hello everyone...i am trying to use isaac-ros cumotion moveit for my robot which combined of open manipulator x and turtle_waffle_pi ....and i have generated the xrdf for the robot too which is like this:
format: "xrdf"
format_version: 1.0
default_joint_positions:
joint1: -0.0017
joint2: -0.7892
joint3: -0.3233
wheel_left_joint: 0.0704
wheel_right_joint: 0.0721
joint4: 0.4239
gripper: 0.001
gripper_sub: 0.001
cspace:
joint_names:
- "joint1"
- "joint2"
- "joint3"
- "wheel_left_joint"
- "wheel_right_joint"
- "joint4"
- "gripper"
- "gripper_sub"
acceleration_limits: [10, 10, 10, 10, 10, 10, 10, 10]
jerk_limits: [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
collision:
geometry: "auto_generated_collision_sphere_group"
self_collision:
geometry: "auto_generated_collision_sphere_group"
ignore:
base_footprint:
- "base_link"
base_link:
- "link1"
- "caster_back_left_link"
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
link1:
- "link2"
- "caster_back_left_link"
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
link2:
- "link3"
link3:
- "link4"
link4:
- "link5"
link5:
- "end_effector_link"
- "gripper_link"
- "gripper_link_sub"
caster_back_left_link:
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
caster_back_right_link:
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
base_scan:
- "wheel_left_link"
- "wheel_right_link"
wheel_left_link:
- "wheel_right_link"
end_effector_link:
- "gripper_link"
- "gripper_link_sub"
gripper_link:
- "gripper_link_sub"
geometry:
auto_generated_collision_sphere_group:
spheres: {}
and when i launch the launch file i am getting this error:
admin@Zarus101:/workspaces/isaac_ros-dev$ ros2 launch tb3_manipulation_moveit_config tb3.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-25-11-56-36-029653-Zarus101-18111
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_planning_scene-4]: process started with pid [18117]
[INFO] [rviz2-1]: process started with pid [18114]
[INFO] [static_transform_publisher-2]: process started with pid [18115]
[INFO] [cumotion_planner_node-3]: process started with pid [18116]
[static_transform_publisher-2] [INFO] [1772020596.461738417] [world_to_basefootprint_tf]: 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_footprint'
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[rviz2-1] [INFO] [1772020597.355984890] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1772020597.356387370] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1772020597.434226539] [rviz2]: Stereo is NOT SUPPORTED
[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 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [WARN] [1772020597.656761081] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.
[INFO] [move_group-5]: process started with pid [18187]
[move_group-5] [INFO] [1772020599.410365651] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[move_group-5] [INFO] [1772020599.410495870] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'tb3_manipulation'...
[move_group-5] [WARN] [1772020599.498218417] [move_group.moveit.moveit.core.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-5] [INFO] [1772020599.522410706] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1
[move_group-5] [INFO] [1772020599.780152128] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-5] [INFO] [1772020599.780368015] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-5] [INFO] [1772020599.781866497] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-5] [INFO] [1772020599.782413291] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-5] [INFO] [1772020599.782435567] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-5] [INFO] [1772020599.782676061] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-5] [INFO] [1772020599.783231253] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-5] [INFO] [1772020599.783337322] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-5] [INFO] [1772020599.783856253] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-5] [INFO] [1772020599.783877944] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-5] [INFO] [1772020599.785467625] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-5] [INFO] [1772020599.785971135] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-5] [WARN] [1772020599.788428464] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-5] [ERROR] [1772020599.788481722] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-5] [WARN] [1772020599.941193814] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-5] [INFO] [1772020599.951852073] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Generate minimum-jerk trajectories using NVIDIA Isaac ROS cuMotion'
[move_group-5] [INFO] [1772020599.952879798] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-5] [INFO] [1772020599.956964595] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-5] [INFO] [1772020599.957004307] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-5] [INFO] [1772020599.957345229] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-5] [INFO] [1772020599.957511139] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-5] [INFO] [1772020599.957549806] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-5] [INFO] [1772020599.957558523] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-5] [INFO] [1772020599.957572637] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-5] [WARN] [1772020599.957579969] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified.
