ifra-cranfield / ros2_robotsimulation Goto Github PK

ROS2.0 Foxy and Humble repositories which provide ready-to-use ROS2.0 Gazebo + MoveIt!2 simulation packages for different Industrial and Collaborative Robots.

License: Apache License 2.0

CMake 4.83% Python 64.53% C++ 30.64%

automation collaborative-robots flexible-automation gazebo industrial-robots intelligent-automation moveit2 research robotics ros2

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ros2_robotsimulation's Issues

Error during compilation of ros2_grasping package

Description:
I have encountered a problem while attempting to build my ROS 2 workspace using the colcon build command. The build process fails with an error during the compilation of the ros2_grasping package. Here is the error message:

user@user:~/dev_ws$ colcon build
Starting >>> ros2_data
Starting >>> camera_description
Starting >>> robot_description
Starting >>> camera_behavior
Starting >>> cr35ia_ros2_gazebo
Starting >>> iiwa_ros2_gazebo
Starting >>> irb1200_ros2_gazebo
Starting >>> irb120_ros2_gazebo
Finished <<< cr35ia_ros2_gazebo [3.08s]                        
Starting >>> irb6640_ros2_gazebo
Finished <<< irb120_ros2_gazebo [3.09s]                        
Starting >>> panda_ros2_gazebo
Finished <<< iiwa_ros2_gazebo [3.12s]
Finished <<< irb1200_ros2_gazebo [3.12s]
Starting >>> pose_estimation
Starting >>> robot_behavior
Finished <<< camera_description [4.50s]                           
Finished <<< camera_behavior [4.50s]                              
Finished <<< robot_description [4.51s]
Starting >>> ros2_execution
Starting >>> ros2_grasping
Starting >>> ur10_ros2_gazebo
Finished <<< irb6640_ros2_gazebo [1.71s]                          
Starting >>> ur3_ros2_gazebo
Finished <<< panda_ros2_gazebo [1.73s]
Starting >>> ur5_ros2_gazebo
Finished <<< ros2_execution [2.10s]                               
Finished <<< ur10_ros2_gazebo [2.10s]
Starting >>> environment_setup
Finished <<< ur5_ros2_gazebo [1.81s]
Finished <<< pose_estimation [3.98s]                               
Finished <<< robot_behavior [3.99s]
Finished <<< ur3_ros2_gazebo [2.36s]
Finished <<< environment_setup [2.33s]                              
--- stderr: ros2_grasping                                                                           
/usr/bin/ld: /usr/local/lib/libpython3.10.a(ast_opt.o): warning: relocation against `PyExc_RecursionError' in read-only section `.text'
/usr/bin/ld: /usr/local/lib/libpython3.10.a(longobject.o): relocation R_X86_64_PC32 against symbol `PyExc_OverflowError' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/ros2_grasping__rosidl_generator_py.dir/build.make:112: rosidl_generator_py/ros2_grasping/libros2_grasping__rosidl_generator_py.so] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:475: CMakeFiles/ros2_grasping__rosidl_generator_py.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ros2_grasping [11.0s, exited with code 2]
Aborted  <<< ros2_data [25.9s]                                   

Summary: 16 packages finished [26.5s]
  1 package failed: ros2_grasping
  1 package aborted: ros2_data
  2 packages had stderr output: ros2_data ros2_grasping
  10 packages not processed
user@user:~/dev_ws$

Additional Information:

This issue occurs consistently on my system.
I have tried reinstalling ROS 2 Humble and Python, but the issue persists.
I have successfully used this repository on another laptop without encountering this problem.

Environment:

Operating System: Ubuntu 22.04.4 LTS
ROS 2 Distribution: ROS 2 Humble
Python Version: 3.10.12

I would appreciate any guidance or suggestions on how to resolve this issue. Thank you for your assistance.

Robot and motion planning not appearing in Rviz

When using the command "ros2 launch irb120_ros2_moveit2 irb120_interface.launch.py" that triggers the gazebo + moveit + actions, the robot doesn't appear in the rviz that is also launched. In the gazebo simulation everything is ok, but in rviz only the TF Trees appear and i can't do any motion planning of the robot. Is there a way for the robot to appear and do the planning in Rviz?

Thank you for your time

Colcon build Error 1 package failed: ros2_actions

I tried to clone branch humble and following your introduction, but when I built my workspace, I got the following error, even I added the move_group_interface_improved.h in /opt/ros/humble/include/moveit/move_group_interface.

--- stderr: ros2_actions
/usr/bin/ld: CMakeFiles/moveL_action.dir/scripts/moveL_action.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)':
moveL_action.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN9ros2_data6action5MoveLEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN9ros2_data6action5MoveLEEEE]+0x55e): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit_msgs::msg::RobotTrajectory_<std::allocator<void> > const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/moveL_action.dir/build.make:364: moveL_action] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:261: CMakeFiles/moveL_action.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ros2_actions [0.92s, exited with code 2]

Thanks for your support

file not found, Please input the PROGRAM FILENAME correctly as a ROS2 parameter in the Ubuntu Terminal

When I run the ros2_execution code command, terminal displays "file not found, Please input the PROGRAM FILENAME correctly as a ROS2 parameter in the Ubuntu Terminal". But I have put the code file in the specified "programs" folder.

Stuck at "waiting for MoveJ action server..."

🐳 user/ros2_foxy_desktop/~/Projects/dev_ws $ ros2 run ros2_execution ros2_execution.py --ros-args -p PROGRAM_FILENAME:="cubePP" -p ROBOT_MODEL:="irb120" -p EE_MODEL:="schunk"

--- Cranfield University ---
(c) IFRA Group

ros2_RobotSimulation --> SEQUENCE EXECUTION
Python script -> ros2_execution.py

[INFO] [1709237997.941264838] [ros2_program_param]: PROGRAM_FILENAME ROS2 Parameter received: cubePP
[INFO] [1709237997.951131662] [ros2_robot_param]: ROBOT_MODEL ROS2 Parameter received: irb120
[INFO] [1709237997.960076382] [ros2_ee_param]: EE_MODEL ROS2 Parameter received: schunk

Waiting for MoveJ action server to be available...

@IFRA-Cranfield @seemalasif @MikelBueno @benkyd

Generate Parameter Library error in ROS2: FOXY

While building the pkg, I am getting an error related to Generate Parameter Library.

I have cloned a pkg for Generate Parameter Library from (https://github.com/PickNikRobotics/generate_parameter_library) in ros2setup.

After that, I am getting an error related to rsl-config. For more details, screenshot is attached.

Can anyone give any direction w.r.t to this error.

Thank you

ERROR: Loader for controller 'panda_handleft_controller' (type 'position_controllers/GripperActionController') not found.

Hello,

When I do ros2 launch panda_ros2_moveit2 panda_interface.launch.py I see the following errors popup in the terminal:

[gzserver-1] [INFO] [1708910705.012805987] [controller_manager]: Loading controller 'panda_handleft_controller'
[gzserver-1] [ERROR] [1708910705.012848238] [controller_manager]: Loader for controller 'panda_handleft_controller' (type 'position_controllers/GripperActionController') not found.
[spawner-8] [FATAL] [1708910705.013261781] [spawner_panda_handleft_controller]: Failed loading controller panda_handleft_controller
[ERROR] [spawner-8]: process has died [pid 856, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handleft_controller -c /controller_manager --ros-args'].
[INFO] [spawner-9]: process started with pid [873]
[gzserver-1] [INFO] [1708910705.845959457] [controller_manager]: Loading controller 'panda_handright_controller'
[gzserver-1] [ERROR] [1708910705.846000115] [controller_manager]: Loader for controller 'panda_handright_controller' (type 'position_controllers/GripperActionController') not found.
[spawner-9] [FATAL] [1708910705.846419773] [spawner_panda_handright_controller]: Failed loading controller panda_handright_controller
[ERROR] [spawner-9]: process has died [pid 873, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handright_controller -c /controller_manager --ros-args'].

Also, when I try to send a goal to the /MoveG action it always fails. What I understand from this is that the gripper controllers are missing hence I cannot move the gripper.

How can I resolve this issue?

