move_group Process Dying in MoveIt2 Tutorials #2887
Comments
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I confirm that I am experiencing the same. It's the same issue as here and this solution solved it for me. |
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I am experiencing the same issue with the tutorials and other projects using the following setup:
Here is the terminal output: |
Awesome! The proposed solution solved the problem in my case, too. Thx! |
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Glad to hear! |
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Never mind I overlooked that I have to change the planning group to "manipulator". All working now :) |
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I was not able to find success in proposed solutions above. This issue seems to better match the errors that I was working through. Moveit2_tutorials issue 910 While I didn't find a solution to the specific issue, the following process ended up leading to a different result. I reinstalled from binary, as well as CycloneDDS middle ware. When following the MoveIt2 tutorials, I also had to specify |
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Hello all,
I was having an issue with move_group crashing when I was trying to launch a personal package which depended on moveit2. I tried to figure it out, but eventually could not find the root of the issue. Initially I thought that it must be something with my machine, but with a fresh install I'm now having issues with the provided moveit2 tutorials as well.
To try and find the issue, I have just freshly installed ubuntu 22.04 on my machine, and a new installation of both ROS2 Humble following the main instructions, as well as installing MoveIt2. When I try and go through the tutorial, I am getting an error where the move_group is process dying.
Any advice would be appreciated and if I figure it out I will post the solution/fix the code.
From what I can tell, the relevant logs are:
[move_group-4] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[move_group-4] what(): expected [string_array] got [string]
[move_group-4] Stack trace (most recent call last):
[move_group-4] #17 Object "", at 0xffffffffffffffff, in
[move_group-4] #16 Object "/home/leo/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x5b58c1313094, in _start
[move_group-4] #15 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7efb48629e3f]
[move_group-4] #14 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7efb48629d8f]
[move_group-4] #13 Object "/home/leo/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x5b58c131221e, in main
[move_group-4] #12 Object "/home/leo/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.10.0", at 0x7efb492b2287, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptrrclcpp::Node const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-4] #11 Object "/home/leo/ws_moveit/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.10.0", at 0x7efb492b128b, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-4] #10 Object "/home/leo/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_pipeline_interfaces.so.2.10.0", at 0x7efb488fac76, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #9 Object "/home/leo/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.10.0", at 0x7efb4886cd26, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptrrclcpp::Node const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[move_group-4] #8 Object "/home/leo/ws_moveit/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.10.0", at 0x7efb488b10b3, in planning_pipeline_parameters::ParamListener::declare_params()
[move_group-4] #7 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7efb48eb2849, in
[move_group-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7efb48aae4d7, in __cxa_throw
[move_group-4] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7efb48aae276, in std::terminate()
[move_group-4] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7efb48aae20b, in
[move_group-4] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7efb48aa2b9d, in
[move_group-4] #2 Source "./stdlib/abort.c", line 79, in abort [0x7efb486287f2]
[move_group-4] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7efb48642475]
[move_group-4] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-4] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-4] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7efb486969fc]
[move_group-4] Aborted (Signal sent by tkill() 174093 1000)
[ERROR] [move_group-4]: process has died [pid 174093, exit code -6, cmd '/home/leo/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_yoqu6zsx'].
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