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ROS 2 for Doosan Robot

License: BSD 3-Clause "New" or "Revised" License

CMake 1.62% C++ 46.40% Python 47.76% Shell 0.24% C 3.78% Dockerfile 0.21%

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[ERROR] Moveit package error

I tried to use your moveit package following instructions provided but faced error after running

$ ros2 launch moveit_config_m1013 m1013.launch.py

terminal output below :

yh99@yh99-ThinkPad-E15-Gen-3:~$ cd ros2_ws
yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$ . install/setup.bash
yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$ ros2 launch moveit_config_m1013 m1013.launch.py
[INFO] [launch]: All log files can be found below /home/yh99/.ros/log/2022-08-16-16-15-30-726717-yh99-ThinkPad-E15-Gen-3-25714
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [25720]
[INFO] [static_transform_publisher-2]: process started with pid [25722]
[INFO] [robot_state_publisher-3]: process started with pid [25724]
[INFO] [move_group-4]: process started with pid [25726]
[INFO] [fake_joint_driver_node-5]: process started with pid [25728]
[INFO] [mongo_wrapper_ros.py-6]: process started with pid [25730]
[static_transform_publisher-2] [INFO] [1660634131.243883986] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0'
[fake_joint_driver_node-5] Parsing robot urdf xml string.
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link base_0 had 1 children
[robot_state_publisher-3] Link link1 had 1 children
[robot_state_publisher-3] Link link2 had 1 children
[robot_state_publisher-3] Link link3 had 1 children
[robot_state_publisher-3] Link link4 had 1 children
[robot_state_publisher-3] Link link5 had 1 children
[robot_state_publisher-3] Link link6 had 0 children
[robot_state_publisher-3] [INFO] [1660634131.250386621] [robot_state_publisher]: got segment base_0
[robot_state_publisher-3] [INFO] [1660634131.250486612] [robot_state_publisher]: got segment link1
[robot_state_publisher-3] [INFO] [1660634131.250499958] [robot_state_publisher]: got segment link2
[robot_state_publisher-3] [INFO] [1660634131.250510928] [robot_state_publisher]: got segment link3
[robot_state_publisher-3] [INFO] [1660634131.250521549] [robot_state_publisher]: got segment link4
[robot_state_publisher-3] [INFO] [1660634131.250532380] [robot_state_publisher]: got segment link5
[robot_state_publisher-3] [INFO] [1660634131.250543839] [robot_state_publisher]: got segment link6
[robot_state_publisher-3] [INFO] [1660634131.250554460] [robot_state_publisher]: got segment world
[fake_joint_driver_node-5] [INFO] [1660634131.256978695] [controller_manager]: Loading controller 'fake_joint_state_controller'
[fake_joint_driver_node-5] 
[fake_joint_driver_node-5] [INFO] [1660634131.264792254] [controller_manager]: Loading controller 'dsr_joint_trajectory_controller'
[fake_joint_driver_node-5] 
[fake_joint_driver_node-5] [INFO] [1660634131.271731257] [dsr_joint_trajectory_controller]: Controller state will be published at 50Hz.
[fake_joint_driver_node-5] [INFO] [1660634131.272138768] [dsr_joint_trajectory_controller]: Action status changes will be monitored at 20Hz.
[fake_joint_driver_node-5] [WARN] [1660634131.274090655] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[fake_joint_driver_node-5] [ERROR] [1660634131.274113644] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350
[fake_joint_driver_node-5] [WARN] [1660634131.274140686] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[fake_joint_driver_node-5] [ERROR] [1660634131.274151307] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350
[move_group-4] [WARN] [1660634131.285118463] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-4] [WARN] [1660634131.285179533] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-4] Parsing robot urdf xml string.
[move_group-4] [INFO] [1660634131.288034974] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000857924 seconds
[move_group-4] [INFO] [1660634131.288072846] [moveit_robot_model.robot_model]: Loading robot model 'm1013'...
[move_group-4] [INFO] [1660634131.288084166] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-4] [WARN] [1660634131.288126650] [moveit_robot_model.robot_model]: Link base_0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-4] [WARN] [1660634131.288188280] [moveit_robot_model.robot_model]: Link link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-4] [WARN] [1660634131.288206028] [moveit_robot_model.robot_model]: Link link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-4] terminate called after throwing an instance of 'std::bad_alloc'
[move_group-4]   what():  std::bad_alloc
[mongo_wrapper_ros.py-6] [INFO] [1660634131.376432259] [mongodb]: Starting mongodb with db location /tmp/db listening on localhost:33829
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] MongoDB starting : pid=25811 port=33829 dbpath=/tmp/db 64-bit host=yh99-ThinkPad-E15-Gen-3
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] db version v3.6.8
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] OpenSSL version: OpenSSL 1.1.1f  31 Mar 2020
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] allocator: tcmalloc
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] modules: none
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] build environment:
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten]     distarch: x86_64
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten]     target_arch: x86_64
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I CONTROL  [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } }
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I -        [initandlisten] Detected data files in /tmp/db created by the 'wiredTiger' storage engine, so setting the active storage engine to 'wiredTiger'.
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE  [initandlisten] 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE  [initandlisten] ** WARNING: Using the XFS filesystem is strongly recommended with the WiredTiger storage engine
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE  [initandlisten] **          See http://dochub.mongodb.org/core/prodnotes-filesystem
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.411+0900 I STORAGE  [initandlisten] wiredtiger_open config: create,cache_size=6894M,session_max=20000,eviction=(threads_min=4,threads_max=4),config_base=false,statistics=(fast),cache_cursors=false,compatibility=(release="3.0",require_max="3.0"),log=(enabled=true,archive=true,path=journal,compressor=snappy),file_manager=(close_idle_time=100000),statistics_log=(wait=0),verbose=(recovery_progress),
[ERROR] [move_group-4]: process has died [pid 25726, exit code -6, cmd '/home/yh99/ros2_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_0j_coqes --params-file /tmp/launch_params_okey37ea --params-file /tmp/launch_params_ejk2bojx --params-file /tmp/launch_params_fy3saj46 --params-file /tmp/launch_params_d_s7ykpi --params-file /tmp/launch_params_i8jiz2j3 --params-file /tmp/launch_params_ta1y747e'].
[rviz2-1] [INFO] [1660634131.558657092] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1660634131.558871748] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-1] [INFO] [1660634131.580654711] [rviz2]: Stereo is NOT SUPPORTED
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.657+0900 I STORAGE  [initandlisten] WiredTiger message [1660634131:657373][25811:0x7fd368f0cac0], txn-recover: Main recovery loop: starting at 6/4992
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.695+0900 I STORAGE  [initandlisten] WiredTiger message [1660634131:695410][25811:0x7fd368f0cac0], txn-recover: Recovering log 6 through 7
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.724+0900 I STORAGE  [initandlisten] WiredTiger message [1660634131:724934][25811:0x7fd368f0cac0], txn-recover: Recovering log 7 through 7
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.747+0900 I STORAGE  [initandlisten] WiredTiger message [1660634131:747163][25811:0x7fd368f0cac0], txn-recover: Set global recovery timestamp: 0
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] ** WARNING: Access control is not enabled for the database.
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          Read and write access to data and configuration is unrestricted.
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] ** WARNING: This server is bound to localhost.
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          Remote systems will be unable to connect to this server. 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          Start the server with --bind_ip <address> to specify which IP 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          addresses it should serve responses from, or with --bind_ip_all to
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          bind to all interfaces. If this behavior is desired, start the
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] **          server with --bind_ip 127.0.0.1 to disable this warning.
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.755+0900 I CONTROL  [initandlisten] 
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.765+0900 I FTDC     [initandlisten] Initializing full-time diagnostic data capture with directory '/tmp/db/diagnostic.data'
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:31.765+0900 I NETWORK  [initandlisten] waiting for connections on port 33829
[rviz2-1] [ERROR] [1660634134.701846639] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] /opt/ros/foxy/lib/rviz2/rviz2: symbol lookup error: /home/yh99/ros2_ws/install/moveit_ros_visualization/lib/libmoveit_trajectory_rviz_plugin_core.so.2.2.3: undefined symbol: _ZN10rdf_loader9RDFLoaderC1ERKSt10shared_ptrIN6rclcpp4NodeEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
[ERROR] [rviz2-1]: process has died [pid 25720, exit code 127, cmd '/opt/ros/foxy/lib/rviz2/rviz2 -d /home/yh99/ros2_ws/install/dsr_description2/share/dsr_description2/rviz/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_d9jzcwzi --params-file /tmp/launch_params_7tceyydl --params-file /tmp/launch_params_k5huissi --params-file /tmp/launch_params_jleqte1e'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1660634142.937700682] [rclcpp]: signal_handler(signal_value=2)
[fake_joint_driver_node-5] [INFO] [1660634142.937746098] [rclcpp]: signal_handler(signal_value=2)
[static_transform_publisher-2] [INFO] [1660634142.937761260] [rclcpp]: signal_handler(signal_value=2)
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.937+0900 I CONTROL  [signalProcessingThread] got signal 2 (Interrupt), will terminate after current cmd ends
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.937+0900 I NETWORK  [signalProcessingThread] shutdown: going to close listening sockets...
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.938+0900 I NETWORK  [signalProcessingThread] removing socket file: /tmp/mongodb-33829.sock
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.938+0900 I FTDC     [signalProcessingThread] Shutting down full-time diagnostic data capture
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.942+0900 I STORAGE  [signalProcessingThread] WiredTigerKVEngine shutting down
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 25722]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 25724]
[INFO] [fake_joint_driver_node-5]: process has finished cleanly [pid 25728]
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I STORAGE  [signalProcessingThread] shutdown: removing fs lock...
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I CONTROL  [signalProcessingThread] now exiting
[mongo_wrapper_ros.py-6] 2022-08-16T16:15:42.974+0900 I CONTROL  [signalProcessingThread] shutting down with code:0
[mongo_wrapper_ros.py-6] Traceback (most recent call last):
[mongo_wrapper_ros.py-6]   File "/home/yh99/ros2_ws/install/warehouse_ros_mongo/lib/warehouse_ros_mongo/mongo_wrapper_ros.py", line 131, in <module>
[mongo_wrapper_ros.py-6]     check_call("mongod --dbpath {} --port {}".format(dbpath, port.value).split())
[mongo_wrapper_ros.py-6]   File "/usr/lib/python3.8/subprocess.py", line 359, in check_call
[mongo_wrapper_ros.py-6]     retcode = call(*popenargs, **kwargs)
[mongo_wrapper_ros.py-6]   File "/usr/lib/python3.8/subprocess.py", line 342, in call
[mongo_wrapper_ros.py-6]     return p.wait(timeout=timeout)
[mongo_wrapper_ros.py-6]   File "/usr/lib/python3.8/subprocess.py", line 1083, in wait
[mongo_wrapper_ros.py-6]     return self._wait(timeout=timeout)
[mongo_wrapper_ros.py-6]   File "/usr/lib/python3.8/subprocess.py", line 1806, in _wait
[mongo_wrapper_ros.py-6]     (pid, sts) = self._try_wait(0)
[mongo_wrapper_ros.py-6]   File "/usr/lib/python3.8/subprocess.py", line 1764, in _try_wait
[mongo_wrapper_ros.py-6]     (pid, sts) = os.waitpid(self.pid, wait_flags)
[mongo_wrapper_ros.py-6] KeyboardInterrupt
[ERROR] [mongo_wrapper_ros.py-6]: process has died [pid 25730, exit code -2, cmd '/home/yh99/ros2_ws/install/warehouse_ros_mongo/lib/warehouse_ros_mongo/mongo_wrapper_ros.py --ros-args --params-file /tmp/launch_params_3it9dbfq --params-file /tmp/launch_params_kr7wwn21 --params-file /tmp/launch_params_17i0qxrn'].
yh99@yh99-ThinkPad-E15-Gen-3:~/ros2_ws$

[ERROR] moveit example build error

colcon build error occured while building moveit example.
build result below.

code:

colcon build
[0.332s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
	'controller_interface' is in: /home/yh99/ros2_ws/install/controller_interface, /opt/ros/foxy
	'controller_manager' is in: /home/yh99/ros2_ws/install/controller_manager
	'hardware_interface' is in: /home/yh99/ros2_ws/install/hardware_interface, /opt/ros/foxy
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
	--allow-overriding controller_interface controller_manager hardware_interface

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> moveit_msgs
Starting >>> srdfdom
Starting >>> geometric_shapes
Starting >>> moveit_common
Starting >>> warehouse_ros
Starting >>> hardware_interface
Starting >>> controller_manager_msgs
Starting >>> dsr_description2
Starting >>> moveit_resources_prbt_support
Starting >>> dsr_msgs2
Starting >>> common2
Starting >>> dsr_launcher2
Finished <<< moveit_common [0.56s]                                           
Finished <<< common2 [0.54s]                                          
Finished <<< moveit_resources_prbt_support [0.56s]
Starting >>> turtlesim
Finished <<< dsr_description2 [0.63s]
Finished <<< dsr_launcher2 [0.63s]                                    
Finished <<< warehouse_ros [0.70s]
Starting >>> warehouse_ros_mongo
Finished <<< srdfdom [0.77s]
Starting >>> moveit_configs_utils
Finished <<< hardware_interface [0.80s]                               
Finished <<< geometric_shapes [0.83s]
Starting >>> controller_interface
Starting >>> test_robot_hardware
Starting >>> joint_limits_interface
Starting >>> transmission_interface
Finished <<< controller_manager_msgs [1.11s]                           
Finished <<< controller_interface [0.50s]                              
Finished <<< warehouse_ros_mongo [0.68s]                               
Finished <<< joint_limits_interface [0.59s]
Finished <<< test_robot_hardware [0.61s]
Starting >>> controller_manager
Finished <<< transmission_interface [0.62s]                            
Finished <<< turtlesim [1.08s]                                         
Finished <<< controller_manager [0.32s]
Starting >>> forward_command_controller
Starting >>> joint_trajectory_controller                               
Starting >>> joint_state_controller
Starting >>> diff_drive_controller
Starting >>> gazebo_ros2_control
Starting >>> ros2_control
Finished <<< moveit_configs_utils [1.09s]
Finished <<< ros2_control [0.23s]                                      
Finished <<< gazebo_ros2_control [0.35s]                               
Finished <<< forward_command_controller [0.40s]
Starting >>> position_controllers                                      
Starting >>> velocity_controllers
Starting >>> effort_controllers
Finished <<< joint_state_controller [0.45s]
Finished <<< diff_drive_controller [0.59s]                          
Finished <<< joint_trajectory_controller [0.67s]
Starting >>> ros2_controllers
Finished <<< effort_controllers [0.40s]                             
Finished <<< position_controllers [0.44s]
Finished <<< velocity_controllers [0.44s]
Starting >>> dsr_gazebo2
Starting >>> gazebo_ros2_control_demos
Finished <<< ros2_controllers [0.22s]
Starting >>> fake_joint_driver
Finished <<< dsr_gazebo2 [0.19s]                                    
Finished <<< gazebo_ros2_control_demos [0.21s]
Finished <<< fake_joint_driver [0.23s]                              
Finished <<< moveit_msgs [4.04s]                                    
Starting >>> moveit_core
--- stderr: moveit_core                                           
/home/yh99/ros2_ws/src/moveit2/moveit_core/transforms/src/transforms.cpp:41:10: fatal error: tf2_eigen/tf2_eigen.hpp: No such file or directory
   41 | #include <tf2_eigen/tf2_eigen.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [transforms/CMakeFiles/moveit_transforms.dir/build.make:63: transforms/CMakeFiles/moveit_transforms.dir/src/transforms.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2143: transforms/CMakeFiles/moveit_transforms.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::getCurrentlyLoadingLibraryName[abi:cxx11]()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::getPluginBaseToFactoryMapMapMutex()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::hasANonPurePluginLibraryBeenOpened(bool)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::getCurrentlyActiveClassLoader()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::AbstractMetaObjectBase::setAssociatedLibraryPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::getFactoryMapForBaseClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::AbstractMetaObjectBase::AbstractMetaObjectBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.3: undefined reference to `class_loader::impl::AbstractMetaObjectBase::addOwningClassLoader(class_loader::ClassLoader*)'
collect2: error: ld returned 1 exit status
make[2]: *** [online_signal_smoothing/CMakeFiles/test_butterworth_filter.dir/build.make:216: online_signal_smoothing/test_butterworth_filter] Error 1
make[1]: *** [CMakeFiles/Makefile2:1330: online_signal_smoothing/CMakeFiles/test_butterworth_filter.dir/all] Error 2
/home/yh99/ros2_ws/src/moveit2/moveit_core/distance_field/src/distance_field.cpp:43:10: fatal error: tf2_eigen/tf2_eigen.hpp: No such file or directory
   43 | #include <tf2_eigen/tf2_eigen.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [distance_field/CMakeFiles/moveit_distance_field.dir/build.make:63: distance_field/CMakeFiles/moveit_distance_field.dir/src/distance_field.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1071: distance_field/CMakeFiles/moveit_distance_field.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< moveit_core [0.54s, exited with code 2]
Aborted  <<< dsr_msgs2 [6.03s]                               

Summary: 32 packages finished [6.45s]
  1 package failed: moveit_core
  1 package aborted: dsr_msgs2
  1 package had stderr output: moveit_core
  44 packages not processed

When can we expect ROS 2 support for E-series robots?

Hello,

It is very good to see the new E-series of collaborative robots you have developed. When can we expect ROS 2 support for the robot?

If you release the STLs at least, we can play around with a simulated one and work on MoveIt2 integration on the community side, before we can emulate with the DRFL.

Thanks

Humble with Python 3.10 SOLVED

For anyone who is using the Doosan Humble Pkg and has a Problem with the DR_common2.py
Just replace "collections.Iterable" with "collections.abc.Iterable" in that file. Since Python 3.10 there is not "collections.Iterable".

README out of date for moveit2

I initially tried the instructions in the README, and they bombed out.
Bunch of errors like,
moveit_ros_planning: Cannot locate rosdep definition for [generate_parameter_library]

But...ros foxy HAS moveit2 packages now? Why not use them?

