[Question]: Addition of new experiments using Interbotix X-Series LoCoBot Python API

[ajinkyamar]

Question

Question 1.

How do I run my own python scripts using Interbotix X-Series LoCoBot Python API ?

I tried running my script by saving it in examples folder and then executed the ros2 launch xslocobot_moveit.launch.py robot_model:=locobot_wx250s and then ran my script using python3. However it created following error:

locobot@locobot:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/examples/interbotix_xslocobot_landmark_nav/scripts$ python3 locobot_rl_gazebo.py
Traceback (most recent call last):
  File "locobot_rl_gazebo.py", line 151, in <module>
    train_rl()
  File "locobot_rl_gazebo.py", line 126, in train_rl
    env = LoCoBotGazeboRL()
  File "locobot_rl_gazebo.py", line 29, in __init__
    self.locobot = InterbotixLocobotXS(robot_model='locobot_wx250s', arm_model='mobile_wx250s')
  File "/home/locobot/interbotix_ws/install/interbotix_xs_modules/lib/python3.8/site-packages/interbotix_xs_modules/xs_robot/locobot.py", line 114, in __init__
    self.core = InterbotixRobotXSCore(
  File "/home/locobot/interbotix_ws/install/interbotix_xs_modules/lib/python3.8/site-packages/interbotix_xs_modules/xs_robot/core.py", line 96, in __init__
    rclpy.init(args=args)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/__init__.py", line 76, in init
    return context.init(args, domain_id=domain_id)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/context.py", line 70, in init
    raise RuntimeError
RuntimeError

Could you please help me in this regard?

Question 2.

I tried to run Gazebo in my local machine without connecting to locobot. it looks like it requires actual physical base of robot on. Is there any way to work around this? I want to run locobot's gazebo in my work computer without turning on locobot. ( remote installation part has already installed locobots packages. )

Robot Model

locobot_250s

Operating System

Ubuntu 20.04

ROS Version

ROS 2 Galactic

Additional Info

No response

[lukeschmitt-tr]

Question 1.

Could you provide the Python script you're using? You can view the xslocobot control demos for more simple examples. Each demo comes with usage instructions like the ee_cartesian_trajectory.py demo.

Question 2.

What issues are you seeing when trying to run Gazebo without the base turned on?

[ajinkyamar]

below is what happens when I tried to run combo_control.py (from pyhton demos) interbotix_ros_xslocobots/interbotix_xslocobot_control/demos/python_ros2_api

locobot@locobot:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/examples$ python3 combo_control.py
Traceback (most recent call last):
  File "combo_control.py", line 2, in <module>
    from interbotix_xs_modules.locobot import InterbotixLocobotXS
ModuleNotFoundError: No module named 'interbotix_xs_modules.locobot'

Is there any issue with names of modules?

Code I am trying to run:
lbgz.txt

Error log

locobot@locobot:~$ python3 lbgzrl.py
Traceback (most recent call last):
  File "lbgzrl.py", line 111, in <module>
    train_rl()
  File "lbgzrl.py", line 89, in train_rl
    env = LoCoBotGazeboRL()
  File "lbgzrl.py", line 22, in __init__
    self.locobot = InterbotixLocobotXS(
  File "/home/locobot/interbotix_ws/install/interbotix_xs_modules/lib/python3.8/site-packages/interbotix_xs_modules/xs_robot/locobot.py", line 114, in __init__
    self.core = InterbotixRobotXSCore(
  File "/home/locobot/interbotix_ws/install/interbotix_xs_modules/lib/python3.8/site-packages/interbotix_xs_modules/xs_robot/core.py", line 96, in __init__
    rclpy.init(args=args)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/__init__.py", line 76, in init
    return context.init(args, domain_id=domain_id)
  File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/context.py", line 70, in init
    raise RuntimeError
RuntimeError

[lukeschmitt-tr]

In your script, you are calling rclpy.init. The Interbotix Python API does this for you and double context initialization is not allowed - this is why you're seeing the runtime error.

