move_group is failing during plan execution #313
Description
my setup:
ubuntu 24.04
ros2 jazzy
description :
move_group fails with this message
[move_group-7] Fatal glibc error: malloc.c:2599 (sysmalloc): assertion failed: (old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0)
after a fresh install of [ros2_kortex](https://github.com/Kinovarobotics/ros2_kortex/tree/main)
i ran
ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true
all started ok
and when i give a goal pose with the gui and press plan+execute the move_group fails
this is the full terminal output
[INFO] [launch]: All log files can be found below /home/rotem/.ros/log/2025-11-04-10-55-56-920080-2507-022-1416115 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [1416128] [INFO] [robot_state_publisher-2]: process started with pid [1416129] [INFO] [spawner-3]: process started with pid [1416130] [INFO] [spawner-4]: process started with pid [1416131] [INFO] [spawner-5]: process started with pid [1416132] [INFO] [spawner-6]: process started with pid [1416133] [INFO] [move_group-7]: process started with pid [1416134] [INFO] [static_transform_publisher-8]: process started with pid [1416135] [static_transform_publisher-8] [INFO] [1762246557.030371622] [static_transform_publisher]: Spinning until stopped - publishing transform [static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-8] from 'world' to 'base_link' [robot_state_publisher-2] [INFO] [1762246557.035763235] [robot_state_publisher]: Robot initialized [ros2_control_node-1] [INFO] [1762246557.041642209] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles. [ros2_control_node-1] [INFO] [1762246557.044686683] [controller_manager]: Subscribing to '/robot_description' topic for robot description. [ros2_control_node-1] [INFO] [1762246557.046536627] [controller_manager]: update rate is 1000 Hz [ros2_control_node-1] [INFO] [1762246557.046552208] [controller_manager]: Overruns handling is : enabled [ros2_control_node-1] [INFO] [1762246557.046558743] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50 [ros2_control_node-1] [INFO] [1762246557.046605711] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50. [ros2_control_node-1] [INFO] [1762246557.047142350] [controller_manager]: Received robot description from topic. [ros2_control_node-1] [INFO] [1762246557.049577075] [controller_manager]: Loading hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.049993769] [controller_manager]: Loaded hardware 'KortexMultiInterfaceHardware' from plugin 'mock_components/GenericSystem' [ros2_control_node-1] [INFO] [1762246557.050035491] [controller_manager]: Initialize hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.051248394] [controller_manager]: Successful initialization of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.051362235] [controller_manager]: Loading hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.051374862] [controller_manager]: Loaded hardware 'RobotiqGripperHardwareInterface' from plugin 'mock_components/GenericSystem' [ros2_control_node-1] [INFO] [1762246557.051394783] [controller_manager]: Initialize hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052525922] [controller_manager]: Successful initialization of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052605886] [resource_manager]: 'configure' hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052610767] [resource_manager]: Successful 'configure' of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052614866] [resource_manager]: 'activate' hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052618650] [resource_manager]: Successful 'activate' of hardware 'RobotiqGripperHardwareInterface' [ros2_control_node-1] [INFO] [1762246557.052637311] [resource_manager]: 'configure' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.052639818] [resource_manager]: Successful 'configure' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.052643588] [resource_manager]: 'activate' hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.052645613] [resource_manager]: Successful 'activate' of hardware 'KortexMultiInterfaceHardware' [ros2_control_node-1] [INFO] [1762246557.052657270] [controller_manager]: Registering statistics for : RobotiqGripperHardwareInterface [ros2_control_node-1] [INFO] [1762246557.052691544] [controller_manager]: Registering statistics for : KortexMultiInterfaceHardware [ros2_control_node-1] [INFO] [1762246557.052720455] [controller_manager]: Resource Manager has been successfully initialized. Starting Controller Manager services... [move_group-7] [INFO] [1762246557.059821909] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00294369 seconds [move_group-7] [INFO] [1762246557.059878908] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'gen3'... [move_group-7] [INFO] [1762246557.059889950] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-1] [INFO] [1762246557.060816175] [controller_manager]: Received robot description from topic. [ros2_control_node-1] [WARN] [1762246557.060833406] [controller_manager]: ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description. [move_group-7] [INFO] [1762246557.113681148] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1 [ros2_control_node-1] [INFO] [1762246557.260100468] [controller_manager]: Loading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' [ros2_control_node-1] [INFO] [1762246557.260129151] [controller_manager]: Loading controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1762246557.262899115] [controller_manager]: Controller 'joint_state_broadcaster' node arguments: --ros-args --params-file /home/rotem/data_collection/install/kinova_gen3_7dof_robotiq_2f_85_moveit_config/share/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml [spawner-3] [INFO] [1762246557.271321962] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1762246557.281864455] [controller_manager]: Configuring controller: 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1762246557.281943885] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ros2_control_node-1] [INFO] [1762246557.296833670] [controller_manager]: Activating controllers: [ joint_state_broadcaster ] [ros2_control_node-1] [INFO] [1762246557.297099584] [controller_manager]: Successfully switched controllers! [spawner-3] [INFO] [1762246557.298608360] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [move_group-7] [INFO] [1762246557.312055096] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-7] [INFO] [1762246557.312139802] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-7] [INFO] [1762246557.312326202] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-7] [INFO] [1762246557.312484928] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects [move_group-7] [INFO] [1762246557.312490623] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher. [move_group-7] [INFO] [1762246557.312838568] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. [move_group-7] [INFO] [1762246557.313230600] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-7] [INFO] [1762246557.313270559] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor [move_group-7] [INFO] [1762246557.313537695] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene' [move_group-7] [INFO] [1762246557.313543125] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-7] [INFO] [1762246557.313658073] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object' [move_group-7] [INFO] [1762246557.313780896] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-7] [WARN] [1762246557.314189103] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-7] [ERROR] [1762246557.314197251] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [move_group-7] [INFO] [1762246557.374228183] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL' [move_group-7] [INFO] [1762246557.375187640] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-7] [INFO] [1762246557.375645878] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-7] [INFO] [1762246557.375651921] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-7] [INFO] [1762246557.375726885] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-7] [INFO] [1762246557.375730345] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-7] [INFO] [1762246557.375739282] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-7] [INFO] [1762246557.375741571] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-7] [INFO] [1762246557.375746244] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-7] [INFO] [1762246557.376653157] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-7] [INFO] [1762246557.377629994] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' [move_group-7] [INFO] [1762246557.377636373] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-7] [INFO] [1762246557.378096127] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-7] [INFO] [1762246557.378101816] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-7] [INFO] [1762246557.378306122] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-7] [INFO] [1762246557.380516857] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-7] [INFO] [1762246557.381998975] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-7] [INFO] [1762246557.382009555] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC [move_group-7] [INFO] [1762246557.382633566] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC] [move_group-7] [INFO] [1762246557.382641297] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN [move_group-7] [INFO] [1762246557.383053425] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN] [move_group-7] [INFO] [1762246557.383059634] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP [move_group-7] [INFO] [1762246557.383452355] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP] [move_group-7] [INFO] [1762246557.383460089] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner' [move_group-7] [INFO] [1762246557.384385459] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-7] [INFO] [1762246557.384471066] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' [move_group-7] [INFO] [1762246557.384475618] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-7] [INFO] [1762246557.384536146] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' [move_group-7] [INFO] [1762246557.384539330] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-7] [INFO] [1762246557.384546142] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' [move_group-7] [INFO] [1762246557.384548112] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-7] [INFO] [1762246557.384553054] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' [move_group-7] [INFO] [1762246557.385457879] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' [move_group-7] [INFO] [1762246557.385726687] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' [move_group-7] [INFO] [1762246557.385732606] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-7] [INFO] [1762246557.385929552] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' [move_group-7] [INFO] [1762246557.395003641] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller [move_group-7] [INFO] [1762246557.395024218] [move_group.moveit.moveit.plugins.simple_controller_manager]: robotiq_gripper_controller will command a max effort of: 0 [move_group-7] [INFO] [1762246557.395402387] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added GripperCommand controller for robotiq_gripper_controller [move_group-7] [INFO] [1762246557.395488864] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246557.395500918] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246557.395575729] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-7] [INFO] [1762246557.395582402] [move_group]: MoveGroup debug mode is ON [move_group-7] [INFO] [1762246557.403753795] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action [move_group-7] [INFO] [1762246557.405013104] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-7] [INFO] [1762246557.405110079] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning [move_group-7] [INFO] [1762246557.405836481] [move_group.moveit.moveit.ros.move_group.executable]: [move_group-7] [move_group-7] ******************************************************** [move_group-7] * MoveGroup using: [move_group-7] * - apply_planning_scene_service [move_group-7] * - clear_octomap_service [move_group-7] * - get_group_urdf [move_group-7] * - load_geometry_from_file [move_group-7] * - CartesianPathService [move_group-7] * - execute_trajectory_action [move_group-7] * - get_planning_scene_service [move_group-7] * - kinematics_service [move_group-7] * - move_action [move_group-7] * - motion_plan_service [move_group-7] * - query_planners_service [move_group-7] * - state_validation_service [move_group-7] * - save_geometry_to_file [move_group-7] * - SequenceAction [move_group-7] * - SequenceService [move_group-7] ******************************************************** [move_group-7] [move_group-7] [INFO] [1762246557.405858342] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl [move_group-7] [INFO] [1762246557.405863985] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete [move_group-7] Loading 'move_group/ApplyPlanningSceneService'... [move_group-7] Loading 'move_group/ClearOctomapService'... [move_group-7] Loading 'move_group/GetUrdfService'... [move_group-7] Loading 'move_group/LoadGeometryFromFileService'... [move_group-7] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-7] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-7] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-7] Loading 'move_group/MoveGroupKinematicsService'... [move_group-7] Loading 'move_group/MoveGroupMoveAction'... [move_group-7] Loading 'move_group/MoveGroupPlanService'... [move_group-7] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-7] Loading 'move_group/MoveGroupStateValidationService'... [move_group-7] Loading 'move_group/SaveGeometryToFileService'... [move_group-7] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'... [move_group-7] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... [move_group-7] [move_group-7] You can start planning now! [move_group-7] [INFO] [spawner-3]: process has finished cleanly [pid 1416130] [INFO] [rviz2-9]: process started with pid [1416365] [ros2_control_node-1] [INFO] [1762246557.591179007] [controller_manager]: Loading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' [ros2_control_node-1] [INFO] [1762246557.591210644] [controller_manager]: Loading controller 'joint_trajectory_controller' [ros2_control_node-1] [INFO] [1762246557.592739061] [controller_manager]: Controller 'joint_trajectory_controller' node arguments: --ros-args --params-file /home/rotem/data_collection/install/kinova_gen3_7dof_robotiq_2f_85_moveit_config/share/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml [spawner-4] [INFO] [1762246557.602918557] [spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-1] [INFO] [1762246557.603213410] [controller_manager]: Configuring controller: 'joint_trajectory_controller' [ros2_control_node-1] [INFO] [1762246557.603311559] [joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-1] [INFO] [1762246557.603326417] [joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1762246557.603339131] [joint_trajectory_controller]: Using 'splines' interpolation method. [ros2_control_node-1] [INFO] [1762246557.603963821] [joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-1] [INFO] [1762246557.606387096] [controller_manager]: Activating controllers: [ joint_trajectory_controller ] [ros2_control_node-1] [INFO] [1762246557.606899246] [controller_manager]: Successfully switched controllers! [spawner-4] [INFO] [1762246557.608367723] [spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [ros2_control_node-1] [WARN] [1762246557.690153114] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 1000 Hz. The loop took 1.380530 ms (missed cycles : 2). [INFO] [spawner-4]: process has finished cleanly [pid 1416131] [ros2_control_node-1] [INFO] [1762246557.985177934] [controller_manager]: Loading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' [ros2_control_node-1] [INFO] [1762246557.985244065] [controller_manager]: Loading controller 'robotiq_gripper_controller' [ros2_control_node-1] [INFO] [1762246557.986132651] [controller_manager]: Controller 'robotiq_gripper_controller' node arguments: --ros-args --params-file /home/rotem/data_collection/install/kinova_gen3_7dof_robotiq_2f_85_moveit_config/share/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml [ros2_control_node-1] [WARN] [1762246557.987955116] [robotiq_gripper_controller]: [Deprecated]: the position_controllers/GripperActionControllerandeffort_controllers::GripperActionControllercontrollers are replaced by 'parallel_gripper_controllers/GripperActionController' controller [spawner-6] [INFO] [1762246557.994135116] [spawner_robotiq_gripper_controller]: Loaded robotiq_gripper_controller [ros2_control_node-1] [INFO] [1762246557.994682752] [controller_manager]: Configuring controller: 'robotiq_gripper_controller' [ros2_control_node-1] [INFO] [1762246557.994745191] [robotiq_gripper_controller]: Action status changes will be monitored at 20.000000 Hz. [ros2_control_node-1] [INFO] [1762246557.995556606] [controller_manager]: Activating controllers: [ robotiq_gripper_controller ] [ros2_control_node-1] [INFO] [1762246557.996362378] [controller_manager]: Successfully switched controllers! [spawner-6] [INFO] [1762246557.997286506] [spawner_robotiq_gripper_controller]: Configured and activated robotiq_gripper_controller [rviz2-9] [INFO] [1762246558.094337409] [rviz2]: Stereo is NOT SUPPORTED [rviz2-9] [INFO] [1762246558.094382950] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-9] [INFO] [1762246558.185379921] [rviz2]: Stereo is NOT SUPPORTED [rviz2-9] 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. [rviz2-9] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp [rviz2-9] [WARN] [1762246558.227977869] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_moveit'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_moveit' 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. [INFO] [spawner-6]: process has finished cleanly [pid 1416133] [ros2_control_node-1] [INFO] [1762246558.320339207] [controller_manager]: Loading controller : 'twist_controller' of type 'picknik_twist_controller/PicknikTwistController' [ros2_control_node-1] [INFO] [1762246558.320368900] [controller_manager]: Loading controller 'twist_controller' [ros2_control_node-1] [INFO] [1762246558.322041910] [controller_manager]: Controller 'twist_controller' node arguments: --ros-args --params-file /home/rotem/data_collection/install/kinova_gen3_7dof_robotiq_2f_85_moveit_config/share/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml [spawner-5] [INFO] [1762246558.329932057] [spawner_twist_controller]: Loaded twist_controller [ros2_control_node-1] [INFO] [1762246558.340935863] [controller_manager]: Configuring controller: 'twist_controller' [ros2_control_node-1] [INFO] [1762246558.341634699] [twist_controller]: configure successful [INFO] [spawner-5]: process has finished cleanly [pid 1416132] [rviz2-9] [ERROR] [1762246561.237417939] [rviz2_moveit.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-9] [INFO] [1762246561.247849663] [rviz2_moveit.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-9] [INFO] [1762246561.296514480] [rviz2_moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00267534 seconds [rviz2-9] [INFO] [1762246561.296565166] [rviz2_moveit.moveit.core.robot_model]: Loading robot model 'gen3'... [rviz2-9] [INFO] [1762246561.296576316] [rviz2_moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-9] [INFO] [1762246561.363562653] [rviz2_moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'manipulator': 1 1 1 1 1 1 1 [rviz2-9] [INFO] [1762246561.511548614] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor [rviz2-9] [INFO] [1762246561.512009996] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-9] [INFO] [1762246561.620945387] [interactive_marker_display_95650393906352]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-9] [INFO] [1762246561.622540528] [rviz2_moveit.moveit.ros.