Isaac_ros_cumotion_examples tutorial (launch file) not working

[brettpac]

Hi Everyone,
The isaac_ros_cumotion_examples tutorial is not working.

When you run the launch file command:

ros2 launch isaac_ros_cumotion_examples franka_isaac_sim.launch.py
This is what you get:

This is what you get in the terminal:

admin@system76-pc:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_cumotion_examples franka_isaac_sim.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-12-08-12-04-36-728970-system76-pc-337913
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [337914]
[INFO] [static_transform_publisher-2]: process started with pid [337916]
[INFO] [static_transform_publisher-3]: process started with pid [337918]
[INFO] [robot_state_publisher-4]: process started with pid [337920]
[INFO] [move_group-5]: process started with pid [337922]
[INFO] [ros2_control_node-6]: process started with pid [337924]
[INFO] [spawner-7]: process started with pid [337926]
[INFO] [spawner-8]: process started with pid [337928]
[INFO] [spawner-9]: process started with pid [337930]
[static_transform_publisher-3] [WARN] [1733688276.981844657] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1733688276.992441022] [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 'panda_link0'
[static_transform_publisher-3] [INFO] [1733688276.992807515] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.040000', '0.000000', '0.040000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'panda_hand' to 'sim_camera'
[robot_state_publisher-4] [WARN] [1733688276.999283267] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-4] [INFO] [1733688276.999364491] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-4] [INFO] [1733688276.999391512] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-4] [INFO] [1733688276.999395550] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-4] [INFO] [1733688276.999398616] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-4] [INFO] [1733688276.999401491] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-4] [INFO] [1733688276.999404156] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-4] [INFO] [1733688276.999406922] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-4] [INFO] [1733688276.999409366] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-4] [INFO] [1733688276.999411821] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-4] [INFO] [1733688276.999414285] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-4] [INFO] [1733688276.999416740] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-4] [INFO] [1733688276.999419115] [robot_state_publisher]: got segment panda_rightfinger
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-admin'
[ros2_control_node-6] [INFO] [1733688277.020168383] [controller_manager]: Subscribing to '~/robot_description' topic for robot description file.
[ros2_control_node-6] [INFO] [1733688277.021221728] [controller_manager]: update rate is 100 Hz
[ros2_control_node-6] [WARN] [1733688277.021358006] [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.
[move_group-5] [INFO] [1733688277.021727435] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00372464 seconds
[move_group-5] [INFO] [1733688277.021778522] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[ros2_control_node-6] [INFO] [1733688277.031352000] [controller_manager]: Received robot description file.
[ros2_control_node-6] [INFO] [1733688277.031563400] [resource_manager]: Loading hardware 'PandaFakeSystem' 
[move_group-5] [WARN] [1733688277.032714489] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ros2_control_node-6] [INFO] [1733688277.032822203] [resource_manager]: Initialize hardware 'PandaFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.036992480] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem'
[ros2_control_node-6] [INFO] [1733688277.037014041] [resource_manager]: Loading hardware 'PandaHandFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.037021916] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.040348214] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem'
[ros2_control_node-6] [INFO] [1733688277.040384773] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.040390374] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem'
[ros2_control_node-6] [INFO] [1733688277.040393420] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.040396285] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem'
[ros2_control_node-6] [INFO] [1733688277.040398900] [resource_manager]: 'configure' hardware 'PandaFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.040401314] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem'
[ros2_control_node-6] [INFO] [1733688277.040404731] [resource_manager]: 'activate' hardware 'PandaFakeSystem' 
[ros2_control_node-6] [INFO] [1733688277.040407025] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem'
[move_group-5] [INFO] [1733688277.055683211] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-5] [INFO] [1733688277.055768092] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-5] [INFO] [1733688277.056467456] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-5] [INFO] [1733688277.056664459] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-5] [INFO] [1733688277.056673847] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-5] [INFO] [1733688277.056832798] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-5] [INFO] [1733688277.056842215] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-5] [INFO] [1733688277.057015904] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-5] [INFO] [1733688277.057185896] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-5] [WARN] [1733688277.059014088] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-5] [ERROR] [1733688277.059024357] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-5] [INFO] [1733688277.059607832] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-5] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterTypeException'
[move_group-5]   what():  parameter 'ompl.request_adapters' has invalid type: expected [string] got [string_array]
[ros2_control_node-6] [INFO] [1733688277.195855066] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-6] [WARN] [1733688277.207957673] [panda_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-7] [INFO] [1733688277.224661061] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[spawner-8] [INFO] [1733688277.224671611] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-6] [INFO] [1733688277.225279973] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-6] [INFO] [1733688277.225602924] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-6] [INFO] [1733688277.225770942] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-6] [INFO] [1733688277.225875590] [panda_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-6] [INFO] [1733688277.228042994] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-6] [INFO] [1733688277.230615205] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ERROR] [move_group-5]: process has died [pid 337922, exit code -6, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_wq4lts4q'].
[spawner-8] [INFO] [1733688277.262029428] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller
[INFO] [spawner-8]: process has finished cleanly [pid 337928]
[rviz2-1] [INFO] [1733688277.519428373] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1733688277.519544443] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1733688277.620193923] [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 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2_control_node-6] [INFO] [1733688278.227332791] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1733688278.241955960] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-6] [INFO] [1733688278.242425219] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-6] [INFO] [1733688278.242457600] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-6] [INFO] [1733688278.271791684] [controller_manager]: Loading controller 'panda_hand_controller'
[spawner-7] [INFO] [1733688278.272124274] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-9] [INFO] [1733688278.293480181] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[ros2_control_node-6] [INFO] [1733688278.293982022] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-6] [INFO] [1733688278.294067173] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[spawner-9] [INFO] [1733688278.322187128] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller
[INFO] [spawner-7]: process has finished cleanly [pid 337926]
[INFO] [spawner-9]: process has finished cleanly [pid 337930]
[rviz2-1] [ERROR] [1733688280.736346402] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1733688280.744374924] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [INFO] [1733688280.750483461] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0039984 seconds
[rviz2-1] [INFO] [1733688280.750507857] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1733688280.930782187] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00285975 seconds
[rviz2-1] [INFO] [1733688280.930803016] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [WARN] [1733688280.944479703] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1733688280.970268745] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1733688280.970625270] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1733688280.971594756] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1733688280.972182839] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1733688280.975751516] [interactive_marker_display_96010276706912]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [WARN] [1733688280.977596830] [kdl_parser]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-1] [INFO] [1733688281.010231755] [interactive_marker_display_96010276706912]: Sending request for interactive markers
[rviz2-1] [INFO] [1733688281.023175113] [interactive_marker_display_96010276706912]: Service response received for initialization
[rviz2-1] [INFO] [1733688285.972009328] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1733688285.979034270] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1733688285.979073434] [moveit_ros_visualization.motion_planning_frame]: group panda_arm
[rviz2-1] [INFO] [1733688285.979077512] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''

I’m fairly certain this is related to (fairly recent) upstream changes in moveit, rviz, or some related pkgs. See terminal output for clues. I think it will require modifying the launch file isaac_ros_cumotion/isaac_ros_cumotion_examples/launch/franka_isaac_sim.launch.py and rviz config file ( franka_moveit_config.rviz).

Im using the latest version of the IsaacROSDev Container (isaac_ros_common - run_dev.sh)
Ubuntu 22.04 Host, ROS Humble. NVIDIA 4090 GPU.
And I installed the isaac_ros_cumotion_examples pkg via apt. as found in the tutorial link above.

Thank you!

[brettpac]

Tested with IsaacROS 3.2. No change.