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Motion Plan Execution Succeeds, but Robot Does Not Move (ABB IRB2600 + ROS2) #76

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rysabh opened this issue Feb 9, 2025 · 0 comments
Open

Motion Plan Execution Succeeds, but Robot Does Not Move (ABB IRB2600 + ROS2) #76

rysabh opened this issue Feb 9, 2025 · 0 comments

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@rysabh
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rysabh commented Feb 9, 2025

I am integrating an ABB IRB2600 robot with ROS2 using the PickNikRobotics/abb_ros2 package. While jogging the robot or running existing RAPID programs in the controller correctly mirrors movement in RViz, executing a motion plan generated by MoveIt2 shows success in the logs but the robot does not actually move.

Steps to Reproduce

  1. Launch Control Node
    Run the following command to start the ROS2 control node:

    ros2 launch abb_bringup abb_control.launch.py description_package:=abb_irb2600_support description_file:=irb2600_12_165.xacro launch_rviz:=false moveit_config_package:=abb_irb2600_moveit_config use_fake_hardware:=false rws_ip:=192.168.125.1 rws_port:=80

  2. Launch MoveIt Node
    Start the MoveIt2 node with:

    ros2 launch abb_bringup abb_moveit.launch.py robot_xacro_file:=irb2600_12_165.xacro support_package:=abb_irb2600_support moveit_config_package:=abb_irb2600_moveit_config moveit_config_file:=abb_irb2600_12_165.srdf

  3. Execute a Planned Motion
    In RViz, plan a trajectory for the robot and send the execution command.

Observed Behavior

  • Feedback: The terminal outputs indicate "Goal reached, success!" and "Execute request success!".
  • RViz: The planned motion is correctly visualized in RViz.
  • Robot: Despite the success messages, the physical robot does not move, and nothing is displayed on the pendant.
  • Additional Observation: Regardless of the initial position set on the pendant (e.g., after running T_ROB1), the robot appears to reset to the zero position when the ROS2 control node starts.
  • Importantly, when executing the planned path from RViz the robot moves very slightly (barely visible) but does not execute the desired motion plan.
  • The issue does not occur when using Robot Studio for simulation and control with ROS2.
  • Nothing is printed on the pendant about the planned trajectory.

Questions

  • Has anyone experienced similar behavior with the ABB IRB2600 and ROS2 where motion plans execute in MoveIt2 but the robot does not move?

  • Any guidance or suggestions to resolve this discrepancy would be greatly appreciated.

Environment

  • ROS Version: ROS2 Humble
  • OS: Ubuntu 22.04
  • Robot: ABB IRB2600
    • Controller: Real Controller running RobotWare version 6

The logs are as follows:

cam@cam:~/abb_RS_TEST_ws$ ros2 launch abb_bringup abb_control.launch.py description_package:=abb_irb2600_support description_file:=irb2600_12_165.xacro launch_rviz:=false moveit_config_package:=abb_irb2600_moveit_config use_fake_hardware:=false rws_ip:=192.168.125.1 rws_port:=80