CONTROLLER MANAGER NOT AVAILABLE

I did all the installations properly and all the controller packages are present but i am getting this error as controller manager is not available and also some error in Loading parameter files panda_controller.yaml
" an error string (message, file name, or formatted message) will be truncated
[gzserver-1] [ERROR] [1712762426.399338901] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ? "

but the same files when my friends are running in their system , there is no such error

The terminal log is :

ros2 launch panda_ros2_moveit2 panda_interface.launch.py
[INFO] [launch]: All log files can be found below /home/chytra/.ros/log/2024-04-10-20-50-15-816998-chytra-30077
[INFO] [launch]: Default logging verbosity is set to INFO

--- Cranfield University ---
(c) IFRA Group

ros2_RobotSimulation --> PANDA ROBOT
Launch file -> panda_interface.launch.py

Robot configuration:

Cell layout:
- Option N1: PANDA ROBOT alone.
- Option N2: PANDA ROBOT on top of a pedestal.
  Please select: 1
End-effector:
- No EE variants for this robot.
  [INFO] [gzserver-1]: process started with pid [30078]
  [INFO] [gzclient-2]: process started with pid [30080]
  [INFO] [spawn_entity.py-3]: process started with pid [30082]
  [INFO] [static_transform_publisher-4]: process started with pid [30084]
  [INFO] [robot_state_publisher-5]: process started with pid [30086]
  [static_transform_publisher-4] [WARN] [1712762422.478853131] []: Old-style arguments are deprecated; see --help for new-style arguments
  [static_transform_publisher-4] [INFO] [1712762422.517003713] [static_transform_publisher]: Spinning until stopped - publishing transform
  [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
  [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
  [static_transform_publisher-4] from 'world' to 'base_link'
  [robot_state_publisher-5] [INFO] [1712762422.559233237] [robot_state_publisher]: got segment end_effector_frame
  [robot_state_publisher-5] [INFO] [1712762422.559639404] [robot_state_publisher]: got segment panda_hand
  [robot_state_publisher-5] [INFO] [1712762422.559688412] [robot_state_publisher]: got segment panda_leftfinger
  [robot_state_publisher-5] [INFO] [1712762422.559720011] [robot_state_publisher]: got segment panda_link0
  [robot_state_publisher-5] [INFO] [1712762422.559747348] [robot_state_publisher]: got segment panda_link1
  [robot_state_publisher-5] [INFO] [1712762422.559773791] [robot_state_publisher]: got segment panda_link2
  [robot_state_publisher-5] [INFO] [1712762422.559800464] [robot_state_publisher]: got segment panda_link3
  [robot_state_publisher-5] [INFO] [1712762422.559826760] [robot_state_publisher]: got segment panda_link4
  [robot_state_publisher-5] [INFO] [1712762422.559852680] [robot_state_publisher]: got segment panda_link5
  [robot_state_publisher-5] [INFO] [1712762422.559879619] [robot_state_publisher]: got segment panda_link6
  [robot_state_publisher-5] [INFO] [1712762422.559905156] [robot_state_publisher]: got segment panda_link7
  [robot_state_publisher-5] [INFO] [1712762422.559930500] [robot_state_publisher]: got segment panda_link8
  [robot_state_publisher-5] [INFO] [1712762422.559956524] [robot_state_publisher]: got segment panda_rightfinger
  [robot_state_publisher-5] [INFO] [1712762422.559983152] [robot_state_publisher]: got segment world
  [spawn_entity.py-3] [INFO] [1712762423.663336869] [spawn_entity]: Spawn Entity started
  [spawn_entity.py-3] [INFO] [1712762423.664368659] [spawn_entity]: Loading entity published on topic robot_description
  [spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
  [spawn_entity.py-3] warnings.warn(
  [spawn_entity.py-3] [INFO] [1712762423.669789230] [spawn_entity]: Waiting for entity xml on robot_description
  [spawn_entity.py-3] [INFO] [1712762423.682461718] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
  [spawn_entity.py-3] [INFO] [1712762423.683465258] [spawn_entity]: Waiting for service /spawn_entity
  [gzserver-1] [WARN] [1712762425.645150010] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
  [gzserver-1] [WARN] [1712762425.645884793] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
  [gzserver-1] [INFO] [1712762425.669927246] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
  [gzserver-1] [INFO] [1712762425.671777571] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
  [spawn_entity.py-3] [INFO] [1712762425.696032370] [spawn_entity]: Calling service /spawn_entity
  [spawn_entity.py-3] [INFO] [1712762426.265439714] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [panda]
  [gzserver-1] [INFO] [1712762426.371852073] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
  [gzserver-1] [INFO] [1712762426.383758528] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
  [gzserver-1] [INFO] [1712762426.383949624] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
  [gzserver-1] [INFO] [1712762426.394198297] [gazebo_ros2_control]: connected to service!! robot_state_publisher
  [gzserver-1] [INFO] [1712762426.396132022] [gazebo_ros2_control]: Received urdf from param server, parsing...
  [gzserver-1] [INFO] [1712762426.396355166] [gazebo_ros2_control]: Loading parameter files /home/chytra/dev_ws/install/panda_ros2_gazebo/share/panda_ros2_gazebo/config/panda_controller.yaml
  [gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
  [gzserver-1] [ERROR] [1712762426.399338901] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=transmission_interface/SimpleTransmissionhardware_interface/PositionJointInterface1transmission_interface/SimpleTransmissionhardware_interface/PositionJointInterface1</transmissi, at ./src/rcl/arguments.c:343
  [gzserver-1]
  [INFO] [spawn_entity.py-3]: process has finished cleanly [pid 30082]
  [INFO] [spawner-6]: process started with pid [30238]
  [spawner-6] [INFO] [1712762429.989689920] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
  [spawner-6] [INFO] [1712762432.010950208] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
  [spawner-6] [INFO] [1712762434.030649837] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
  [spawner-6] [INFO] [1712762436.052943414] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
  [spawner-6] [ERROR] [1712762438.073568862] [spawner_joint_state_broadcaster]: Controller manager not available
  [ERROR] [spawner-6]: process has died [pid 30238, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
  [INFO] [spawner-7]: process started with pid [30288]
  [spawner-7] [INFO] [1712762441.936157430] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
  [spawner-7] [INFO] [1712762443.955729383] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
  [spawner-7] [INFO] [1712762445.979329911] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
  [spawner-7] [INFO] [1712762448.001306249] [spawner_panda_arm_controller]: Waiting for '/controller_manager' node to exist
  [spawner-7] [ERROR] [1712762450.021742045] [spawner_panda_arm_controller]: Controller manager not available
  [ERROR] [spawner-7]: process has died [pid 30288, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_arm_controller -c /controller_manager --ros-args'].
  [INFO] [spawner-8]: process started with pid [30329]
  [spawner-8] [INFO] [1712762453.554101046] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist
  [spawner-8] [INFO] [1712762455.573604561] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist
  [spawner-8] [INFO] [1712762457.594105775] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist
  [spawner-8] [INFO] [1712762459.614263799] [spawner_panda_handleft_controller]: Waiting for '/controller_manager' node to exist
  [spawner-8] [ERROR] [1712762461.636650464] [spawner_panda_handleft_controller]: Controller manager not available
  [ERROR] [spawner-8]: process has died [pid 30329, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handleft_controller -c /controller_manager --ros-args'].
  [INFO] [spawner-9]: process started with pid [30371]
  [spawner-9] [INFO] [1712762465.244838456] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist
  [spawner-9] [INFO] [1712762467.270624642] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist
  [spawner-9] [INFO] [1712762469.293777957] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist
  [spawner-9] [INFO] [1712762471.315332582] [spawner_panda_handright_controller]: Waiting for '/controller_manager' node to exist
  [spawner-9] [ERROR] [1712762473.336833637] [spawner_panda_handright_controller]: Controller manager not available
  [ERROR] [spawner-9]: process has died [pid 30371, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner panda_handright_controller -c /controller_manager --ros-args'].
  [INFO] [moveJs_action-10]: process started with pid [30422]
  [ERROR] [moveJs_action-10]: process has died [pid 30422, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveJs_action --ros-args -r __node:=moveJs_action --params-file /tmp/launch_params_cnzlvory --params-file /tmp/launch_params_vg7z7r5z --params-file /tmp/launch_params_injx5idf --params-file /tmp/launch_params_yfiuqqtx --params-file /tmp/launch_params_39tw1u91'].
  [INFO] [moveG_action-11]: process started with pid [30424]
  [ERROR] [moveG_action-11]: process has died [pid 30424, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveG_action --ros-args -r __node:=moveG_action --params-file /tmp/launch_params_98e24b_q --params-file /tmp/launch_params_zz6y2x6j --params-file /tmp/launch_params_fo721929 --params-file /tmp/launch_params_p9_0ctv7 --params-file /tmp/launch_params_99f7y28b'].
  [INFO] [moveL_action-12]: process started with pid [30426]
  [ERROR] [moveL_action-12]: process has died [pid 30426, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveL_action --ros-args -r _node:=moveL_action --params-file /tmp/launch_params_cf861v5u --params-file /tmp/launch_params_qhi7g7zi --params-file /tmp/launch_params_qesb5kje --params-file /tmp/launch_params_pjbeg5s7 --params-file /tmp/launch_params_dhl6t1t'].
  [INFO] [moveRs_action-13]: process started with pid [30428]
  [ERROR] [moveRs_action-13]: process has died [pid 30428, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRs_action --ros-args -r __node:=moveRs_action --params-file /tmp/launch_params_0xpmwvnn --params-file /tmp/launch_params_ycy7_o6r --params-file /tmp/launch_params_oowt1mbp --params-file /tmp/launch_params_lcphfjzj --params-file /tmp/launch_params_ukfup4dq'].
  [INFO] [moveXYZ_action-14]: process started with pid [30430]
  [ERROR] [moveXYZ_action-14]: process has died [pid 30430, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZ_action --ros-args -r __node:=moveXYZ_action --params-file /tmp/launch_params_a48ju8p3 --params-file /tmp/launch_params_phfizuus --params-file /tmp/launch_params_4mjl30oo --params-file /tmp/launch_params_0gw7ghri --params-file /tmp/launch_params_e383iqzc'].
  [INFO] [moveXYZW_action-15]: process started with pid [30432]
  [ERROR] [moveXYZW_action-15]: process has died [pid 30432, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZW_action --ros-args -r __node:=moveXYZW_action --params-file /tmp/launch_params_7ivyzydo --params-file /tmp/launch_params_agw5gj2t --params-file /tmp/launch_params_ob70g6yd --params-file /tmp/launch_params_5cfjjtma --params-file /tmp/launch_params_q3lr_a7o'].
  [INFO] [moveYPR_action-16]: process started with pid [30434]
  [ERROR] [moveYPR_action-16]: process has died [pid 30434, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveYPR_action --ros-args -r __node:=moveYPR_action --params-file /tmp/launch_params_kuxbihi6 --params-file /tmp/launch_params_8cg5yx9w --params-file /tmp/launch_params_fz8jiwt6 --params-file /tmp/launch_params_9pr9wyjz --params-file /tmp/launch_params_sc0zqcbu'].
  [INFO] [moveROT_action-17]: process started with pid [30436]
  [ERROR] [moveROT_action-17]: process has died [pid 30436, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveROT_action --ros-args -r __node:=moveROT_action --params-file /tmp/launch_params_h94yd1lk --params-file /tmp/launch_params_9s7h5bmi --params-file /tmp/launch_params_dyt1u58l --params-file /tmp/launch_params_b86_qbtz --params-file /tmp/launch_params_d7ocwqct'].
  [INFO] [moveRP_action-18]: process started with pid [30438]
  [ERROR] [moveRP_action-18]: process has died [pid 30438, exit code 127, cmd '/home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRP_action --ros-args -r __node:=moveRP_action --params-file /tmp/launch_params_ywn58f50 --params-file /tmp/launch_params_jrxgbjr9 --params-file /tmp/launch_params_gyr0jfph --params-file /tmp/launch_params_zesxmfll --params-file /tmp/launch_params_6cks045n'].
  [INFO] [attacher_action.py-19]: process started with pid [30440]
  [moveJs_action-10] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveJs_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveG_action-11] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveG_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveL_action-12] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveL_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveRs_action-13] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRs_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveXYZ_action-14] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZ_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveXYZW_action-15] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveXYZW_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveYPR_action-16] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveYPR_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveROT_action-17] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveROT_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [moveRP_action-18] /home/chytra/dev_ws/install/ros2_actions/lib/ros2_actions/moveRP_action: error while loading shared libraries: libmoveit_move_group_interface.so.2.5.4: cannot open shared object file: No such file or directory
  [INFO] [rviz2-20]: process started with pid [30461]
  [INFO] [move_group-21]: process started with pid [30463]