Please also note that the Gazebo sim is not compatible with the Python-ROS API as stated in the docs: https://docs.trossenrobotics.com/interbotix_xslocobots_docs/python_interface.html

[lukeschmitt-tr]

Please also make sure that you are using the ROS 2 demos. These can be found on any of the ROS 2 branches. Since you are running ROS 2 Galactic, you should use the demos on the galactic branch.

[ajinkyamar]

About

Question 2.

What issues are you seeing when trying to run Gazebo without the base turned on?

Below is log of what happens when I tried launching it on my own computer without connecting to locobot

ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ ros2 launch xslocobot_moveit.launch.py robot_model:=locobot_wx250s use_sim_time:=true hardware_type:=gz_classic verbose:=true
[INFO] [launch]: All log files can be found below /home/ajinkya/.ros/log/2025-02-12-14-04-22-142248-ajinkya-ThinkStation-P620-19876
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'interbotix_xslocobot_moveit' not found, searching: ['/home/ajinkya/interbotix_ws/install/interbotix_moveit_interface', '/home/ajinkya/interbotix_ws/install/interbotix_xslocobot_sim', '/home/ajinkya/interbotix_ws/install/interbotix_xslocobot_descriptions', '/home/ajinkya/interbotix_ws/install/interbotix_xs_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_xs_rviz', '/home/ajinkya/interbotix_ws/install/interbotix_xs_ros_control', '/home/ajinkya/interbotix_ws/install/interbotix_xs_modules', '/home/ajinkya/interbotix_ws/install/interbotix_perception_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_perception_modules', '/home/ajinkya/interbotix_ws/install/interbotix_perception_pipelines', '/home/ajinkya/interbotix_ws/install/interbotix_xs_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_perception_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_moveit_interface_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_common_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_common_modules', '/home/ajinkya/interbotix_ws/install/moveit_visual_tools', '/home/ajinkya/interbotix_ws/install/interbotix_tf_tools', '/home/ajinkya/interbotix_ws/install/interbotix_common_sim', '/home/ajinkya/ros2_ws11/install/my_package', '/home/ajinkya/ros2_ws123/install/my_package', '/opt/ros/galactic']")>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'interbotix_xslocobot_moveit' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/declare_launch_argument.py", line 184, in execute
    perform_substitutions(context, self.default_value)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/substitutions/path_join_substitution.py", line 45, in perform
    performed_substitutions = [sub.perform(context) for sub in self.__substitutions]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch/substitutions/path_join_substitution.py", line 45, in <listcomp>
    performed_substitutions = [sub.perform(context) for sub in self.__substitutions]
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/galactic/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 112, in find
    return get_package_share_directory(package_name)
  File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 70, in get_package_share_directory
    return os.path.join(get_package_prefix(package_name), 'share', package_name)
  File "/opt/ros/galactic/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'interbotix_xslocobot_moveit' not found, searching: ['/home/ajinkya/interbotix_ws/install/interbotix_moveit_interface', '/home/ajinkya/interbotix_ws/install/interbotix_xslocobot_sim', '/home/ajinkya/interbotix_ws/install/interbotix_xslocobot_descriptions', '/home/ajinkya/interbotix_ws/install/interbotix_xs_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_xs_rviz', '/home/ajinkya/interbotix_ws/install/interbotix_xs_ros_control', '/home/ajinkya/interbotix_ws/install/interbotix_xs_modules', '/home/ajinkya/interbotix_ws/install/interbotix_perception_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_perception_modules', '/home/ajinkya/interbotix_ws/install/interbotix_perception_pipelines', '/home/ajinkya/interbotix_ws/install/interbotix_xs_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_perception_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_moveit_interface_msgs', '/home/ajinkya/interbotix_ws/install/interbotix_common_toolbox', '/home/ajinkya/interbotix_ws/install/interbotix_common_modules', '/home/ajinkya/interbotix_ws/install/moveit_visual_tools', '/home/ajinkya/interbotix_ws/install/interbotix_tf_tools', '/home/ajinkya/interbotix_ws/install/interbotix_common_sim', '/home/ajinkya/ros2_ws11/install/my_package', '/home/ajinkya/ros2_ws123/install/my_package', '/opt/ros/galactic']"

While building interbotix_ws, below error is shown

--- stderr: moveit_visual_tools                                             
moveit_visual_tools: You did not request a specific build type: Choosing 'Release' for maximum performance
---

I changed default python version from 3.9 to 3.8 to make it compatible with galactic.
I installed modern_robotics package using pip3 install modern_robotics.