[INFO] [launch]: All log files can be found below /home/cam/.ros/log/2025-02-08-18-57-48-354269-cam-250028
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [250031]
[INFO] [robot_state_publisher-2]: process started with pid [250033]
[INFO] [spawner-3]: process started with pid [250035]
[INFO] [spawner-4]: process started with pid [250037]
[ros2_control_node-1] [WARN] [1739069868.485364666] [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-1] [INFO] [1739069868.485512728] [resource_manager]: Loading hardware 'ABBMultiInterfaceHardware' 
[ros2_control_node-1] [INFO] [1739069868.490083889] [resource_manager]: Initialize hardware 'ABBMultiInterfaceHardware' 
[robot_state_publisher-2] [INFO] [1739069868.498186931] [robot_state_publisher]: got segment base
[robot_state_publisher-2] [INFO] [1739069868.498267716] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1739069868.498272881] [robot_state_publisher]: got segment flange
[robot_state_publisher-2] [INFO] [1739069868.498275396] [robot_state_publisher]: got segment link_1
[robot_state_publisher-2] [INFO] [1739069868.498277598] [robot_state_publisher]: got segment link_2
[robot_state_publisher-2] [INFO] [1739069868.498279555] [robot_state_publisher]: got segment link_3
[robot_state_publisher-2] [INFO] [1739069868.498281590] [robot_state_publisher]: got segment link_4
[robot_state_publisher-2] [INFO] [1739069868.498283632] [robot_state_publisher]: got segment link_5
[robot_state_publisher-2] [INFO] [1739069868.498285634] [robot_state_publisher]: got segment link_6
[robot_state_publisher-2] [INFO] [1739069868.498287593] [robot_state_publisher]: got segment tool0
[ros2_control_node-1] [INFO] [1739069868.627692366] [ABBSystemHardware]: Robot controller description:
[ros2_control_node-1] ============================================================
[ros2_control_node-1] = Summary of robot controller at '192.168.125.1:80'
[ros2_control_node-1] ============================================================
[ros2_control_node-1] # General Information:
[ros2_control_node-1]   |- RobotWare version: 6.07.00.00
[ros2_control_node-1]   |- System name: 2600-800956
[ros2_control_node-1]   |- System type: Real Controller
[ros2_control_node-1]   |- Options:
[ros2_control_node-1]      |- 661-2 Force Control Base
[ros2_control_node-1]      |- English
[ros2_control_node-1]      |- 687-1 Advanced Robot Motion
[ros2_control_node-1]      |- 613-1 Collision Detection
[ros2_control_node-1]      |- 709-1 DeviceNet Master/Slave
[ros2_control_node-1]      |- 689-1 Externally Guided Motion (EGM)
[ros2_control_node-1]      |- 617-1 FlexPendant Interface
[ros2_control_node-1]      |- 610-1 Independent Axis
[ros2_control_node-1]      |- 612-1 Path Offset
[ros2_control_node-1]      |- 611-1 Path Recovery
[ros2_control_node-1]      |- 616-1 PC Interface
[ros2_control_node-1]      |- 885-1 SoftMove
[ros2_control_node-1]      |- RobotWare Base
[ros2_control_node-1]      |- Motor Commutation
[ros2_control_node-1]      |- Service Info System
[ros2_control_node-1]      |- Pendelum Calibration
[ros2_control_node-1]      |- Axis Calibration
[ros2_control_node-1]      |- Drive System IRB 2600/4400/6400R
[ros2_control_node-1]      |- IRB 2600-20/1.65 Type B
[ros2_control_node-1] 
[ros2_control_node-1] # Mechanical Units:
[ros2_control_node-1]   |- Unit: ROB_1
[ros2_control_node-1] 
[ros2_control_node-1] # Mechanical Unit Groups:
[ros2_control_node-1]   |- N/A (only for MultiMove systems)
[ros2_control_node-1] ============================================================
[ros2_control_node-1] [INFO] [1739069868.627732637] [ABBSystemHardware]: Configuring EGM interface...