So I tried the following:

apt install ros-foxy-chomp-motion-planner ros-foxy-stomp \
ros-foxy-moveit-planners-chomp ros-foxy-moveit-chomp-optimizer-adapter \
ros-foxy-moveit-servo ros-foxy-moveit-runtime ros-foxy-moveit-ros-planning \
ros-foxy-moveit-common \
ros-foxy-warehouse-ros-mongo

cd ~/ros2_ws/src
 git clone -b use_new_joint_handle https://github.com/ShotaAk/fake_joint
cp doosan-robot2/common2/resource/fake_joint_driver_node.cpp fake_joint/fake_joint_driver/src/fake_joint_driver_node.cpp
cd ..
rosdep install -r --from-paths src --ignore-src --rosdistro foxy -y
rm -rf src/doosan-robot2/moveit_config_*/COLCON_IGNORE
colcon build
. install/setup.bash

This got me to the point where I could run the sample commands like
ros2 launch moveit_config_m1013 m1013.launch.py
and it would pop up rviz.

The only problem is that it showed an empty view. No Robot, unlike when I do the non-moveit things like
ros2 launch dsr_launcher2 dsr_joint_state_pub.launch.py model:=a0912 color:=blue

and it shows the robot just fine.

Arm Support

Hi, could you provide the Arm version of the libDRFL.a, please ? Or at least the source code of the library to compile it by myself.

Does the latest main branch support ROS2 Humble?

Hello, I would like to use the Doosan robot with ROS2 Humble + MoveIt2 Humble. Is it possible to do so by following the steps given on the README, or do we have to make certain changes?

Thanks

[ERROR]: the following packages/stacks could not have their rosdep keys resolved to system dependencies: dsr_gazebo2:

Hello, I have problems in installing doosan-robot2 package.
I'm trying to install doosan-robot2 package for ros2 according to the build procedure described in github.

When I run rosdep install --from-paths src --ignore-src --rosdistro foxy -r -y
I got an error saying ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: dsr_gazebo2: Cannot locate rosdep definition for [sdf]

Pls help me to fix this problem.

M1013 Ros2 Function error and some problems

Hi
I'm using M1013 and have some problem using some functions

#1 amove_spiral : It doesn't work. the robot doesn't move
#2 check_position_condition() error
File "/home/choi/ros2_ws30/install/common2/bin/common2/imp/DSR_ROBOT2.py", line 4297, in check_position_condition
if(pos==None):
ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()

#3 check_force_condition()
it returns only 0 even when I've forced axis by my hand

#4 task_compliance_ctrl() : robot stop when robot moves some distance. Does it have some area limit?

Moveit time parametrization slow down trajectory execution of doosan robot

Maybe it is more a question than an issue. We are not sure if the following is intended behavior.
We are currently working with an A0912 and A0509, and using ROS2 and moveit to interact with the robot. We are using OMPL to generate the trajectories.
By default the time parametrization is on and set to 100ms, we noticed that every trajectories that we are sending would have a reduced speed when fed to move spline joint (here is an example) :

[dsr_control_node2-6] [INFO] [1638523300.265757751] [dsr_hw_interface2]: msg->trajectory[0].joint_trajectory.points.size() =24
[dsr_control_node2-6] [INFO] [1638523300.265769856] [dsr_hw_interface2]: msg->trajectory[0].joint_trajectory.joint_names.size() =6
[dsr_control_node2-6] [INFO] [1638523300.265781289] [dsr_hw_interface2]: [trajectory] targetTime = 2219436544.000000
[dsr_control_node2-6] [INFO] [1638523300.265804263] [dsr_hw_interface2]: [trajectory] [00 : 0.000] -112.139 28.845 -98.519 -1.701 -104.654 250.471
[dsr_control_node2-6] [INFO] [1638523300.265840287] [dsr_hw_interface2]: [trajectory] [01 : 0.100] -112.415 28.728 -98.484 -1.694 -104.594 250.185
[dsr_control_node2-6] [INFO] [1638523300.265871113] [dsr_hw_interface2]: [trajectory] [02 : 0.200] -113.240 28.376 -98.380 -1.673 -104.415 249.325
[dsr_control_node2-6] [INFO] [1638523300.265899870] [dsr_hw_interface2]: [trajectory] [03 : 0.300] -114.616 27.791 -98.206 -1.639 -104.117 247.893
[dsr_control_node2-6] [INFO] [1638523300.265928016] [dsr_hw_interface2]: [trajectory] [04 : 0.400] -116.542 26.971 -97.963 -1.591 -103.699 245.887
[dsr_control_node2-6] [INFO] [1638523300.265955666] [dsr_hw_interface2]: [trajectory] [05 : 0.500] -119.018 25.917 -97.650 -1.529 -103.162 243.309
[dsr_control_node2-6] [INFO] [1638523300.265982635] [dsr_hw_interface2]: [trajectory] [06 : 0.600] -122.045 24.629 -97.267 -1.453 -102.506 240.158
[dsr_control_node2-6] [INFO] [1638523300.266009926] [dsr_hw_interface2]: [trajectory] [07 : 0.700] -125.621 23.107 -96.816 -1.363 -101.730 236.434
[dsr_control_node2-6] [INFO] [1638523300.266037500] [dsr_hw_interface2]: [trajectory] [08 : 0.800] -129.749 21.350 -96.294 -1.260 -100.835 232.136
[dsr_control_node2-6] [INFO] [1638523300.266065693] [dsr_hw_interface2]: [trajectory] [09 : 0.900] -134.426 19.360 -95.704 -1.143 -99.821 227.266
[dsr_control_node2-6] [INFO] [1638523300.266140256] [dsr_hw_interface2]: [trajectory] [10 : 1.000] -139.654 17.135 -95.043 -1.012 -98.687 221.823
[dsr_control_node2-6] [INFO] [1638523300.266170592] [dsr_hw_interface2]: [trajectory] [11 : 1.100] -145.432 14.676 -94.314 -0.868 -97.434 215.807
[dsr_control_node2-6] [INFO] [1638523300.266198497] [dsr_hw_interface2]: [trajectory] [12 : 1.200] -151.312 12.174 -93.571 -0.720 -96.159 209.685
[dsr_control_node2-6] [INFO] [1638523300.266225901] [dsr_hw_interface2]: [trajectory] [13 : 1.300] -156.646 9.903 -92.897 -0.587 -95.003 204.131
[dsr_control_node2-6] [INFO] [1638523300.266252022] [dsr_hw_interface2]: [trajectory] [14 : 1.400] -161.431 7.867 -92.293 -0.467 -93.965 199.149
[dsr_control_node2-6] [INFO] [1638523300.266277962] [dsr_hw_interface2]: [trajectory] [15 : 1.500] -165.665 6.065 -91.758 -0.361 -93.047 194.741
[dsr_control_node2-6] [INFO] [1638523300.266303888] [dsr_hw_interface2]: [trajectory] [16 : 1.600] -169.348 4.497 -91.293 -0.269 -92.248 190.905
[dsr_control_node2-6] [INFO] [1638523300.266329883] [dsr_hw_interface2]: [trajectory] [17 : 1.700] -172.482 3.164 -90.897 -0.191 -91.569 187.642
[dsr_control_node2-6] [INFO] [1638523300.266356050] [dsr_hw_interface2]: [trajectory] [18 : 1.800] -175.065 2.064 -90.571 -0.126 -91.008 184.953
[dsr_control_node2-6] [INFO] [1638523300.266381302] [dsr_hw_interface2]: [trajectory] [19 : 1.900] -177.098 1.199 -90.314 -0.075 -90.568 182.836
[dsr_control_node2-6] [INFO] [1638523300.266407169] [dsr_hw_interface2]: [trajectory] [20 : 2.000] -178.581 0.568 -90.127 -0.038 -90.246 181.292
[dsr_control_node2-6] [INFO] [1638523300.266433003] [dsr_hw_interface2]: [trajectory] [21 : 2.100] -179.513 0.171 -90.009 -0.015 -90.044 180.321
[dsr_control_node2-6] [INFO] [1638523300.266458272] [dsr_hw_interface2]: [trajectory] [22 : 2.200] -179.895 0.009 -89.961 -0.005 -89.961 179.924
[dsr_control_node2-6] [INFO] [1638523300.266484750] [dsr_hw_interface2]: [trajectory] [23 : 2.219] -179.906 0.004 -89.959 -0.005 -89.959 179.913
[dsr_control_node2-6] [INFO] [1638523300.266511302] [dsr_hw_interface2]: [trajectory] last targetTime = 2.219436
[dsr_control_node2-6] [INFO] [1638523300.291285371] [dsr_hw_interface2]: On Monitor State
[dsr_control_node2-6] [callback OnMonitoringStateCB] current state: (2) MOVING
[ditha_state_machine-9] [INFO] [1638523300.376343423] [smach_ros]: State machine transitioning 'FAULT':'stay'-->'FAULT'
[dsr_control_node2-6] [INFO] [1638523300.852483320] [dsr_hw_interface2]: [callback OnLogAlarm]
[dsr_control_node2-6] [INFO] [1638523300.852538780] [dsr_hw_interface2]: level : 1
[dsr_control_node2-6] [INFO] [1638523300.852552341] [dsr_hw_interface2]: group : 2
[dsr_control_node2-6] [INFO] [1638523300.852562826] [dsr_hw_interface2]: index : 1214
[dsr_control_node2-6] [INFO] [1638523300.852573727] [dsr_hw_interface2]: param : [INFO]finalTime(3.599) is adjusted above User Input(2.219)
[dsr_control_node2-6] [INFO] [1638523300.852584747] [dsr_hw_interface2]: param :
[dsr_control_node2-6] [INFO] [1638523300.852594874] [dsr_hw_interface2]: param :

We can see here that the time of execution is adjusted to 3.6 sec instead of 2.2.
When we change the step of the downsampling to reduce the number of points provided we notice that this issue disappear :

[dsr_control_node2-6] [INFO] [1638524979.426379027] [dsr_hw_interface2]: callback: Trajectory received
[dsr_control_node2-6] [INFO] [1638524979.426389477] [dsr_hw_interface2]: msg->trajectory[0].joint_trajectory.points.size() =5
[dsr_control_node2-6] [INFO] [1638524979.426400081] [dsr_hw_interface2]: msg->trajectory[0].joint_trajectory.joint_names.size() =6
[dsr_control_node2-6] [INFO] [1638524979.426411142] [dsr_hw_interface2]: [trajectory] targetTime = 3005128448.000000
[dsr_control_node2-6] [INFO] [1638524979.426432086] [dsr_hw_interface2]: [trajectory] [00 : 0.000] -155.337 4.121 -82.141 -2.135 -100.028 206.948
[dsr_control_node2-6] [INFO] [1638524979.426465177] [dsr_hw_interface2]: [trajectory] [01 : 0.800] -137.450 6.106 -81.477 -2.235 -103.462 225.283
[dsr_control_node2-6] [INFO] [1638524979.426491976] [dsr_hw_interface2]: [trajectory] [02 : 1.600] -84.319 12.001 -79.503 -2.532 -113.662 279.743
[dsr_control_node2-6] [INFO] [1638524979.426519107] [dsr_hw_interface2]: [trajectory] [03 : 2.400] -39.372 16.988 -77.833 -2.783 -122.291 325.815
[dsr_control_node2-6] [INFO] [1638524979.426546122] [dsr_hw_interface2]: [trajectory] [04 : 3.005] -29.138 18.123 -77.453 -2.840 -124.256 336.305
[dsr_control_node2-6] [INFO] [1638524979.426572423] [dsr_hw_interface2]: [trajectory] last targetTime = 3.005128

In the end it seems to be that, for a specific trajectory, the more points we give to move spline joints the slower it goes.
Why specifying more points with the correct time stamps slow down the realization of the movement? Is there a way to prevent this from happening?

Joint Effort Control

Is it possible to control the joint efforts/torques in real time? If yes, how can we manage it? What would be the maximum allowed control frequency?

hardware_interface fail Windows colcon

hello, i'm trying to use your package with ros2 foxy on Windows 10, and i'm having an issue when I try to use colcon.

this is what I do :
for there is no apt-get on windows, for the poco, I followed this :
https://pocoproject.org/download.html

then on a regular prompt

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/doosan-robotics/doosan-robot2.git
git clone https://github.com/ros-controls/ros2_control.git
git clone https://github.com/ros-controls/ros2_controllers.git
git clone https://github.com/ros-simulation/gazebo_ros2_control.git
cd ros2_control && git reset --hard 3dc62e28e3bc8cf636275825526c11d13b554bb6 && cd ..
cd ros2_controllers && git reset --hard 83c494f460f1c8675f4fdd6fb8707b87e81cb197 && cd ..
cd gazebo_ros2_control && git reset --hard 3dfe04d412d5be4540752e9c1165ccf25d7c51fb && cd ..
git clone -b ros2 --single-branch https://github.com/ros-planning/moveit_msgs
cd ~/ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro foxy -r -y

and on a x64 prompt
c:\opt\ros\foxy\x64\setup.bat
c:\opt\ros\foxy\x64\share\gazebo\setup.bat
set "SDF_PATH=c:\opt\ros\foxy\x64\share\sdformat\1.6"
colcon build

this is my output

[1.258s] root DEBUG Using proactor: IocpProactor
Starting >>> hardware_interface
Starting >>> controller_manager_msgs
Starting >>> dsr_msgs2
Starting >>> moveit_msgs
[Processing: controller_manager_msgs, dsr_msgs2, hardware_interface, moveit_msgs]
Failed <<< hardware_interface [43.3s, exited with code 1]
Aborted <<< controller_manager_msgs [1min 0s]
Aborted <<< moveit_msgs [1min 23s]
Aborted <<< dsr_msgs2 [1min 24s]
Summary: 0 packages finished [1min 25s]
1 package failed: hardware_interface
3 packages aborted: controller_manager_msgs dsr_msgs2 moveit_msgs
2 packages had stderr output: dsr_msgs2 moveit_msgs
22 packages not processed

do you know where the problem comes from, and how to solve it?

with a colcon test i have this at the end :

Failed to find the following files: - C:\doosan\install\joint_limits_interface\share\joint_limits_interface\package.bat - C:\doosan\install\gazebo_ros2_control\share\gazebo_ros2_control\package.bat - C:\doosan\install\gazebo_ros2_control_demos\share\gazebo_ros2_control_demos\package.bat Check that the following packages have been built: - joint_limits_interface - gazebo_ros2_control - gazebo_ros2_control_demos

Humble and gz_ros2_control building error

I cant build the gz_ros2_control pkg. I get these errors:

--- stderr: gz_ros2_control
CMake Error at CMakeLists.txt:27 (find_package):
  By not providing "Findgz_sim_vendor.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "gz_sim_vendor", but CMake did not find one.

  Could not find a package configuration file provided by "gz_sim_vendor"
  with any of the following names:

    gz_sim_vendorConfig.cmake
    gz_sim_vendor-config.cmake

  Add the installation prefix of "gz_sim_vendor" to CMAKE_PREFIX_PATH or set
  "gz_sim_vendor_DIR" to a directory containing one of the above files.  If
  "gz_sim_vendor" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< gz_ros2_control [2.36s, exited with code 1]

Also on there git it says there is no humble version for gz_sim_vendor etc. so why is it in the guide?

Build instructions for ubuntu22?

Would appreciate build instructions for ubuntu22.
ubuntu20 is quite old now :(

A straight build for ROS2 humble, doesnt seem to work. I think there are multiple errors.
Rather than trying to work through them 1 by 1, it would be nice if someone with actual experience with the doosan code gave it a try? Pretty please?

Moveit failed to build

I'm trying to install moveit with your instruction and it fails always with the build.
for: rosdep install -r --from-paths src --ignore-src --rosdistro foxy -y
I get: Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

I tried to build and it said first that the eigenstl-container was missing. i installed it with:
sudo apt install libeigen-stl-containers-dev
then random_numbers was missing i installed with : sudo apt install ros-foxy-random-numbers
Now the new issue is :
Could not find a package configuration file provided by "fcl" with any of
the following names:
fclConfig.cmake
fcl-config.cmake

"sudo apt install libfcl-dev "
said:
libfcl-dev is already the newest version (0.5.0-5build1).
The following package was automatically installed and is no longer required:
libpkgconf3

How can i fix this and is there maybe a full guide how to get moveit running?
Using Ubuntu 20.04 with Ros2 Foxy

motion_example in cpp

Is there or will there be an example of the motion_client in cpp?