rclcpp::exceptions::ParameterNotDeclaredException what(): ROB_PARAM

Hi, I'm building a simulation environment using your package. it has following issues.
When I launch ros2 launch irb1200_ros2_moveit2 irb1200_interface.launch.py or ros2 launch irb1200_ros2_moveit2 irb1200.launch.py, and then run the moveJ_action in ros2_action package, it shows

Then I look into ros2_RobotTrigger class, I think it is just for getting the planning group name such as "irb1200_arm" (I don't know if it is correct), then I directly give my_param the corresponding name

And then, there's an issue with move_group_interface = MoveGroupInterface(node2, my_param)

when I run my own package, it has the same issue
How could I solve this issue? Thanks a lot!

No module finding named 'ros2_data.ros2_data_s__rosidl_typesupport_c'

Hello IFRA team,

I wanted to experiment with your repository for leveraging the Gazebo & moveit setup for the panda robot that you have available in order to use it in some Reinforcement Learning experiments. I'm running Linux Ubuntu 20.04 LTS. I have followed the instructions you have on the .readme on how to install this package. I have clone your repository to the 'src' folder of my 'dev_ws'. However during running the I received the following error:

Command:

ros2 run ros2_execution ros2_execution.py --ros-args -p PROGRAM_FILENAME:="ur3irb120" -p ROBOT_MODEL:="panda" -p EE_MODEL:="panda_hand"

The following error:

--- Cranfield University --- 
        (c) IFRA Group        

ros2_RobotSimulation --> SEQUENCE EXECUTION
Python script -> ros2_execution.py

[INFO] [1690900711.519940725] [ros2_program_param]: PROGRAM_FILENAME ROS2 Parameter received: ur3irb120
[INFO] [1690900711.525283856] [ros2_robot_param]: ROBOT_MODEL ROS2 Parameter received: panda
[INFO] [1690900711.529714262] [ros2_ee_param]: EE_MODEL ROS2 Parameter received: panda_hand

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
    return importlib.import_module(module_name, package=pkg_name)
  File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 973, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'ros2_data.ros2_data_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/uk_roy/dev_ws/install/ros2_execution/lib/ros2_execution/ros2_execution.py", line 1251, in <module>
    main()
  File "/home/uk_roy/dev_ws/install/ros2_execution/lib/ros2_execution/ros2_execution.py", line 716, in main
    MoveJs_CLIENT = MoveJsclient()
  File "/home/uk_roy/dev_ws/install/ros2_execution/lib/ros2_execution/ros2_execution.py", line 117, in __init__
    self._action_client = ActionClient(self, MoveJs, 'MoveJs')
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 148, in __init__
    check_for_type_support(action_type)
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
    msg_type.__class__.__import_type_support__()
  File "/home/uk_roy/dev_ws/install/ros2_data/lib/python3.10/site-packages/ros2_data/action/_move_js.py", line 1191, in __import_type_support__
    module = import_type_support('ros2_data')
  File "/opt/ros/foxy/lib/python3.8/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
    raise UnsupportedTypeSupport(pkg_name)
rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'ros2_data'
Exception ignored in: <function ActionClient.__del__ at 0x7f4971b40f70>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 605, in __del__
    self.destroy()
  File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/action/client.py", line 596, in destroy
    if self._client_handle is None:
AttributeError: 'ActionClient' object has no attribute '_client_handle'

How could I overcome this issue?
Thank you very much in advance for your valuable help!

Kind regards,
UK Roy

ros2_actions package build fails ( humble branch)

ros2_action Error message_part1.txt

No plan execution

Hi , I am trying to run this in ROS 2 humble, ubuntu 22.04.

When I execute ros2 launch ur5_ros2_moveit2 ur5.launch.py

I can't execute any trajectory basically because it says i have to define an acceleration limits in URDF or joint_limits.yaml

The partial output:
[rviz2-17] [INFO] [1681417475.035408610] [interactive_marker_display_94871693411616]: Service response received for initialization
[rviz2-17] [INFO] [1681417542.921162527] [move_group_interface]: MoveGroup action client/server ready
[move_group-18] [INFO] [1681417542.922056694] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-18] [INFO] [1681417542.922585385] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-18] [INFO] [1681417542.922800746] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-18] [INFO] [1681417542.922841654] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[rviz2-17] [INFO] [1681417542.922942098] [move_group_interface]: Planning request accepted
[move_group-18] [INFO] [1681417542.924870420] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur5_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-18] [ERROR] [1681417543.048884791] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint shoulder_pan_joint! You have to define acceleration limits in the URDF or joint_limits.yaml
[move_group-18] [WARN] [1681417543.048922632] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[move_group-18] [INFO] [1681417543.048977349] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-17] [INFO] [1681417543.049940292] [move_group_interface]: Planning request complete!
[rviz2-17] [INFO] [1681417543.049949352] [move_group_interface]: time taken to generate plan: 0.0304088 seconds
[move_group-18] [INFO] [1681417565.252176289] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-18] [INFO] [1681417565.252590660] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-18] [INFO] [1681417565.252799078] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-18] [INFO] [1681417565.252962096] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-18] [INFO] [1681417565.252993345] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[rviz2-17] [INFO] [1681417565.253123676] [move_group_interface]: Plan and Execute request accepted
[move_group-18] [INFO] [1681417565.253760401] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur5_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-18] [ERROR] [1681417565.400122973] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint shoulder_pan_joint! You have to define acceleration limits in the URDF or joint_limits.yaml
[move_group-18] [WARN] [1681417565.400148010] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[move_group-18] [INFO] [1681417565.400367426] [moveit_move_group_default_capabilities.move_action_capability]: Solution was found and executed.
[rviz2-17] [INFO] [1681417565.401689723] [move_group_interface]: Plan and Execute request complete!