[ros2_control_node-1] [INFO] [1739069868.627818137] [ABBSystemHardware]: Configuring EGM for mechanical unit group  on port 6511
[ros2_control_node-1] [INFO] [1739069868.633435402] [resource_manager]: Successful initialization of hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1739069868.633585308] [resource_manager]: 'configure' hardware 'ABBMultiInterfaceHardware' 
[ros2_control_node-1] [INFO] [1739069868.633592926] [resource_manager]: Successful 'configure' of hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1739069868.633600298] [resource_manager]: 'activate' hardware 'ABBMultiInterfaceHardware' 
[ros2_control_node-1] [INFO] [1739069868.633603669] [ABBSystemHardware]: Connecting to robot...
[ros2_control_node-1] [INFO] [1739069868.654447644] [ABBSystemHardware]: Connected to robot
[ros2_control_node-1] [INFO] [1739069868.654499531] [ABBSystemHardware]: ros2_control hardware interface was successfully started!
[ros2_control_node-1] [INFO] [1739069868.654507826] [resource_manager]: Successful 'activate' of hardware 'ABBMultiInterfaceHardware'
[ros2_control_node-1] [INFO] [1739069868.657230567] [controller_manager]: update rate is 250 Hz
[ros2_control_node-1] [INFO] [1739069868.657247651] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1739069868.657351050] [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.
[spawner-3] [INFO] [1739069868.965339011] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-4] [INFO] [1739069868.976107728] [spawner_joint_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [WARN] [1739069869.790309606] [controller_manager.rclcpp]: failed to send response to /controller_manager/list_controllers (timeout): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:314
[ros2_control_node-1] [INFO] [1739069869.792024393] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1739069869.802190279] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1739069869.802776030] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1739069869.802859427] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1739069869.817940073] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 250035]
[spawner-4] [WARN] [1739069879.477610806] [spawner_joint_trajectory_controller]: Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)
[ros2_control_node-1] [INFO] [1739069879.478869611] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ros2_control_node-1] [WARN] [1739069879.485445544] [joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-4] [INFO] [1739069879.490076891] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller
[ros2_control_node-1] [INFO] [1739069879.490653213] [controller_manager]: Configuring controller 'joint_trajectory_controller'
[ros2_control_node-1] [INFO] [1739069879.490775186] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1739069879.490790626] [joint_trajectory_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1739069879.490825668] [joint_trajectory_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1739069879.491255271] [joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ros2_control_node-1] [INFO] [1739069879.491970948] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1739069879.505953305] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller
[INFO] [spawner-4]: process has finished cleanly [pid 250037]
[ros2_control_node-1] [INFO] [1739069908.274527367] [joint_trajectory_controller]: Received new action goal
[ros2_control_node-1] [INFO] [1739069908.274559980] [joint_trajectory_controller]: Accepted new action goal
[ros2_control_node-1] [INFO] [1739069909.241464353] [joint_trajectory_controller]: Goal reached, success!

