2_control_node-5]: process started with pid [411241]
[INFO] [spawner-6]: process started with pid [411261]
[INFO] [spawner-7]: process started with pid [411263]
[INFO] [spawner-8]: process started with pid [411265]
[static_transform_publisher-2] [INFO] [1702658236.634917670] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'world' to 'base_link'
[robot_state_publisher-3] [INFO] [1702658236.655033068] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1702658236.655175728] [robot_state_publisher]: got segment bracelet_link
[robot_state_publisher-3] [INFO] [1702658236.655198414] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1702658236.655213033] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1702658236.655226525] [robot_state_publisher]: got segment half_arm_1_link
[robot_state_publisher-3] [INFO] [1702658236.655239886] [robot_state_publisher]: got segment half_arm_2_link
[robot_state_publisher-3] [INFO] [1702658236.655253121] [robot_state_publisher]: got segment robotiq_85_base_link
[robot_state_publisher-3] [INFO] [1702658236.655266702] [robot_state_publisher]: got segment robotiq_85_left_finger_link
[robot_state_publisher-3] [INFO] [1702658236.655280334] [robot_state_publisher]: got segment robotiq_85_left_finger_tip_link
[robot_state_publisher-3] [INFO] [1702658236.655293713] [robot_state_publisher]: got segment robotiq_85_left_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1702658236.655307453] [robot_state_publisher]: got segment robotiq_85_left_knuckle_link
[robot_state_publisher-3] [INFO] [1702658236.655320926] [robot_state_publisher]: got segment robotiq_85_right_finger_link
[robot_state_publisher-3] [INFO] [1702658236.655334308] [robot_state_publisher]: got segment robotiq_85_right_finger_tip_link
[robot_state_publisher-3] [INFO] [1702658236.655347670] [robot_state_publisher]: got segment robotiq_85_right_inner_knuckle_link
[robot_state_publisher-3] [INFO] [1702658236.655361059] [robot_state_publisher]: got segment robotiq_85_right_knuckle_link
[robot_state_publisher-3] [INFO] [1702658236.655374553] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1702658236.655387953] [robot_state_publisher]: got segment spherical_wrist_1_link
[robot_state_publisher-3] [INFO] [1702658236.655401160] [robot_state_publisher]: got segment spherical_wrist_2_link
[robot_state_publisher-3] [INFO] [1702658236.655414482] [robot_state_publisher]: got segment world
[ros2_control_node-5] [WARN] [1702658236.800492830] [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-5] [INFO] [1702658236.802459892] [resource_manager]: Loading hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.806915523] [resource_manager]: Initialize hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [WARN] [1702658236.806992761] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [WARN] [1702658236.807020723] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example:
[ros2_control_node-5] <state_interface name="velocity">
[ros2_control_node-5] 0.0
[ros2_control_node-5] </state_interface>
[ros2_control_node-5] [INFO] [1702658236.807043516] [resource_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.807086046] [resource_manager]: Loading hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.807111800] [resource_manager]: Initialize hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [WARN] [1702658236.807139210] [mock_generic_system]: Parameter 'fake_sensor_commands' has been deprecated from usage. Use'mock_sensor_commands' instead.
[ros2_control_node-5] [INFO] [1702658236.807165502] [resource_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.807262611] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.807280417] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.807297612] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.807308988] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware'
[ros2_control_node-5] [INFO] [1702658236.807319462] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.807329940] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.807343598] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.807354655] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface'
[ros2_control_node-5] [INFO] [1702658236.844088219] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-5] [INFO] [1702658236.848663156] [controller_manager]: RT kernel is recommended for better performance
[move_group-4] [INFO] [1702658236.861935236] [move_group.moveit.RDFLoader]: Loaded robot model in 0.0354802 seconds
[move_group-4] [INFO] [1702658236.862850751] [move_group.moveit.robot_model]: Loading robot model 'gen3'...
[move_group-4] [INFO] [1702658236.863430719] [move_group.moveit.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] [INFO] [1702658237.199590620] [move_group.moveit.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[move_group-4] malloc(): invalid size (unsorted)
[rviz2-1] [INFO] [1702658237.486597603] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1702658237.486830777] [rviz2]: OpenGl version: 3.3 (GLSL 3.3)
[rviz2-1] [INFO] [1702658237.540154359] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-5] [INFO] [1702658237.590398510] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1702658237.640629880] [controller_manager]: Loading controller 'joint_trajectory_controller'
[spawner-6] [INFO] [1702658237.690231704] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [WARN] [1702658237.704167164] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2_control_node-5] [INFO] [1702658237.707564268] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1702658237.707694691] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-5] [INFO] [1702658237.720855830] [controller_manager]: Loading controller 'robotiq_gripper_controller'
[spawner-6] [INFO] [1702658237.765241320] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-7] [INFO] [1702658237.768693349] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[spawner-8] [INFO] [1702658237.809042060] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller
[ros2_control_node-5] [INFO] [1702658237.811584960] [controller_manager]: Configuring controller 'robotiq_gripper_controller'
[ros2_control_node-5] [INFO] [1702658237.811706238] [robotiq_gripper_controller]: Action status changes will be monitored at 20Hz.
[spawner-8] [INFO] [1702658237.826157868] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller
[ros2_control_node-5] [INFO] [1702658237.852950424] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-5] [INFO] [1702658237.853250361] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1702658237.853290287] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1702658237.853322916] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1702658237.854583414] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-5] [INFO] [1702658237.858157677] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[rviz2-1] [WARN] [1702658237.870960426] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[rviz2-1] 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.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [INFO] [1702658237.953178477] [rviz2.RDFLoader]: Loaded robot model in 0.00703524 seconds
[rviz2-1] [INFO] [1702658237.953278757] [rviz2.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1702658237.953311689] [rviz2.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawner-7] [INFO] [1702658237.970338302] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-6]: process has finished cleanly [pid 411261]
[INFO] [spawner-8]: process has finished cleanly [pid 411265]
[INFO] [spawner-7]: process has finished cleanly [pid 411263]
[rviz2-1] [ERROR] [1702658241.578404818] [rviz2.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1702658241.597076344] [rviz2.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1702658241.673307889] [rviz2.RDFLoader]: Loaded robot model in 0.00871113 seconds
[rviz2-1] [INFO] [1702658241.673363549] [rviz2.robot_model]: Loading robot model 'gen3'...
[rviz2-1] [INFO] [1702658241.673378486] [rviz2.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-1] [INFO] [1702658241.997976448] [rviz2.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1
[rviz2-1] malloc(): invalid size (unsorted)
[ERROR] [rviz2-1]: process has died [pid 411233, exit code -6, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/jbravo/ws_moveit/install/moveit2_tutorials/share/moveit2_tutorials/launch/kinova_moveit_config_demo.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_5gw8cqy8 --params-file /tmp/launch_params_k72csffz --params-file /tmp/launch_params_awy_gxot --params-file /tmp/launch_params_f1iii3a7 --params-file /tmp/launch_params_lay1v7gi'].

Looks like the controllers are loading now but m rivz2 is still dying.

from moveit2_tutorials.

should download the tutorial with Humble branch , don't use the main branch.
by the way , the ROS-humble does't support moveit-py , but the ROS-iron support moveit-py

from moveit2_tutorials.

I am unable to reproduce this on ROS Humble with a source build of main or humble branches of the tutorials.

Could you check that maybe you don't have other MoveIt versions installed as binaries? If you do

apt list --installed | grep ros-humble-moveit

and something come up, could you then try

sudo apt remove ros-humble-moveit*

and try again?

from moveit2_tutorials.