I tried to define acceleration limits inside ur5_macro.urdf.xacro. but it does not work. Do you know any solution to this? Thanks.

Parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?><!--

Hello,
I use ROS2 Humble and Ubuntu 22.04
when I launch the command

ros2 launch ur5_ros2_gazebo ur5_simulation.launch.py
in Ur5
it appears some problems:

[INFO] [gzserver-1]: process started with pid [5614]
[INFO] [gzclient-2]: process started with pid [5616]
[INFO] [robot_state_publisher-3]: process started with pid [5618]
[INFO] [spawn_entity.py-4]: process started with pid [5620]
[robot_state_publisher-3] [INFO] [1712923532.810118853] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1712923532.810340681] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1712923532.810352110] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1712923532.810358526] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1712923532.810364314] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1712923532.810369916] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1712923532.810375465] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1712923532.810380643] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1712923532.810385881] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1712923532.810391029] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1712923532.810396193] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1712923532.810401315] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-4] [INFO] [1712923533.911442975] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1712923533.913471813] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1712923533.960035383] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1712923533.994776913] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1712923533.997400321] [spawn_entity]: Waiting for service /spawn_entity
[gzserver-1] [WARN] [1712923537.370481842] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1712923537.373542070] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[spawn_entity.py-4] [INFO] [1712923537.484490340] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1712923537.500010532] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1712923537.506940653] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
[gzclient-2]
[gzclient-2] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org
[spawn_entity.py-4] [INFO] [1712923538.582528169] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5]
[gzserver-1] [INFO] [1712923538.859627401] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1712923538.942705542] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1712923538.945238224] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 5620]
[gzserver-1] [INFO] [1712923538.961877048] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1712923539.002136141] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1712923539.002251677] [gazebo_ros2_control]: Loading parameter files /home/feet/ur_t/src/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml
[gzserver-1] [rcutils|error_handling.c:65] an error string (message, file name, or formatted message) will be truncated
[gzserver-1] [ERROR] [1712923539.005213626] [gazebo_ros2_control]: parser error Couldn't parse parameter override rule: '--param robot_description:=<!--
[gzserver-1]
[gzserver-1] # ===================================== COPYRIGHT ===================================== #
[gzserver-1] # #
[gzserver-1] # IFRA (Intelligent Flexible Robotics and Assembly) Group, CRANFIELD UNIVERSITY #
[gzserver-1] # Created on behalf of the IFRA Group at Cranfield University, United Kingdom #
[gzserver-1] # E-mail: [email protected] #
[gzserver-1] # #
[gzserver-1] # Licensed under the Apache-2.0 License. #
[gzserver-1] # You may not use this file except in c, at ./src/rcl/arguments.c:343
[gzserver-1]

i don't know how to fix it. Anyone else can help me?
thanks.

ros2_actions package colcon build failed

I'm using UBUNTU 22.04 Humble
I was following the steps in README, after i clone the code and execute colcon build, ros2_actions package failed.

--- stderr: ros2_actions
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveXYZW_action.dir/build.make:76: CMakeFiles/moveXYZW_action.dir/scripts/moveXYZW_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:235: CMakeFiles/moveXYZW_action.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveL_action.dir/build.make:76: CMakeFiles/moveL_action.dir/scripts/moveL_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:261: CMakeFiles/moveL_action.dir/all] Error 2
gmake[2]: *** [CMakeFiles/moveXYZ_action.dir/build.make:76: CMakeFiles/moveXYZ_action.dir/scripts/moveXYZ_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:339: CMakeFiles/moveXYZ_action.dir/all] Error 2
gmake[2]: *** [CMakeFiles/moveJs_action.dir/build.make:76: CMakeFiles/moveJs_action.dir/scripts/moveJs_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:183: CMakeFiles/moveJs_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveR_action.dir/build.make:76: CMakeFiles/moveR_action.dir/scripts/moveR_action.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/moveG_action.dir/build.make:76: CMakeFiles/moveG_action.dir/scripts/moveG_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:287: CMakeFiles/moveR_action.dir/all] Error 2
gmake[1]: *** [CMakeFiles/Makefile2:209: CMakeFiles/moveG_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveRs_action.dir/build.make:76: CMakeFiles/moveRs_action.dir/scripts/moveRs_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:313: CMakeFiles/moveRs_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveJ_action.dir/build.make:76: CMakeFiles/moveJ_action.dir/scripts/moveJ_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:157: CMakeFiles/moveJ_action.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ros2_actions [8.66s, exited with code 2]

Summary: 21 packages finished [9.85s]
  1 package failed: ros2_actions
  1 package had stderr output: ros2_actions

Do you know any solution to this? Thanks a lot.

<moveit/move_group_interface/move_group_interface_improved.h> does not exist.

Hello dear IFRA team,

I wanted to experiment with your repository for leveraging the Gazebo & moveit setup for the UR5 robot that you have available in order to use it in some Reinforcement Learning experiments. I m running Linux Ubuntu 22.04 LTS via WSL2 on Windows11 Pro. Both Windows11 Pro and Ubuntu 22.04 LTS are updated to their latest version. I have followed the instructions you have on the .readme on how to install ROS2 Humble & create my 'dev_ws'. I have clone your repository to the 'src' folder of my 'dev_ws'. However during building the workspace with your package using 'colcon build' command I received the following error:

Finished <<< ur5_ros2_moveit2 [5.08s]
--- stderr: ros2_actions
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:44:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
44 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[2]: * [CMakeFiles/moveRP_action.dir/build.make:76: CMakeFiles/moveRP_action.dir/scripts/moveRP_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:417: CMakeFiles/moveRP_action.dir/all] Error 2
gmake[1]: * Waiting for unfinished jobs....
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
compilation terminated.
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[2]: * [CMakeFiles/moveG_action.dir/build.make:76: CMakeFiles/moveG_action.dir/scripts/moveG_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:209: CMakeFiles/moveG_action.dir/all] Error 2
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[2]: * [CMakeFiles/moveYPR_action.dir/build.make:76: CMakeFiles/moveYPR_action.dir/scripts/moveYPR_action.cpp.o] Error 1
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[1]: * [CMakeFiles/Makefile2:365: CMakeFiles/moveYPR_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveJs_action.dir/build.make:76: CMakeFiles/moveJs_action.dir/scripts/moveJs_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:183: CMakeFiles/moveJs_action.dir/all] Error 2
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[2]: * [CMakeFiles/moveJ_action.dir/build.make:76: CMakeFiles/moveJ_action.dir/scripts/moveJ_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:157: CMakeFiles/moveJ_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveXYZ_action.dir/build.make:76: CMakeFiles/moveXYZ_action.dir/scripts/moveXYZ_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:339: CMakeFiles/moveXYZ_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveXYZW_action.dir/build.make:76: CMakeFiles/moveXYZW_action.dir/scripts/moveXYZW_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:235: CMakeFiles/moveXYZW_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveROT_action.dir/build.make:76: CMakeFiles/moveROT_action.dir/scripts/moveROT_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:391: CMakeFiles/moveROT_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveRs_action.dir/build.make:76: CMakeFiles/moveRs_action.dir/scripts/moveRs_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:313: CMakeFiles/moveRs_action.dir/all] Error 2
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
/home/cocp5/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
| ^
compilation terminated.
gmake[2]: * [CMakeFiles/moveL_action.dir/build.make:76: CMakeFiles/moveL_action.dir/scripts/moveL_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:261: CMakeFiles/moveL_action.dir/all] Error 2
gmake[2]: * [CMakeFiles/moveR_action.dir/build.make:76: CMakeFiles/moveR_action.dir/scripts/moveR_action.cpp.o] Error 1
gmake[1]: * [CMakeFiles/Makefile2:287: CMakeFiles/moveR_action.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< ros2_actions [16.1s, exited with code 2]

Summary: 21 packages finished [33.1s]
1 package failed: ros2_actions
1 package had stderr output: ros2_actions

I checked the relative moveit folder in the include folder of the ROS Humble, and the only file that was existing there was the 'move_group_interface.h'.

How could I overcome this issue?

I am always at your disposal for any queries you might have regarding my set up.

