高兴早了,编译成功但是tm没有install文件夹!!!!
起猛了!!! 忘了ros1的source是
source devel/setup.bash
高兴早了,编译成功但是tm没有install文件夹!!!!
起猛了!!! 忘了ros1的source是
source devel/setup.bash
顺带贴一下chatgpt的说明:
xhost + && sudo docker run -it --rm -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/snd -e DISPLAY=unix$DISPLAY -v pwd:pwd -w pwd fishros2/openrave
这个命令用于在Docker容器中启动一个OpenRAVE环境。让我逐步解释每个部分的含义:
xhost +:该命令允许X服务器接受来自任何主机的连接。这是为了确保Docker容器可以连接到主机的图形界面。
sudo docker run:这是docker命令的一部分,用于运行一个新的容器。
-it:这个选项允许您与容器进行交互,同时保持标准输入输出通道打开。
--rm:这个选项告诉Docker在容器停止后自动删除它,以防止容器文件堆积。
-v /tmp/.X11-unix:/tmp/.X11-unix:这个选项将主机的X11 UNIX套接字目录映射到容器的相同目录,以便容器可以连接到主机的X服务器。
--device /dev/snd:这个选项将主机的音频设备映射到容器,使容器能够访问主机的音频。
-e DISPLAY=unix$DISPLAY:这个选项将主机的Display环境变量传递给容器,以便容器可以将GUI显示到主机的屏幕上。
-v pwd:pwd``:这个选项将当前工作目录挂载到容器的相同目录中,以便容器可以访问主机上的文件。
-w pwd``:这个选项将容器的工作目录设置为当前工作目录。
fishros2/openrave:这是Docker镜像的名称,其中包含了OpenRAVE环境。
通过执行这个命令,您将能够在Docker容器中运行OpenRAVE,同时能够在主机上查看和控制OpenRAVE的图形界面。
所以在exit退出镜像之后,容器就没了,之前的工作也没了,所以最好是去掉-rm的命令,方便下次再进来不用再配置
鱼哥的镜像没有问题,不过在catkin_make之前需要添加依赖
可以从 readme.ch.md 文件知道需要执行如下基本环境配置,最好都使用sudo,不然执行命令端口会被拒绝:
sudo apt update
sudo apt install python3-pip
sudo pip3 install elirobots transforms3d pytest rosdepc
sudo rosdepc init
sudo rosdepc update
开始安装依赖:
rosdepc install --from-path src --ignore-src -y -r
直接出错
从出错可以看到需要安装的依赖,将所有的中间指令安装包找到,大概是以下几个包缺了,走一遍安装即可
sudo apt-get install -y ros-noetic-pcl-conversions
sudo apt-get install -y ros-noetic-joint-trajectory-controller
sudo apt-get install -y ros-noetic-moveit-visual-tools
sudo apt-get install -y ros-noetic-rviz-visual-tools
sudo apt-get install -y ros-noetic-pcl-ros
安装之后就可以catkin_make了,补贴一个成功的图
@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
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: