运行官方的moveit2_tutorials中的moveitcpp接口示例报错
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ubuntu22.04
ros:humble
按照鱼哥的教程安装的moveit2先通过 ros2 launch dual_arm_moveit2 demo.launch.py可以正常启动如下
然后运行例程ros2 run moveit2_tutorials moveit_cpp_tutorial 报错：[INFO] [1703218871.704853446] [moveit_cpp_tutorial]: Initialize node [INFO] [1703218872.714803138] [moveit_cpp_tutorial]: Starting MoveIt Tutorials... [INFO] [1703218874.362360608] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 1.64742 seconds [INFO] [1703218874.362414467] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [WARN] [1703218874.373798051] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [INFO] [1703218874.388775160] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [INFO] [1703218874.391539423] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [INFO] [1703218874.395096161] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [INFO] [1703218874.396032978] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [INFO] [1703218874.396193747] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [INFO] [1703218874.396649030] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [INFO] [1703218874.396749676] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [INFO] [1703218874.397136859] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [INFO] [1703218874.397506483] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [WARN] [1703218874.398091735] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ERROR] [1703218874.398131114] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [ERROR] [1703218874.399007046] [moveit.ros_planning_interface.moveit_cpp]: Failed to load any planning pipelines. [FATAL] [1703218874.399057056] [moveit.ros_planning_interface.moveit_cpp]: Failed to load planning pipelines from parameter server terminate called after throwing an instance of 'std::runtime_error' what(): Failed to load planning pipelines from parameter server Stack trace (most recent call last): #13 Object "", at 0xffffffffffffffff, in #12 Object "/home/zhangbo/moveit2_ws/install/moveit2_tutorials/lib/moveit2_tutorials/moveit_cpp_tutorial", at 0x55e98eec15e4, in _start #11 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fb04a229e3f] #10 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fb04a229d8f] #9 Object "/home/zhangbo/moveit2_ws/install/moveit2_tutorials/lib/moveit2_tutorials/moveit_cpp_tutorial", at 0x55e98eebfab1, in main #8 Object "/home/zhangbo/moveit2_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.5.5", at 0x7fb04afca572, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&) #7 Object "/home/zhangbo/moveit2_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.5.5", at 0x7fb04afc31d5, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&) [clone .cold] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb04a6ae4d7, in __cxa_throw #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb04a6ae276, in std::terminate() #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb04a6ae20b, in #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fb04a6a2b9d, in #2 Source "./stdlib/abort.c", line 79, in abort [0x7fb04a2287f2] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7fb04a242475] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7fb04a2969fc] Aborted (Signal sent by tkill() 3675 1000) [ros2run]: Aborted