Thank you very much in advance for your valuable help!

Kind regards,

Christos Peridis

All launchs with triggers/action fails ( humble )

Here are the error messages for ros2 launch ur10_ros2_moveit2 ur10_interface.launch.py ( typical of all robots tried)

Testing log trigers actions.txt

Missing attribution?

Looking at files like irb120_ros2_gazebo/urdf/irb120_macro.urdf.xacro, I get the impression at least some of them came from ros-industrial/abb_experimental.

But I can't find any mention of that repository, the original packages, nor the original authors.

I only see a large copyright block mentioning Cranfield University.

If (some of) these files did in fact originate elsewhere, please respect the license(s).

It's all liberally licensed, but there are requirements, even if you had to modify (large) parts.

If I'm mistaken, then please /ignore.

edit: there is a link to wiki.ros.org/abb at the bottom of the readme in the acknowledgements section. That's not sufficient to comply with the license though.

Cant open UR5 in gazebo

i've got some problems when launch ur5 python file as below:

[INFO] [gzserver-1]: process started with pid [13068]
[INFO] [gzclient-2]: process started with pid [13070]
[INFO] [robot_state_publisher-3]: process started with pid [13072]
[INFO] [spawn_entity.py-4]: process started with pid [13074]
[robot_state_publisher-3] [INFO] [1709199250.369786213] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1709199250.369880450] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1709199250.369894281] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1709199250.369907135] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1709199250.369919011] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1709199250.369931096] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1709199250.369942902] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1709199250.369955336] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1709199250.369966793] [robot_state_publisher]: got segment ur_base
[robot_state_publisher-3] [INFO] [1709199250.369978669] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1709199250.369990195] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1709199250.370002071] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1709199250.370014436] [robot_state_publisher]: got segment wrist_3_link
1[spawn_entity.py-4] [INFO] [1709199250.632805290] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1709199250.633138578] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1709199250.634853568] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1709199250.636928810] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1709199250.637240792] [spawn_entity]: Waiting for service /spawn_entity

[spawn_entity.py-4] [INFO] [1709199251.642114909] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [WARN] [1709199251.646407211] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1709199251.646559360] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[gzserver-1] [INFO] [1709199251.650134089] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1709199251.650569159] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
[spawn_entity.py-4] [INFO] [1709199251.942624779] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5]
[gzserver-1] [INFO] [1709199251.995521717] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1709199251.997664724] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1709199251.997712227] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1709199251.997751137] [gazebo_ros2_control]: Loading parameter files /home/ducbin/ros2_ws/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml
[gzserver-1] [INFO] [1709199251.999677587] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1709199252.000140600] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] gzserver: symbol lookup error: /opt/ros/humble/lib/libgazebo_ros2_control.so: undefined symbol: _ZN18hardware_interface15ResourceManager9load_urdfERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEbb
[ERROR] [gzserver-1]: process has died [pid 13068, exit code 127, cmd 'gzserver /home/ducbin/ros2_ws/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/worlds/ur5.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 13074]
[INFO] [spawner-5]: process started with pid [13201]
[spawner-5] [INFO] [1709199255.263599458] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1709199257.277408953] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1709199259.291682388] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1709199261.305658608] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-5] [ERROR] [1709199263.316685762] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 13201, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].
[INFO] [spawner-6]: process started with pid [13251]
[spawner-6] [INFO] [1709199265.844843930] [spawner_ur5_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1709199267.859128377] [spawner_ur5_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1709199269.874343843] [spawner_ur5_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1709199271.888701095] [spawner_ur5_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [ERROR] [1709199273.902055980] [spawner_ur5_controller]: Controller manager not available
[ERROR] [spawner-6]: process has died [pid 13251, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner ur5_controller -c /controller_manager --ros-args'].
[ERROR] [gzclient-2]: process has died [pid 13070, exit code -11, cmd 'gzclient'].

All step before are normal. Tks for u guys help

Having problems with humble no plan execution

I have installed the pakages using the various humble branches for all of them.

Unfortunately after the plan has been made nothing is happening when i try to execute. I have the following messages. with
ros2 launch panda_ros2_moveit2 original.panda.launch.py

[move_group-11] [INFO] [1676858740.016299549] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-12] [INFO] [1676858740.016713319] [move_group_interface]: Planning request complete!
[rviz2-12] [INFO] [1676858740.052927755] [move_group_interface]: time taken to generate plan: 0.0168374 seconds
[move_group-11] [INFO] [1676858742.558244929] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-11] [INFO] [1676858742.558383129] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-11] [INFO] [1676858742.558423099] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list
[move_group-11] [INFO] [1676858742.558447790] [moveit.plugins.moveit_simple_controller_manager]: Returned 3 controllers in list
[move_group-11] [INFO] [1676858742.558531070] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-12] [INFO] [1676858742.558380164] [move_group_interface]: Execute request accepted
[move_group-11] [INFO] [1676858743.558678868] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[move_group-11] Check clock synchronization if your are running ROS across multiple machines!
[move_group-11] [WARN] [1676858743.558720377] [moveit_ros.trajectory_execution_manager]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[move_group-11] [INFO] [1676858743.558759820] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-12] [INFO] [1676858743.559199775] [move_group_interface]: Execute request aborted
[rviz2-12] [ERROR] [1676858743.659235852] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

I have made the changes proposed in that post moveit/moveit2#1480
but the i get a new problem
[rviz2-12] [INFO] [1676859524.497266606] [move_group_interface]: Planning request accepted
[move_group-11] [INFO] [1676859524.497296263] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-11] [WARN] [1676859525.598361714] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock
[move_group-11] [WARN] [1676859526.599494855] [moveit_ros.current_state_monitor]: No state update received within 100ms of system clock

with every possible launch that i have tried
ros2 launch panda_ros2_moveit2 panda.launch.py
ros2 launch panda_ros2_moveit2 modified.panda.launch.py
or simply
ros2 launch panda_ros2_gazebo panda.launch.py

I never have/ joint_states published when i am tryng to echo them
ros2 topic echo /joint_states

Command list

Hello, I am new here, can I have a list of commands to run this package? Thank you

error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(std::string)’ 61 | this->declare_parameter(std::string("ROB_PARAM"));

Im getting this after colcon build
can anyone help ?

--- stderr: ros2_actions                                 
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In constructor ‘ros2_RobotTrigger::ros2_RobotTrigger()’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:61:32: error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(std::string)’
   61 |         this->declare_parameter(std::string("ROB_PARAM"));
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:61:32: note:   candidate expects 4 arguments, 1 provided
   61 |         this->declare_parameter(std::string("ROB_PARAM"));
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:61:32: note:   couldn’t deduce template parameter ‘ParameterT’
   61 |         this->declare_parameter(std::string("ROB_PARAM"));
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, const rclcpp::ParameterValue&, const ParameterDescriptor&, bool)’
  366 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note:   candidate expects 4 arguments, 1 provided
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, rclcpp::ParameterType, const ParameterDescriptor&, bool)’
  391 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note:   candidate expects 4 arguments, 1 provided
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveG_Goal_<std::allocator<void> > >)’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In constructor ‘ros2_RobotTrigger::ros2_RobotTrigger()’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:61:32: error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(const char [10])’
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:61:32: note:   candidate expects 4 arguments, 1 provided
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:61:32: note:   couldn’t deduce template parameter ‘ParameterT’
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, const rclcpp::ParameterValue&, const ParameterDescriptor&, bool)’
  366 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note:   candidate expects 4 arguments, 1 provided
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, rclcpp::ParameterType, const ParameterDescriptor&, bool)’
  391 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note:   candidate expects 4 arguments, 1 provided
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJs_Goal_<std::allocator<void> > >)’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In constructor ‘ros2_RobotTrigger::ros2_RobotTrigger()’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:61:32: error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(const char [10])’
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool)’
  421 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:421:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:61:32: note:   candidate expects 4 arguments, 1 provided
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note: candidate: ‘template<class ParameterT> auto rclcpp::Node::declare_parameter(const string&, const ParameterDescriptor&, bool)’
  434 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:434:3: note:   template argument deduction/substitution failed:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:61:32: note:   couldn’t deduce template parameter ‘ParameterT’
   61 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:40:
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, const rclcpp::ParameterValue&, const ParameterDescriptor&, bool)’
  366 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:366:3: note:   candidate expects 4 arguments, 1 provided
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note: candidate: ‘const rclcpp::ParameterValue& rclcpp::Node::declare_parameter(const string&, rclcpp::ParameterType, const ParameterDescriptor&, bool)’
  391 |   declare_parameter(
      |   ^~~~~~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/node.hpp:391:3: note:   candidate expects 4 arguments, 1 provided
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJ_Goal_<std::allocator<void> > >)’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In constructor ‘ros2_RobotTrigger::ros2_RobotTrigger()’:
/home/mox/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:60:32: error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(const char [10])’
   60 |         this->declare_parameter("ROB_PARAM");
      |         ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~

README mistake in humble branch

Fix cycle time issues in humble-moveit (temporary fix):

sudo apt install ros-rolling-rmw-cyclonedds-cpp
Add into .bashrc file -> export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

I wonder is that should be :

sudo apt install ros-humble-rmw-cyclonedds-cpp

If i am wrong, please ignore me. :-p

Inquiry for implementation of customized webcam, Stereo ZED camera on robots for this simulator(Gazebo, MoveIt)

Hello, apart from previous issue I have suggested,
Is there a tutorial how can I add my customized end effector, camera onto this simulator? My plan is making or bringing end effector, camera by Solidworks, convert it onto URDF, and implement it on simulator. And it should perform as manipulator, camera on Gazebo environments. Does anybody know which process should I follow?

move_group_interface_EE’ was not declared in this scope

Hello,

I followed the tutorial step by step from ros2_RobotSimulation on Ubuntu 20.04 using ROS2 Foxy, installed all depedencies, imported the move_group_interface_improved.h and at the last command to build it gives the following error below. I Also tried the ros2_SimRealRobotControl on another system, with Ubuntu 22.04, ROS2 Humble, but had the same issue with MoveGroupInterface. How can I overcome this issue?

The command used (Step 8, Installation):

cd ~/dev_ws/src
git clone https://github.com/IFRA-Cranfield/ros2_RobotSimulation.git 
cd ~/dev_ws/
colcon build

The result:

/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:53:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   53 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:54:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   54 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRP_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJs_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:130:9: error: ‘move_group_interface’ was not declared in this scope
  130 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:152:9: error: ‘move_group_interface’ was not declared in this scope
  152 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:310:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  310 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:123:9: error: ‘move_group_interface’ was not declared in this scope
  123 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:55: error: ‘my_plan’ was not declared in this scope
  312 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  312 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveG_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:255:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  255 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveROT_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:51: error: ‘my_plan’ was not declared in this scope
  257 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  257 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZW_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:163:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  163 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:256:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  256 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:368:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  368 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveL_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:175:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  175 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:55: error: ‘my_plan’ was not declared in this scope
  258 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  258 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:122:9: error: ‘move_group_interface’ was not declared in this scope
  122 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:305:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  305 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:147:9: error: ‘move_group_interface’ was not declared in this scope
  147 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:51: error: ‘my_plan’ was not declared in this scope
  177 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  177 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:129:9: error: ‘move_group_interface’ was not declared in this scope
  129 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:3: error: ‘move_group_interface’ was not declared in this scope
  369 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:314:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  314 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:225:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  225 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:282:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  282 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:3: error: ‘move_group_interface’ was not declared in this scope
  306 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:55: error: ‘my_plan’ was not declared in this scope
  284 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  284 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:26: error: ‘MoveGroupInterface’ was not declared in this scope
  369 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:309:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
  309 |         } else if (LimitCheck == true && InputJoint == "Valid") {
      |                                                        ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:148:66: error: ‘move_group_interface’ was not declared in this scope
  148 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                                                  ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:151:9: error: ‘move_group_interface’ was not declared in this scope
  151 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:3: error: ‘move_group_interface’ was not declared in this scope
  315 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:3: error: ‘move_group_interface’ was not declared in this scope
  226 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:26: error: ‘MoveGroupInterface’ was not declared in this scope
  306 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:178:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  178 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:346:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  346 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:199:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  199 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:194:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  194 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:55: error: ‘my_plan’ was not declared in this scope
  180 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  180 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:51: error: ‘my_plan’ was not declared in this scope
  201 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  201 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:51: error: ‘my_plan’ was not declared in this scope
  196 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  196 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:26: error: ‘MoveGroupInterface’ was not declared in this scope
  315 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:26: error: ‘MoveGroupInterface’ was not declared in this scope
  226 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:189:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  189 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:162:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  162 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:148:9: error: ‘move_group_interface’ was not declared in this scope
  148 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:52: error: ‘my_plan’ was not declared in this scope
  190 |         bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                    ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:92: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  190 |         bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                            ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:201:31: error: ‘RobotTrajectory’ is not a member of ‘moveit_msgs::msg’
  201 |             moveit_msgs::msg::RobotTrajectory trajectory;
      |                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:3: error: ‘move_group_interface’ was not declared in this scope
  347 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  237 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:249:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  249 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:110: error: ‘trajectory’ was not declared in this scope; did you mean ‘trajectory_msgs’?
  204 |             double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
      |                                                                                                              ^~~~~~~~~~
      |                                                                                                              trajectory_msgs
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:206:102: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  206 |             bool success2 = (move_group_interface.execute(trajectory) == moveit::planning_interface::MoveItErrorCod ::SUCCESS);
      |                                                                                                      ^~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:244:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  244 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:20: warning: unused variable ‘fraction’ [-Wunused-variable]
  204 |             double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
      |                    ^~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:154:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  154 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:335:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  335 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:26: error: ‘MoveGroupInterface’ was not declared in this scope
  347 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:3: error: ‘move_group_interface’ was not declared in this scope
  250 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:55: error: ‘my_plan’ was not declared in this scope
  337 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  337 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:261:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  261 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:362:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
  362 |         } else if (LimitCheck == true && InputJoint == "Valid") {
      |                                                        ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:3: error: ‘move_group_interface’ was not declared in this scope
  245 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:26: error: ‘MoveGroupInterface’ was not declared in this scope
  250 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:399:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  399 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:3: error: ‘move_group_interface’ was not declared in this scope
  262 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:26: error: ‘MoveGroupInterface’ was not declared in this scope
  245 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveYPR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:3: error: ‘move_group_interface’ was not declared in this scope
  400 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:26: error: ‘MoveGroupInterface’ was not declared in this scope
  262 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:26: error: ‘MoveGroupInterface’ was not declared in this scope
  400 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:187:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  187 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:51: error: ‘my_plan’ was not declared in this scope
  189 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  189 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  237 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/moveJ_action.dir/build.make:63: CMakeFiles/moveJ_action.dir/scripts/moveJ_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:206: CMakeFiles/moveJ_action.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/moveXYZ_action.dir/build.make:63: CMakeFiles/moveXYZ_action.dir/scripts/moveXYZ_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:179: CMakeFiles/moveXYZ_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveRP_action.dir/build.make:63: CMakeFiles/moveRP_action.dir/scripts/moveRP_action.cpp.o] Error 1
make[2]: *** [CMakeFiles/moveR_action.dir/build.make:63: CMakeFiles/moveR_action.dir/scripts/moveR_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:233: CMakeFiles/moveRP_action.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:368: CMakeFiles/moveR_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveL_action.dir/build.make:63: CMakeFiles/moveL_action.dir/scripts/moveL_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:341: CMakeFiles/moveL_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveG_action.dir/build.make:63: CMakeFiles/moveG_action.dir/scripts/moveG_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:260: CMakeFiles/moveG_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveRs_action.dir/build.make:63: CMakeFiles/moveRs_action.dir/scripts/moveRs_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:422: CMakeFiles/moveRs_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveJs_action.dir/build.make:63: CMakeFiles/moveJs_action.dir/scripts/moveJs_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:287: CMakeFiles/moveJs_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveROT_action.dir/build.make:63: CMakeFiles/moveROT_action.dir/scripts/moveROT_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:98: CMakeFiles/moveROT_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveXYZW_action.dir/build.make:63: CMakeFiles/moveXYZW_action.dir/scripts/moveXYZW_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:314: CMakeFiles/moveXYZW_action.dir/all] Error 2
make[2]: *** [CMakeFiles/moveYPR_action.dir/build.make:63: CMakeFiles/moveYPR_action.dir/scripts/moveYPR_action.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:395: CMakeFiles/moveYPR_action.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros2_actions [14.7s, exited with code 2]

Summary: 21 packages finished [16.6s]
  1 package failed: ros2_actions
  1 package had stderr output: ros2_actions

Different Launch error for ROS2 Foxy and Humble

Hey,
I have installed simulator on two platform;

Ubuntu 22.04, ROS Humble, Laptop
Ubuntu 20.04, ROS Foxy, Nvidia Orin(Jetpack)

But after I have installed varied on ROS version, the output is so different.
I executed this commands on terminal; ros2 launch ur5_ros2_moveit2 ur5.launch.py
For case of No.1,

[INFO] [launch]: All log files can be found below /home/lenin/.ros/log/2023-06-09-21-29-36-419372-lenin-W65-W67RC-27702
[INFO] [launch]: Default logging verbosity is set to INFO

 --- Cranfield University --- 
        (c) IFRA Group        

ros2_RobotSimulation --> UR5 ROBOT
Launch file -> ur5.launch.py

Robot configuration:

- Cell layout:
     + Option N1: UR5 ROBOT alone.
     + Option N2: UR5 ROBOT on top of a pedestal.
  Please select: 1

- End-effector:
     + No EE variants for this robot.

