root@anton-the-manton:~/workspace# ros2 launch motoman_motomini_support control.launch.py Package 'motoman_motomini_support' not found: "package 'motoman_motomini_support' not found, searching: ['/home/ebots/workspace/install/micro_ros_setup', '/home/ebots/workspace/install/micro_ros_agent', '/home/ebots/workspace/install/micro_ros_msgs', '/home/ebots/workspace/install/industrial_msgs', '/home/ebots/workspace/install/control_msgs', '/opt/ros/foxy']" root@anton-the-manton:~/workspace# source install/setup.bash root@anton-the-manton:~/workspace# ros2 launch motoman_motomini_support control.launch.py [INFO] [launch]: All log files can be found below /home/ebots/.ros/log/2022-09-28-21-46-45-631202-anton-the-manton-4492 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rviz2-1]: process started with pid [4494] [INFO] [static_transform_publisher-2]: process started with pid [4496] [INFO] [move_group-3]: process started with pid [4498] [INFO] [robot_state_publisher-4]: process started with pid [4500] [static_transform_publisher-2] [INFO] [1664401606.011057923] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'yaskawa_a1/base_link' [robot_state_publisher-4] [WARN] [1664401606.013933353] [yaskawa_a1.robot_state_publisher]: use_tf_static is deprecated and will be removed in the future [robot_state_publisher-4] Parsing robot urdf xml string. [robot_state_publisher-4] Link link_1_s had 1 children [robot_state_publisher-4] Link link_2_l had 1 children [robot_state_publisher-4] Link link_3_u had 1 children [robot_state_publisher-4] Link link_4_r had 1 children [robot_state_publisher-4] Link link_5_b had 1 children [robot_state_publisher-4] Link link_6_t had 1 children [robot_state_publisher-4] Link tool0 had 0 children [robot_state_publisher-4] [INFO] [1664401606.015799399] [yaskawa_a1.robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1664401606.015820435] [yaskawa_a1.robot_state_publisher]: got segment link_1_s [robot_state_publisher-4] [INFO] [1664401606.015825504] [yaskawa_a1.robot_state_publisher]: got segment link_2_l [robot_state_publisher-4] [INFO] [1664401606.015829657] [yaskawa_a1.robot_state_publisher]: got segment link_3_u [robot_state_publisher-4] [INFO] [1664401606.015833533] [yaskawa_a1.robot_state_publisher]: got segment link_4_r [robot_state_publisher-4] [INFO] [1664401606.015837366] [yaskawa_a1.robot_state_publisher]: got segment link_5_b [robot_state_publisher-4] [INFO] [1664401606.015841123] [yaskawa_a1.robot_state_publisher]: got segment link_6_t [robot_state_publisher-4] [INFO] [1664401606.015844948] [yaskawa_a1.robot_state_publisher]: got segment tool0 [move_group-3] [WARN] [1664401606.091100173] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [move_group-3] [WARN] [1664401606.091140360] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). [move_group-3] Parsing robot urdf xml string. [move_group-3] [INFO] [1664401606.094382060] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000980266 seconds [move_group-3] [INFO] [1664401606.094412884] [moveit_robot_model.robot_model]: Loading robot model 'motoman_motomini'... [move_group-3] Link link_1_s had 1 children [move_group-3] Link link_2_l had 1 children [move_group-3] Link link_3_u had 1 children [move_group-3] Link link_4_r had 1 children [move_group-3] Link link_5_b had 1 children [move_group-3] Link link_6_t had 1 children [move_group-3] Link tool0 had 0 children [rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' [move_group-3] [INFO] [1664401606.159686350] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-3] [INFO] [1664401606.160268601] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-3] [INFO] [1664401606.160833179] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-3] [INFO] [1664401606.161248549] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/yaskawa_a1/attached_collision_object' for attached collision objects [move_group-3] [INFO] [1664401606.161267619] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-3] [INFO] [1664401606.161503053] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/yaskawa_a1/planning_scene' [move_group-3] [INFO] [1664401606.161519105] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-3] [INFO] [1664401606.161897829] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-3] [INFO] [1664401606.162150770] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-3] [WARN] [1664401606.162252692] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-3] [ERROR] [1664401606.162293033] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [move_group-3] [INFO] [1664401606.163781440] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' [move_group-3] [INFO] [1664401606.165224577] [moveit.ros_planning.planning_pipeline]: No '~planning_plugin' parameter specified, but only 'ompl_interface/OMPLPlanner' planning plugin is available. Using that one. [move_group-3] [INFO] [1664401606.199272176] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-3] [WARN] [1664401606.201474060] [moveit_ros.trajectory_execution_manager]: Parameter '~moveit_controller_manager' is not specified but only one matching plugin was found: 'moveit_simple_controller_manager/MoveItSimpleControllerManager'. Using that one. [rviz2-1] [INFO] [1664401606.494557980] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1664401606.494709411] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-1] [INFO] [1664401606.528411406] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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/foxy/include/class_loader/class_loader_core.hpp [rviz2-1] [ERROR] [1664401609.698434283] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] Parsing robot urdf xml string. [rviz2-1] [INFO] [1664401609.886702912] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00080351 seconds [rviz2-1] [INFO] [1664401609.886758323] [moveit_robot_model.robot_model]: Loading robot model 'motoman_motomini'... [rviz2-1] Link link_1_s had 1 children [rviz2-1] Link link_2_l