Real Doosan Robot does not work with ros2

Hello,
After building the ros2 program, it failed to link with the actual Doosan Robot.
I actually changed the IP of the robot to 192.168.1.100 and the result of DRCF64 and Ping is as follows:
DRCF64 :
choi@choi-NUC8i7BEH:~/ros2_ws4/src/doosan-robot2/common2/bin/DRCF$ ./DRCF64

    Emulator of Doosan Robot Controller [ver M2.52]               
              [service port = 12345]                          
              [robot model = m1013(config/config.xml)]

Cycle : 0.001000
#START SYNC: 1620280931.083Mastering Process(Absolute Mismatch) 0
Xml File Path: config/MF/m1013.xmlXml File Path: config/MF/Group/m1013/DV3101300.xmlXml File Path: config/BV/MF_M1013.xmlConfig Servo#TP RECV: SEQ(1)-COM(1799)
SERIAL SEQ-NO: 1#SB RECV: SEQ(1)-COM(1799)
#TP RECV: SEQ(10001)-COM(1791)
SERIAL SEQ-NO: 10001#SB RECV: SEQ(10001)-COM(1791)
#TP RECV: SEQ(10002)-COM(1798)
SERIAL SEQ-NO: 10002#SB RECV: SEQ(10002)-COM(1798)
#TP RECV: SEQ(10003)-COM(1797)
SERIAL SEQ-NO: 10003#SB RECV: SEQ(10003)-COM(1797)
Safety Mode: 5, Event: 1
#SAFETY MODE: SAFETY_MODE_MANUAL -> SAFETY_MODE_INITIALIZE
#DRCF STATE: CCtrlStateUndefine -> CCtrlStateInitialized
Friction Coeff to DRCLp(1) = 0.000, 0.100, 0.200, 0.300p(2) = 0.100, 0.110, 0.120, 0.130p(3) = 0.200, 0.210, 0.220, 0.230p(4) = 0.300, 0.310, 0.320, 0.330p(5) = 0.400, 0.410, 0.420, 0.430p(6) = 0.500, 0.510, 0.520, 0.530n(1) = 0.000, -0.100, -0.200, -0.300n(2) = -0.100, -0.110, -0.120, -0.130n(3) = -0.200, -0.210, -0.220, -0.230n(4) = -0.300, -0.310, -0.320, -0.330n(5) = -0.400, -0.410, -0.420, -0.430n(6) = -0.500, -0.510, -0.520, -0.530FTS install(0) to DRCLFTS offset(0.000000, 1.000000, 2.000000, 3.000000, 4.000000, 5.000000) to DRCLConfig Robot Shape
Config Robot Shape
Safety Mode: 5, Event: 2
#DRCF STATE: CCtrlStateInitialized -> CCtrlStateStandby
#SAFETY MODE: SAFETY_MODE_INITIALIZE -> SAFETY_MODE_MANUAL
EtherCAT Operation mode start
RUN CONTROL : 1
Key Command : 9
START ROS service...
TRANSFER COTROL(ACCEPT): GIVE(UnKnown) TAKE(API)The size of queue : 1
The size of queue : 2
The size of queue : 3
The size of queue : 4
SmartTp version: v.0.0.0
Controller version: GF120500
Interpreter version: v.0.0.0
Inverter version: GAXXXXXX
Safety Board version: GDXXXXXX
Robot Serial Number: XXXXXX-AXXXX
Robot Model Number: M1013
jts board version: GBXXXXXX
flange board version: GCXXXXXX
TRANSFER COTROL(ACCEPT): GIVE(API) TAKE(API)SmartTp version: v.0.0.0
Controller version: GF120500
Interpreter version: v.0.0.0
Inverter version: GAXXXXXX
Safety Board version: GDXXXXXX
Robot Serial Number: XXXXXX-AXXXX
Robot Model Number: M1013
jts board version: GBXXXXXX
flange board version: GCXXXXXX
#TP RECV: SEQ(0)-COM(1714)
SERIAL SEQ-NO: 0#SB RECV: SEQ(0)-COM(1714)
Safety Mode: 1, Event: 0
#SAFETY MODE: SAFETY_MODE_MANUAL -> SAFETY_MODE_AUTONOMOUS
#DRCF STATE: CCtrlStateStandby -> CCtrlStateStandby
#TP RECV: SEQ(10004)-COM(1792)
SERIAL SEQ-NO: 10004#SB RECV: SEQ(10004)-COM(1792)
#TARGET MODE: Real Robot Control Mode
#DRCF STATE: CCtrlStateStandby -> CCtrlStateStandby

Ping :
choi@choi-NUC8i7BEH:~$ ping 192.168.1.100
PING 192.168.1.100 (192.168.1.100) 56(84) bytes of data.
64 bytes from 192.168.1.100: icmp_seq=1 ttl=64 time=0.078 ms
64 bytes from 192.168.1.100: icmp_seq=2 ttl=64 time=0.072 ms
64 bytes from 192.168.1.100: icmp_seq=3 ttl=64 time=0.072 ms
64 bytes from 192.168.1.100: icmp_seq=4 ttl=64 time=0.071 ms
64 bytes from 192.168.1.100: icmp_seq=5 ttl=64 time=0.097 ms
64 bytes from 192.168.1.100: icmp_seq=6 ttl=64 time=0.029 ms
64 bytes from 192.168.1.100: icmp_seq=7 ttl=64 time=0.080 ms
64 bytes from 192.168.1.100: icmp_seq=8 ttl=64 time=0.072 ms
64 bytes from 192.168.1.100: icmp_seq=9 ttl=64 time=0.141 ms
^C
--- 192.168.1.100 ping statistics ---
9 packets transmitted, 9 received, 0% packet loss, time 8179ms
rtt min/avg/max/mdev = 0.029/0.079/0.141/0.027 ms

However, RVIZ does not display the actual attitude of robot correctly
When I run the following command in the terminal
choi@choi-NUC8i7BEH:~$ ros2 launch dsr_launcher2 single_robot_rviz.launch.py mode:=real host:=192.168.1.100 port:=12345

[INFO] [launch]: All log files can be found below /home/choi/.ros/log/2021-05-06-15-05-45-155076-choi-NUC8i7BEH-5689
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [5692]
[INFO] [robot_state_publisher-2]: process started with pid [5694]
[INFO] [rviz2-3]: process started with pid [5696]
[INFO] [dsr_control_node2-4]: process started with pid [5698]
[static_transform_publisher-1] [INFO] [1620281145.333301345] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0'
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link base_0 had 1 children
[robot_state_publisher-2] Link link1 had 1 children
[robot_state_publisher-2] Link link2 had 1 children
[robot_state_publisher-2] Link link3 had 1 children
[robot_state_publisher-2] Link link4 had 1 children
[robot_state_publisher-2] Link link5 had 1 children
[robot_state_publisher-2] Link link6 had 0 children
[robot_state_publisher-2] [INFO] [1620281145.336833833] [robot_state_publisher]: got segment base_0
[robot_state_publisher-2] [INFO] [1620281145.336931599] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1620281145.336943833] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1620281145.336950692] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1620281145.336956548] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1620281145.336962477] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1620281145.336968205] [robot_state_publisher]: got segment link6
[robot_state_publisher-2] [INFO] [1620281145.336973946] [robot_state_publisher]: got segment world
[dsr_control_node2-4] [INFO] [1620281145.348562633] [dsr_control_node2]: g_node = 0x0x7ffe78f2b860
[dsr_control_node2-4] [INFO] [1620281145.348858659] [dsr_control_node2]: rate is 100
[dsr_control_node2-4] [INFO] [1620281145.349023852] [dsr_control_node2]: controller_manager is updating!
[dsr_control_node2-4] [INFO] [1620281145.349097228] [dsr_hw_interface2]: name = dsr01
[dsr_control_node2-4] [INFO] [1620281145.349113238] [dsr_hw_interface2]: model = m1013
[dsr_control_node2-4] [INFO] [1620281145.349116971] [dsr_hw_interface2]: gripper = none
[dsr_control_node2-4] [INFO] [1620281145.349119946] [dsr_hw_interface2]: name_space is dsr01, m1013
[dsr_control_node2-4] [INFO] [1620281145.349123448] [dsr_hw_interface2]: constructed
[dsr_control_node2-4] [INFO] [1620281145.379080906] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion
[dsr_control_node2-4] [INFO] [1620281145.379123309] [dsr_hw_interface2]: joint_name = joint1
[dsr_control_node2-4] [WARN] [1620281145.379195931] [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.
[dsr_control_node2-4] [INFO] [1620281145.379373639] [dsr_hw_interface2]: joint_name = joint2
[dsr_control_node2-4] [INFO] [1620281145.379413189] [dsr_hw_interface2]: joint_name = joint3
[dsr_control_node2-4] [INFO] [1620281145.379420127] [dsr_hw_interface2]: joint_name = joint4
[dsr_control_node2-4] [INFO] [1620281145.379434783] [dsr_hw_interface2]: joint_name = joint5
[dsr_control_node2-4] [INFO] [1620281145.379440504] [dsr_hw_interface2]: joint_name = joint6
[dsr_control_node2-4] [INFO] [1620281145.379444878] [dsr_hw_interface2]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[dsr_control_node2-4] [INFO] [1620281145.379450065] [dsr_hw_interface2]: init() ==> arm is standby
[dsr_control_node2-4] [INFO] [1620281145.379464298] [dsr_hw_interface2]: host = 192.168.1.100
[dsr_control_node2-4] [INFO] [1620281145.379467214] [dsr_hw_interface2]: port = 12345
[dsr_control_node2-4] [INFO] [1620281145.379470162] [dsr_hw_interface2]: command = 1
[dsr_control_node2-4] [INFO] [1620281145.379477452] [dsr_hw_interface2]: mode = real
[dsr_control_node2-4] [INFO] [1620281145.379480251] [dsr_hw_interface2]: host 192.168.1.100, port=12345 bCommand: 1, mode: real
[dsr_control_node2-4] [INFO] [1620281145.380289923] [dsr_hw_interface2]: On Monitor State
[dsr_control_node2-4] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6No Emul
[dsr_control_node2-4] [callback OnMonitoringAccessControlCB] eAccCtrl: 2
[dsr_control_node2-4] access control granted
[dsr_control_node2-4] [callback OnMonitoringStateCB] current state: (15) NOT_READY
[dsr_control_node2-4] [callback OnTpInitializingCompletedCB] tp initializing completed
[dsr_control_node2-4] [callback OnMonitoringStateCB] current state: (1) STANDBY
[dsr_control_node2-4] [callback OnMonitoringAccessControlCB] eAccCtrl: 2
[dsr_control_node2-4] access control granted
[dsr_control_node2-4] [callback OnMonitoringStateCB] current state: (1) STANDBY
[dsr_control_node2-4] [INFO] [1620281145.380586787] [dsr_hw_interface2]: On Monitor State
[dsr_control_node2-4] [INFO] [1620281145.380900195] [dsr_hw_interface2]: On Monitor State
[dsr_control_node2-4] [INFO] [1620281145.391466737] [dsr_hw_interface2]: _______________________________________________
[dsr_control_node2-4] [INFO] [1620281145.391484826] [dsr_hw_interface2]: Real Robot Mode
[dsr_control_node2-4] [INFO] [1620281145.391488090] [dsr_hw_interface2]: DRCF version = GF120500
[dsr_control_node2-4] [INFO] [1620281145.391490960] [dsr_hw_interface2]: DRFL version = GL010106-beta
[dsr_control_node2-4] [INFO] [1620281145.391493650] [dsr_hw_interface2]: m_nVersionDRCF = 120500
[dsr_control_node2-4] [INFO] [1620281145.391496352] [dsr_hw_interface2]: _______________________________________________
[dsr_control_node2-4] [INFO] [1620281145.393431535] [dsr_hw_interface2]: [init]::read 0-pos: 0.000
[dsr_control_node2-4] [INFO] [1620281145.393448087] [dsr_hw_interface2]: [init]::read 1-pos: 0.000
[dsr_control_node2-4] [INFO] [1620281145.393451739] [dsr_hw_interface2]: [init]::read 2-pos: 0.000
[dsr_control_node2-4] [INFO] [1620281145.393454656] [dsr_hw_interface2]: [init]::read 3-pos: 0.000
[dsr_control_node2-4] [INFO] [1620281145.393457564] [dsr_hw_interface2]: [init]::read 4-pos: 0.000
[dsr_control_node2-4] [INFO] [1620281145.393460589] [dsr_hw_interface2]: [init]::read 5-pos: 0.000
[dsr_control_node2-4] [WARN] [1620281145.393522178] [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.
[dsr_control_node2-4] [INFO] [1620281145.400412262] [dsr_control_node2]: Loading controller 'dsr_joint_publisher'
[dsr_control_node2-4]
[dsr_control_node2-4] [WARN] [1620281145.401480714] [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.
[dsr_control_node2-4] [ERROR] [1620281145.406620787] [joint handle]: handle with interface (joint1: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406675338] [joint handle]: handle with interface (joint1: effort) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406753357] [joint handle]: handle with interface (joint2: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406763076] [joint handle]: handle with interface (joint2: effort) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406795551] [joint handle]: handle with interface (joint3: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406802902] [joint handle]: handle with interface (joint3: effort) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406814823] [joint handle]: handle with interface (joint4: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406821487] [joint handle]: handle with interface (joint4: effort) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406831962] [joint handle]: handle with interface (joint5: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406838469] [joint handle]: handle with interface (joint5: effort) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406849923] [joint handle]: handle with interface (joint6: velocity) wasn't found!
[dsr_control_node2-4] [ERROR] [1620281145.406857040] [joint handle]: handle with interface (joint6: effort) wasn't found!
[dsr_control_node2-4] [WARN] [1620281145.408606584] [rcl_lifecycle]: No transition matching 1 found for current state inactive
[dsr_control_node2-4] [ERROR] [1620281145.408628678] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.11/src/rcl_lifecycle.c:350
[dsr_control_node2-4] [INFO] [1620281145.408650219] [dsr_control_node2]: controller_manager is updating!
[rviz2-3] [INFO] [1620281145.674222693] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1620281145.674472795] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1620281145.698326748] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.

The robot stops moving while the function set_desired_force() is running.

Hi
I am using m1013 model in my project and after connecting ros2 in real mode, movel or movej command works well without error.
However, when moving the robot using the set_desire_force command, I found an error that stops motion within 2 seconds.

I don't know how to debug when moving the robot with ros2 service, sorry
I would be grateful if I could fix the problem

ROS2 FOXY Space Limit funktion?

Hey got the Doosan A0509 running with Docker and Ros2 Foxy. I need to create a Space Limit for the robot so it is safe to operate in his "cell".
Is there any funktion in ros2 doosan packeges to create a cube space limit?
if not what are my options?

C++ Use

Hi,
I'd like to use your robot with c++ api, but dsr_control.cpp and its header are only compatible with ROS1, when do you think it will be ported to ROS2 ?

colcon build warning

我在colcon build时，终端给出一下这些警告，希望您们近期维护一下doosan-robot2软件包。

--- stderr: dsr_control2                                       
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:218: warning: "_DEBUG_DSR_CTL" redefined
  218 | #define _DEBUG_DSR_CTL      0
      | 
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:38: note: this is the location of the previous definition
   38 | #define _DEBUG_DSR_CTL      1
      | 
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:62,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:293:6: warning: extra ‘;’ [-Wpedantic]
  293 |     };
      |      ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:397:6: warning: extra ‘;’ [-Wpedantic]
  397 |     };
      |      ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h: In member function ‘bool DRAFramework::CDRFLEx::close_connection()’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:407:64: warning: no return statement in function returning non-void [-Wreturn-type]
  407 |         bool close_connection() { _close_connection(_rbtCtrl); }
      |                                                                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h: In member function ‘bool DRAFramework::CDRFLEx::set_safe_stop_reset_type(SAFE_STOP_RESET_TYPE)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:522:154: warning: no return statement in function returning non-void [-Wreturn-type]
  522 | _DEFAULT) { _set_safe_stop_reset_type(_rbtCtrl, eResetType); }
      |                                                              ^