cam@cam:~/abb_RS_TEST_ws$ ros2 launch abb_bringup abb_moveit.launch.py robot_xacro_file:=irb2600_12_165.xacro support_package:=abb_irb2600_support moveit_config_package:=abb_irb2600_moveit_config moveit_config_file:=abb_irb2600_12_165.srdf

[INFO] [launch]: All log files can be found below /home/cam/.ros/log/2025-02-08-18-59-03-735968-cam-250337
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [250338]
[INFO] [rviz2-2]: process started with pid [250340]
[INFO] [static_transform_publisher-3]: process started with pid [250342]
[INFO] [robot_state_publisher-4]: process started with pid [250344]
[static_transform_publisher-3] [WARN] [1739069943.867142544] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1739069943.875770882] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'world' to 'base_link'
[robot_state_publisher-4] [INFO] [1739069943.878928618] [robot_state_publisher]: got segment base
[robot_state_publisher-4] [INFO] [1739069943.878975654] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1739069943.878980449] [robot_state_publisher]: got segment flange
[robot_state_publisher-4] [INFO] [1739069943.878982742] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1739069943.878984942] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1739069943.878986847] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1739069943.878988811] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1739069943.878990795] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1739069943.878992727] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1739069943.878994612] [robot_state_publisher]: got segment tool0
[move_group-1] [INFO] [1739069943.890809150] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00167679 seconds
[move_group-1] [INFO] [1739069943.890845621] [moveit_robot_model.robot_model]: Loading robot model 'abb_irb2600_12_165'...
[move_group-1] [INFO] [1739069943.890849990] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1739069944.112822010] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1739069944.112911900] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1739069944.113259237] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1739069944.113436292] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1739069944.113445796] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1739069944.113573152] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1739069944.113579042] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1739069944.113725359] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1739069944.113865080] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1739069944.114222005] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1739069944.114230596] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1739069944.116123334] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1739069944.117654352] [moveit.ros_planning.planning_pipeline]: No '~planning_plugin' parameter specified, but only 'pilz_industrial_motion_planner/CommandPlanner' planning plugin is available. Using that one.
[move_group-1] [INFO] [1739069944.118457364] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1739069944.120551838] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1739069944.120560451] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1739069944.121404428] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1739069944.121411826] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1739069944.122044822] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1739069944.122051487] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1739069944.122686835] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1739069944.122708699] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [ERROR] [1739069944.124169625] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ValidateWorkspaceBounds': According to the loaded plugin descriptions the class default_planner_request_adapters/ValidateWorkspaceBounds with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-1] [ERROR] [1739069944.124204532] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/CheckStartStateBounds': According to the loaded plugin descriptions the class default_planner_request_adapters/CheckStartStateBounds with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-1] [ERROR] [1739069944.124211281] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/CheckStartStateCollision': According to the loaded plugin descriptions the class default_planner_request_adapters/CheckStartStateCollision with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-1] [INFO] [1739069944.124213266] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1739069944.125455822] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1739069944.126265978] [moveit.ros_planning.planning_pipeline]: No '~planning_plugin' parameter specified, but only 'pilz_industrial_motion_planner/CommandPlanner' planning plugin is available. Using that one.
[move_group-1] [INFO] [1739069944.126361557] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [WARN] [1739069944.126402986] [move_group]: Failed loading deceleration limits
[move_group-1] [WARN] [1739069944.126456264] [move_group]: Failed loading deceleration limits
[move_group-1] [WARN] [1739069944.126469593] [move_group]: Failed loading deceleration limits
[move_group-1] [WARN] [1739069944.126481438] [move_group]: Failed loading deceleration limits
[move_group-1] [WARN] [1739069944.126492843] [move_group]: Failed loading deceleration limits
[move_group-1] [WARN] [1739069944.126504702] [move_group]: Failed loading deceleration limits
[move_group-1] [INFO] [1739069944.126812307] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1739069944.126821661] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1739069944.126918726] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1739069944.126921353] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1739069944.127001007] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1739069944.127002932] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1739069944.127080731] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1739069944.127083669] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1739069944.127914920] [moveit_ros.fix_workspace_bounds]: Param 'pilz_industrial_motion_planner.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1739069944.127925020] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_bounds_error' was not set. Using default value: 0.050000
[move_group-1] [INFO] [1739069944.127927584] [moveit_ros.fix_start_state_bounds]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1739069944.127933588] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1739069944.127935631] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1739069944.127938012] [moveit_ros.fix_start_state_collision]: Param 'pilz_industrial_motion_planner.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1739069944.127943961] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1739069944.127946236] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1739069944.127947664] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1739069944.127949020] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1739069944.128300713] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1739069944.129065718] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  pilz_industrial_motion_planner/CommandPlannerAvailable plugins: pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1739069944.129849117] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1739069944.129853431] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1739069944.129855615] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1739069944.129866214] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1739069944.129874150] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1739069944.129876532] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1739069944.129882164] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1739069944.129884370] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1739069944.129886313] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1739069944.129891692] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1739069944.129893649] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1739069944.129895139] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1739069944.129896532] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1739069944.129897928] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1739069944.129899239] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1739069944.130156073] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1739069944.143472023] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1739069944.143565310] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1739069944.143575025] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1739069944.143742211] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1739069944.143750665] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1739069944.149875112] [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] [1739069944.149898357] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1739069944.149902820] [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] [1739069944.421065715] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1739069944.421186190] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1739069944.523948391] [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] [1739069947.591359776] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1739069947.597859309] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1739069947.645558749] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0022047 seconds
[rviz2-2] [INFO] [1739069947.645584308] [moveit_robot_model.robot_model]: Loading robot model 'abb_irb2600_12_165'...
[rviz2-2] [INFO] [1739069947.645590284] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1739069947.856183352] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[rviz2-2] [INFO] [1739069947.861983628] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1739069947.862298274] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1739069948.158020775] [interactive_marker_display_111097580274368]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1739069948.162681615] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-2] [INFO] [1739069948.162694797] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-2] [INFO] [1739069948.166042072] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-2] [INFO] [1739069948.212558520] [interactive_marker_display_111097580274368]: Sending request for interactive markers
[rviz2-2] [INFO] [1739069948.246203142] [interactive_marker_display_111097580274368]: Service response received for initialization
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@rysabh