[move_group-5] terminate called after throwing an instance of 'std::runtime_error'
[move_group-5] what(): Planning plugin name is empty or not defined in namespace 'ompl'. Please choose one of the available plugins: chomp_interface/CHOMPPlanner, isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner
[move_group-5] Stack trace (most recent call last):
[move_group-5] #16 Object "", at 0xffffffffffffffff, in
[move_group-5] #15 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x576a5e193a44, in _start
[move_group-5] #14 Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x785065b7728a]
[move_group-5] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x785065b771c9]
[move_group-5] #12 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x576a5e192162, in main
[move_group-5] #11 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4", at 0x7850664dfb6e, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptrrclcpp::Node const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-5] #10 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4", at 0x7850664dad07, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-5] #9 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline_interfaces.so.2.12.4", at 0x7850658f686e, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-5] #8 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.4", at 0x7850657c41bf, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-5] #7 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.4", at 0x7850657c2c61, in planning_pipeline::PlanningPipeline::configure()
[move_group-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e48390, in __cxa_throw
[move_group-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e32a54, in std::terminate()
[move_group-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e480d9, in
[move_group-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e32ff4, in
[move_group-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x785065b758fe]
[move_group-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x785065b9227d]
[move_group-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x785065bebb2c]
[move_group-5] Aborted (Signal sent by tkill() 18187 1000)
[rviz2-1] [ERROR] [1772020600.725851720] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1772020600.747996670] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1772020600.826553217] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-1] [INFO] [1772020600.826656712] [rviz2.moveit.core.robot_model]: Loading robot model 'tb3_manipulation'...
[rviz2-1] [WARN] [1772020600.910477291] [rviz2.moveit.core.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-1] [INFO] [1772020600.920819135] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1
[rviz2-1] [INFO] [1772020601.219828145] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1772020601.221152060] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1772020601.631612881] [interactive_marker_display_110365949062528]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1772020601.799329050] [interactive_marker_display_110365949062528]: Sending request for interactive markers
[rviz2-1] [INFO] [1772020601.887522693] [interactive_marker_display_110365949062528]: Service response received for initialization
[ERROR] [move_group-5]: process has died [pid 18187, exit code -6, cmd '/opt/ros/jazzy/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_pt8d0f95'].
[static_planning_scene-4] [INFO] [1772020603.317206047] [static_planning_scene_server]: Static Planning Scene Server initialized
[cumotion_planner_node-3] [INFO] [1772020604.851194295] [cumotion_planner]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[cumotion_planner_node-3] [ERROR] [curobo] cspace_distance_weight shape does not match retract_config
[cumotion_planner_node-3] NoneType: None
[cumotion_planner_node-3] Traceback (most recent call last):
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/isaac_ros_cumotion/cumotion_planner_node", line 33, in
[cumotion_planner_node-3] sys.exit(load_entry_point('isaac-ros-cumotion==3.0.0', 'console_scripts', 'cumotion_planner_node')())
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 1241, in main
[cumotion_planner_node-3] cumotion_action_server = CumotionActionServer()
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 305, in init
[cumotion_planner_node-3] self.load_motion_gen()
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 405, in load_motion_gen
[cumotion_planner_node-3] motion_gen_config = MotionGenConfig.load_from_robot_config(
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/wrap/reacher/motion_gen.py", line 612, in load_from_robot_config
[cumotion_planner_node-3] robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/types/robot.py", line 51, in from_dict
[cumotion_planner_node-3] CudaRobotGeneratorConfig(**data_dict_in["kinematics"], tensor_args=tensor_args)
[cumotion_planner_node-3] File "", line 34, in init
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 237, in post_init
[cumotion_planner_node-3] self.cspace = CSpaceConfig(**self.cspace, tensor_args=self.tensor_args)
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "", line 14, in init
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/cuda_robot_model/types.py", line 247, in post_init
[cumotion_planner_node-3] log_error("cspace_distance_weight shape does not match retract_config")
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/util/logger.py", line 103, in log_error
[cumotion_planner_node-3] raise ValueError(txt)
[cumotion_planner_node-3] ValueError: cspace_distance_weight shape does not match retract_config
[rviz2-1] [INFO] [1772020606.640291216] [rviz2.moveit.ros.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1772020606.640466962] [rviz2.moveit.ros.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1772020606.640482353] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [cumotion_planner_node-3]: process has died [pid 18116, exit code 1, cmd '/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/isaac_ros_cumotion/cumotion_planner_node --ros-args -r __node:=cumotion_planner --params-file /tmp/launch_params_z21agsq2'].