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_RobotState()’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:477:60: warning: ‘void* memcpy(void*, const void*, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
  477 |         memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
      |                                                            ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
  400 | typedef struct {
      |                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_JointState()’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:620:60: warning: ‘void* memcpy(void*, const void*, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
  620 |         memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
      |                                                            ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
  400 | typedef struct {
      |                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:621:26: warning: statement has no effect [-Wunused-value]
  621 |         msg.header.stamp.sec;
      |         ~~~~~~~~~~~~~~~~~^~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static void dsr_control2::DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:653:66: warning: unused parameter ‘nh’ [-Wunused-parameter]
  653 |     void DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr nh)
      |                                          ~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In constructor ‘dsr_control2::DRHWInterface::DRHWInterface(rclcpp::Node::SharedPtr&)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:906:52: warning: ‘void* memset(void*, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
  906 |         memset(&g_stDrState, 0x00, sizeof(DR_STATE));
      |                                                    ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
  400 | typedef struct {
      |                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:908:52: warning: ‘void* memset(void*, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
  908 |         memset(&m_stDrState, 0x00, sizeof(DR_STATE));
      |                                                    ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
  400 | typedef struct {
      |                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘virtual hardware_interface::return_type dsr_control2::DRHWInterface::init()’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szController’ [-Wmissing-field-initializers]
 1026 |             SYSTEM_VERSION tSysVerion = {'\0', };
      |                                                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInterpreter’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInverter’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szSafetyBoard’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotSerial’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotModel’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szJTSBoard’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1026:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szFlangeBoard’ [-Wmissing-field-initializers]
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘void dsr_control2::DRHWInterface::trajectoryCallback(moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >::SharedPtr) const’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1187:20: warning: unused variable ‘sn_cnt’ [-Wunused-variable]
 1187 |         static int sn_cnt = 0;
      |                    ^~~~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1224:15: warning: unused variable ‘preTargetTime’ [-Wunused-variable]
 1224 |         float preTargetTime = 0.0;
      |               ^~~~~~~~~~~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1226:15: warning: unused variable ‘targetTime_sec’ [-Wunused-variable]
 1226 |         float targetTime_sec = 0.0;
      |               ^~~~~~~~~~~~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotMode_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetRobotMode_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1317:104: warning: unused parameter ‘req’ [-Wunused-parameter]
 1317 | const std::shared_ptr<dsr_msgs2::srv::GetRobotMode::Request> req, std::shared_ptr<dsr_msgs2::srv::GetRobotMode::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_system_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotSystem_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetRobotSystem_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1331:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1331 | nst std::shared_ptr<dsr_msgs2::srv::GetRobotSystem::Request> req, std::shared_ptr<dsr_msgs2::srv::GetRobotSystem::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_state_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotState_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetRobotState_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1339:106: warning: unused parameter ‘req’ [-Wunused-parameter]
 1339 | onst std::shared_ptr<dsr_msgs2::srv::GetRobotState::Request> req, std::shared_ptr<dsr_msgs2::srv::GetRobotState::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_speed_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotSpeedMode_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetRobotSpeedMode_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1354:115: warning: unused parameter ‘req’ [-Wunused-parameter]
 1354 |  std::shared_ptr<dsr_msgs2::srv::GetRobotSpeedMode::Request> req, std::shared_ptr<dsr_msgs2::srv::GetRobotSpeedMode::Response> res)
      |  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_last_alarm_cb(std::shared_ptr<dsr_msgs2::srv::GetLastAlarm_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetLastAlarm_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1380:104: warning: unused parameter ‘req’ [-Wunused-parameter]
 1380 | const std::shared_ptr<dsr_msgs2::srv::GetLastAlarm::Request> req, std::shared_ptr<dsr_msgs2::srv::GetLastAlarm::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::moveb_cb(std::shared_ptr<dsr_msgs2::srv::MoveBlending_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveBlending_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1529:19: warning: ISO C++ forbids variable length array ‘posb’ [-Wvla]
 1529 |         MOVE_POSB posb[req->pos_cnt];
      |                   ^~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::movewait_cb(std::shared_ptr<dsr_msgs2::srv::MoveWait_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveWait_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1605:94: warning: unused parameter ‘req’ [-Wunused-parameter]
 1605 | _cb(const std::shared_ptr<dsr_msgs2::srv::MoveWait::Request> req, std::shared_ptr<dsr_msgs2::srv::MoveWait::Response> res)
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::move_resume_cb(std::shared_ptr<dsr_msgs2::srv::MoveResume_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveResume_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1635:99: warning: unused parameter ‘req’ [-Wunused-parameter]
 1635 | b(const std::shared_ptr<dsr_msgs2::srv::MoveResume::Request> req, std::shared_ptr<dsr_msgs2::srv::MoveResume::Response> res)
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::move_pause_cb(std::shared_ptr<dsr_msgs2::srv::MovePause_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MovePause_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1641:97: warning: unused parameter ‘req’ [-Wunused-parameter]
 1641 | cb(const std::shared_ptr<dsr_msgs2::srv::MovePause::Request> req, std::shared_ptr<dsr_msgs2::srv::MovePause::Response> res)
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::move_home_cb(std::shared_ptr<dsr_msgs2::srv::MoveHome_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveHome_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1720:43: warning: invalid conversion from ‘int’ to ‘MOVE_HOME’ [-fpermissive]
 1720 |             res->success = Drfl.move_home(0);
      |                                           ^
      |                                           |
      |                                           int
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:540:34: note:   initializing argument 1 of ‘bool DRAFramework::CDRFLEx::move_home(MOVE_HOME, unsigned char)’
  540 |         bool move_home(MOVE_HOME eMode = MOVE_HOME_MECHANIC, unsigned char bRun = (unsigned)1) { return _move_home(_rbtCtrl, eMode, bRun); };
      |                        ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1722:43: warning: invalid conversion from ‘int’ to ‘MOVE_HOME’ [-fpermissive]
 1722 |             res->success = Drfl.move_home(1);
      |                                           ^
      |                                           |
      |                                           int
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:540:34: note:   initializing argument 1 of ‘bool DRAFramework::CDRFLEx::move_home(MOVE_HOME, unsigned char)’
  540 |         bool move_home(MOVE_HOME eMode = MOVE_HOME_MECHANIC, unsigned char bRun = (unsigned)1) { return _move_home(_rbtCtrl, eMode, bRun); };
      |                        ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::check_motion_cb(std::shared_ptr<dsr_msgs2::srv::CheckMotion_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::CheckMotion_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1725:101: warning: unused parameter ‘req’ [-Wunused-parameter]
 1725 | (const std::shared_ptr<dsr_msgs2::srv::CheckMotion::Request> req, std::shared_ptr<dsr_msgs2::srv::CheckMotion::Response> res)
      |  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::disable_alter_motion_cb(std::shared_ptr<dsr_msgs2::srv::DisableAlterMotion_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::DisableAlterMotion_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1781:116: warning: unused parameter ‘req’ [-Wunused-parameter]
 1781 | std::shared_ptr<dsr_msgs2::srv::DisableAlterMotion::Request> req, std::shared_ptr<dsr_msgs2::srv::DisableAlterMotion::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_control_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetControlMode_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetControlMode_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1808:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1808 | nst std::shared_ptr<dsr_msgs2::srv::GetControlMode::Request> req, std::shared_ptr<dsr_msgs2::srv::GetControlMode::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_control_space_cb(std::shared_ptr<dsr_msgs2::srv::GetControlSpace_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetControlSpace_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1819:110: warning: unused parameter ‘req’ [-Wunused-parameter]
 1819 | st std::shared_ptr<dsr_msgs2::srv::GetControlSpace::Request> req, std::shared_ptr<dsr_msgs2::srv::GetControlSpace::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_posj_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentPosj_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentPosj_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1830:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1830 | nst std::shared_ptr<dsr_msgs2::srv::GetCurrentPosj::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentPosj::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_velj_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentVelj_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentVelj_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1843:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1843 | nst std::shared_ptr<dsr_msgs2::srv::GetCurrentVelj::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentVelj::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_posj_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredPosj_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetDesiredPosj_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1857:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1857 | nst std::shared_ptr<dsr_msgs2::srv::GetDesiredPosj::Request> req, std::shared_ptr<dsr_msgs2::srv::GetDesiredPosj::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_velj_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredVelj_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetDesiredVelj_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1870:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1870 | nst std::shared_ptr<dsr_msgs2::srv::GetDesiredVelj::Request> req, std::shared_ptr<dsr_msgs2::srv::GetDesiredVelj::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_velx_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentVelx_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentVelx_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1902:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1902 | nst std::shared_ptr<dsr_msgs2::srv::GetCurrentVelx::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentVelx::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_velx_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredVelx_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetDesiredVelx_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1929:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1929 | nst std::shared_ptr<dsr_msgs2::srv::GetDesiredVelx::Request> req, std::shared_ptr<dsr_msgs2::srv::GetDesiredVelx::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tool_flange_posx_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentToolFlangePosx_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentToolFlangePosx_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1942:130: warning: unused parameter ‘req’ [-Wunused-parameter]
 1942 | hared_ptr<dsr_msgs2::srv::GetCurrentToolFlangePosx::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentToolFlangePosx::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_solution_space_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentSolutionSpace_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentSolutionSpace_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1955:127: warning: unused parameter ‘req’ [-Wunused-parameter]
 1955 | shared_ptr<dsr_msgs2::srv::GetCurrentSolutionSpace::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentSolutionSpace::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_rotm_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentRotm_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentRotm_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1965:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1965 | nst std::shared_ptr<dsr_msgs2::srv::GetCurrentRotm::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentRotm::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_joint_torque_cb(std::shared_ptr<dsr_msgs2::srv::GetJointTorque_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetJointTorque_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1984:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 1984 | nst std::shared_ptr<dsr_msgs2::srv::GetJointTorque::Request> req, std::shared_ptr<dsr_msgs2::srv::GetJointTorque::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_external_torque_cb(std::shared_ptr<dsr_msgs2::srv::GetExternalTorque_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetExternalTorque_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1997:114: warning: unused parameter ‘req’ [-Wunused-parameter]
 1997 |  std::shared_ptr<dsr_msgs2::srv::GetExternalTorque::Request> req, std::shared_ptr<dsr_msgs2::srv::GetExternalTorque::Response> res)
      |  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_tool_force_cb(std::shared_ptr<dsr_msgs2::srv::GetToolForce_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetToolForce_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2010:104: warning: unused parameter ‘req’ [-Wunused-parameter]
 2010 | const std::shared_ptr<dsr_msgs2::srv::GetToolForce::Request> req, std::shared_ptr<dsr_msgs2::srv::GetToolForce::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2059:116: warning: unused parameter ‘req’ [-Wunused-parameter]
 2059 | std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight::Request> req, std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::reset_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2069:120: warning: unused parameter ‘req’ [-Wunused-parameter]
 2069 | d::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight::Request> req, std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::release_compliance_ctrl_cb(std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2182:122: warning: unused parameter ‘req’ [-Wunused-parameter]
 2182 | ::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl::Request> req, std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_pause_cb(std::shared_ptr<dsr_msgs2::srv::DrlPause_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::DrlPause_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2746:95: warning: unused parameter ‘req’ [-Wunused-parameter]
 2746 | _cb(const std::shared_ptr<dsr_msgs2::srv::DrlPause::Request> req, std::shared_ptr<dsr_msgs2::srv::DrlPause::Response> res)
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_resume_cb(std::shared_ptr<dsr_msgs2::srv::DrlResume_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::DrlResume_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2782:97: warning: unused parameter ‘req’ [-Wunused-parameter]
 2782 | cb(const std::shared_ptr<dsr_msgs2::srv::DrlResume::Request> req, std::shared_ptr<dsr_msgs2::srv::DrlResume::Response> res)
      |    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_drl_state_cb(std::shared_ptr<dsr_msgs2::srv::GetDrlState_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetDrlState_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2794:102: warning: unused parameter ‘req’ [-Wunused-parameter]
 2794 | (const std::shared_ptr<dsr_msgs2::srv::GetDrlState::Request> req, std::shared_ptr<dsr_msgs2::srv::GetDrlState::Response> res)
      |  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tcp_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2817:106: warning: unused parameter ‘req’ [-Wunused-parameter]
 2817 | onst std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tool_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentTool_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentTool_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2850:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 2850 | nst std::shared_ptr<dsr_msgs2::srv::GetCurrentTool::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentTool::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_open_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2915:106: warning: unused parameter ‘req’ [-Wunused-parameter]
 2915 | onst std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen::Request> req, std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_close_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose_Response_<std::allocator<void> > >)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2932:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 2932 | nst std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose::Request> req, std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose::Response> res)
      | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: At global scope:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1187:20: warning: ‘sn_cnt’ defined but not used [-Wunused-variable]
 1187 |         static int sn_cnt = 0;
      |                    ^~~~~~
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:218: warning: "_DEBUG_DSR_CTL" redefined
  218 | #define _DEBUG_DSR_CTL      0
      | 
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:38: note: this is the location of the previous definition
   38 | #define _DEBUG_DSR_CTL      1
      | 
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:62,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:293:6: warning: extra ‘;’ [-Wpedantic]
  293 |     };
      |      ^
In file included from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:397:6: warning: extra ‘;’ [-Wpedantic]
  397 |     };
      |      ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h: In member function ‘bool DRAFramework::CDRFLEx::close_connection()’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:407:64: warning: no return statement in function returning non-void [-Wreturn-type]
  407 |         bool close_connection() { _close_connection(_rbtCtrl); }
      |                                                                ^
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h: In member function ‘bool DRAFramework::CDRFLEx::set_safe_stop_reset_type(SAFE_STOP_RESET_TYPE)’:
/home/xls/doosan_foxy/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFLEx.h:522:154: warning: no return statement in function returning non-void [-Wreturn-type]
  522 | _DEFAULT) { _set_safe_stop_reset_type(_rbtCtrl, eResetType); }
      |                                                              ^

---
Finished <<< dsr_control2 [56.3s]
Starting >>> dsr_example2_py
Finished <<< dsr_example2_py [1.01s]                  

Summary: 26 packages finished [8min 35s]
  1 package had stderr output: dsr_control2

Problem running dsr_control_node2

Hi,
Every time I try to run the dsr_control_node2 with the launch files, I get this error :

I used ros2 launch dsr_control2 dsr_control2.launch.py, instead of the rviz launch to have only this error.

[INFO] [launch]: All log files can be found below /home/jtaveau/.ros/log/2021-06-22-11-03-49-470003-saluyt-247231
[INFO] [launch]: Default logging verbosity is set to INFO
/home/jtaveau/moveit2_ws/install/dsr_control2/share/dsr_control2/config/default.yaml
[INFO] [dsr_control_node2-1]: process started with pid [247240]
[dsr_control_node2-1] [INFO] [1624352629.578406090] [dsr_control_node2]: g_node = 0x0x7fff587a7410
[dsr_control_node2-1] [INFO] [1624352629.578591177] [dsr_control_node2]: rate is 100
[dsr_control_node2-1] [INFO] [1624352629.578703692] [dsr_control_node2]: controller_manager is updating!
[dsr_control_node2-1] [INFO] [1624352629.578949447] [dsr_hw_interface2]: name = dsr01
[dsr_control_node2-1] [INFO] [1624352629.578970939] [dsr_hw_interface2]: model = m1013
[dsr_control_node2-1] [INFO] [1624352629.578976680] [dsr_hw_interface2]: gripper = none
[dsr_control_node2-1] [INFO] [1624352629.578982193] [dsr_hw_interface2]: name_space is dsr01, m1013
[dsr_control_node2-1] [INFO] [1624352629.578986618] [dsr_hw_interface2]: constructed
[dsr_control_node2-1] [INFO] [1624352629.648201131] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion
[dsr_control_node2-1] [INFO] [1624352629.648250886] [dsr_hw_interface2]: joint_name = joint1
[dsr_control_node2-1] [INFO] [1624352629.648379565] [dsr_hw_interface2]: joint_name = joint2
[dsr_control_node2-1] [INFO] [1624352629.648409293] [dsr_hw_interface2]: joint_name = joint3
[dsr_control_node2-1] [INFO] [1624352629.648426622] [dsr_hw_interface2]: joint_name = joint4
[dsr_control_node2-1] [INFO] [1624352629.649017060] [dsr_hw_interface2]: joint_name = joint5
[dsr_control_node2-1] [INFO] [1624352629.649036958] [dsr_hw_interface2]: joint_name = joint6
[dsr_control_node2-1] [INFO] [1624352629.649049081] [dsr_hw_interface2]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[dsr_control_node2-1] [INFO] [1624352629.649058139] [dsr_hw_interface2]: init() ==> arm is standby
[dsr_control_node2-1] [INFO] [1624352629.649122038] [dsr_hw_interface2]: host = 127.0.0.1
[dsr_control_node2-1] [INFO] [1624352629.649129870] [dsr_hw_interface2]: port = 12345
[dsr_control_node2-1] [INFO] [1624352629.649134501] [dsr_hw_interface2]: command = 1
[dsr_control_node2-1] [INFO] [1624352629.649138682] [dsr_hw_interface2]: mode = virtual
[dsr_control_node2-1] [INFO] [1624352629.649142855] [dsr_hw_interface2]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual
[dsr_control_node2-1] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6Connection refused
[dsr_control_node2-1] [ERROR] [1624352629.649930486] [dsr_hw_interface2]: DRHWInterface::init() DRCF connecting ERROR!!!
[dsr_control_node2-1] [ERROR] [1624352629.649953211] [dsr_control_node2]: Error initializing robot
[dsr_control_node2-1] [INFO] [1624352629.649986810] [dsr_hw_interface2]: DRHWInterface::~DRHWInterface()
[ERROR] [dsr_control_node2-1]: process has died [pid 247240, exit code -11, cmd '/home/jtaveau/moveit2_ws/install/dsr_control2/lib/dsr_control2/dsr_control_node2 --ros-args --params-file /tmp/launch_params_sw2nerns --params-file /tmp/launch_params_d_fnv78q --params-file /tmp/launch_params_tzx9c1k8 --params-file /tmp/launch_params_5imt5lon --params-file /tmp/launch_params_n9gdnyt7 --params-file /tmp/launch_params_5f_3wwyg --params-file /tmp/launch_params_q4vvj7g3 --params-file /tmp/launch_params_0twxt0ha --params-file /tmp/launch_params_b9kz3rvs --params-file /tmp/launch_params_v0x1_gxz'].

Could you help me, please ?
I'm using Foxy on Debian Bullseye.

Force applied in virtual mode

Hello, I was wondering if I place an object and made the robot move the robot in any way if it is possible to know the force being applied by the robot in kg or in any other metrics.

Thank you!

[ERROR]: handle with interface (joint1: velocity) wasn't found!

Hi I got problem like that
i follwed all the build documentation and installed poco library too!
but problem is not solved..
if i run the example file then the robot moved, is there not have any problem?

$ ros2 launch dsr_launcher2 single_robot_rviz.launch.py model:=a0912 color:=blue
[INFO] [launch]: All log files can be found below /home/seok2/.ros/log/2022-07-05-12-40-50-517026-seok2-MS-7D25-204548
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [sh-1]: process started with pid [204551]
[INFO] [static_transform_publisher-2]: process started with pid [204554]
[INFO] [robot_state_publisher-3]: process started with pid [204557]
[INFO] [rviz2-4]: process started with pid [204559]
[INFO] [dsr_control_node2-5]: process started with pid [204562]
[sh-1] Run Emulator of the Doosan Robot Controller
[sh-1] dirname: /home/seok2/ros2_ws/install/common2/share/common2/bin/DRCF/run_drcf.sh
[sh-1] server_port: 12345
[sh-1] robot model: a0912
[sh-1] ARCH: 64-bit
[static_transform_publisher-2] [INFO]: Spinning until killed publishing transform from 'base' to 'base_0'
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link base_0 had 1 children
[robot_state_publisher-3] Link link1 had 1 children
[robot_state_publisher-3] Link link2 had 1 children
[robot_state_publisher-3] Link link3 had 1 children
[robot_state_publisher-3] Link link4 had 1 children
[robot_state_publisher-3] Link link5 had 1 children
[robot_state_publisher-3] Link link6 had 0 children
[robot_state_publisher-3] [INFO]: got segment base_0
[robot_state_publisher-3] [INFO]: got segment link1
[robot_state_publisher-3] [INFO]: got segment link2
[robot_state_publisher-3] [INFO]: got segment link3
[robot_state_publisher-3] [INFO]: got segment link4
[robot_state_publisher-3] [INFO]: got segment link5
[robot_state_publisher-3] [INFO]: got segment link6
[robot_state_publisher-3] [INFO]: got segment world
[dsr_control_node2-5] [INFO]: g_node = 0x0x7ffdad121080
[dsr_control_node2-5] [INFO]: rate is 100
[dsr_control_node2-5] [INFO]: controller_manager is updating!
[dsr_control_node2-5] [INFO]: name = dsr01
[dsr_control_node2-5] [INFO]: model = a0912
[dsr_control_node2-5] [INFO]: gripper = none
[dsr_control_node2-5] [INFO]: name_space is dsr01, a0912
[dsr_control_node2-5] [INFO]: constructed
[dsr_control_node2-5] [INFO]: [dsr_hw_interface2] init() ==> setup callback fucntion
[dsr_control_node2-5] [INFO]: joint_name = joint1
[dsr_control_node2-5] [WARN]: 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.
[dsr_control_node2-5] [INFO]: joint_name = joint2
[dsr_control_node2-5] [INFO]: joint_name = joint3
[dsr_control_node2-5] [INFO]: joint_name = joint4
[dsr_control_node2-5] [INFO]: joint_name = joint5
[dsr_control_node2-5] [INFO]: joint_name = joint6
[dsr_control_node2-5] [INFO]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[dsr_control_node2-5] [INFO]: init() ==> arm is standby
[dsr_control_node2-5] [INFO]: host = 127.0.0.1
[dsr_control_node2-5] [INFO]: port = 12345
[dsr_control_node2-5] [INFO]: command = 1
[dsr_control_node2-5] [INFO]: mode = virtual
[dsr_control_node2-5] [INFO]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual
[dsr_control_node2-5] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6[callback OnMonitoringAccessControlCB] eAccCtrl: 2
[dsr_control_node2-5] access control granted
[dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY
[dsr_control_node2-5] [callback OnTpInitializingCompletedCB] tp initializing completed
[dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY
[dsr_control_node2-5] [INFO]: On Monitor State
[dsr_control_node2-5] [INFO]: On Monitor State
[dsr_control_node2-5] [callback OnMonitoringAccessControlCB] eAccCtrl: 2
[dsr_control_node2-5] access control granted
[dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY
[dsr_control_node2-5] [INFO]: On Monitor State
[dsr_control_node2-5] [INFO]: _______________________________________________
[dsr_control_node2-5] [INFO]: Emulator Mode
[dsr_control_node2-5] [INFO]: DRCF version = GF120500
[dsr_control_node2-5] [INFO]: DRFL version = GL010110
[dsr_control_node2-5] [INFO]: m_nVersionDRCF = 120500
[dsr_control_node2-5] [INFO]: _______________________________________________
[dsr_control_node2-5] [INFO]: [init]::read 0-pos: 0.000
[dsr_control_node2-5] [INFO]: [init]::read 1-pos: 0.000
[dsr_control_node2-5] [INFO]: [init]::read 2-pos: 0.000
[dsr_control_node2-5] [INFO]: [init]::read 3-pos: 0.000
[dsr_control_node2-5] [INFO]: [init]::read 4-pos: 0.000
[dsr_control_node2-5] [INFO]: [init]::read 5-pos: 0.000
[dsr_control_node2-5] [WARN]: 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.
[dsr_control_node2-5] [INFO]: Loading controller 'dsr_joint_publisher'
[dsr_control_node2-5]
[dsr_control_node2-5] [WARN]: 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.
[dsr_control_node2-5] [ERROR]: handle with interface (joint1: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint1: effort) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint2: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint2: effort) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint3: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint3: effort) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint4: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint4: effort) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint5: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint5: effort) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint6: velocity) wasn't found!
[dsr_control_node2-5] [ERROR]: handle with interface (joint6: effort) wasn't found!
[dsr_control_node2-5] [WARN]: No transition matching 1 found for current state inactive
[dsr_control_node2-5] [ERROR]: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350
[dsr_control_node2-5] [INFO]: controller_manager is updating!
[rviz2-4] [INFO]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO]: Stereo is NOT SUPPORTED
[rviz2-4] Parsing robot urdf xml string.