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-9] [INFO] [1762246561.622840087] [rviz2_moveit.moveit.ros.robot_interaction]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace. [rviz2-9] [INFO] [1762246561.625262093] [rviz2_moveit.moveit.ros.motion_planning_frame]: group gripper [rviz2-9] [INFO] [1762246561.625272849] [rviz2_moveit.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'gripper' in namespace '' [rviz2-9] [INFO] [1762246561.626411331] [interactive_marker_display_95650393906352]: Sending request for interactive markers [rviz2-9] [INFO] [1762246561.628167213] [rviz2_moveit.moveit.ros.move_group_interface]: Ready to take commands for planning group gripper. [rviz2-9] [INFO] [1762246561.628454707] [rviz2_moveit.moveit.ros.motion_planning_frame]: group gripper [rviz2-9] [INFO] [1762246561.659684500] [interactive_marker_display_95650393906352]: Service response received for initialization [rviz2-9] [INFO] [1762246585.062600913] [rviz2_moveit.moveit.ros.motion_planning_frame]: group manipulator [rviz2-9] [INFO] [1762246585.062625996] [rviz2_moveit.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [rviz2-9] [INFO] [1762246585.065386101] [rviz2_moveit.moveit.ros.move_group_interface]: Ready to take commands for planning group manipulator. [move_group-7] [INFO] [1762246598.167301261] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request [move_group-7] [INFO] [1762246598.167546517] [move_group.moveit.moveit.ros.move_group.move_action]: executing.. [rviz2-9] [INFO] [1762246598.167572160] [rviz2_moveit.moveit.ros.move_group_interface]: Plan and Execute request accepted [move_group-7] [INFO] [1762246598.167853865] [move_group.moveit.moveit.ros.move_group.move_action]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-7] [INFO] [1762246598.167945063] [move_group.moveit.moveit.ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-7] [INFO] [1762246598.167974937] [move_group.moveit.moveit.ros.move_group.capability]: Using planning pipeline 'ompl' [move_group-7] [INFO] [1762246598.168109217] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames' [move_group-7] [INFO] [1762246598.168144678] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds' [move_group-7] [INFO] [1762246598.168168452] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds' [move_group-7] [INFO] [1762246598.168203267] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision' [move_group-7] [INFO] [1762246598.168824089] [move_group.moveit.moveit.planners.ompl.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-7] [INFO] [1762246598.168937786] [move_group]: Calling Planner 'OMPL' [move_group-7] [INFO] [1762246598.173065968] [move_group]: Calling PlanningResponseAdapter 'AddTimeOptimalParameterization' [move_group-7] [INFO] [1762246598.177964083] [move_group]: Calling PlanningResponseAdapter 'ValidateSolution' [move_group-7] [INFO] [1762246598.178827550] [move_group]: Calling PlanningResponseAdapter 'DisplayMotionPath' [move_group-7] [WARN] [1762246598.179198174] [move_group.moveit.moveit.ros.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. [move_group-7] [INFO] [1762246598.179323240] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246598.179336544] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246598.179388962] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 [move_group-7] [INFO] [1762246598.179847858] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Starting trajectory execution ... [move_group-7] [INFO] [1762246598.179883764] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246598.179898438] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list [move_group-7] [INFO] [1762246598.180014464] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to joint_trajectory_controller [ros2_control_node-1] [INFO] [1762246598.180536673] [joint_trajectory_controller]: Received new action goal [ros2_control_node-1] [INFO] [1762246598.180567804] [joint_trajectory_controller]: Accepted new action goal [move_group-7] [INFO] [1762246598.180805741] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: joint_trajectory_controller started execution [move_group-7] [INFO] [1762246598.180814499] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! [move_group-7] Fatal glibc error: malloc.c:2599 (sysmalloc): assertion failed: (old_top == initial_top (av) && old_size == 0) || ((unsigned long) (old_size) >= MINSIZE && prev_inuse (old_top) && ((unsigned long) old_end & (pagesize - 1)) == 0) [ros2_control_node-1] [INFO] [1762246609.343806190] [joint_trajectory_controller]: Goal reached, success! [move_group-7] [WARN] [1762246610.961323992] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out [move_group-7] [ERROR] [1762246610.961352935] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 12.780405 seconds). Stopping trajectory. [move_group-7] [INFO] [1762246610.961399470] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for joint_trajectory_controller