[INFO] [gzserver-1]: process started with pid [27703]
[INFO] [gzclient-2]: process started with pid [27705]
[INFO] [spawn_entity.py-3]: process started with pid [27707]
[INFO] [static_transform_publisher-4]: process started with pid [27709]
[INFO] [robot_state_publisher-5]: process started with pid [27712]
[static_transform_publisher-4] [WARN] [1686338980.950500225] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-4] [INFO] [1686338980.957832884] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-4] from 'world' to 'base_link'
[robot_state_publisher-5] [INFO] [1686338980.975508549] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1686338980.977719827] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1686338980.978309998] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1686338980.978764599] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1686338980.979177780] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1686338980.979576635] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1686338980.979966993] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1686338980.980361644] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1686338980.980752762] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1686338980.981172275] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1686338980.981580547] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1686338980.981982631] [robot_state_publisher]: got segment wrist_3_link
[spawn_entity.py-3] [INFO] [1686338981.491150274] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1686338981.491656892] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1686338981.493562367] [spawn_entity]: Waiting for entity xml on robot_description
[gzserver-1] [WARN] [1686338982.089508155] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1686338982.089690224] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[gzserver-1] [INFO] [1686338982.093657620] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1686338982.094160435] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]

And it shows no model and MoveIt when I opened as follows.

But when I have opened it on No.2, it works well.

[INFO] [launch]: All log files can be found below /home/orinthree/.ros/log/2023-06-09-21-38-05-229216-orinthree-27919
[INFO] [launch]: Default logging verbosity is set to INFO

 --- Cranfield University --- 
        (c) IFRA Group        

ros2_RobotSimulation --> UR5 ROBOT
Launch file -> ur5.launch.py

Robot configuration:

- Cell layout:
     + Option N1: UR5 ROBOT alone.
     + Option N2: UR5 ROBOT on top of a pedestal.
  Please select: 1

- End-effector:
     + No EE variants for this robot.

