no rviz preview and and can't control #131
Description
I'm using the xarm5 robot. Using Ros2 humble. I'VE INSTALLED EVERYTHING as guided here. after using this command using my robot correct ip I get some error.
ros2 launch xarm_moveit_config xarm5_moveit_realmove.launch.py robot_ip:=192.168.1.1** [add_gripper:=true]
error :
[INFO] [launch]: All log files can be found below /home/stasnim/.ros/log/2025-06-23-12-10-03-523473-Precision-3650-Tower-6140
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [6141]
[INFO] [rviz2-2]: process started with pid [6143]
[INFO] [static_transform_publisher-3]: process started with pid [6145]
[INFO] [move_group-4]: process started with pid [6147]
[INFO] [joint_state_publisher-5]: process started with pid [6149]
[INFO] [ros2_control_node-6]: process started with pid [6151]
[INFO] [spawner-7]: process started with pid [6153]
[static_transform_publisher-3] [WARN] [1750698603.805278960] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1750698603.822065177] [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 'link_base'
[ros2_control_node-6] [WARN] [1750698603.824245190] [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-6] [INFO] [1750698603.824423647] [resource_manager]: Loading hardware 'uf_robot_hardware/UFRobotSystemHardware'
[robot_state_publisher-1] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[robot_state_publisher-1] what(): Failed to load library /opt/ros/humble/lib/libsdformat_urdf_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libsdformat12.so.12: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[move_group-4] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[move_group-4] what(): Failed to load library /opt/ros/humble/lib/libsdformat_urdf_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libsdformat12.so.12: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[move_group-4] Stack trace (most recent call last):
[move_group-4] #23 Object "", at 0xffffffffffffffff, in
[move_group-4] #22 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5ff08fa04724, in
[ros2_control_node-6] [INFO] [1750698603.853733547] [resource_manager]: Initialize hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [INFO] [1750698603.861552437] [UFACTORY.RobotHW]: [192.168.1.223] namespace: /
[ros2_control_node-6] [INFO] [1750698603.861569855] [UFACTORY.RobotHW]: [192.168.1.223] robot_type: xarm, hw_ns: xarm, prefix: , report_type: normal
[ros2_control_node-6] [INFO] [1750698603.861802915] [UFACTORY.RobotHW]: [192.168.1.223] dof: 5, velocity_control: 0, add_gripper: 0, add_bio_gripper: 0, baud_checkset: 1, default_gripper_baud: 2000000
[ros2_control_node-6] [INFO] [1750698603.862574780] [ufactory_driver]: robot_ip=192.168.1.223, report_type=normal, dof=5
[ros2_control_node-6] [INFO] [1750698603.862631223] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000
[ros2_control_node-6] SDK_VERSION: 1.15.2
[ros2_control_node-6] Tcp control connection successful
[move_group-4] #21 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x789567429e3f]
[move_group-4] #20 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x789567429d8f]
[move_group-4] #19 Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x5ff08fa032c2, in
[move_group-4] #18 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.9", at 0x789567fb8204, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptrrclcpp::Node const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-4] #17 Object "/opt/ros/humble/lib/libmoveit_cpp.so.2.5.9", at 0x789567fb7cfa, in moveit_cpp::MoveItCpp::loadPlanningSceneMonitor(moveit_cpp::MoveItCpp::PlanningSceneMonitorOptions const&)
[move_group-4] #16 Object "/opt/ros/humble/lib/libmoveit_planning_scene_monitor.so.2.5.9", at 0x789567ed760a, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #15 Object "/opt/ros/humble/lib/libmoveit_planning_scene_monitor.so.2.5.9", at 0x789567ed755a, in planning_scene_monitor::PlanningSceneMonitor::PlanningSceneMonitor(std::shared_ptrrclcpp::Node const&, std::shared_ptr<planning_scene::PlanningScene> const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #14 Object "/opt/ros/humble/lib/libmoveit_robot_model_loader.so.2.5.9", at 0x789567641c3e, in robot_model_loader::RobotModelLoader::RobotModelLoader(std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool)
[move_group-4] #13 Object "/opt/ros/humble/lib/libmoveit_robot_model_loader.so.2.5.9", at 0x78956763ea90, in robot_model_loader::RobotModelLoader::configure(robot_model_loader::RobotModelLoader::Options const&)
[move_group-4] #12 Object "/opt/ros/humble/lib/libmoveit_rdf_loader.so.2.5.9", at 0x789566d302c5, in rdf_loader::RDFLoader::RDFLoader(std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, double)
[move_group-4] #11 Object "/opt/ros/humble/lib/libmoveit_rdf_loader.so.2.5.9", at 0x789566d289bb, in rdf_loader::RDFLoader::loadFromStrings()
[move_group-4] #10 Object "/opt/ros/humble/lib/liburdf.so", at 0x789566bc6ffa, in urdf::Model::initString(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #9 Object "/opt/ros/humble/lib/liburdf.so", at 0x789566bc602d, in urdf::ModelImplementation::load_plugin(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #8 Object "/opt/ros/humble/lib/liburdf.so", at 0x789566be024a, in
[move_group-4] #7 Object "/opt/ros/humble/lib/liburdf.so", at 0x789566bc1c83, in
[move_group-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7895678ae4d7, in __cxa_throw
[move_group-4] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7895678ae276, in std::terminate()
[move_group-4] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7895678ae20b, in
[move_group-4] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7895678a2b9d, in
[move_group-4] #2 Source "./stdlib/abort.c", line 79, in abort [0x7895674287f2]
[move_group-4] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x789567442475]
[move_group-4] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-4] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-4] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7895674969fc]
[move_group-4] Aborted (Signal sent by tkill() 6147 1001)
[spawner-7] [INFO] [1750698604.097120359] [spawner_xarm5_traj_controller]: waiting for service /controller_manager/list_controllers to become available...
