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小鱼 ROS 2 新书上线！点击链接查看， 新书配套视频点击链接查看。
提问前必看的发帖注意事项—— 提问前必看！不符合要求的问题拒绝回答！！
社区使用指南—如何添加标签修改密码
运行moveit2_tutorials教程demo节点出现Warning: class_loader.impl: SEVERE WARNING!!!
-
运行moveit2_tutorials教程demo节点：
ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=false报警告与错误：
[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] [ERROR] [1670549739.565361399] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available完整的终端输出如下：
lm@lm-X550JK:~$ cd ws_moveit2 lm@lm-X550JK:ws_moveit2$ ls build install log rosgraph.png src ws_moveit2_humble_src.zip lm@lm-X550JK:ws_moveit2$ source install/setup.bash lm@lm-X550JK:ws_moveit2$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=false [INFO] [launch]: All log files can be found below /home/lm/.ros/log/2022-12-09-09-35-34-123090-lm-X550JK-57870 [INFO] [launch]: Default logging verbosity is set to INFO Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead. [INFO] [rviz2-1]: process started with pid [57871] [INFO] [static_transform_publisher-2]: process started with pid [57873] [INFO] [robot_state_publisher-3]: process started with pid [57875] [INFO] [move_group-4]: process started with pid [57877] [INFO] [ros2_control_node-5]: process started with pid [57879] [INFO] [spawner-6]: process started with pid [57881] [INFO] [spawner-7]: process started with pid [57883] [INFO] [spawner-8]: process started with pid [57885] [static_transform_publisher-2] [WARN] [1670549734.839363878] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-2] [INFO] [1670549734.934530307] [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' [robot_state_publisher-3] Link panda_link1 had 1 children [robot_state_publisher-3] Link panda_link2 had 1 children [robot_state_publisher-3] Link panda_link3 had 1 children [robot_state_publisher-3] Link panda_link4 had 1 children [robot_state_publisher-3] Link panda_link5 had 1 children [robot_state_publisher-3] Link panda_link6 had 1 children [robot_state_publisher-3] Link panda_link7 had 1 children [robot_state_publisher-3] Link panda_link8 had 1 children [robot_state_publisher-3] Link panda_hand had 2 children [robot_state_publisher-3] Link panda_leftfinger had 0 children [robot_state_publisher-3] Link panda_rightfinger had 0 children [robot_state_publisher-3] [INFO] [1670549734.952186968] [robot_state_publisher]: got segment panda_hand [robot_state_publisher-3] [INFO] [1670549734.952398203] [robot_state_publisher]: got segment panda_leftfinger [robot_state_publisher-3] [INFO] [1670549734.952429634] [robot_state_publisher]: got segment panda_link0 [robot_state_publisher-3] [INFO] [1670549734.952443314] [robot_state_publisher]: got segment panda_link1 [robot_state_publisher-3] [INFO] [1670549734.952454746] [robot_state_publisher]: got segment panda_link2 [robot_state_publisher-3] [INFO] [1670549734.952464662] [robot_state_publisher]: got segment panda_link3 [robot_state_publisher-3] [INFO] [1670549734.952474277] [robot_state_publisher]: got segment panda_link4 [robot_state_publisher-3] [INFO] [1670549734.952483049] [robot_state_publisher]: got segment panda_link5 [robot_state_publisher-3] [INFO] [1670549734.952492236] [robot_state_publisher]: got segment panda_link6 [robot_state_publisher-3] [INFO] [1670549734.952501734] [robot_state_publisher]: got segment panda_link7 [robot_state_publisher-3] [INFO] [1670549734.952510965] [robot_state_publisher]: got segment panda_link8 [robot_state_publisher-3] [INFO] [1670549734.952520258] [robot_state_publisher]: got segment panda_rightfinger [rviz2-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [ros2_control_node-5] [INFO] [1670549735.003179315] [resource_manager]: Loading hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.005801072] [resource_manager]: Initialize hardware 'PandaFakeSystem' [ros2_control_node-5] [WARN] [1670549735.005874385] [mock_generic_system]: Parsing of optional initial interface values failed or uses a deprecated format. Add initial values for every state interface in the ros2_control.xacro. For example: [ros2_control_node-5] <state_interface name="velocity"> [ros2_control_node-5] <param name="initial_value">0.0</param> [ros2_control_node-5] </state_interface> [ros2_control_node-5] [INFO] [1670549735.005895110] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.005930334] [resource_manager]: Loading hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.005950280] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.005967885] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006849717] [resource_manager]: 'configure' hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006877267] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006890652] [resource_manager]: 'activate' hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006898386] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006905041] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006911024] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006918825] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.006924815] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem' [ros2_control_node-5] [INFO] [1670549735.019234800] [controller_manager]: update rate is 100 Hz [move_group-4] [INFO] [1670549735.091358167] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0126925 seconds [move_group-4] [INFO] [1670549735.091754435] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [move_group-4] Link