[rviz2-1] [INFO] [1772020666.662448745] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group arm.
can anybody help me with this?
hello everyone...i am trying to use isaac-ros cumotion moveit for my robot which combined of open manipulator x and turtle_waffle_pi ....and i have generated the xrdf for the robot too which is like this:
format: "xrdf"
format_version: 1.0
default_joint_positions:
joint1: -0.0017
joint2: -0.7892
joint3: -0.3233
wheel_left_joint: 0.0704
wheel_right_joint: 0.0721
joint4: 0.4239
gripper: 0.001
gripper_sub: 0.001
cspace:
joint_names:
- "joint1"
- "joint2"
- "joint3"
- "wheel_left_joint"
- "wheel_right_joint"
- "joint4"
- "gripper"
- "gripper_sub"
acceleration_limits: [10, 10, 10, 10, 10, 10, 10, 10]
jerk_limits: [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
collision:
geometry: "auto_generated_collision_sphere_group"
self_collision:
geometry: "auto_generated_collision_sphere_group"
ignore:
base_footprint:
- "base_link"
base_link:
- "link1"
- "caster_back_left_link"
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
link1:
- "link2"
- "caster_back_left_link"
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
link2:
- "link3"
link3:
- "link4"
link4:
- "link5"
link5:
- "end_effector_link"
- "gripper_link"
- "gripper_link_sub"
caster_back_left_link:
- "caster_back_right_link"
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
caster_back_right_link:
- "base_scan"
- "wheel_left_link"
- "wheel_right_link"
base_scan:
- "wheel_left_link"
- "wheel_right_link"
wheel_left_link:
- "wheel_right_link"
end_effector_link:
- "gripper_link"
- "gripper_link_sub"
gripper_link:
- "gripper_link_sub"
geometry:
auto_generated_collision_sphere_group:
spheres: {}
and when i launch the launch file i am getting this error:
admin@Zarus101:/workspaces/isaac_ros-dev$ ros2 launch tb3_manipulation_moveit_config tb3.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-25-11-56-36-029653-Zarus101-18111
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_planning_scene-4]: process started with pid [18117]
[INFO] [rviz2-1]: process started with pid [18114]
[INFO] [static_transform_publisher-2]: process started with pid [18115]
[INFO] [cumotion_planner_node-3]: process started with pid [18116]
[static_transform_publisher-2] [INFO] [1772020596.461738417] [world_to_basefootprint_tf]: 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_footprint'
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[rviz2-1] [INFO] [1772020597.355984890] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1772020597.356387370] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1772020597.434226539] [rviz2]: Stereo is NOT SUPPORTED
[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 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [WARN] [1772020597.656761081] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2' 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.
[INFO] [move_group-5]: process started with pid [18187]
[move_group-5] [INFO] [1772020599.410365651] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[move_group-5] [INFO] [1772020599.410495870] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'tb3_manipulation'...
[move_group-5] [WARN] [1772020599.498218417] [move_group.moveit.moveit.core.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-5] [INFO] [1772020599.522410706] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1
[move_group-5] [INFO] [1772020599.780152128] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-5] [INFO] [1772020599.780368015] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-5] [INFO] [1772020599.781866497] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-5] [INFO] [1772020599.782413291] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-5] [INFO] [1772020599.782435567] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-5] [INFO] [1772020599.782676061] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-5] [INFO] [1772020599.783231253] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-5] [INFO] [1772020599.783337322] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-5] [INFO] [1772020599.783856253] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-5] [INFO] [1772020599.783877944] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-5] [INFO] [1772020599.785467625] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-5] [INFO] [1772020599.785971135] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-5] [WARN] [1772020599.788428464] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-5] [ERROR] [1772020599.788481722] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-5] [WARN] [1772020599.941193814] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-5] [INFO] [1772020599.951852073] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Generate minimum-jerk trajectories using NVIDIA Isaac ROS cuMotion'
[move_group-5] [INFO] [1772020599.952879798] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-5] [INFO] [1772020599.956964595] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-5] [INFO] [1772020599.957004307] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-5] [INFO] [1772020599.957345229] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-5] [INFO] [1772020599.957511139] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-5] [INFO] [1772020599.957549806] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-5] [INFO] [1772020599.957558523] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-5] [INFO] [1772020599.957572637] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-5] [WARN] [1772020599.957579969] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified.