[joint_state_publisher-5] [INFO] [1750698604.119597256] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rviz2-2] [INFO] [1750698604.138279664] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1750698604.138403668] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1750698604.155404546] [rviz2]: Stereo is NOT SUPPORTED
[ros2_control_node-6] ROBOT_IP: 192.168.1.223, VERSION: v2.5.5, PROTOCOL: V1, DETAIL: 5,5,XF1300,AC1300,v2.5.5, TYPE1300: [1, 1]
[ros2_control_node-6] Tcp Report Rich connection successful
[ros2_control_node-6] change protocol identifier to 3
[ros2_control_node-6] Tcp Report Norm connection successful
[ros2_control_node-6] report_data_size: 574, size_is_not_confirm: 0
[ros2_control_node-6] [INFO] [1750698604.174119710] [ufactory_driver]: [TCP STATUS] CONTROL: 1, REPORT: 1
[ros2_control_node-6] report_data_size: 145, size_is_not_confirm: 0
[ros2_control_node-6] [INFO] [1750698604.186971549] [ufactory_driver]: gripper_speed: 2000, gripper_max_pos: 850, gripper_frequency : 10, gripper_threshold: 3, gripper_threshold_times: 10
[ros2_control_node-6] [INFO] [1750698604.190997681] [ufactory_driver]: bio_gripper_speed: 2000, bio_gripper_max_pos: 130, bio_gripper_min_pos: 50, bio_gripper_frequency : 10, bio_gripper_threshold: 3, bio_gripper_threshold_times: 10
[ros2_control_node-6] [INFO] [1750698604.191909443] [UFACTORY.RobotHW]: [192.168.1.223] System Sucessfully configured!
[ros2_control_node-6] [INFO] [1750698604.191925602] [resource_manager]: Successful initialization of hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [INFO] [1750698604.192047705] [resource_manager]: 'configure' hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [INFO] [1750698604.192054263] [resource_manager]: Successful 'configure' of hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [INFO] [1750698604.192058262] [resource_manager]: 'activate' hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [set_state], xArm is ready to move
[ros2_control_node-6] [INFO] [1750698604.207374758] [UFACTORY.RobotHW]: [192.168.1.223] System Sucessfully started!
[ros2_control_node-6] [INFO] [1750698604.207394228] [resource_manager]: Successful 'activate' of hardware 'uf_robot_hardware/UFRobotSystemHardware'
[ros2_control_node-6] [INFO] [1750698604.209699447] [controller_manager]: update rate is 150 Hz
[ros2_control_node-6] [INFO] [1750698604.209716683] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-6] [WARN] [1750698604.209787806] [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.
[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
[ros2_control_node-6] [INFO] [1750698604.352849735] [controller_manager]: Loading controller 'xarm5_traj_controller'
[ros2_control_node-6] [WARN] [1750698604.363705848] [xarm5_traj_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ERROR] [robot_state_publisher-1]: process has died [pid 6141, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_tt1zc0zr -r /tf:=tf -r /tf_static:=tf_static'].
[ros2_control_node-6] [INFO] [1750698605.358115253] [UFACTORY.RobotHW]: [192.168.1.223] Robot is Ready
[spawner-7] [INFO] [1750698605.358917162] [spawner_xarm5_traj_controller]: Loaded xarm5_traj_controller
[ros2_control_node-6] [INFO] [1750698605.359574809] [controller_manager]: Configuring controller 'xarm5_traj_controller'
[ros2_control_node-6] [INFO] [1750698605.359708776] [xarm5_traj_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-6] [INFO] [1750698605.359731986] [xarm5_traj_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity].
[ros2_control_node-6] [INFO] [1750698605.359754530] [xarm5_traj_controller]: Using 'splines' interpolation method.
[ros2_control_node-6] [INFO] [1750698605.360238336] [xarm5_traj_controller]: Controller state will be published at 25.00 Hz.
[ros2_control_node-6] [INFO] [1750698605.361285053] [xarm5_traj_controller]: Action status changes will be monitored at 10.00 Hz.
[spawner-7] [INFO] [1750698605.365297086] [spawner_xarm5_traj_controller]: Configured and activated xarm5_traj_controller
[INFO] [spawner-7]: process has finished cleanly [pid 6153]
[ERROR] [move_group-4]: process has died [pid 6147, exit code -6, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_nlht1de6 --params-file /tmp/launch_params_xkvni6hw'].
[rviz2-2] [ERROR] [1750698607.251992637] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1750698607.260438683] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [ERROR] [1750698607.309058462] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': Failed to load library /opt/ros/humble/lib/libsdformat_urdf_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libsdformat12.so.12: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99