had 1 children [rviz2-1] Link link_3_u had 1 children [rviz2-1] Link link_4_r had 1 children [rviz2-1] Link link_5_b had 1 children [rviz2-1] Link link_6_t had 1 children [rviz2-1] Link tool0 had 0 children [rviz2-1] [WARN] [1664401609.896472010] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-1] [INFO] [1664401610.003856831] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664401610.004524530] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_servo/publish_planning_scene' [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [INFO] [1664401610.108588470] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664401610.108865064] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1664401610.122234520] [interactive_marker_display_94553895241296]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] Link link_1_s had 1 children [rviz2-1] Link link_2_l had 1 children [rviz2-1] Link link_3_u had 1 children [rviz2-1] Link link_4_r had 1 children [rviz2-1] Link link_5_b had 1 children [rviz2-1] Link link_6_t had 1 children [rviz2-1] Link tool0 had 0 children [rviz2-1] Link link_1_s had 1 children [rviz2-1] Link link_2_l had 1 children [rviz2-1] Link link_3_u had 1 children [rviz2-1] Link link_4_r had 1 children [rviz2-1] Link link_5_b had 1 children [rviz2-1] Link link_6_t had 1 children [rviz2-1] Link tool0 had 0 children [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [INFO] [1664401610.225997869] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [rviz2-1] [INFO] [1664401610.229174847] [interactive_marker_display_94553895241296]: Sending request for interactive markers [rviz2-1] [INFO] [1664401610.234095801] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [rviz2-1] [INFO] [1664401610.266303132] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664401610.266427731] [interactive_marker_display_94553895241296]: Service response received for initialization [rviz2-1] [INFO] [1664401610.266679227] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_servo/publish_planning_scene' [rviz2-1] [INFO] [1664401610.270871475] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664401610.271347140] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] Link link_1_s had 1 children [rviz2-1] Link link_2_l had 1 children [rviz2-1] Link link_3_u had 1 children [rviz2-1] Link link_4_r had 1 children [rviz2-1] Link link_5_b had 1 children [rviz2-1] Link link_6_t had 1 children [rviz2-1] Link tool0 had 0 children [rviz2-1] Link link_1_s had 1 children [rviz2-1] Link link_2_l had 1 children [rviz2-1] Link link_3_u had 1 children [rviz2-1] Link link_4_r had 1 children [rviz2-1] Link link_5_b had 1 children [rviz2-1] Link link_6_t had 1 children [rviz2-1] Link tool0 had 0 children [move_group-3] [WARN] [1664401611.222917884] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for yaskawa_a1/follow_joint_trajectory to come up [rviz2-1] [INFO] [1664401615.271288042] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service yaskawa_a1/get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1664401615.289741753] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service yaskawa_a1/get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [rviz2-1] [INFO] [1664401615.289876882] [moveit_ros_visualization.motion_planning_frame]: group motomini_arm [rviz2-1] [INFO] [1664401615.289889982] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'motomini_arm' in namespace 'yaskawa_a1/' [rviz2-1] [WARN] [1664401615.292560332] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rviz2-1] [INFO] [1664401615.307159647] [move_group_interface]: Ready to take commands for planning group motomini_arm. [rviz2-1] [INFO] [1664401615.307220717] [move_group_interface]: Looking around: no [rviz2-1] [INFO] [1664401615.307242646] [move_group_interface]: Replanning: no [move_group-3] [WARN] [1664401616.224190407] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for yaskawa_a1/follow_joint_trajectory to come up [rviz2-1] [INFO] [1664401620.273113203] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service yaskawa_a1/get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [move_group-3] [ERROR] [1664401621.224402485] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: yaskawa_a1/follow_joint_trajectory [move_group-3] [INFO] [1664401621.226137319] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list [move_group-3] [INFO] [1664401621.226615932] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers [move_group-3] [INFO] [1664401621.226632444] [move_group.move_group]: MoveGroup debug mode is ON [move_group-3] [INFO] [1664401621.245098601] [move_group.move_group]: [move_group-3] [move_group-3] ******************************************************** [move_group-3] * MoveGroup using: [move_group-3] * - ApplyPlanningSceneService [move_group-3] * - ClearOctomapService [move_group-3] * - CartesianPathService [move_group-3] * - ExecuteTrajectoryAction [move_group-3] * - GetPlanningSceneService [move_group-3] * - KinematicsService [move_group-3] * - MoveAction [move_group-3] * - MotionPlanService [move_group-3] * - QueryPlannersService [move_group-3] * - StateValidationService [move_group-3] ******************************************************** [move_group-3] [move_group-3] [INFO] [1664401621.245142218] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-3] [INFO] [1664401621.245181298] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-3] Loading 'move_group/ApplyPlanningSceneService'... [move_group-3] Loading 'move_group/ClearOctomapService'... [move_group-3] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-3] Loading 'move_group/MoveGroupKinematicsService'... [move_group-3] Loading 'move_group/MoveGroupMoveAction'... [move_group-3] Loading 'move_group/MoveGroupPlanService'... [move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-3] Loading 'move_group/MoveGroupStateValidationService'... [move_group-3] [move_group-3] You can start planning