[move_group-5] terminate called after throwing an instance of 'std::runtime_error'
[move_group-5] what(): Planning plugin name is empty or not defined in namespace 'ompl'. Please choose one of the available plugins: chomp_interface/CHOMPPlanner, isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner
[move_group-5] Stack trace (most recent call last):
[move_group-5] #16 Object "", at 0xffffffffffffffff, in
[move_group-5] #15 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x576a5e193a44, in _start
[move_group-5] #14 Source "../csu/libc-start.c", line 360, in __libc_start_main_impl [0x785065b7728a]
[move_group-5] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x785065b771c9]
[move_group-5] #12 Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x576a5e192162, in main
[move_group-5] #11 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4", at 0x7850664dfb6e, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptrrclcpp::Node const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-5] #10 Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.4", at 0x7850664dad07, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-5] #9 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline_interfaces.so.2.12.4", at 0x7850658f686e, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-5] #8 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.4", at 0x7850657c41bf, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-5] #7 Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.4", at 0x7850657c2c61, in planning_pipeline::PlanningPipeline::configure()
[move_group-5] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e48390, in __cxa_throw
[move_group-5] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e32a54, in std::terminate()
[move_group-5] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e480d9, in
[move_group-5] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x785065e32ff4, in
[move_group-5] #2 Source "./stdlib/abort.c", line 79, in abort [0x785065b758fe]
[move_group-5] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x785065b9227d]
[move_group-5] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-5] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-5] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x785065bebb2c]
[move_group-5] Aborted (Signal sent by tkill() 18187 1000)
[rviz2-1] [ERROR] [1772020600.725851720] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1772020600.747996670] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1772020600.826553217] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-1] [INFO] [1772020600.826656712] [rviz2.moveit.core.robot_model]: Loading robot model 'tb3_manipulation'...
[rviz2-1] [WARN] [1772020600.910477291] [rviz2.moveit.core.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-1] [INFO] [1772020600.920819135] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1
[rviz2-1] [INFO] [1772020601.219828145] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1772020601.221152060] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1772020601.631612881] [interactive_marker_display_110365949062528]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1772020601.799329050] [interactive_marker_display_110365949062528]: Sending request for interactive markers
[rviz2-1] [INFO] [1772020601.887522693] [interactive_marker_display_110365949062528]: Service response received for initialization
[ERROR] [move_group-5]: process has died [pid 18187, exit code -6, cmd '/opt/ros/jazzy/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_pt8d0f95'].
[static_planning_scene-4] [INFO] [1772020603.317206047] [static_planning_scene_server]: Static Planning Scene Server initialized
[cumotion_planner_node-3] [INFO] [1772020604.851194295] [cumotion_planner]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[cumotion_planner_node-3] [ERROR] [curobo] cspace_distance_weight shape does not match retract_config
[cumotion_planner_node-3] NoneType: None
[cumotion_planner_node-3] Traceback (most recent call last):
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/isaac_ros_cumotion/cumotion_planner_node", line 33, in
[cumotion_planner_node-3] sys.exit(load_entry_point('isaac-ros-cumotion==3.0.0', 'console_scripts', 'cumotion_planner_node')())
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 1241, in main
[cumotion_planner_node-3] cumotion_action_server = CumotionActionServer()
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 305, in init
[cumotion_planner_node-3] self.load_motion_gen()
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/python3.12/site-packages/isaac_ros_cumotion/cumotion_planner.py", line 405, in load_motion_gen
[cumotion_planner_node-3] motion_gen_config = MotionGenConfig.load_from_robot_config(
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/wrap/reacher/motion_gen.py", line 612, in load_from_robot_config
[cumotion_planner_node-3] robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/types/robot.py", line 51, in from_dict
[cumotion_planner_node-3] CudaRobotGeneratorConfig(**data_dict_in["kinematics"], tensor_args=tensor_args)
[cumotion_planner_node-3] File "", line 34, in init
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/cuda_robot_model/cuda_robot_generator.py", line 237, in post_init
[cumotion_planner_node-3] self.cspace = CSpaceConfig(**self.cspace, tensor_args=self.tensor_args)
[cumotion_planner_node-3] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[cumotion_planner_node-3] File "", line 14, in init
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/cuda_robot_model/types.py", line 247, in post_init
[cumotion_planner_node-3] log_error("cspace_distance_weight shape does not match retract_config")
[cumotion_planner_node-3] File "/workspaces/isaac_ros-dev/install/curobo_core/lib/python3.12/site-packages/curobo/util/logger.py", line 103, in log_error
[cumotion_planner_node-3] raise ValueError(txt)
[cumotion_planner_node-3] ValueError: cspace_distance_weight shape does not match retract_config
[rviz2-1] [INFO] [1772020606.640291216] [rviz2.moveit.ros.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1772020606.640466962] [rviz2.moveit.ros.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1772020606.640482353] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [cumotion_planner_node-3]: process has died [pid 18116, exit code 1, cmd '/workspaces/isaac_ros-dev/install/isaac_ros_cumotion/lib/isaac_ros_cumotion/cumotion_planner_node --ros-args -r __node:=cumotion_planner --params-file /tmp/launch_params_z21agsq2'].
[rviz2-1] [INFO] [1772020666.662448745] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group arm.
can anybody help me with this?