[ajinkyamar]

Question 1.

This is log of what happens when I run python demo in control folder

locobot@locobot:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/demos/python_ros2_api$ python3 combo_control.py[ERROR] [1739370942.756909724] [robot_manipulation]: Failed to find services under namespace ''. Is the xs_sdk running? Shutting down...
locobot@locobot:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/demos/python_ros2_api$ python3 pan_tilt_control.py 
[ERROR] [1739370978.300514784] [robot_manipulation]: Failed to find services under namespace ''. Is the xs_sdk running? Shutting down...

[lukeschmitt-tr]

LookupError: Could not find the resource 'interbotix_xslocobot_moveit' of type 'packages'

The remote installation script does not install the interbotix_xslocobot_moveit package. To install it, remove the COLCON_IGNORE file from the interbotix_xslocobot_moveit package, run rosdep to install necessary package, and rebuild your workspace.

[ajinkyamar]

I removed colcon_ignore and ran rosdep and then colcon build. but it still shows only locobot opened in Rviz but nothing on gazebo. (not even trossenrobotics building).

Below is error meessages from verbose=true.

ros2 service and node list is empty.

[ERROR] [spawn_entity.py-5]: process has died [pid 10044, exit code 1, cmd '/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity robot_description -topic robot_description -x 0.0 -y 0.0 -z 0.0 -Y 0.0 --ros-args -r __node:=spawn_robot -r __ns:=/locobot'].
[ERROR] [spawner-7]: process has died [pid 10061, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner'].
[ERROR] [spawner-9]: process has died [pid 10079, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager arm_controller --ros-args -r __node:=arm_controller_spawner'].
[ERROR] [spawner-8]: process has died [pid 10077, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager gripper_controller --ros-args -r __node:=gripper_controller_spawner'].
[ERROR] [spawner-11]: process has died [pid 10083, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager diffdrive_controller --ros-args -r __node:=diffdrive_controller_spawner'].
[ERROR] [spawner-10]: process has died [pid 10081, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager camera_controller --ros-args -r __node:=camera_controller_spawner'].
[ERROR] [gzserver-3]: process has died [pid 10040, exit code -2, cmd 'gzserver /home/ajinkya/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world                                                                      -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].
[ERROR] [gzclient   -4]: process has died [pid 10042, exit code -2, cmd 'gzclient   '].

Could you please suggest something so that I can run gazebo sim in my own computer without turning on locobot nuc? Are there more dependancies?

[lukeschmitt-tr]

Please provide the entire console output.

[ajinkyamar]

ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx250s use_lidar:=true hardware_type:=gz_classic verbose:=true
[INFO] [launch]: All log files can be found below /home/ajinkya/.ros/log/2025-02-21-16-31-51-046722-ajinkya-ThinkStation-P620-11213
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [11218]
[INFO] [rviz2-2]: process started with pid [11220]
[INFO] [gzserver-3]: process started with pid [11222]
[INFO] [gzclient   -4]: process started with pid [11224]
[INFO] [spawn_entity.py-5]: process started with pid [11226]
[INFO] [robot_state_publisher-6]: process started with pid [11229]
[ERROR] [spawn_entity.py-5]: process has died [pid 11226, exit code 1, cmd '/opt/ros/galactic/lib/gazebo_ros/spawn_entity.py -entity robot_description -topic robot_description -x 0.0 -y 0.0 -z 0.0 -Y 0.0 --ros-args -r __node:=spawn_robot -r __ns:=/locobot'].
[INFO] [spawner-7]: process started with pid [11243]
[move_group-1] [WARN] [1740155512.449868152] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-1] [WARN] [1740155512.449894451] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] Error:   Link 'ee_gripper_link' specified as parent for end effector 'interbotix_gripper' is not known to the URDF
[move_group-1]          at line 423 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 555 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 555 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 550 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] Warning: Link 'locobot/forearm_link' is not known to URDF. Cannot disable collisons.
[move_group-1]          at line 550 in /tmp/binarydeb/ros-galactic-srdfdom-2.0.3/src/model.cpp
[move_group-1] [INFO] [1740155512.453447395] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1740155512.453467332] [moveit_robot_model.robot_model]: Loading robot model 'locobot'...
[move_group-1] [INFO] [1740155512.453472192] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawner-7] Traceback (most recent call last):
[spawner-7]   File "/opt/ros/galactic/lib/controller_manager/spawner", line 17, in <module>
[spawner-7]     from spawner import main
[spawner-7]   File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 28, in <module>
[spawner-7]     from rclpy.duration import Duration
[spawner-7]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/duration.py", line 17, in <module>
[spawner-7]     from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawner-7]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawner-7]     rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawner-7]   File "/opt/ros/galactic/lib/python3.8/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawner-7]     return importlib.import_module(name, package=package)
[spawner-7]   File "/opt/intel/oneapi/intelpython/latest/lib/python3.9/importlib/__init__.py", line 127, in import_module
[spawner-7]     return _bootstrap._gcd_import(name[level:], package, level)
[spawner-7] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawner-7] The C extension '/opt/ros/galactic/lib/python3.8/site-packages/_rclpy_pybind11.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[ERROR] [spawner-7]: process has died [pid 11243, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager joint_state_broadcaster --ros-args -r __node:=joint_state_broadcaster_spawner'].
[INFO] [spawner-8]: process started with pid [11259]
[INFO] [spawner-9]: process started with pid [11261]
[INFO] [spawner-10]: process started with pid [11263]
[INFO] [spawner-11]: process started with pid [11265]
[move_group-1] The root link locobot/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-1] Link locobot/bump_caster_link had 0 children
[move_group-1] Link locobot/bump_front_center had 0 children
[move_group-1] Link locobot/bump_front_left had 0 children
[move_group-1] Link locobot/bump_front_right had 0 children
[move_group-1] Link locobot/bump_left had 0 children
[move_group-1] Link locobot/bump_right had 0 children
[move_group-1] Link locobot/button_1 had 0 children
[move_group-1] Link locobot/button_2 had 0 children
[move_group-1] Link locobot/button_power had 0 children
[move_group-1] Link locobot/camera_tower_link had 2 children
[move_group-1] Link locobot/lidar_tower_link had 1 children
[move_group-1] Link locobot/laser_frame_link had 0 children
[move_group-1] Link locobot/pan_link had 1 children
[move_group-1] Link locobot/tilt_link had 1 children
[move_group-1] Link camera_locobot_link had 1 children
[move_group-1] Link locobot/camera_depth_link had 0 children
[move_group-1] Link cliff_front_left had 0 children
[move_group-1] Link cliff_front_right had 0 children
[move_group-1] Link cliff_side_left had 0 children
[move_group-1] Link cliff_side_right had 0 children
[move_group-1] Link locobot/front_caster_link had 0 children
[move_group-1] Link locobot/imu_link had 0 children
[move_group-1] Link locobot/ir_omni had 0 children
[move_group-1] Link locobot/ir_intensity_front_center_left had 0 children
[move_group-1] Link locobot/ir_intensity_front_center_right had 0 children
[move_group-1] Link locobot/ir_intensity_front_left had 0 children
[move_group-1] Link locobot/ir_intensity_front_right had 0 children
[move_group-1] Link locobot/ir_intensity_left had 0 children
[move_group-1] Link locobot/ir_intensity_right had 0 children
[move_group-1] Link locobot/ir_intensity_side_left had 0 children
[move_group-1] Link locobot/mouse had 0 children
[move_group-1] Link locobot/plate_link had 2 children
[move_group-1] Link locobot/arm_stand_link had 1 children