[INFO] [gzserver-1]: process started with pid [27924]
[INFO] [gzclient   -2]: process started with pid [27926]
[INFO] [spawn_entity.py-3]: process started with pid [27929]
[INFO] [static_transform_publisher-4]: process started with pid [27932]
[INFO] [robot_state_publisher-5]: process started with pid [27934]
[INFO] [ros2 run controller_manager spawner.py ur5_controller-6]: process started with pid [27936]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process started with pid [27938]
[static_transform_publisher-4] [INFO] [1686339488.397434057] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'base_link'
[robot_state_publisher-5] Parsing robot urdf xml string.
[robot_state_publisher-5] Link base_link had 2 children
[robot_state_publisher-5] Link base had 0 children
[robot_state_publisher-5] Link base_link_inertia had 1 children
[robot_state_publisher-5] Link shoulder_link had 1 children
[robot_state_publisher-5] Link upper_arm_link had 1 children
[robot_state_publisher-5] Link forearm_link had 1 children
[robot_state_publisher-5] Link wrist_1_link had 1 children
[robot_state_publisher-5] Link wrist_2_link had 1 children
[robot_state_publisher-5] Link wrist_3_link had 1 children
[robot_state_publisher-5] Link flange had 1 children
[robot_state_publisher-5] Link tool0 had 0 children
[robot_state_publisher-5] [INFO] [1686339488.403862838] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1686339488.404050104] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1686339488.404067448] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1686339488.404075000] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1686339488.404081080] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1686339488.404087000] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1686339488.404093464] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1686339488.404099192] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1686339488.404105080] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1686339488.404110905] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1686339488.404116761] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1686339488.404122393] [robot_state_publisher]: got segment wrist_3_link
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339489.228734395] [spawner_ur5_controller]: Waiting for /controller_manager services
[spawn_entity.py-3] [INFO] [1686339489.259788172] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1686339489.260322162] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] [INFO] [1686339489.270412618] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1686339489.277137530] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1686339489.277572447] [spawn_entity]: Waiting for service /spawn_entity
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339489.288432608] [spawner_joint_state_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339491.243151724] [spawner_ur5_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339491.299418184] [spawner_joint_state_controller]: Waiting for /controller_manager services
[gzserver-1] [WARN] [1686339492.267336618] [rcl]: Found remap rule 'model_states:=model_states'. This syntax is deprecated. Use '--ros-args --remap model_states:=model_states' instead.
[gzserver-1] [WARN] [1686339492.267681646] [rcl]: Found remap rule 'link_states:=link_states'. This syntax is deprecated. Use '--ros-args --remap link_states:=link_states' instead.
[spawn_entity.py-3] [INFO] [1686339492.304992649] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1686339492.305471791] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo models at [/ros2_grasp/model_states]
[gzserver-1] [INFO] [1686339492.310066950] [ros2_grasp.gazebo_ros_state]: Publishing states of gazebo links at [/ros2_grasp/link_states]
[spawn_entity.py-3] [INFO] [1686339492.763468011] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ur5]
[gzserver-1] [INFO] [1686339492.839093165] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1686339492.865682185] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-1] [INFO] [1686339492.865786282] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1686339492.865894219] [gazebo_ros2_control]: Loading parameter files /home/orinthree/ros2_ws/install/ur5_ros2_gazebo/share/ur5_ros2_gazebo/config/ur5_controller.yaml
[gzserver-1] [INFO] [1686339492.882249613] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1686339492.883785344] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-1] [INFO] [1686339492.919537832] [gazebo_ros2_control]: Loading joint: shoulder_pan_joint
[gzserver-1] [INFO] [1686339492.919661449] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.919692874] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.919743146] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.919763883] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.919794827] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.919811883] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.919853164] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.919876588] [gazebo_ros2_control]: Loading joint: shoulder_lift_joint
[gzserver-1] [INFO] [1686339492.919891692] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.919904012] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.919915341] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.919926829] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.919938925] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.919949709] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.919960237] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.919972941] [gazebo_ros2_control]: Loading joint: elbow_joint
[gzserver-1] [INFO] [1686339492.919984205] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.919994157] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920004014] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920013294] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.920025070] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.920035118] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920044878] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920057486] [gazebo_ros2_control]: Loading joint: wrist_1_joint
[gzserver-1] [INFO] [1686339492.920068398] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.920078254] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920087599] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920097231] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.920106703] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.920115311] [gazebo_ros2_control]: 		 position
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 27929]
[gzserver-1] [INFO] [1686339492.920123695] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920135343] [gazebo_ros2_control]: Loading joint: wrist_2_joint
[gzserver-1] [INFO] [1686339492.920144847] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.920153455] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920162479] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920172112] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.920181168] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.920189296] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920198768] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920210384] [gazebo_ros2_control]: Loading joint: wrist_3_joint
[gzserver-1] [INFO] [1686339492.920219952] [gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1686339492.920228624] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920297649] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920311729] [gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1686339492.920321201] [gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1686339492.920329649] [gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1686339492.920338450] [gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1686339492.920637237] [gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [WARN] [1686339493.013045470] [gazebo_ros2_control]:  Desired controller update period (0.01 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1686339493.013302017] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-1] [INFO] [1686339493.081955568] [controller_manager]: Loading controller 'ur5_controller'
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339493.122702931] [spawner_ur5_controller]: Loaded ur5_controller
[gzserver-1] [INFO] [1686339493.205017796] [controller_manager]: Configuring controller 'ur5_controller'
[gzserver-1] [INFO] [1686339493.205439561] [ur5_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[gzserver-1] [INFO] [1686339493.207606723] [ur5_controller]: Controller state will be published at 100.00 Hz.
[gzserver-1] [INFO] [1686339493.211156493] [ur5_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-1] [INFO] [1686339493.218478468] [controller_manager]: Loading controller 'joint_state_controller'
[gzserver-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class joint_state_broadcaster::JointStateBroadcaster. 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.
[gzserver-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339493.245159137] [spawner_joint_state_controller]: Loaded joint_state_controller
[gzserver-1] [INFO] [1686339493.265070253] [controller_manager]: Configuring controller 'joint_state_controller'
[ros2 run controller_manager spawner.py ur5_controller-6] [INFO] [1686339493.267584299] [spawner_ur5_controller]: Configured and started ur5_controller
[ros2 run controller_manager spawner.py joint_state_controller-7] [INFO] [1686339493.375685326] [spawner_joint_state_controller]: Configured and started joint_state_controller
[INFO] [ros2 run controller_manager spawner.py ur5_controller-6]: process has finished cleanly [pid 27936]
[INFO] [ros2 run controller_manager spawner.py joint_state_controller-7]: process has finished cleanly [pid 27938]
[INFO] [rviz2-8]: process started with pid [28267]
[INFO] [move_group-9]: process started with pid [28269]
[move_group-9] [WARN] [1686339498.235535459] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-9] [WARN] [1686339498.235669477] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-9] Parsing robot urdf xml string.
[move_group-9] Warning: Link 'ur_base' is not known to URDF. Cannot disable collisons.
[move_group-9]          at line 555 in /tmp/binarydeb/ros-foxy-srdfdom-2.0.2/src/model.cpp
[move_group-9] [INFO] [1686339498.242696984] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00186412 seconds
[move_group-9] [INFO] [1686339498.242763033] [moveit_robot_model.robot_model]: Loading robot model 'ur5'...
[move_group-9] [WARN] [1686339498.242778617] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world'
[move_group-9] [INFO] [1686339498.242784569] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-9] Link base_link had 2 children
[move_group-9] Link base had 0 children
[move_group-9] Link base_link_inertia had 1 children
[move_group-9] Link shoulder_link had 1 children
[move_group-9] Link upper_arm_link had 1 children
[move_group-9] Link forearm_link had 1 children
[move_group-9] Link wrist_1_link had 1 children
[move_group-9] Link wrist_2_link had 1 children
[move_group-9] Link wrist_3_link had 1 children
[move_group-9] Link flange had 1 children
[move_group-9] Link tool0 had 0 children
[move_group-9] [INFO] [1686339498.288838684] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1686339498.289154271] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1686339498.290016425] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1686339498.290660177] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1686339498.290696114] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1686339498.291037622] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-9] [INFO] [1686339498.291060726] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1686339498.292987373] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1686339498.293572660] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1686339498.293666741] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1686339498.293726069] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-9] [INFO] [1686339498.297592867] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-9] [INFO] [1686339498.336098508] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1686339498.341709838] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1686339498.341760623] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1686339498.341768687] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1686339498.341801648] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1686339498.341826864] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-9] [INFO] [1686339498.341835696] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1686339498.341865552] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1686339498.341875376] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-9] [INFO] [1686339498.341898897] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1686339498.341917489] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1686339498.341942033] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-9] [INFO] [1686339498.342023282] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1686339498.342030930] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1686339498.342034866] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1686339498.342038802] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1686339498.372858112] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for ur5_controller
[move_group-9] [INFO] [1686339498.373158563] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1686339498.373977709] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1686339498.374016654] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-9] [INFO] [1686339498.395589517] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1686339498.395698351] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-9] [INFO] [1686339498.395715535] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[rviz2-8] [INFO] [1686339499.227902202] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] [INFO] [1686339499.228291999] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-8] [INFO] [1686339499.321017450] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-8] 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.
[rviz2-8]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-8] [ERROR] [1686339502.513275800] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-8] [ERROR] [1686339502.564083122] [rviz2]: PluginlibFactory: The plugin for class 'rviz_common/Time' failed to load. Error: According to the loaded plugin descriptions the class rviz_common/Time with base class type rviz_common::Panel does not exist. Declared types are 
[rviz2-8] Parsing robot urdf xml string.
[rviz2-8] Warning: Link 'ur_base' is not known to URDF. Cannot disable collisons.
[rviz2-8]          at line 555 in /tmp/binarydeb/ros-foxy-srdfdom-2.0.2/src/model.cpp
[rviz2-8] [INFO] [1686339502.670378397] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00537856 seconds
[rviz2-8] [INFO] [1686339502.670485214] [moveit_robot_model.robot_model]: Loading robot model 'ur5'...
[rviz2-8] [WARN] [1686339502.670514047] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world'
[rviz2-8] [INFO] [1686339502.670522495] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-8] Link base_link had 2 children
[rviz2-8] Link base had 0 children
[rviz2-8] Link base_link_inertia had 1 children
[rviz2-8] Link shoulder_link had 1 children
[rviz2-8] Link upper_arm_link had 1 children
[rviz2-8] Link forearm_link had 1 children
[rviz2-8] Link wrist_1_link had 1 children
[rviz2-8] Link wrist_2_link had 1 children
[rviz2-8] Link wrist_3_link had 1 children
[rviz2-8] Link flange had 1 children
[rviz2-8] Link tool0 had 0 children
[rviz2-8] [INFO] [1686339502.752748621] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-8] [INFO] [1686339502.754275551] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-8] [INFO] [1686339503.404804923] [interactive_marker_display_187650357784912]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-8] Link base_link had 2 children
[rviz2-8] Link base had 0 children
[rviz2-8] Link base_link_inertia had 1 children
[rviz2-8] Link shoulder_link had 1 children
[rviz2-8] Link upper_arm_link had 1 children
[rviz2-8] Link forearm_link had 1 children
[rviz2-8] Link wrist_1_link had 1 children
[rviz2-8] Link wrist_2_link had 1 children
[rviz2-8] Link wrist_3_link had 1 children
[rviz2-8] Link flange had 1 children
[rviz2-8] Link tool0 had 0 children
[rviz2-8] [INFO] [1686339503.426917441] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.426976162] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur5_arm' in namespace ''
[rviz2-8] [WARN] [1686339503.427132036] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[rviz2-8] [INFO] [1686339503.444538610] [interactive_marker_display_187650357784912]: Sending request for interactive markers
[rviz2-8] [INFO] [1686339503.457525612] [move_group_interface]: Ready to take commands for planning group ur5_arm.
[rviz2-8] [INFO] [1686339503.457629517] [move_group_interface]: Looking around: no
[rviz2-8] [INFO] [1686339503.457657709] [move_group_interface]: Replanning: no
[rviz2-8] [INFO] [1686339503.459681157] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.459845095] [moveit_ros_visualization.motion_planning_frame]: group ur5_arm
[rviz2-8] [INFO] [1686339503.476616462] [interactive_marker_display_187650357784912]: Service response received for initialization
[rviz2-8] [INFO] [1686339503.486566660] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 25 grp: ur5_arm
[rviz2-8] [INFO] [1686339503.486866439] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm
[rviz2-8] [INFO] [1686339503.486883976] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BFMTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487013641] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BKPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487032041] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BiESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487044233] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[BiTRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487052266] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[ESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487058122] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[FMTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487064202] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[KPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487069898] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LBKPIECEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487154027] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LBTRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487161739] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LazyPRMkConfigDefault]
[rviz2-8] [INFO] [1686339503.487166955] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[LazyPRMstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487172395] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PDSTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487177611] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PRMkConfigDefault]
[rviz2-8] [INFO] [1686339503.487182731] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[PRMstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487188427] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[ProjESTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487193547] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTConnectkConfigDefault]
[rviz2-8] [INFO] [1686339503.487198315] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487203659] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[RRTstarkConfigDefault]
[rviz2-8] [INFO] [1686339503.487208651] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SBLkConfigDefault]
[rviz2-8] [INFO] [1686339503.487213995] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SPARSkConfigDefault]
[rviz2-8] [INFO] [1686339503.487219244] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[SPARStwokConfigDefault]
[rviz2-8] [INFO] [1686339503.487223980] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[STRIDEkConfigDefault]
[rviz2-8] [INFO] [1686339503.487229164] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[TRRTkConfigDefault]
[rviz2-8] [INFO] [1686339503.487234220] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: ur5_arm[TrajOptDefault]

Is this Humble version still not completed yet? I downloaded two repo(foxy, humble) separately though. Please check it and feel free to provide a feedback once you've confirmed. Thanks.

Error building ros_actions in Humble

Hello IFRA team,

I am using Ubuntu 22.04, Humble.
I replaced the moveit file from include, but unfortunately was presented with this error when i run colcon build.

/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZ_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
177 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveG_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
180 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRP_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
257 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:44:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:163:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
163 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
337 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:362:53: warning: comparison with string literal results in unspecified behavior [-Waddress]
362 | } else if (LimitCheck == true && InputJoint == "Valid") {
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZW_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
196 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:162:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
162 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveROT_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
201 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveYPR_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveL_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
189 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:109: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
190 | bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:206:119: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
206 | bool success2 = (move_group_interface.execute(trajectory) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:20: warning: unused variable ‘fraction’ [-Wunused-variable]
204 | double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:154:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
154 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJs_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
284 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:309:53: warning: comparison with string literal results in unspecified behavior [-Waddress]
309 | } else if (LimitCheck == true && InputJoint == "Valid") {
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
258 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJ_Goal_<std::allocator > >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
312 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:43:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;

Any guidance is appreciated.