Starting Handguiding via ROS

Hello,

this is merely a question than an issue.

Is it possible to start (and stop) handguided teaching mode using the ROS2 interface?

Setup-Issue

Hello,
when following the setup guide, it is not possible to setup the moveit part correctly.
After doing this: rm -rf src/doosan-robot2/moveit_config_*/COLCON_IGNORE, colcon build fails with:

_CMake Error at CMakeLists.txt:47 (find_package):
By not providing "Findeigen3_cmake_module.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"eigen3_cmake_module", but CMake did not find one.

Could not find a package configuration file provided by
"eigen3_cmake_module" with any of the following names:

eigen3_cmake_moduleConfig.cmake
eigen3_cmake_module-config.cmake_

moveit2 package must be cloned from the specific branch (foxy)

When I tried followings and did colcon build,

$ cd ~/ros2_ws/src
$ git clone https://github.com/ros-planning/moveit2
$ git clone -b ros2 --single-branch https://github.com/ros-planning/warehouse_ros
$ git clone -b ros2 --single-branch  https://github.com/ros-planning/warehouse_ros_mongo
$ git clone -b ros2 --single-branch https://github.com/ros-planning/srdfdom
$ git clone -b ros2 --single-branch https://github.com/ros-planning/geometric_shapes
$ git clone -b use_new_joint_handle https://github.com/ShotaAk/fake_joint

I met following errors.

--- stderr: moveit_core                                 
moveit_core: You did not request a specific build type: Choosing 'Release' for maximum performance
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::getCurrentlyLoadingLibraryName[abi:cxx11]()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::getPluginBaseToFactoryMapMapMutex()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::hasANonPurePluginLibraryBeenOpened(bool)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::getCurrentlyActiveClassLoader()'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::AbstractMetaObjectBase::setAssociatedLibraryPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::getFactoryMapForBaseClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::AbstractMetaObjectBase::AbstractMetaObjectBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: libmoveit_butterworth_filter.so.2.5.1: undefined reference to `class_loader::impl::AbstractMetaObjectBase::addOwningClassLoader(class_loader::ClassLoader*)'
collect2: error: ld returned 1 exit status

I tried

$ git clone -b foxy --single-branch https://github.com/ros-planning/moveit2

instead of

$ git clone https://github.com/ros-planning/moveit2

then the errors were fixed.

If this package runs on ros2 foxy, I suggest you revise that line in README.md.

TCP and TOOL setting issues from ROS

humble-devel Moveit plan gets successful for execute but does not moving the cobot.

I have successful in installing the pkg and start the rviz.

I made modifications to work for my use case by changing the hard coded m1013 to a0509 in moveit launch file MoveItConfigsBuilder.

To start the move_group. I also added run_move_group_node to the LaunchDescription.

Here are the changes I did

Currently in RViz2 I am able to plan the action to move the doosan arm. But when I click execute it shows successful but the robot arm does not move.

ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=real host:=192.168.1.124 model:=a0509 color:=blue

[INFO] [launch]: All log files can be found below /home/cobot/.ros/log/2024-06-21-19-52-42-609266-cobot-357766
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
[INFO] [connection-1]: process started with pid [357769]
[INFO] [ros2_control_node-2]: process started with pid [357771]
[INFO] [move_group-3]: process started with pid [357773]
[INFO] [robot_state_publisher-4]: process started with pid [357775]
[INFO] [spawner-5]: process started with pid [357777]
[INFO] [spawner-6]: process started with pid [357787]
[ros2_control_node-2] [WARN] [1718979763.906330572] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-2] [INFO] [1718979763.906998191] [resource_manager]: Loading hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979763.916534592] [resource_manager]: Initialize hardware 'a0509' 
[robot_state_publisher-4] [INFO] [1718979764.028389807] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1718979764.028570093] [robot_state_publisher]: got segment link_1
[robot_state_publisher-4] [INFO] [1718979764.028590027] [robot_state_publisher]: got segment link_2
[robot_state_publisher-4] [INFO] [1718979764.028601714] [robot_state_publisher]: got segment link_3
[robot_state_publisher-4] [INFO] [1718979764.028612270] [robot_state_publisher]: got segment link_4
[robot_state_publisher-4] [INFO] [1718979764.028622652] [robot_state_publisher]: got segment link_5
[robot_state_publisher-4] [INFO] [1718979764.028633087] [robot_state_publisher]: got segment link_6
[robot_state_publisher-4] [INFO] [1718979764.028643612] [robot_state_publisher]: got segment world
[move_group-3] Error:   Semantic description is not specified for the same robot as the URDF
[move_group-3]          at line 664 in ./src/model.cpp
[move_group-3] [INFO] [1718979764.058113995] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0897243 seconds
[move_group-3] [INFO] [1718979764.058537725] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[connection-1] [INFO] [1718979764.072726084] [connection_node]: mobile: none
[move_group-3] [WARN] [1718979764.224755298] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[move_group-3] [INFO] [1718979764.646548781] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-3] [INFO] [1718979764.646748346] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-3] [INFO] [1718979764.647628146] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-3] [INFO] [1718979764.648133153] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-3] [INFO] [1718979764.648153787] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-3] [INFO] [1718979764.648502147] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-3] [INFO] [1718979764.648519404] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-3] [INFO] [1718979764.648921543] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-3] [INFO] [1718979764.649321938] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-3] [WARN] [1718979764.649665142] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-3] [ERROR] [1718979764.649684961] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-3] [INFO] [1718979764.875422178] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-3] [INFO] [1718979764.892367809] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-3] [INFO] [1718979764.895373213] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1718979764.895390114] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-3] [INFO] [1718979764.895397137] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-3] [INFO] [1718979764.895423468] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1718979764.895442430] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1718979764.895450907] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.895466541] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.895473765] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1718979764.895480646] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1718979764.895494755] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-3] [INFO] [1718979764.895501111] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-3] [INFO] [1718979764.895506087] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1718979764.895510989] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1718979764.895515640] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1718979764.895552481] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [INFO] [1718979764.898609561] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-3] [ERROR] [1718979764.900612958] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-3] [ERROR] [1718979764.902369998] [moveit.ros_planning.planning_pipeline]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeParameterization with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/ResolveConstraintFrames
[move_group-3] [INFO] [1718979764.902549577] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-3] [INFO] [1718979764.902573652] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-3] [INFO] [1718979764.902582231] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.902598070] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-3] [INFO] [1718979764.902613817] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-3] [INFO] [1718979764.902620946] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-3] [INFO] [1718979764.902645485] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-3] [INFO] [1718979764.902660235] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-3] [INFO] [1718979764.902665857] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-3] [INFO] [1718979764.902671376] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-3] [ERROR] [1718979764.903365751] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-3] [INFO] [1718979764.904296357] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-3] [INFO] [1718979764.907595646] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-3] [INFO] [1718979764.911280756] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-3] [INFO] [1718979764.911310486] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-3] [INFO] [1718979764.912841307] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-3] [INFO] [1718979764.912865254] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-3] [INFO] [1718979764.913867047] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-3] [INFO] [1718979764.913916092] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-3] [INFO] [1718979764.914894445] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-3] [INFO] [1718979764.914911323] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[ros2_control_node-2] [INFO] [1718979764.917191320] [dsr_hw_interface2]: joint_name = joint_1
[ros2_control_node-2] [INFO] [1718979764.917235200] [dsr_hw_interface2]: joint_name = joint_2
[ros2_control_node-2] [INFO] [1718979764.917243356] [dsr_hw_interface2]: joint_name = joint_3
[ros2_control_node-2] [INFO] [1718979764.917250178] [dsr_hw_interface2]: joint_name = joint_4
[ros2_control_node-2] [INFO] [1718979764.917256746] [dsr_hw_interface2]: joint_name = joint_5
[ros2_control_node-2] [INFO] [1718979764.917263321] [dsr_hw_interface2]: joint_name = joint_6
[ros2_control_node-2] [INFO] [1718979764.917413221] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979764.917424947] [dsr_hw_interface2]:     INITAILIZE
[ros2_control_node-2] [INFO] [1718979764.917431924] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979764.946418837] [dsr_hw_interface2]: Failed to open YAML file: /home/cobot/ros2_ws/install/dsr_hardware2/share/dsr_hardware2/config/parameters.yaml
[ros2_control_node-2] [INFO] [1718979764.946975468] [dsr_hw_interface2]: name: 
[ros2_control_node-2] [INFO] [1718979764.947043965] [dsr_hw_interface2]: rate: 100
[ros2_control_node-2] [INFO] [1718979764.947094563] [dsr_hw_interface2]: standby: 5000
[ros2_control_node-2] [INFO] [1718979764.947124152] [dsr_hw_interface2]: command: true
[ros2_control_node-2] [INFO] [1718979764.947144280] [dsr_hw_interface2]: host: 192.168.1.124
[ros2_control_node-2] [INFO] [1718979764.947166846] [dsr_hw_interface2]: port: 12345
[ros2_control_node-2] [INFO] [1718979764.947187328] [dsr_hw_interface2]: mode: real
[ros2_control_node-2] [INFO] [1718979764.947228991] [dsr_hw_interface2]: model: a0509
[ros2_control_node-2] [INFO] [1718979764.947321171] [dsr_hw_interface2]: gripper: none
[ros2_control_node-2] [INFO] [1718979764.947370306] [dsr_hw_interface2]: mobile: none
[ros2_control_node-2] [INFO] [1718979764.947387594] [dsr_hw_interface2]:     name = 
[ros2_control_node-2] [INFO] [1718979764.947400526] [dsr_hw_interface2]:     host = 192.168.1.124
[ros2_control_node-2] [INFO] [1718979764.947476907] [dsr_hw_interface2]:     port = 12345
[ros2_control_node-2] [INFO] [1718979764.947492785] [dsr_hw_interface2]:     command = 1
[ros2_control_node-2] [INFO] [1718979764.947505993] [dsr_hw_interface2]:     mode = real
[move_group-3] [INFO] [1718979764.964054148] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for dsr_moveit_controller
[move_group-3] [INFO] [1718979764.964249264] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718979764.964277362] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718979764.965138580] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-3] [INFO] [1718979764.965161608] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-3] [INFO] [1718979764.986901042] [move_group.move_group]: 
[move_group-3] 
[move_group-3] ********************************************************
[move_group-3] * MoveGroup using: 
[move_group-3] *     - ApplyPlanningSceneService
[move_group-3] *     - ClearOctomapService
[move_group-3] *     - CartesianPathService
[move_group-3] *     - ExecuteTrajectoryAction
[move_group-3] *     - GetPlanningSceneService
[move_group-3] *     - KinematicsService
[move_group-3] *     - MoveAction
[move_group-3] *     - MotionPlanService
[move_group-3] *     - QueryPlannersService
[move_group-3] *     - StateValidationService
[move_group-3] ********************************************************
[move_group-3] 
[move_group-3] [INFO] [1718979764.986957448] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-3] [INFO] [1718979764.986972409] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-3] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-3] Loading 'move_group/ClearOctomapService'...
[move_group-3] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-3] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-3] Loading 'move_group/MoveGroupMoveAction'...
[move_group-3] Loading 'move_group/MoveGroupPlanService'...
[move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-3] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-3] 
[move_group-3] You can start planning now!
[move_group-3] 
[ros2_control_node-2] [callback OnMonitoringAccessControlCB] eAccCtrl: 3
[ros2_control_node-2] [callback OnTpInitializingCompletedCB] tp initializing completed
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[ros2_control_node-2] [INFO] [1718979765.052453848] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979765.052515608] [dsr_hw_interface2]:     OPEN CONNECTION
[ros2_control_node-2] [INFO] [1718979765.052532067] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringAccessControlCB] eAccCtrl: 2
[ros2_control_node-2] [INFO] [1718979765.053606852] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1718979765.053651155] [dsr_hw_interface2]:     Access control granted 
[ros2_control_node-2] [INFO] [1718979765.053666324] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[ros2_control_node-2] [INFO] [1718979765.467550587] [dsr_hw_interface2]:     Real Robot Mode
[ros2_control_node-2] [INFO] [1718979765.467621227] [dsr_hw_interface2]:     DRCF version = GF02110200
[ros2_control_node-2] [INFO] [1718979765.467655417] [dsr_hw_interface2]:     DRFL version = GL010118
[ros2_control_node-2] [INFO] [1718979765.467678778] [dsr_hw_interface2]:     m_nVersionDRCF = 2110200
[ros2_control_node-2] [INFO] [1718979765.467700171] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (3) SAFE_OFF
[spawner-5] [INFO] [1718979766.036062936] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1718979766.065439175] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1718979768.050955956] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1718979768.080255141] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[spawner-5] [INFO] [1718979770.065595735] [spawner_dsr_controller2]: Waiting for '/controller_manager' services to be available
[ros2_control_node-2] [callback OnMonitoringStateCB] current state: (1) STANDBY
[spawner-6] [INFO] [1718979770.091241723] [spawner_dsr_moveit_controller]: Waiting for '/controller_manager' services to be available
[ros2_control_node-2] [INFO] [1718979770.106273967] [dsr_hw_interface2]:     [init]::read 0-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106366765] [dsr_hw_interface2]:     [init]::read 1-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106398018] [dsr_hw_interface2]:     [init]::read 2-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106422398] [dsr_hw_interface2]:     [init]::read 3-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106445716] [dsr_hw_interface2]:     [init]::read 4-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106469169] [dsr_hw_interface2]:     [init]::read 5-pos:   0.000
[ros2_control_node-2] [INFO] [1718979770.106520315] [resource_manager]: Successful initialization of hardware 'a0509'
[ros2_control_node-2] [INFO] [1718979770.106997992] [resource_manager]: 'configure' hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979770.107028092] [resource_manager]: Successful 'configure' of hardware 'a0509'
[ros2_control_node-2] [INFO] [1718979770.107040468] [resource_manager]: 'activate' hardware 'a0509' 
[ros2_control_node-2] [INFO] [1718979770.107048882] [resource_manager]: Successful 'activate' of hardware 'a0509'
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback StateInterface] StateInterface state_interfaces: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [callback CommandInterface] CommandInterface joint_position_command_: 0
[ros2_control_node-2] [INFO] [1718979770.118208391] [controller_manager]: update rate is 10 Hz
[ros2_control_node-2] [INFO] [1718979770.118573431] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-2] [INFO] [1718979770.188895455] [dsr_hw_interface2]: [callback OnLogAlarm]
[ros2_control_node-2] [INFO] [1718979770.188953473] [dsr_hw_interface2]:  level : 1
[ros2_control_node-2] [INFO] [1718979770.188966132] [dsr_hw_interface2]:  group : 1
[ros2_control_node-2] [INFO] [1718979770.188976296] [dsr_hw_interface2]:  index : 1037
[ros2_control_node-2] [INFO] [1718979770.188986884] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [INFO] [1718979770.188997051] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [INFO] [1718979770.189007111] [dsr_hw_interface2]:  param : 
[ros2_control_node-2] [WARN] [1718979770.219297781] [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.
[ros2_control_node-2] [INFO] [1718979770.289008803] [controller_manager]: Loading controller 'dsr_controller2'
[ros2_control_node-2] [INFO] [1718979770.304809099] [dsr_hw_interface2]: [dsr_hw_interface2] 0x79dc5be201e0
[ros2_control_node-2] [INFO] [1718979770.318404291] [dsr_controller2]: name: 
[spawner-5] [INFO] [1718979770.320291650] [spawner_dsr_controller2]: Loaded dsr_controller2
[ros2_control_node-2] [INFO] [1718979770.322840042] [controller_manager]: Configuring controller 'dsr_controller2'
[ros2_control_node-2] [INFO] [1718979770.419432434] [controller_manager]: Loading controller 'dsr_moveit_controller'
[ros2_control_node-2] [WARN] [1718979770.450951566] [dsr_moveit_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-6] [INFO] [1718979770.520604486] [spawner_dsr_moveit_controller]: Loaded dsr_moveit_controller
[ros2_control_node-2] [INFO] [1718979770.819279123] [controller_manager]: Configuring controller 'dsr_moveit_controller'
[spawner-5] [INFO] [1718979770.820503988] [spawner_dsr_controller2]: Configured and activated dsr_controller2
[ros2_control_node-2] [INFO] [1718979770.820541140] [dsr_moveit_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-2] [INFO] [1718979770.820576999] [dsr_moveit_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-2] [INFO] [1718979770.820597301] [dsr_moveit_controller]: Using 'splines' interpolation method.
[ros2_control_node-2] [INFO] [1718979770.822937773] [dsr_moveit_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-2] [INFO] [1718979770.831922057] [dsr_moveit_controller]: Action status changes will be monitored at 20.00 Hz.
[INFO] [spawner-5]: process has finished cleanly [pid 357777]
[INFO] [rviz2-7]: process started with pid [357861]
[spawner-6] [INFO] [1718979771.120578602] [spawner_dsr_moveit_controller]: Configured and activated dsr_moveit_controller
[INFO] [spawner-6]: process has finished cleanly [pid 357787]
[rviz2-7] [INFO] [1718979771.876296470] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1718979771.876490555] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1718979772.060960034] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] 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.
[rviz2-7]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-7] [ERROR] [1718979775.230452676] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-7] [INFO] [1718979775.252486593] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-7] Error:   Semantic description is not specified for the same robot as the URDF
[rviz2-7]          at line 664 in ./src/model.cpp
[rviz2-7] [INFO] [1718979775.291932754] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0331741 seconds
[rviz2-7] [INFO] [1718979775.292003118] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[rviz2-7] Error:   Semantic description is not specified for the same robot as the URDF
[rviz2-7]          at line 664 in ./src/model.cpp
[rviz2-7] [INFO] [1718979775.996182857] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00250415 seconds
[rviz2-7] [INFO] [1718979775.996224514] [moveit_robot_model.robot_model]: Loading robot model 'a0509'...
[rviz2-7] [WARN] [1718979776.200030359] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-7] [INFO] [1718979777.646464705] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-7] [INFO] [1718979777.648178753] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-7] [INFO] [1718979777.650671426] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-7] [INFO] [1718979777.652898337] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-7] [INFO] [1718979777.664432475] [interactive_marker_display_101165641043712]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-7] [WARN] [1718979777.668665806] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rviz2-7] [INFO] [1718979778.709680902] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-7] [INFO] [1718979778.709723090] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-7] [INFO] [1718979778.730058461] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-7] [INFO] [1718979780.233513455] [interactive_marker_display_101165641043712]: Sending request for interactive markers
[rviz2-7] [INFO] [1718979781.527032203] [interactive_marker_display_101165641043712]: Service response received for initialization

RViz2 screenshot of my plan:

Logs for planning

[rviz2-7] [INFO] [1718980007.562679794] [move_group_interface]: MoveGroup action client/server ready
[move_group-3] [INFO] [1718980007.563125482] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-3] [INFO] [1718980007.563284122] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[rviz2-7] [INFO] [1718980007.563424545] [move_group_interface]: Planning request accepted
[move_group-3] [INFO] [1718980007.644244223] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-3] [INFO] [1718980007.644293523] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-3] [INFO] [1718980007.644781024] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-3] [INFO] [1718980007.767398277] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-7] [INFO] [1718980007.768089536] [move_group_interface]: Planning request complete!
[rviz2-7] [INFO] [1718980007.768242061] [move_group_interface]: time taken to generate plan: 0.0259953 seconds

But when I click Execute. It logs successful. But the robot is not moving.