[move_group-1] Link locobot/arm_base_link had 1 children
[move_group-1] Link locobot/shoulder_link had 1 children
[move_group-1] Link locobot/upper_arm_link had 1 children
[move_group-1] Link locobot/upper_forearm_link had 1 children
[move_group-1] Link locobot/lower_forearm_link had 1 children
[move_group-1] Link locobot/wrist_link had 1 children
[move_group-1] Link locobot/gripper_link had 1 children
[move_group-1] Link locobot/ee_arm_link had 3 children
[move_group-1] Link locobot/ar_tag_link had 0 children
[move_group-1] Link locobot/gripper_prop_link had 0 children
[move_group-1] Link locobot/gripper_bar_link had 1 children
[move_group-1] Link locobot/fingers_link had 3 children
[move_group-1] Link locobot/ee_gripper_link had 0 children
[move_group-1] Link locobot/left_finger_link had 0 children
[move_group-1] Link locobot/right_finger_link had 0 children
[move_group-1] Link locobot/battery_link had 0 children
[move_group-1] Link locobot/wheel_drop_left had 1 children
[move_group-1] Link locobot/left_wheel had 0 children
[move_group-1] Link locobot/wheel_drop_right had 1 children
[move_group-1] Link locobot/right_wheel had 0 children
[spawner-8] Traceback (most recent call last):
[spawner-8]   File "/opt/ros/galactic/lib/controller_manager/spawner", line 17, in <module>
[spawner-8]     from spawner import main
[spawner-8]   File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 28, in <module>
[spawner-8]     from rclpy.duration import Duration
[spawner-8]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/duration.py", line 17, in <module>
[spawner-8]     from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawner-8]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawner-8]     rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawner-8]   File "/opt/ros/galactic/lib/python3.8/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawner-8]     return importlib.import_module(name, package=package)
[spawner-8]   File "/opt/intel/oneapi/intelpython/latest/lib/python3.9/importlib/__init__.py", line 127, in import_module
[spawner-8]     return _bootstrap._gcd_import(name[level:], package, level)
[spawner-8] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawner-8] The C extension '/opt/ros/galactic/lib/python3.8/site-packages/_rclpy_pybind11.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[spawner-9] Traceback (most recent call last):
[spawner-9]   File "/opt/ros/galactic/lib/controller_manager/spawner", line 17, in <module>
[spawner-9]     from spawner import main
[spawner-9]   File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 28, in <module>
[spawner-9]     from rclpy.duration import Duration
[spawner-9]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/duration.py", line 17, in <module>
[spawner-9]     from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawner-9]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawner-9]     rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawner-9]   File "/opt/ros/galactic/lib/python3.8/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawner-10] Traceback (most recent call last):
[spawner-10]   File "/opt/ros/galactic/lib/controller_manager/spawner", line 17, in <module>
[spawner-10]     from spawner import main
[spawner-10]   File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 28, in <module>
[spawner-10]     from rclpy.duration import Duration
[spawner-10]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/duration.py", line 17, in <module>
[spawner-10]     from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawner-10]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawner-11] Traceback (most recent call last):
[spawner-11]   File "/opt/ros/galactic/lib/controller_manager/spawner", line 17, in <module>
[spawner-11]     from spawner import main
[spawner-11]   File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 28, in <module>
[spawner-11]     from rclpy.duration import Duration
[spawner-11]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/duration.py", line 17, in <module>
[spawner-11]     from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
[spawner-11]   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/impl/implementation_singleton.py", line 32, in <module>
[spawner-9]     return importlib.import_module(name, package=package)
[spawner-9]   File "/opt/intel/oneapi/intelpython/latest/lib/python3.9/importlib/__init__.py", line 127, in import_module
[spawner-9]     return _bootstrap._gcd_import(name[level:], package, level)
[spawner-9] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawner-9] The C extension '/opt/ros/galactic/lib/python3.8/site-packages/_rclpy_pybind11.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[spawner-10]     rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawner-10]   File "/opt/ros/galactic/lib/python3.8/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawner-10]     return importlib.import_module(name, package=package)
[spawner-10]   File "/opt/intel/oneapi/intelpython/latest/lib/python3.9/importlib/__init__.py", line 127, in import_module
[spawner-10]     return _bootstrap._gcd_import(name[level:], package, level)
[spawner-10] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawner-10] The C extension '/opt/ros/galactic/lib/python3.8/site-packages/_rclpy_pybind11.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[spawner-11]     rclpy_implementation = import_c_library('._rclpy_pybind11', package)