panda_link1 had 1 children [move_group-4] Link panda_link2 had 1 children [move_group-4] Link panda_link3 had 1 children [move_group-4] Link panda_link4 had 1 children [move_group-4] Link panda_link5 had 1 children [move_group-4] Link panda_link6 had 1 children [move_group-4] Link panda_link7 had 1 children [move_group-4] Link panda_link8 had 1 children [move_group-4] Link panda_hand had 2 children [move_group-4] Link panda_leftfinger had 0 children [move_group-4] Link panda_rightfinger had 0 children [move_group-4] [INFO] [1670549735.228734272] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-4] [INFO] [1670549735.228949825] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-4] [INFO] [1670549735.231483362] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-4] [INFO] [1670549735.232681983] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-4] [INFO] [1670549735.232719568] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-4] [INFO] [1670549735.233207680] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' [move_group-4] [INFO] [1670549735.233232415] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-4] [INFO] [1670549735.233787578] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-4] [INFO] [1670549735.235265022] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-4] [WARN] [1670549735.238403275] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-4] [ERROR] [1670549735.238439031] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-4] [INFO] [1670549735.241545766] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-4] [INFO] [1670549735.311953555] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-4] [INFO] [1670549735.334796992] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1670549735.335405083] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-4] [INFO] [1670549735.335431633] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-4] [INFO] [1670549735.335499012] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-4] [INFO] [1670549735.335530936] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-4] [INFO] [1670549735.335542181] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1670549735.335564875] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-4] [INFO] [1670549735.335574924] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000 [move_group-4] [INFO] [1670549735.335614332] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-4] [INFO] [1670549735.335639600] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-4] [INFO] [1670549735.335651071] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-4] [INFO] [1670549735.335657604] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-4] [INFO] [1670549735.335663403] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-4] [INFO] [1670549735.335670041] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-4] [INFO] [1670549735.335677117] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-4] [INFO] [1670549735.461345277] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller [move_group-4] [INFO] [1670549735.461490163] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0 [move_group-4] [INFO] [1670549735.465945292] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller [move_group-4] [INFO] [1670549735.470499730] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-4] [INFO] [1670549735.470701059] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list [move_group-4] [INFO] [1670549735.473431012] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-4] [INFO] [1670549735.473472380] [move_group.move_group]: MoveGroup debug mode is ON [move_group-4] [INFO] [1670549735.546567464] [move_group.move_group]: [move_group-4] [move_group-4] ******************************************************** [move_group-4] * MoveGroup using: [move_group-4] * - ApplyPlanningSceneService [move_group-4] * - ClearOctomapService [move_group-4] * - CartesianPathService [move_group-4] * - ExecuteTrajectoryAction [move_group-4] * - GetPlanningSceneService [move_group-4] * - KinematicsService [move_group-4] * - MoveAction [move_group-4] * - MotionPlanService [move_group-4] * - QueryPlannersService [move_group-4] * - StateValidationService [move_group-4] ******************************************************** [move_group-4] [move_group-4] [INFO] [1670549735.546635517] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-4] [INFO] [1670549735.546651077] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... [move_group-4] Loading 'move_group/ClearOctomapService'... [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... [move_group-4] Loading 'move_group/MoveGroupMoveAction'... [move_group-4] Loading 'move_group/MoveGroupPlanService'... [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... [move_group-4] [move_group-4] You can start planning now! [move_group-4] [ros2_control_node-5] [INFO] [1670549735.605577499] [controller_manager]: Loading controller 'panda_hand_controller' [spawner-6] [INFO] [1670549735.616395038] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-8] [INFO] [1670549735.669175737] [spawner_panda_hand_controller]: Loaded panda_hand_controller [ros2_control_node-5] [INFO] [1670549735.671934484] [controller_manager]: Configuring controller 'panda_hand_controller' [ros2_control_node-5] [INFO] [1670549735.672324776] [panda_hand_controller]: Action status changes will be monitored at 20Hz. [spawner-8] [INFO] [1670549735.702941526] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller [ros2_control_node-5] [INFO] [1670549735.804557580] [controller_manager]: Loading controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1670549735.852762217] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [INFO] [spawner-8]: process has finished cleanly [pid 57885] [rviz2-1] [INFO] [1670549735.865223746] [rviz2]: Stereo is NOT SUPPORTED [rviz2-1] [INFO] [1670549735.865621657] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [spawner-7] [INFO] [1670549735.879707771] [spawner_panda_arm_controller]: Loaded panda_arm_controller [ros2_control_node-5] [INFO] [1670549735.881443970] [controller_manager]: Configuring controller 'panda_arm_controller' [ros2_control_node-5] [INFO] [1670549735.882136352] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-5] [INFO] [1670549735.882414136] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-5] [INFO] [1670549735.882586411] [joint_trajectory_controller.interpolation_methods]: No interpolation method parameter was given. Using the default, VARIABLE_DEGREE_SPLINE. [ros2_control_node-5] [INFO] [1670549735.882605652] [panda_arm_controller]: Using 'splines' interpolation method. [ros2_control_node-5] [INFO] [1670549735.886479657] [panda_arm_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-5] [INFO] [1670549735.888858128] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz. [spawner-7] [INFO] [1670549735.911398808] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller [rviz2-1] [INFO] [1670549735.913482885] [rviz2]: Stereo is NOT SUPPORTED [ros2_control_node-5] [INFO] [1670549735.999803685] [controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-6] [INFO] [1670549736.031407233] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-5] [INFO] [1670549736.033447118] [controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-5] [INFO] [1670549736.033631362] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-6] [INFO] [1670549736.063562494] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [INFO] [spawner-7]: process has finished cleanly [pid 57883] [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 [rviz2-1] [INFO] [1670549736.195685672] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00607367 seconds [rviz2-1] [INFO] [1670549736.195775877] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [INFO] [spawner-6]: process has finished cleanly [pid 57881] [rviz2-1] [ERROR] [1670549739.565361399] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] [INFO] [1670549739.583445964] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1670549739.641503759] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0039069 seconds [rviz2-1] [INFO] [1670549739.641554756] [moveit_robot_model.robot_model]: Loading robot model 'panda'... [rviz2-1] Link panda_link1 had 1 children [rviz2-1] Link panda_link2 had 1 children [rviz2-1] Link panda_link3 had 1 children [rviz2-1] Link panda_link4 had 1 children [rviz2-1] Link panda_link5 had 1 children [rviz2-1] Link panda_link6 had 1 children [rviz2-1] Link panda_link7 had 1 children [rviz2-1] Link panda_link8 had 1 children [rviz2-1] Link panda_hand had 2 children [rviz2-1] Link panda_leftfinger had 0 children [rviz2-1] Link panda_rightfinger had 0 children [rviz2-1] [INFO] [1670549739.772498256] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1670549739.773277999] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1670549739.816073803] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1670549739.816913591] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1670549739.841433711] [interactive_marker_display_94085485375248]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] Link panda_link1 had 1 children [rviz2-1] Link panda_link2 had 1 children [rviz2-1] Link panda_link3 had 1 children [rviz2-1] Link panda_link4 had 1 children [rviz2-1] Link panda_link5 had 1 children [rviz2-1] Link panda_link6 had 1 children [rviz2-1] Link panda_link7 had 1 children [rviz2-1] Link panda_link8 had 1 children [rviz2-1] Link panda_hand had 2 children [rviz2-1] Link panda_leftfinger had 0 children [rviz2-1] Link panda_rightfinger had 0 children [rviz2-1] [INFO] [1670549739.861909786] [moveit_ros_visualization.motion_planning_frame]: group panda_arm [rviz2-1] [INFO] [1670549739.862074165] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [rviz2-1] [INFO] [1670549739.902097002] [move_group_interface]: Ready to take commands for planning group panda_arm. [rviz2-1] [INFO] [1670549739.918028596] [interactive_marker_display_94085485375248]: Sending request for interactive markers [rviz2-1] [INFO] [1670549739.951107734] [interactive_marker_display_94085485375248]: Service response received for initialization环境说明：
ubuntu22.04、ros2-humble、moveit2-humble
初步分析：- 那个SEVERE WARNING只有在rviz添加MotionPlanning面板时才会出现。
- 有的时候加载MotionPlanning面板的Ompl会失败，找不到。
- 程序运行正常，规划、执行、程序调用库都很正常，就是不清除这两个问题到底会影响哪里？强迫症看到警告很不舒服，这个问题导致后面所有的与Impl库相关的程序都会报警告
- 按照警告的说法，是命名空间冲突，但我没有找到
-
8 894993476 将这个主题转为问答主题，在
-
@894993476 在 运行moveit2_tutorials教程demo节点出现Warning: class_loader.impl: SEVERE WARNING!!! 中说：
ERROR] [1670549739.565361399] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
看信息Error就这一个,另外一个Waing可能是因为插件重复造成的,可以将rviz的插件配置文件中去掉MotionPlanning看看.
小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/ -
@小鱼 如果去掉就是不加载MotionPlanning，也就是
ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true但是接下来要显示模型，还得把MotionPlanning加进来，还是报一样的警告