[move_group-3] [INFO] [1718980080.464306192] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-3] [INFO] [1718980080.464447151] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-3] [INFO] [1718980080.464482949] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.464501374] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.464652337] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-7] [INFO] [1718980080.464475620] [move_group_interface]: Execute request accepted
[move_group-3] [INFO] [1718980080.543702741] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-3] [INFO] [1718980080.543791448] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.543818530] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-3] [INFO] [1718980080.544013393] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to dsr_moveit_controller
[ros2_control_node-2] [INFO] [1718980080.544714006] [dsr_moveit_controller]: Received new action goal
[ros2_control_node-2] [INFO] [1718980080.544806996] [dsr_moveit_controller]: Accepted new action goal
[move_group-3] [INFO] [1718980080.545002068] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: dsr_moveit_controller started execution
[move_group-3] [INFO] [1718980080.545029746] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[ros2_control_node-2] [INFO] [1718980096.618922852] [dsr_moveit_controller]: Goal reached, success!
[move_group-3] [INFO] [1718980096.645771783] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'dsr_moveit_controller' successfully finished
[move_group-3] [INFO] [1718980096.944730441] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-3] [INFO] [1718980096.944853324] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
[rviz2-7] [INFO] [1718980096.945617629] [move_group_interface]: Execute request success!

Kindly let me know what I am missing to move the robot.

PS> I am able to move the robot using the ros2 services directly, which means there is no issue in hardware connection or tcp, its just not executing the moveit plan.

OnRobot Soft Gripper

I want to work with onRobot soft gripper in python. Has anyone found out how to do it? I am using the example dsr_service_motion_basic but with some made changes.
If anyone knows how, I appreciate it! Thanks

Is this abandoned?

Is this abandonware? Is it even meaningful to use?

[ERROR] build problem ros2_control joint_limits_interface

Hello, i'm having an issue, when i try to colcon build with foxy ubuntu 20, i have this :
file included from /home/ghostpcsolvay/ros2_ws/src/ros2_control/joint_limits_interface/test/joint_limits_urdf_test.cpp:19: /home/ghostpcsolvay/ros2_ws/src/ros2_control/joint_limits_interface/include/joint_limits_interface/joint_limits_urdf.hpp:22:10: fatal error: 'urdf/urdfdom_compatibility.h' file not found #include <urdf/urdfdom_compatibility.h> ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 1 error generated. make[2]: *** [CMakeFiles/joint_limits_urdf_test.dir/build.make:63: CMakeFiles/joint_limits_urdf_test.dir/test/joint_limits_urdf_test.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:159: CMakeFiles/joint_limits_urdf_test.dir/all] Error 2 make: *** [Makefile:141: all] Error 2
do you know where does it comes from?

Building Error "common2" in new Update #57 SOLVED

In the newly updated version if you get this error:

--- stderr: common2
CMake Error at cmake_install.cmake:105 (file):
file INSTALL cannot find
"/home/gawlinski/ros2_ws_h/src/doosan-robot2-humble-devel/common2/bin": No
such file or directory.

To fix it create in the common2 folder a new folder called "bin"

also Moveit still does not work. In Rviz "NO PLANNING LIBARY LOADED" and it is not possible to plan and execute motions

The URDF file

Hi, I'm using the URDF of the H2515 robot to calculate the bias force.
Do I only need to use the URDF file, or do I also have to include dsr_description2/meshes/h2515_blue/H2515_5_0? I encountered errors when attempting to calculate the Mass Matrix, specifically regarding a problem with the root link.

[ERROR] build problem in gazebo_ros2_control

Hello, I'm using Ubuntu 20.04 and I installed ros2 foxy via Debian package
I got an error in installing doosan-robot2 package.

I got an error saying


--- stderr: gazebo_ros2_control
In file included from /home/hmdo/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp:25,
from /home/hmdo/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/src/gazebo_system.cpp:19:
/home/hmdo/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp:27:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory
27 | #include "hardware_interface/base_interface.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/gazebo_hardware_plugins.dir/build.make:63: CMakeFiles/gazebo_hardware_plugins.dir/src/gazebo_system.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:80: CMakeFiles/gazebo_hardware_plugins.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---

Pls help me to fix it.

Client T/P authentication failed.

Hi guys.

I've successfully built doosan-robot2 and now I'm trying to use it with a real m0609 robot.

I use command ros2 launch dsr_launcher2 single_robot_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=m0609

Command output

[INFO] [launch]: All log files can be found below /root/.ros/log/2021-08-18-00-03-50-786022-3fa24d1bd2a7-43057
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [43060]
[INFO] [robot_state_publisher-2]: process started with pid [43062]
[INFO] [rviz2-3]: process started with pid [43064]
[INFO] [dsr_control_node2-4]: process started with pid [43066]
[static_transform_publisher-1] [INFO] [1629245031.019471688] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0'
[dsr_control_node2-4] [INFO] [1629245031.034142435] [dsr_control_node2]: g_node = 0x0x7ffff160b940
[dsr_control_node2-4] [INFO] [1629245031.034239149] [dsr_control_node2]: rate is 100
[dsr_control_node2-4] [INFO] [1629245031.034293015] [dsr_control_node2]: controller_manager is updating!
[dsr_control_node2-4] [INFO] [1629245031.034437427] [dsr_hw_interface2]: name = dsr01
[dsr_control_node2-4] [INFO] [1629245031.034488501] [dsr_hw_interface2]: model = m0609
[dsr_control_node2-4] [INFO] [1629245031.034506933] [dsr_hw_interface2]: gripper = none
[dsr_control_node2-4] [INFO] [1629245031.034538973] [dsr_hw_interface2]: name_space is dsr01, m0609
[dsr_control_node2-4] [INFO] [1629245031.034555807] [dsr_hw_interface2]: constructed
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link base_0 had 1 children
[robot_state_publisher-2] Link link1 had 1 children
[robot_state_publisher-2] Link link2 had 1 children
[robot_state_publisher-2] Link link3 had 1 children
[robot_state_publisher-2] Link link4 had 1 children
[robot_state_publisher-2] Link link5 had 1 children
[robot_state_publisher-2] Link link6 had 0 children
[robot_state_publisher-2] [INFO] [1629245031.037395410] [robot_state_publisher]: got segment base_0
[robot_state_publisher-2] [INFO] [1629245031.037522875] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1629245031.037546068] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1629245031.037560954] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1629245031.037574242] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1629245031.037587512] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1629245031.037601042] [robot_state_publisher]: got segment link6
[robot_state_publisher-2] [INFO] [1629245031.037613645] [robot_state_publisher]: got segment world
[rviz2-3] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[dsr_control_node2-4] [INFO] [1629245031.080160541] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion
[dsr_control_node2-4] [INFO] [1629245031.080194003] [dsr_hw_interface2]: joint_name = joint1
[dsr_control_node2-4] [WARN] [1629245031.080242148] [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.

However Rviz give multiple warning.

[rviz2-3] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link5" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp
[rviz2-3] Warning: Invalid frame ID "link6" passed to canTransform argument source_frame - frame does not exist
[rviz2-3]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp

at the same time robot's teach pendant displays the following message:
Client T/P authentication failed.
Cannot find any related topic with the error displayed.

Any advice would be most welcome!

ROS2-HUMBLE upgrade

Ros2-Foxy has reached End Of Life.

There are no clear open issues on this matter.

Related closed issues: #27 .

Citing @doosan-robotics on Feb 20 (7 months ago)

Many updates will be made in the future, so please pay a lot of attention.

I think we can use this ticket to track the progress, timeline, etc. As long as the migration is not done, it's still an open issue for us who wants to integrate Doosan Robots into up-to-date ROS2 systems.

wsl 상에서 패키지 구동시 오류

안녕하세요.

현재 windows 11에서 wsl2 (ubuntu 20.04.6 LTS)를 활용하여 doosan-robot2 패키지를 구동하려 시도하고 있습니다.
ROS2 foxy에 doosan-robot2 패키지를 설치하였고 그 과정에서 아래와 같은 메시지를 보았지만 무시 가능한 경고 메시지라는 이야기를 들었습니다.

User


/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_external_torque_cb(std::shared_ptr<dsr_msgs2::srv::GetExternalTorque_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetExternalTorque_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1997:114: warning: unused parameter ‘req’ [-Wunused-parameter]
 1997 | WInterface::get_external_torque_cb(const std::shared_ptr<dsr_msgs2::srv::GetExternalTorque::Request> req, std::shared_ptr<dsr_msgs2::srv::GetExternalTorque::Response> res)
      |                                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_tool_force_cb(std::shared_ptr<dsr_msgs2::srv::GetToolForce_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetToolForce_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2010:104: warning: unused parameter ‘req’ [-Wunused-parameter]
 2010 |   bool DRHWInterface::get_tool_force_cb(const std::shared_ptr<dsr_msgs2::srv::GetToolForce::Request> req, std::shared_ptr<dsr_msgs2::srv::GetToolForce::Response> res)
      |                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2059:116: warning: unused parameter ‘req’ [-Wunused-parameter]
 2059 | nterface::get_workpiece_weight_cb(const std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight::Request> req, std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeight::Response> res)
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::reset_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2069:120: warning: unused parameter ‘req’ [-Wunused-parameter]
 2069 | face::reset_workpiece_weight_cb(const std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight::Request> req, std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeight::Response> res)
      |                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::release_compliance_ctrl_cb(std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2182:122: warning: unused parameter ‘req’ [-Wunused-parameter]
 2182 | ce::release_compliance_ctrl_cb(const std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl::Request> req, std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrl::Response> res)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_pause_cb(std::shared_ptr<dsr_msgs2::srv::DrlPause_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::DrlPause_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2746:95: warning: unused parameter ‘req’ [-Wunused-parameter]
 2746 |     bool DRHWInterface::drl_pause_cb(const std::shared_ptr<dsr_msgs2::srv::DrlPause::Request> req, std::shared_ptr<dsr_msgs2::srv::DrlPause::Response> res)
      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_resume_cb(std::shared_ptr<dsr_msgs2::srv::DrlResume_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::DrlResume_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2782:97: warning: unused parameter ‘req’ [-Wunused-parameter]
 2782 |     bool DRHWInterface::drl_resume_cb(const std::shared_ptr<dsr_msgs2::srv::DrlResume::Request> req, std::shared_ptr<dsr_msgs2::srv::DrlResume::Response> res)
      |                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_drl_state_cb(std::shared_ptr<dsr_msgs2::srv::GetDrlState_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetDrlState_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2794:102: warning: unused parameter ‘req’ [-Wunused-parameter]
 2794 |     bool DRHWInterface::get_drl_state_cb(const std::shared_ptr<dsr_msgs2::srv::GetDrlState::Request> req, std::shared_ptr<dsr_msgs2::srv::GetDrlState::Response> res)
      |                                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tcp_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2817:106: warning: unused parameter ‘req’ [-Wunused-parameter]
 2817 | bool DRHWInterface::get_current_tcp_cb(const std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentTcp::Response> res)
      |                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tool_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentTool_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::GetCurrentTool_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2850:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 2850 | ol DRHWInterface::get_current_tool_cb(const std::shared_ptr<dsr_msgs2::srv::GetCurrentTool::Request> req, std::shared_ptr<dsr_msgs2::srv::GetCurrentTool::Response> res)
      |                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_open_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2915:106: warning: unused parameter ‘req’ [-Wunused-parameter]
 2915 | bool DRHWInterface::robotiq_2f_open_cb(const std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen::Request> req, std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpen::Response> res)
      |                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_close_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose_Response_<std::allocator<void> > >)’:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2932:108: warning: unused parameter ‘req’ [-Wunused-parameter]
 2932 | ol DRHWInterface::robotiq_2f_close_cb(const std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose::Request> req, std::shared_ptr<dsr_msgs2::srv::Robotiq2FClose::Response> res)
      |                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: At global scope:
/home/han/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1187:20: warning: ‘sn_cnt’ defined but not used [-Wunused-variable]
 1187 |         static int sn_cnt = 0;
      |                    ^~~~~~
---

어쨌든 설치 후 다음 명령어를 사용했을 때 실행이 되긴 하나 몇가지 문제가 있습니다.
ros2 launch dsr_launcher2 single_robot_rviz.launch.py
ros2 launch dsr_launcher2 single_robot_gazebo.launch.py

1. 가상 모드로 rviz 실행시 rviz에서 로봇의 형상이 보이지 않습니다. 터미널 상의 출력값은 다음과 같습니다.

[dsr_control_node2-5] [callback OnMonitoringAccessControlCB] eAccCtrl: 2                                                                                                                                           [dsr_control_node2-5] access control granted                                                                                                                                                                       [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY                                                                                                                                    [dsr_control_node2-5] [INFO] [1684165055.460799761] [dsr_hw_interface2]: On Monitor State                                                                                                                          [dsr_control_node2-5] [INFO] [1684165055.481721113] [dsr_hw_interface2]: _______________________________________________[dsr_control_node2-5] [INFO] [1684165055.481775406] [dsr_hw_interface2]:     Emulator Mode [dsr_control_node2-5] [INFO] [1684165055.481781047] [dsr_hw_interface2]:     DRCF version = GF120500                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.481784604] [dsr_hw_interface2]:     DRFL version = GL010117                                                                                                               [dsr_control_node2-5] 
![rviz_error](https://github.com/doosan-robotics/doosan-robot2/assets/133609341/33f6d66f-3092-4021-9447-6dd4ddf481c6)
![rviz_error](https://github.com/doosan-robotics/doosan-robot2/assets/133609341/8684841d-d162-4b6e-b26a-1c9f88ba2ad8)
[INFO] [1684165055.481787730] [dsr_hw_interface2]:     m_nVersionDRCF = 120500                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.481791006] [dsr_hw_interface2]: _______________________________________________[dsr_control_node2-5] [INFO] [1684165055.482403635] [dsr_hw_interface2]: [init]::read 0-pos:   0.000                                                                                                                                                                                                          [dsr_control_node2-5] [INFO] [1684165055.482439995] [dsr_hw_interface2]: [init]::read 1-pos:   0.000                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.482445806] [dsr_hw_interface2]: [init]::read 2-pos:   0.000                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.482451156] [dsr_hw_interface2]: [init]::read 3-pos:   0.000                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.482456396] [dsr_hw_interface2]: [init]::read 4-pos:   0.000                                                                                                               [dsr_control_node2-5] [INFO] [1684165055.482461656] [dsr_hw_interface2]: [init]::read 5-pos:   0.000                                                                                                               [dsr_control_node2-5] [WARN] [1684165055.482637321] [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. [dsr_control_node2-5] [INFO] [1684165055.504510027] [dsr_control_node2]: Loading controller 'dsr_joint_publisher'                                                                                                  [dsr_control_node2-5]                                                                                                                                                                                              **[dsr_control_node2-5] [WARN] [1684165055.506378162] [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. [dsr_control_node2-5] [ERROR] [1684165055.526409845] [joint handle]: handle with interface (joint1: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526566313] [joint handle]: handle with interface (joint1: effort) wasn't found!                                                                                          [dsr_control_node2-5] [ERROR] [1684165055.526657367] [joint handle]: handle with interface (joint2: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526663368] [joint handle]: handle with interface (joint2: effort) wasn't found!                                                                                          [dsr_control_node2-5] [ERROR] [1684165055.526703766] [joint handle]: handle with interface (joint3: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526712763] [joint handle]: handle with interface (joint3: effort) wasn't found!                                                                                          [dsr_control_node2-5] [ERROR] [1684165055.526723573] [joint handle]: handle with interface (joint4: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526729074] [joint handle]: handle with interface (joint4: effort) wasn't found!                                                                                          [dsr_control_node2-5] [ERROR] [1684165055.526738602] [joint handle]: handle with interface (joint5: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526744022] [joint handle]: handle with interface (joint5: effort) wasn't found!                                                                                          [dsr_control_node2-5] [ERROR] [1684165055.526754222] [joint handle]: handle with interface (joint6: velocity) wasn't found!                                                                                        [dsr_control_node2-5] [ERROR] [1684165055.526759562] [joint handle]: handle with interface (joint6: effort) wasn't found!                                                                                          [dsr_control_node2-5] [WARN] [1684165055.530828556] [rcl_lifecycle]: No transition matching 1 found for current state inactive                                                                                     [dsr_control_node2-5] [ERROR] [1684165055.530910292] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:350                                                                                                                                                                                                             [dsr_control_node2-5] [INFO] [1684165055.530945509] [dsr_control_node2]: controller_manager is updating!                                                                                                           [rviz2-4] [INFO] [1684165057.443517726] [rviz2]: Stereo is NOT SUPPORTED                                                                                                                                           [rviz2-4] [INFO] [1684165057.443818190] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)                                                                                                                                    [rviz2-4] [INFO] [1684165057.502940652] [rviz2]: Stereo is NOT SUPPORTED                                                                                                                                           [rviz2-4] Parsing robot urdf xml string.**           

2. gazebo로 실행시 다음과 같은 메시지가 발생합니다.