now! [move_group-3] [rviz2-1] [INFO] [1664402145.807993066] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [INFO] [1664402146.700832138] [interactive_marker_display_94553895241296]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] [INFO] [1664402146.714356798] [interactive_marker_display_94553895241296]: Sending request for interactive markers [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [INFO] [1664402146.741232027] [interactive_marker_display_94553895241296]: Service response received for initialization [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [INFO] [1664403381.675210192] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [rviz2-1] [INFO] [1664403381.706904753] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664403381.707356931] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_servo/publish_planning_scene' [rviz2-1] [INFO] [1664403386.712062601] [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] [1664403392.617474832] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor [rviz2-1] [INFO] [1664403392.649154228] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1664403392.649489715] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_servo/publish_planning_scene' [move_group-3] [WARN] [1664403392.653705217] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/tool0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653735603] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_6_t' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653744784] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_1_s' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653752545] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/base_link' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653760074] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_2_l' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653767594] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_3_u' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653775213] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_4_r' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653782748] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_5_b' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [move_group-3] [WARN] [1664403392.653790250] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. ) [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] [WARN] [1664403431.199548456] [rviz2]: Link [base_link] does not exist [rviz2-1] [WARN] [1664403431.199588678] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.199595977] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.199601913] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.199607348] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.199613235] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.199618571] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.199624336] [rviz2]: Link [base_link] does not exist [rviz2-1] [WARN] [1664403431.199629659] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.199634927] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.199640141] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.199645394] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.199650618] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.199655844] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.199662248] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.199668318] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.199673699] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.199678928] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.199684418] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.199689864] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.199702501] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.199708010] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.199713542] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.199718789] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.199723940] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.199729167] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.759742517] [rviz2]: Link [base_link] does not exist [rviz2-1] [WARN] [1664403431.759780591] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.759787102] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.759792279] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.759797386] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.759802490] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.759807634] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.759812823] [rviz2]: Link [base_link] does not exist [rviz2-1] [WARN] [1664403431.759818004] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.759823095] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.759853507] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.759860254] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.759865372] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.759870721] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.759877295] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.759883095] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.759888348] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.759893348] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.759904113] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.759909350] [rviz2]: Link [link_6_t] does not exist [rviz2-1] [WARN] [1664403431.759914541] [rviz2]: Link [link_1_s] does not exist [rviz2-1] [WARN] [1664403431.759919606] [rviz2]: Link [link_2_l] does not exist [rviz2-1] [WARN] [1664403431.759924488] [rviz2]: Link [link_3_u] does not exist [rviz2-1] [WARN] [1664403431.759929394] [rviz2]: Link [link_4_r] does not exist [rviz2-1] [WARN] [1664403431.759934365] [rviz2]: Link [link_5_b] does not exist [rviz2-1] [WARN] [1664403431.759939331] [rviz2]: Link [link_6_t] does not exist [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp [rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp