Rviz2+MoveIt2 No planning library loaded
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Rviz2+MoveIt 2无法加载运动规划库，显示No planning library loaded，大家遇到过这种问题吗，想知道有哪些可能的解决方案
以下是Log文件
[gazebo-1] [INFO] [1731061483.073393332] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services...
[gazebo-1] [INFO] [1731061483.103621427] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'
[gazebo-1] [INFO] [1731061483.103691018] [controller_manager]: Loading controller 'joint_state_broadcaster'
[gazebo-1] [INFO] [1731061483.107943918] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /home/yangzy/Documents/ros2_ws/install/mycobot_gazebo/share/mycobot_gazebo/config/mycobot_280_controllers.yaml --ros-args --remap /controller_manager/robot_description:=/robot_description --param use_sim_time:=true
[ros2-4] Successfully loaded controller joint_state_broadcaster
[gazebo-1] [INFO] [1731061483.124699467] [controller_manager]: Configuring controller: 'joint_state_broadcaster'
[gazebo-1] [INFO] [1731061483.124905325] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[gazebo-1] [INFO] [1731061483.139472692] [controller_manager]: Activating controllers: [ joint_state_broadcaster ]
[gazebo-1] [Err] [Physics.cc:1772] Attempting to create a mimic constraint for joint [gripper_base_to_gripper_left2] but the chosen physics engine does not support mimic constraints, so no constraint will be created.
[gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v145WorldE], which doesn't haveoperator<<. Component will not be serialized.
[gazebo-1] [WARN] [1731061485.075228921] [gz_ros_control]: Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[ros2-4] Successfully loaded controller joint_state_broadcaster into state active
[gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v145WorldE], which doesn't haveoperator>>. Component will not be deserialized.
[INFO] [ros2-4]: process has finished cleanly [pid 41290]
[INFO] [ros2-5]: process started with pid [41482]
[gazebo-1] [INFO] [1731061486.289043093] [controller_manager]: Loading controller : 'arm_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[gazebo-1] [INFO] [1731061486.289096624] [controller_manager]: Loading controller 'arm_controller'
[gazebo-1] [INFO] [1731061486.292545450] [controller_manager]: Controller 'arm_controller' node arguments: --ros-args --params-file /home/yangzy/Documents/ros2_ws/install/mycobot_gazebo/share/mycobot_gazebo/config/mycobot_280_controllers.yaml --ros-args --remap /controller_manager/robot_description:=/robot_description --param use_sim_time:=true
[ros2-5] Successfully loaded controller arm_controller
[gazebo-1] [INFO] [1731061486.321945284] [controller_manager]: Configuring controller: 'arm_controller'
[gazebo-1] [INFO] [1731061486.322165549] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gazebo-1] [INFO] [1731061486.322189675] [arm_controller]: Command interfaces are [position] and state interfaces are [position].
[gazebo-1] [INFO] [1731061486.322251882] [arm_controller]: Using 'splines' interpolation method.
[gazebo-1] [INFO] [1731061486.325370947] [arm_controller]: Action status changes will be monitored at 20.00 Hz.
[gazebo-1] [INFO] [1731061486.341444762] [controller_manager]: Activating controllers: [ arm_controller ]
[ros2-5] Successfully loaded controller arm_controller into state active
[INFO] [ros2-5]: process has finished cleanly [pid 41482]
[INFO] [ros2-6]: process started with pid [41519]
[gazebo-1] [GUI] [Msg].
[gazebo-1] [Msg] Resource paths published on [/gazebo/resource_paths].
[gazebo-1] [Msg] Server control service on [/server_control].
[gazebo-1] [Msg] Found no publishers on /stats, adding root stats topic
[gazebo-1] [Msg] Found no publishers on /clock, adding root clock topic
[gazebo-1] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 2
[gazebo-1] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0)
[gazebo-1] [Dbg] [SystemManager.cc:77] Loaded system [gz_ros2_control::GazeboSimROS2ControlPlugin] for entity [10]
[gazebo-1] [Dbg] [UserCommands.cc:1311] Created entity [10] named [mycobot_280]
[gazebo-1] [Msg] Serving scene information on [/world/default/scene/info]
[gazebo-1] [Msg] Serving graph information on [/world/default/scene/graph]
[gazebo-1] [Msg] Serving full state on [/world/default/state]
[gazebo-1] [Msg] Serving full state (async) on [/world/default/state_async]
[gazebo-1] [Msg] Publishing scene information on [/world/default/scene/info]
[gazebo-1] [Msg] Publishing entity deletions on [/world/default/scene/deletion]
[gazebo-1] [Msg] Publishing state changes on [/world/default/state]
[gazebo-1] [Msg] Publishing pose messages on [/world/default/pose/info]
[gazebo-1] [Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info]
[gazebo-1] [Dbg] [EntityComponentManager.cc:1655] Updated state thread iterators: 16 threads processing around 5 entities each.
[gazebo-1] [Dbg] [SimulationRunner.cc:578] Exiting postupdate worker thread (0)
[gazebo-1] [Dbg] [SimulationRunner.cc:551] Creating PostUpdate worker threads: 3
[gazebo-1] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (0)
[gazebo-1] [Dbg] [SimulationRunner.cc:562] Creating postupdate worker thread (1)
[gazebo-1] [INFO] [1731061488.108497211] [controller_manager]: Loading controller : 'grip_controller' of type 'joint_trajectory_controller/JointTrajectoryController'
[gazebo-1] [INFO] [1731061488.108541124] [controller_manager]: Loading controller 'grip_controller'
[gazebo-1] [INFO] [1731061488.108748845] [controller_manager]: Controller 'grip_controller' node arguments: --ros-args --params-file /home/yangzy/Documents/ros2_ws/install/mycobot_gazebo/share/mycobot_gazebo/config/mycobot_280_controllers.yaml --ros-args --remap /controller_manager/robot_description:=/robot_description --param use_sim_time:=true
[ros2-6] Successfully loaded controller grip_controller
[gazebo-1] [INFO] [1731061488.133335634] [controller_manager]: Configuring controller: 'grip_controller'
[gazebo-1] [INFO] [1731061488.133803215] [grip_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gazebo-1] [INFO] [1731061488.133869801] [grip_controller]: Command interfaces are [position] and state interfaces are [position].
[gazebo-1] [INFO] [1731061488.133900278] [grip_controller]: Using 'splines' interpolation method.
[gazebo-1] [INFO] [1731061488.136489324] [grip_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2-6] Successfully loaded controller grip_controller into state inactive
[INFO] [ros2-6]: process has finished cleanly [pid 41519]
[INFO] [ros2-7]: process started with pid [41536]
[ros2-7] [INFO] [1731061489.409561021] [_ros2cli_41536]: waiting for service /controller_manager/list_controllers to become available...
[gazebo-1] [INFO] [1731061489.912273473] [controller_manager]: Loading controller : 'grip_action_controller' of type 'position_controllers/GripperActionController'
[gazebo-1] [INFO] [1731061489.912326443] [controller_manager]: Loading controller 'grip_action_controller'
[gazebo-1] [INFO] [1731061489.914302324] [controller_manager]: Controller 'grip_action_controller' node arguments: --ros-args --params-file /home/yangzy/Documents/ros2_ws/install/mycobot_gazebo/share/mycobot_gazebo/config/mycobot_280_controllers.yaml --ros-args --remap /controller_manager/robot_description:=/robot_description --param use_sim_time:=true
[gazebo-1] [WARN] [1731061489.928853882] [grip_action_controller]: [Deprecated]: theposition_controllers/GripperActionControllerandeffort_controllers::GripperActionControllercontrollers are replaced by 'parallel_gripper_controllers/GripperActionController' controller
[ros2-7] Successfully loaded controller grip_action_controller
[gazebo-1] [INFO] [1731061489.936316147] [controller_manager]: Configuring controller: 'grip_action_controller'
[gazebo-1] [INFO] [1731061489.936613397] [grip_action_controller]: Action status changes will be monitored at 20Hz.
[gazebo-1] [INFO] [1731061489.945689151] [controller_manager]: Activating controllers: [ grip_action_controller ]
[ros2-7] Successfully loaded controller grip_action_controller into state active
[INFO] [ros2-7]: process has finished cleanly [pid 41536]
[INFO] [launch]: All log files can be found below /home/yangzy/.ros/log/2024-11-08-18-25-00-358087-yangzy-Lenovo-XiaoXin-15ALC-2021-41618
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [41621]
[INFO] [rviz2-2]: process started with pid [41622]
[move_group-1] [INFO] [1731061500.759735207] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1731061500.759974307] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'mycobot_280'...
[move_group-1] [INFO] [1731061500.763624402] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
[move_group-1] [INFO] [1731061500.763930148] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'gripper': 1
[move_group-1] [INFO] [1731061500.764102352] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm_with_gripper': 1 1 1 1 1 1 1
[move_group-1] [INFO] [1731061500.790783076] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1731061500.791138826] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1731061500.792172513] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1731061500.793768599] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1731061500.793914093] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-1] [INFO] [1731061500.794193880] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1731061500.795263645] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1731061500.795593877] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1731061500.797440746] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1731061500.797560571] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1731061500.798978893] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1731061500.800083223] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1731061500.800537138] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1731061500.800574217] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[move_group-1] what(): expected [string_array] got [string]
[rviz2-2] [INFO] [1731061501.456895829] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1731061501.456967444] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1731061501.476257367] [rviz2]: Stereo is NOT SUPPORTED
[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 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [INFO] [1731061501.758972124] [moveit_173862688.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-2] [INFO] [1731061501.759107379] [moveit_173862688.moveit.core.robot_model]: Loading robot model 'mycobot_280'...
[ERROR] [move_group-1]: process has died [pid 41621, exit code -6, cmd '/opt/ros/jazzy/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_b9ph1_g9 --params-file /tmp/launch_params_mz8evy46 --params-file /tmp/launch_params_h4rh8ljd'].
[rviz2-2] [ERROR] [1731061505.843026139] [moveit_173862688.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1731061505.865512512] [moveit_173862688.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1731061505.933304891] [moveit_173862688.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
[rviz2-2] [INFO] [1731061505.933449202] [moveit_173862688.moveit.core.robot_model]: Loading robot model 'mycobot_280'...
[rviz2-2] [INFO] [1731061505.942835431] [moveit_173862688.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
[rviz2-2] [INFO] [1731061505.943718875] [moveit_173862688.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'gripper': 1
[rviz2-2] [INFO] [1731061505.944575068] [moveit_173862688.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm_with_gripper': 1 1 1 1 1 1 1
[rviz2-2] [INFO] [1731061506.028730256] [moveit_173862688.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1731061506.031953798] [moveit_173862688.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1731061506.039148459] [moveit_173862688.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1731061506.043029108] [moveit_173862688.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1731061506.066823455] [interactive_marker_display_93849388114928]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1731061506.115495460] [interactive_marker_display_93849388114928]: Sending request for interactive markers
[rviz2-2] [INFO] [1731061506.147447472] [interactive_marker_display_93849388114928]: Service response received for initialization
[rviz2-2] [INFO] [1731061511.042387533] [moveit_173862688.moveit.ros.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1731061511.082149856] [moveit_173862688.moveit.ros.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-2] [INFO] [1731061511.082270954] [moveit_173862688.moveit.ros.motion_planning_frame]: group arm
[rviz2-2] [INFO] [1731061511.082282466] [moveit_173862688.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-2] [INFO] [1731061571.111517823] [moveit_173862688.moveit.ros.move_group_interface]: Ready to take commands for planning group arm. -
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