[INFO] [launch]: All log files can be found below /home/han/.ros/log/2023-05-15-11-45-14-261617-han-hp-1474                                                                                                        [INFO] [launch]: Default logging verbosity is set to INFO                                                                                                                                                          [INFO] [sh-1]: process started with pid [1477]                                                                                                                                                                     [INFO] [static_transform_publisher-2]: process started with pid [1480]                                                                                                                                             [INFO] [robot_state_publisher-3]: process started with pid [1483]                                                                                                                                                  [INFO] [gzserver-4]: process started with pid [1486]                                                                                                                                                               [INFO] [gzclient   -5]: process started with pid [1489]                                                                                                                                                            [INFO] [spawn_entity.py-6]: process started with pid [1492]                                                                                                                                                        [INFO] [dsr_control_node2-7]: process started with pid [1495]                                                                                                                                                      [sh-1] Run Emulator of the Doosan Robot Controller                                                                                                                                                                 [sh-1] dirname: /home/han/ros2_ws/install/common2/share/common2/bin/DRCF/run_drcf.sh                                                                                                                               [sh-1] server_port: 12345                                                                                                                                                                                          [sh-1] robot model: m1013                                                                                                                                                                                          [sh-1] ARCH: 64-bit                                                                                                                                                                                                [static_transform_publisher-2] [INFO] [1684165514.795469758] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0'                                                      [robot_state_publisher-3] Parsing robot urdf xml string.                                                                                                                                                           [robot_state_publisher-3] Link base_0 had 1 children                                                                                                                                                               [robot_state_publisher-3] Link link1 had 1 children                                                                                                                                                                [robot_state_publisher-3] Link link2 had 1 children                                                                                                                                                                [robot_state_publisher-3] Link link3 had 1 children                                                                                                                                                                [robot_state_publisher-3] Link link4 had 1 children                                                                                                                                                                [robot_state_publisher-3] Link link5 had 1 children                                                                                                                                                                [robot_state_publisher-3] Link link6 had 0 children                                                                                                                                                                [robot_state_publisher-3] [INFO] [1684165514.812011927] [robot_state_publisher]: got segment base_0                                                                                                                [robot_state_publisher-3] [INFO] [1684165514.812683199] [robot_state_publisher]: got segment link1                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812937304] [robot_state_publisher]: got segment link2                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812946421] [robot_state_publisher]: got segment link3                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812951281] [robot_state_publisher]: got segment link4                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812955889] [robot_state_publisher]: got segment link5                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812960668] [robot_state_publisher]: got segment link6                                                                                                                 [robot_state_publisher-3] [INFO] [1684165514.812964866] [robot_state_publisher]: got segment world                                                                                                                 [dsr_control_node2-7] [INFO] [1684165514.820813307] [dsr_control_node2]: g_node = 0x0x7ffe146b91b0                                                                                                                 [dsr_control_node2-7] [INFO] [1684165514.821103851] [dsr_control_node2]: rate is 100                                                                                                                               [dsr_control_node2-7] [INFO] [1684165514.821224121] [dsr_control_node2]: controller_manager is updating!                                                                                                           [dsr_control_node2-7] [INFO] [1684165514.821307557] [dsr_hw_interface2]: name = dsr01                                                                                                                              [dsr_control_node2-7] [INFO] [1684165514.821345329] [dsr_hw_interface2]: model = m1013                                                                                                                             [dsr_control_node2-7] [INFO] [1684165514.821350058] [dsr_hw_interface2]: gripper = none                                                                                                                            [dsr_control_node2-7] [INFO] [1684165514.821360568] [dsr_hw_interface2]: name_space is dsr01, m1013                                                                                                                [dsr_control_node2-7] [INFO] [1684165514.821368633] [dsr_hw_interface2]: constructed                                                                                                                               [dsr_control_node2-7] [INFO] [1684165514.928483884] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion                                                                                    [dsr_control_node2-7] [WARN] [1684165514.928606779] [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. [dsr_control_node2-7] [INFO] [1684165514.928547595] [dsr_hw_interface2]: joint_name = joint1                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928909906] [dsr_hw_interface2]: joint_name = joint2                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928948841] [dsr_hw_interface2]: joint_name = joint3                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928954241] [dsr_hw_interface2]: joint_name = joint4                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928964721] [dsr_hw_interface2]: joint_name = joint5                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928970251] [dsr_hw_interface2]: joint_name = joint6                                                                                                                       [dsr_control_node2-7] [INFO] [1684165514.928974389] [dsr_hw_interface2]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@                                                                                                             [dsr_control_node2-7] [INFO] [1684165514.928979780] [dsr_hw_interface2]: init() ==> arm is standby                                                                                                                 [dsr_control_node2-7] [INFO] [1684165514.928994027] [dsr_hw_interface2]: host = 127.0.0.1                                                                                                                          [dsr_control_node2-7] [INFO] [1684165514.928996862] [dsr_hw_interface2]: port = 12345                                                                                                                              [dsr_control_node2-7] [INFO] [1684165514.928999778] [dsr_hw_interface2]: command = 1                                                                                                                               [dsr_control_node2-7] [INFO] [1684165514.929002663] [dsr_hw_interface2]: mode = virtual                                                                                                                            [dsr_control_node2-7] [INFO] [1684165514.929005479] [dsr_hw_interface2]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual                                                                                     [dsr_control_node2-7] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint636710[callback OnMonitoringAccessControlCB] eAccCtrl: 2                    [dsr_control_node2-7] access control granted                                                                                                                                                                       [dsr_control_node2-7] [callback OnMonitoringStateCB] current state: (15) NOT_READY                                                                                                                                 [dsr_control_node2-7] [callback OnTpInitializingCompletedCB] tp initializing completed                                                                                                                             [dsr_control_node2-7] [callback OnMonitoringStateCB] current state: (1) STANDBY                                                                                                                                    [dsr_control_node2-7] [INFO] [1684165515.030643165] [dsr_hw_interface2]: On Monitor State                                                                                                                          [dsr_control_node2-7] [INFO] [1684165515.030726474] [dsr_hw_interface2]: On Monitor State                                                                                                                          [dsr_control_node2-7] [callback OnMonitoringAccessControlCB] eAccCtrl: 2                                                                                                                                           [dsr_control_node2-7] access control granted                                                                                                                                                                       [dsr_control_node2-7] [callback OnMonitoringStateCB] current state: (1) STANDBY                                                                                                                                    [dsr_control_node2-7] [INFO] [1684165515.031125127] [dsr_hw_interface2]: On Monitor State                                                                                                                          [dsr_control_node2-7] [INFO] [1684165515.031766859] [dsr_hw_interface2]: _______________________________________________                                                                                           [dsr_control_node2-7] [INFO] [1684165515.031803289] [dsr_hw_interface2]:     Emulator Mode                                                                                                                         [dsr_control_node2-7] [INFO] [1684165515.031807156] [dsr_hw_interface2]:     DRCF version = GF120500                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.031811705] [dsr_hw_interface2]:     DRFL version = GL010117                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.031815312] [dsr_hw_interface2]:     m_nVersionDRCF = 120500                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.031819640] [dsr_hw_interface2]: _______________________________________________                                                                                           [dsr_control_node2-7] [INFO] [1684165515.032401214] [dsr_hw_interface2]: [init]::read 0-pos:   0.000                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.032437924] [dsr_hw_interface2]: [init]::read 1-pos:   0.000                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.032441490] [dsr_hw_interface2]: [init]::read 2-pos:   0.000                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.032444767] [dsr_hw_interface2]: [init]::read 3-pos:   0.000                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.032447933] [dsr_hw_interface2]: [init]::read 4-pos:   0.000                                                                                                               [dsr_control_node2-7] [INFO] [1684165515.032451209] [dsr_hw_interface2]: [init]::read 5-pos:   0.000                                                                                                               **[dsr_control_node2-7] [WARN] [1684165515.032627746] [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. [dsr_control_node2-7] [INFO] [1684165515.053377127] [dsr_control_node2]: Loading controller 'dsr_joint_publisher'                                                                                                  [dsr_control_node2-7]                                                                                                                                                                                              [dsr_control_node2-7] [WARN] [1684165515.055293213] [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. [dsr_control_node2-7] [ERROR] [1684165515.073070074] [joint handle]: handle with interface (joint1: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073217936] [joint handle]: handle with interface (joint1: effort) wasn't found!                                                                                          [dsr_control_node2-7] [ERROR] [1684165515.073317506] [joint handle]: handle with interface (joint2: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073325491] [joint handle]: handle with interface (joint2: effort) wasn't found!                                                                                          [dsr_control_node2-7] [ERROR] [1684165515.073417827] [joint handle]: handle with interface (joint3: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073430722] [joint handle]: handle with interface (joint3: effort) wasn't found!                                                                                          [dsr_control_node2-7] [ERROR] [1684165515.073443747] [joint handle]: handle with interface (joint4: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073449909] [joint handle]: handle with interface (joint4: effort) wasn't found!                                                                                          [dsr_control_node2-7] [ERROR] [1684165515.073460769] [joint handle]: handle with interface (joint5: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073467051] [joint handle]: handle with interface (joint5: effort) wasn't found!                                                                                          [dsr_control_node2-7] [ERROR] [1684165515.073478784] [joint handle]: handle with interface (joint6: velocity) wasn't found!                                                                                        [dsr_control_node2-7] [ERROR] [1684165515.073484935] [joint handle]: handle with interface (joint6: effort) wasn't found!                                                                                          [dsr_control_node2-7] [WARN] [1684165515.077304774] [rcl_lifecycle]: No transition matching 1 found for current state inactive                                                                                     [dsr_control_node2-7] [ERROR] [1684165515.077375509] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:350                                                                                                                                                                                                             [dsr_control_node2-7] [INFO] [1684165515.077408001] [dsr_control_node2]: controller_manager is updating!                                                                                                           [spawn_entity.py-6] [INFO] [1684165515.209235023] [spawn_entity]: Spawn Entity started                                                                                                                             [spawn_entity.py-6] [INFO] [1684165515.209866578] [spawn_entity]: Loading entity published on topic robot_description                                                                                              [spawn_entity.py-6] [INFO] [1684165515.212567304] [spawn_entity]: Waiting for entity xml on robot_description                                                                                                      [spawn_entity.py-6] [INFO] [1684165515.226000594] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30                                                                                                  [spawn_entity.py-6] [INFO] [1684165515.226334290] [spawn_entity]: Waiting for service /spawn_entity                                                                                                                [spawn_entity.py-6] [INFO] [1684165517.736064231] [spawn_entity]: Calling service /spawn_entity                                                                                                                    [spawn_entity.py-6] [INFO] [1684165517.987147314] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [m1013]                                                                                   [gzserver-4] [INFO] [1684165518.012993628] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin                                                                                                               [gzserver-4] [INFO] [1684165518.028971575] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /                                                                                              [gzserver-4] [INFO] [1684165518.029490093] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control                                                                           [gzserver-4] [ERROR] [1684165518.040482726] [gazebo_ros2_control]: connected to service!! robot_state_publisher                                                                                                    [gzserver-4] [ERROR] [1684165518.040634285] [gazebo_ros2_control]: param_name robot_description                                                                                                                    [gzserver-4] [ERROR] [1684165518.042970702] [gazebo_ros2_control]: Recieved urdf from param server, parsing...                                                                                                     [gzserver-4] Parsing robot urdf xml string.                                                                                                                                                                        [gzserver-4] [INFO] [1684165518.074632483] [gazebo_ros2_control]: Loading joint 'joint1' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [INFO] [1684165518.076865423] [gazebo_ros2_control]: Loading joint 'joint2' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [INFO] [1684165518.077652395] [gazebo_ros2_control]: Loading joint 'joint3' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [INFO] [1684165518.077804575] [gazebo_ros2_control]: Loading joint 'joint4' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [INFO] [1684165518.077842858] [gazebo_ros2_control]: Loading joint 'joint5' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [INFO] [1684165518.077867285] [gazebo_ros2_control]: Loading joint 'joint6' of type 'hardware_interface/PositionJointInterface'                                                                       [gzserver-4] [ERROR] [1684165518.078609220] [gazebo_ros2_control]: No joint limits specification found for joint 'joint1' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint1).     [gzserver-4] [ERROR] [1684165518.078802519] [gazebo_ros2_control]: No joint limits specification found for joint 'joint1' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint1).     [gzserver-4] [ERROR] [1684165518.080919509] [gazebo_ros2_control]: joint1.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.081198811] [gazebo_ros2_control]: No joint limits specification found for joint 'joint2' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint2).     [gzserver-4] [ERROR] [1684165518.081222517] [gazebo_ros2_control]: No joint limits specification found for joint 'joint2' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint2).     [gzserver-4] [ERROR] [1684165518.081897267] [gazebo_ros2_control]: joint2.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.082043035] [gazebo_ros2_control]: No joint limits specification found for joint 'joint3' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint3).     [gzserver-4] [ERROR] [1684165518.082093411] [gazebo_ros2_control]: No joint limits specification found for joint 'joint3' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint3).     [gzserver-4] [ERROR] [1684165518.082203842] [gazebo_ros2_control]: joint3.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.082240933] [gazebo_ros2_control]: No joint limits specification found for joint 'joint4' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint4).     [gzserver-4] [ERROR] [1684165518.082259348] [gazebo_ros2_control]: No joint limits specification found for joint 'joint4' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint4).     [gzserver-4] [ERROR] [1684165518.082312880] [gazebo_ros2_control]: joint4.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.082331465] [gazebo_ros2_control]: No joint limits specification found for joint 'joint5' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint5).     [gzserver-4] [ERROR] [1684165518.082347296] [gazebo_ros2_control]: No joint limits specification found for joint 'joint5' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint5).     [gzserver-4] [ERROR] [1684165518.082397762] [gazebo_ros2_control]: joint5.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.082419103] [gazebo_ros2_control]: No joint limits specification found for joint 'joint6' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint6).     [gzserver-4] [ERROR] [1684165518.082434662] [gazebo_ros2_control]: No joint limits specification found for joint 'joint6' in the parameter server (node: gazebo_ros2_control param name: joint_limits.joint6).     [gzserver-4] [ERROR] [1684165518.082482383] [gazebo_ros2_control]: joint6.p                                                                                                                                        [gzserver-4] [ERROR] [1684165518.085610832] [gazebo_ros2_control]: Loading controller_manager                                                                                                                      [INFO] [spawn_entity.py-6]: process has finished cleanly [pid 1492]                                                                                                                                                [gzserver-4] [INFO] [1684165518.116318615] [gazebo_controller_manager]: Loading controller 'dsr_position_controller'                                                                                               [gzserver-4]                                                                                                                                                                                                       [gzserver-4] [ERROR] [1684165518.141495379] [joint position controller]: 'joints' parameter not set                                                                                                                [gzserver-4] [WARN] [1684165518.141798456] []: Error occurred while doing error handling.                                                                                                                          [gzserver-4] [ERROR] [1684165518.142763237] [gazebo_ros2_control]: nodename: dsr_position_controller                                                                                                               [gzserver-4] [ERROR] [1684165518.145518454] [gazebo_ros2_control]: nodename: dsr_joint_publisher                                                                                                                   [gzserver-4] [INFO] [1684165518.154351968] [joint position controller]: configure successful                                                                                                                       [gzserver-4] [INFO] [1684165518.154509349] [gazebo_controller_manager]: Loading controller 'dsr_joint_publisher'                                                                                                   [gzserver-4]                                                                                                                                                                                                       [gzserver-4] [ERROR] [1684165518.186656297] [gazebo_ros2_control]: nodename: dsr_position_controller                                                                                                               [gzserver-4] [ERROR] [1684165518.186741850] [gazebo_ros2_control]: nodename: dsr_joint_publisher                                                                                                                   [gzserver-4] [WARN] [1684165518.187780077] [rcl_lifecycle]: No transition matching 1 found for current state inactive                                                                                              [gzserver-4] [ERROR] [1684165518.187899836] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.14/src/rcl_lifecycle.c:350   [gzserver-4] [ERROR] [1684165518.292223890] [gazebo_ros2_control]: Loaded gazebo_ros2_control.**                 


3. Real 모드로 연결시 [1.3004] Client T/P authenticiation failed. 메시지가 T/P 상에 출력됩니다. 두산 로봇 github 에서 비슷한 사례를 보았고 포트 포워딩을 해보았지만 문제가 해결되지 않습니다. Ping 명령어로 통신을 확인했을 때는 이상없이 통신이 됩니다. 아예 방화벽을 꺼보기도 했지만 문제가 해결되지 않네요.


위 이슈에 대한 해결 방안을 좀 자세히 알려주시면 감사하겠습니다.

[ERROR] [dsr_control_node2-4]: process has died [pid 4885, exit code -11, cmd ...]

Hello, I have problems running both the virtual mode robot and the real robot. I installed ROS2 using the official guide and then followed the install guide exactly as it is in the README.md in this repository. Colcon built all packages successfully, but I got some warnings during the compilation of dsr_control2 :

[Processing: dsr_control2]                                  
--- stderr: dsr_control2                                            
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:360:6: warning: extra ‘;’ [-Wpedantic]
  360 |     };
      |      ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_RobotState()’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:474:60: warning: ‘void* memcpy(void*, const void*, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
  474 |         memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
      |                                                            ^
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:399:16: note: ‘struct DR_STATE’ declared here
  399 | typedef struct {
      |                ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_JointState()’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:617:60: warning: ‘void* memcpy(void*, const void*, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
  617 |         memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
      |                                                            ^
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:399:16: note: ‘struct DR_STATE’ declared here
  399 | typedef struct {
      |                ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:618:26: warning: statement has no effect [-Wunused-value]
  618 |         msg.header.stamp.sec;
      |         ~~~~~~~~~~~~~~~~~^~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static void dsr_control2::DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr)’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:650:66: warning: unused parameter ‘nh’ [-Wunused-parameter]
  650 |     void DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr nh)
      |                                          ~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In constructor ‘dsr_control2::DRHWInterface::DRHWInterface(rclcpp::Node::SharedPtr&)’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:923:52: warning: ‘void* memset(void*, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
  923 |         memset(&g_stDrState, 0x00, sizeof(DR_STATE));
      |                                                    ^
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:399:16: note: ‘struct DR_STATE’ declared here
  399 | typedef struct {
      |                ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:925:52: warning: ‘void* memset(void*, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
  925 |         memset(&m_stDrState, 0x00, sizeof(DR_STATE));
      |                                                    ^
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:399:16: note: ‘struct DR_STATE’ declared here
  399 | typedef struct {
      |                ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘virtual hardware_interface::return_type dsr_control2::DRHWInterface::init()’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szController’ [-Wmissing-field-initializers]
 1042 |             SYSTEM_VERSION tSysVerion = {'\0', };
      |                                                ^
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInterpreter’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInverter’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szSafetyBoard’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotSerial’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotModel’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szJTSBoard’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1042:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szFlangeBoard’ [-Wmissing-field-initializers]
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1081:26: warning: variable ‘eTargetSystem’ set but not used [-Wunused-but-set-variable]
 1081 |             ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
      |                          ^~~~~~~~~~~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘void dsr_control2::DRHWInterface::trajectoryCallback(moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >::SharedPtr) const’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1204:20: warning: unused variable ‘sn_cnt’ [-Wunused-variable]
 1204 |         static int sn_cnt = 0;
      |                    ^~~~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1241:15: warning: unused variable ‘preTargetTime’ [-Wunused-variable]
 1241 |         float preTargetTime = 0.0;
      |               ^~~~~~~~~~~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1243:15: warning: unused variable ‘targetTime_sec’ [-Wunused-variable]
 1243 |         float targetTime_sec = 0.0;
      |               ^~~~~~~~~~~~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static void dsr_control2::DRHWInterface::move_blending_cb(std::shared_ptr<dsr_msgs2::srv::MoveBlending_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveBlending_Response_<std::allocator<void> > >)’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1492:19: warning: ISO C++ forbids variable length array ‘posb’ [-Wvla]
 1492 |         MOVE_POSB posb[req->pos_cnt];
      |                   ^~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static void dsr_control2::DRHWInterface::move_wait_cb(std::shared_ptr<dsr_msgs2::srv::MoveWait_Request_<std::allocator<void> > >, std::shared_ptr<dsr_msgs2::srv::MoveWait_Response_<std::allocator<void> > >)’:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1572:16: warning: return-statement with a value, in function returning ‘void’ [-fpermissive]
 1572 |         return true;
      |                ^~~~
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1567:95: warning: unused parameter ‘req’ [-Wunused-parameter]
 1567 | WInterface::move_wait_cb(const std::shared_ptr<dsr_msgs2::srv::MoveWait::Request> req, std::shared_ptr<dsr_msgs2::srv::MoveWait::Response> res)
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: At global scope:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1204:20: warning: ‘sn_cnt’ defined but not used [-Wunused-variable]
 1204 |         static int sn_cnt = 0;
      |                    ^~~~~~
In file included from /usr/include/string.h:495,
                 from /opt/ros/foxy/include/rcutils/error_handling.h:34,
                 from /opt/ros/foxy/include/rcutils/logging.h:23,
                 from /opt/ros/foxy/include/rmw/types.h:28,
                 from /opt/ros/foxy/include/rcl/types.h:18,
                 from /opt/ros/foxy/include/rcl/arguments.h:20,
                 from /opt/ros/foxy/include/rcl/context.h:26,
                 from /opt/ros/foxy/include/rcl/guard_condition.h:24,
                 from /opt/ros/foxy/include/rclcpp/executor.hpp:29,
                 from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:44,
                 from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
In function ‘char* strncpy(char*, const char*, size_t)’,
    inlined from ‘static void dsr_control2::DRHWInterface::OnMonitoringStateCB(ROBOT_STATE)’ at /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:366:16:
/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: warning: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ specified bound 32 equals destination size [-Wstringop-truncation]
  106 |   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
                 from /home/robot/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/robot/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:360:6: warning: extra ‘;’ [-Wpedantic]
  360 |     };
      |      ^
---

I run can run the demos, rviz does start up and shows the robot, but dsr_control always fails at startup a the rest runs without it.
In the log, it just returns this line:
[ERROR] [dsr_control_node2-4]: process has died [pid 5614, exit code -11, cmd '/home/robot/ros2_ws/install/dsr_control2/lib/dsr_control2/dsr_control_node2 --ros-args -r __node:=dsr_control_node2 --params-file /tmp/launch_params_g68eg9yw --params-file etc... '].

I tried running it as another additional node, but after starting ros2 run dsr_control2 dsr_control_node2
the node starts up, prints its config (I am using m1013 in virtual mode in joint_state_poblisher, DRCF64 and the virtual demo)
and it then ends with this output:

[INFO] [1610620113.207595605] [dsr_control_node2]: g_node = 0x0x7ffce99c67a0
[INFO] [1610620113.207722036] [dsr_control_node2]: rate is 100
[INFO] [1610620113.207790011] [dsr_control_node2]: controller_manager is updating!
[INFO] [1610620113.208135855] [dsr_hw_interface2]: name = dsr01
[INFO] [1610620113.208160892] [dsr_hw_interface2]: model = m1013
[INFO] [1610620113.208165495] [dsr_hw_interface2]: gripper = none
[INFO] [1610620113.208169244] [dsr_hw_interface2]: name_space is dsr01, m1013
[INFO] [1610620113.208173347] [dsr_hw_interface2]: constructed
[INFO] [1610620113.375226917] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion
[INFO] [1610620113.375261640] [dsr_hw_interface2]: joint_name = joint1
[INFO] [1610620113.375283442] [dsr_hw_interface2]: joint_name = joint2
[INFO] [1610620113.375290947] [dsr_hw_interface2]: joint_name = joint3
[INFO] [1610620113.375295301] [dsr_hw_interface2]: joint_name = joint4
[INFO] [1610620113.375299250] [dsr_hw_interface2]: joint_name = joint5
[INFO] [1610620113.375303208] [dsr_hw_interface2]: joint_name = joint6
[INFO] [1610620113.375310066] [dsr_hw_interface2]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[INFO] [1610620113.375314424] [dsr_hw_interface2]: init() ==> arm is standby
[INFO] [1610620113.375328220] [dsr_hw_interface2]: host = 127.0.0.1
[INFO] [1610620113.375334797] [dsr_hw_interface2]: port = 12345
[INFO] [1610620113.375338480] [dsr_hw_interface2]: command = 1
[INFO] [1610620113.375341928] [dsr_hw_interface2]: mode = virtual
[INFO] [1610620113.375345364] [dsr_hw_interface2]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual

I check with ros2 node list and I do not see it running. I tried to look into the log files, but I was unable to find any mention of an error.

Also, when I run rosdep install --from-paths src --ignore-src --rosdistro foxy -r -y I get an error saying dsr_gazebo2: Cannot locate rosdep definition for [sdf]. I tried googling it but could not find how to fix this dependency. However, I think this error is unrelated to the dsr_control2 issue. I also had to install poco from source, as rosdep could not resolve it too.

I am not very skilled in C++, but I had an application running in ROS1 and I would like to transfer it to ROS2.
It should not be caused by faulty config, because I am using all the example. Any help would be greatly appreciated.

example error

Hi i got an error when i tried to run the examples
can you help me?

$ ros2 run dsr_example2_py dsr_service_motion_simple_class
_robot_id =
_robot_model =
_srv_name_prefix =
_topic_name_prefix =
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 "", line 1014, in _gcd_import
File "", line 991, in _find_and_load
File "", line 973, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'dsr_msgs2.dsr_msgs2_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/seok2/ros2_ws/install/dsr_example2_py/lib/dsr_example2_py/dsr_service_motion_simple_class", line 11, in
load_entry_point('dsr-example2-py==0.0.0', 'console_scripts', 'dsr_service_motion_simple_class')()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 490, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2854, in load_entry_point
return ep.load()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2445, in load
return self.resolve()
File "/usr/lib/python3/dist-packages/pkg_resources/init.py", line 2451, in resolve
module = import(self.module_name, fromlist=['name'], level=0)
File "/home/seok2/ros2_ws/install/dsr_example2_py/lib/python3.8/site-packages/dsr_example2_py/dsr_service_motion_simple_class.py", line 24, in
from DSR_ROBOT2 import *
File "/home/seok2/ros2_ws/install/common2/bin/common2/imp/DSR_ROBOT2.py", line 52, in
_ros2_set_robot_mode = g_node.create_client(SetRobotMode, _srv_name_prefix +"system/set_robot_mode")
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1249, in create_client
check_for_type_support(srv_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/seok2/ros2_ws/install/dsr_msgs2/lib/python3.9/site-packages/dsr_msgs2/srv/_set_robot_mode.py", line 256, in import_type_support
module = import_type_support('dsr_msgs2')
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 'dsr_msgs2'

image

gazebo_ros2_control package colcon build error

ROS2 Foxy EOL 이후 새로운 우분투20.04 환경에 Foxy를 설치하고 본 소스를 다시 빌드 해보려는데 다음과 같은 오류가 발생하여 해결을 못하고 있습니다.

CMake Error in CMakeLists.txt:
Imported target "dart" includes non-existent path

"/include"

in its INTERFACE_INCLUDE_DIRECTORIES. Possible reasons include:

The path was deleted, renamed, or moved to another location.
An install or uninstall procedure did not complete successfully.
The installation package was faulty and references files it does not
provide.

CMake Generate step failed. Build files cannot be regenerated correctly.

Failed <<< gazebo_ros2_control

혹시 해결 방법이 있는지 이슈를 올려봅니다.

Error running the dsr_example_py files

I'm trying to run the python files in the dsr_example, yesterday they worked, today not anymore.
This is the error i got:
rosrun dsr_example_py dance_m1013.py

_robot_id =dsr01
_robot_model =m1013
_srv_name_prefix =/dsr01m1013
_topic_name_prefix =/dsr01m1013
Traceback (most recent call last):
File "/home/dario/doosan_final_ws/src/doosan-robot/dsr_example/py/scripts/demo/dance_m1013.py", line 116, in
movej(JReady, v=20, a=20)
File "/home/dario/doosan_final_ws/src/doosan-robot/common/imp/DSR_ROBOT.py", line 1456, in movej
ret = _movej(pos, vel, acc, time, radius, mod, ra, v, a, t, r, _async=0)
File "/home/dario/doosan_final_ws/src/doosan-robot/common/imp/DSR_ROBOT.py", line 1554, in _movej
srv = _ros_movej(_pos, _vel[0], _acc[0], _time, _radius, mod, ra, _async)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in call
return self.call(*args, **kwds)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 502, in call
service_uri = self._get_service_uri(request)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 474, in _get_service_uri
rospy.core.parse_rosrpc_uri(self.uri)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/core.py", line 113, in parse_rosrpc_uri
if uri.startswith(ROSRPC):
AttributeError: 'NoneType' object has no attribute 'startswith'
shutdown time!
shutdown time!
shutdown time!

I tried to uninstall and install everything again several times, but didn't work.
I also got an error in the masterapi.py file and I had to comment the next row, in the lookupService function:
#return self._succeed(self.handle.lookupService(self.caller_id, service))
I don't know if this can be the problem.

Thanks very much for the attention, hope someone can help me.

[ERROR] build problem dsr_gazebo2 and dsr_control2

Hellow, I'm using Ubuntu 20.04 and I installed ros2 foxy via Debian package
I will inform you of an error that occurred when I installed the Doosan Robot package.
How can I install the package without errors?

--- stderr: gazebo_ros2_control
fatal error: hardware_interface/base_interface.hpp: No such file or directory
27 | #include "hardware_interface/base_interface.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/gazebo_hardware_plugins.dir/build.make:63: CMakeFiles/gazebo_hardware_plugins.dir/src/gazebo_system.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:80: CMakeFiles/gazebo_hardware_plugins.dir/all]

--- stderr: dsr_gazebo2
CMake Error at CMakeLists.txt:19 (find_package):
By not providing "Findgazebo_ros_pkgs.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"gazebo_ros_pkgs", but CMake did not find one.

Could not find a package configuration file provided by "gazebo_ros_pkgs"
with any of the following names:

gazebo_ros_pkgsConfig.cmake
gazebo_ros_pkgs-config.cmake

Add the installation prefix of "gazebo_ros_pkgs" to CMAKE_PREFIX_PATH or
set "gazebo_ros_pkgs_DIR" to a directory containing one of the above files.
If "gazebo_ros_pkgs" provides a separate development package or SDK, be
sure it has been installed.

--- stderr: dsr_control2
/usr/bin/ld: cannot find -lPocoFoundation
/usr/bin/ld: cannot find -lPocoNet
/usr/bin/ld: cannot find -lPocoFoundation
/usr/bin/ld: cannot find -lPocoNet
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/dsr_control_node2.dir/build.make:330: dsr_control_node2] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/dsr_control_node2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Failed <<< dsr_control2 [4.74s, exited with code 2]

Root link

"Hi, I'm trying to calculate the bias force of the h2515.blue robot. I've taken the URDF model, but when I try to calculate it, the software asks me to input the root link. However, I don't understand what the root link is. I've tried to write 'base', but it doesn't work. So, I'm not sure if it requires an array of links or just the root. Can someone please help me? Thank you very much

ROS2 HUMBLE

I had 2 doosan robots. I want to use ros2 but all of the packages are outdated since foxy distrubution is at EOL , Humble is released 2 years back . I dont know why doosan packages are these much outdated for 2 years.
@song-ms @doosan-robotics @woawo1213
Can you please let us know if we can still use foxy or use ros1 itself(Noetic) . what is your suggestion into it

dsr_control2 build fail

I followed the steps described in the readme, but I still get this error when trying to compile.

Starting >>> dsr_control2
--- stderr: dsr_control2                                                                                                                                                                                        
In file included from ~/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
~/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:54:14: fatal error: hardware_interface/joint_handle.hpp: No such file or directory
   54 |     #include "hardware_interface/joint_handle.hpp"
      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from ~/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
~/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:54:14: fatal error: hardware_interface/joint_handle.hpp: No such file or directory
   54 |     #include "hardware_interface/joint_handle.hpp"
      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/dsr_control_node2.dir/build.make:63: CMakeFiles/dsr_control_node2.dir/src/dsr_hw_interface2.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/dsr_control_node2.dir/build.make:76: CMakeFiles/dsr_control_node2.dir/src/dsr_control_node2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/dsr_control_node2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

'speedj' on python, ROS2

Hello.

We confirmed the operation using 'speedj' on TP(task writer).
And we tried this function on ROS2 system, but error was occured.

code: speedj([0, 0, 0, 0, 0, 0], a=10)
error : NameError: name 'speedj' is not defined

Is it support the function, 'speedj' on ROS2?

In fact, we want to show impedence control in real-time(like) as possible.
And we found the function 'amovej' with async.
So we tried this, first. But sampling time is very low, because it work based on ROS2 service call system.

Is any solution for this problem?

[ERROR] colcon build failed because of dsr_control2 pkg

Hi !

I am following this tutorial : https://github.com/doosan-robotics/doosan-robot2
But when i build with colcon build, i got an error that i don't know how to resolve.

/usr/bin/ld: skipping incompatible /home/jetson/ros2_ws/src/doosan-robot2/dsr_control2/../common2/lib/foxy/x86_64/libDRFL.a when searching for -lDRFL
/usr/bin/ld: cannot find -lDRFL
/usr/bin/ld: skipping incompatible /home/jetson/ros2_ws/src/doosan-robot2/dsr_control2/../common2/lib/foxy/x86_64/libDRFL.a when searching for -lDRFL
/usr/bin/ld: cannot find -lDRFL
collect2: error: ld returned 1 exit status
make[2]: * [CMakeFiles/dsr_control_node2.dir/build.make:330: dsr_control_node2] Error 1
make[1]: * [CMakeFiles/Makefile2:78: CMakeFiles/dsr_control_node2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Failed <<< dsr_control2 [3min 5s, exited with code 2]

Summary: 24 packages finished [26min 8s]
1 package failed: dsr_control2
1 package had stderr output: dsr_control2
1 package not processed

If someone can give me any idea.

Thank you !

ERROR: colcon build failed with exit code 2

[0.358s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
'moveit_msgs' is in: /opt/ros/foxy
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
--allow-overriding moveit_msgs

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> hardware_interface
Starting >>> controller_manager_msgs
Starting >>> dsr_msgs2
Starting >>> moveit_msgs
Finished <<< hardware_interface [0.76s]
Starting >>> controller_interface
Finished <<< controller_interface [0.26s]
Starting >>> test_robot_hardware
Finished <<< controller_manager_msgs [1.17s]
Starting >>> joint_limits_interface
Finished <<< test_robot_hardware [0.32s]
Starting >>> controller_manager
Finished <<< joint_limits_interface [0.32s]
Starting >>> transmission_interface
Finished <<< controller_manager [0.37s]
Starting >>> forward_command_controller
Finished <<< transmission_interface [0.31s]
Starting >>> joint_state_controller
Finished <<< joint_state_controller [0.41s]
Starting >>> joint_trajectory_controller
--- stderr: forward_command_controller
/usr/bin/ld: libforward_command_controller.so: undefined reference to `class_loader::impl::AbstractMetaObjectBase::AbstractMetaObjectBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /usr/bin/ld: libforward_command_controller.so: undefined reference to` class_loader::impl::AbstractMetaObjectBase::setAssociatedLibraryPath(std::__cxx11::basic_string<char, std::char_traits, std::allocator >)'
collect2: error: ld returned 1 exit status
make[2]: * [CMakeFiles/test_forward_command_controller.dir/build.make:286: test_forward_command_controller] Error 1
make[1]: * [CMakeFiles/Makefile2:191: CMakeFiles/test_forward_command_controller.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Failed <<< forward_command_controller [1.94s, exited with code 2]
Aborted <<< dsr_msgs2 [3.71s]
Aborted <<< moveit_msgs [4.15s]
Aborted <<< joint_trajectory_controller [6.34s]

Summary: 8 packages finished [8.87s]
1 package failed: forward_command_controller
3 packages aborted: dsr_msgs2 joint_trajectory_controller moveit_msgs
2 packages had stderr output: forward_command_controller joint_trajectory_controller
14 packages not processed

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CMake Generate step failed. Build files cannot be regenerated correctly.

code: speedj([0, 0, 0, 0, 0, 0], a=10) error : NameError: name 'speedj' is not defined

Summary: 24 packages finished [26min 8s] 1 package failed: dsr_control2 1 package had stderr output: dsr_control2 1 package not processed

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code: speedj([0, 0, 0, 0, 0, 0], a=10)
error : NameError: name 'speedj' is not defined

Summary: 24 packages finished [26min 8s]
1 package failed: dsr_control2
1 package had stderr output: dsr_control2
1 package not processed