[spawner-11]   File "/opt/ros/galactic/lib/python3.8/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library
[spawner-11]     return importlib.import_module(name, package=package)
[spawner-11]   File "/opt/intel/oneapi/intelpython/latest/lib/python3.9/importlib/__init__.py", line 127, in import_module
[spawner-11]     return _bootstrap._gcd_import(name[level:], package, level)
[spawner-11] ModuleNotFoundError: No module named 'rclpy._rclpy_pybind11'
[spawner-11] The C extension '/opt/ros/galactic/lib/python3.8/site-packages/_rclpy_pybind11.cpython-39-x86_64-linux-gnu.so' isn't present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/Installation-Troubleshooting/#import-failing-without-library-present-on-the-system' for possible solutions
[ERROR] [spawner-8]: process has died [pid 11259, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager gripper_controller --ros-args -r __node:=gripper_controller_spawner'].
[ERROR] [spawner-11]: process has died [pid 11265, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager diffdrive_controller --ros-args -r __node:=diffdrive_controller_spawner'].
[ERROR] [spawner-10]: process has died [pid 11263, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager camera_controller --ros-args -r __node:=camera_controller_spawner'].
[ERROR] [spawner-9]: process has died [pid 11261, exit code 1, cmd '/opt/ros/galactic/lib/controller_manager/spawner -c locobot/controller_manager arm_controller --ros-args -r __node:=arm_controller_spawner'].
[move_group-1] [INFO] [1740155512.695759210] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1740155512.695883865] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'locobot/joint_states' for joint states
[move_group-1] [INFO] [1740155512.696198929] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'locobot/joint_states'
[move_group-1] [INFO] [1740155512.696365764] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1740155512.696374551] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1740155512.696515216] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1740155512.696522440] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1740155512.696658967] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1740155512.696768184] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1740155512.697008758] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1740155512.697019598] [moveit.ros.occupancy_map_monitor.middleware_handle]: No sensor plugin specified for octomap updater ; ignoring.
[move_group-1] [INFO] [1740155512.697027202] [moveit.ros.occupancy_map_monitor.middleware_handle]: Skipping octomap updater plugin ''
[move_group-1] [INFO] [1740155512.819829000] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1740155512.832849919] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1740155512.834674292] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1740155512.834682498] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1740155512.834685924] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1740155512.834694500] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1740155512.834702676] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1740155512.834706202] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1740155512.834712895] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1740155512.834716211] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1740155512.834722884] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1740155512.834729406] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1740155512.834733484] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1740155512.834750165] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1740155512.834752951] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1740155512.834755315] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1740155512.842265446] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for locobot/arm_controller
[move_group-1] [INFO] [1740155512.842751163] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for locobot/gripper_controller
[move_group-1] [INFO] [1740155512.842812068] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1740155512.843010732] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1740155512.843018587] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1740155512.848813742] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1740155512.848831406] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1740155512.848836515] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[move_group-1] [INFO] [1740155954.273512513] [rclcpp]: signal_handler(signal_value=2)
[move_group-1] [INFO] [1740155954.281881926] [moveit.ros_planning_interface.moveit_cpp]: Deleting MoveItCpp
[move_group-1] [INFO] [1740155954.282547337] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-1] [INFO] [1740155954.282993286] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping world geometry monitor
[move_group-1] [INFO] [1740155954.283169497] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[move_group-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[move_group-1]          at line 127 in /tmp/binarydeb/ros-galactic-class-loader-2.1.2/src/class_loader.cpp
[INFO] [robot_state_publisher-6]: process has finished cleanly [pid 11229]
[INFO] [move_group-1]: process has finished cleanly [pid 11218]
[move_group-1] 
[ERROR] [gzserver-3]: process has died [pid 11222, exit code -2, cmd 'gzserver /home/ajinkya/interbotix_ws/install/interbotix_common_sim/share/interbotix_common_sim/worlds/interbotix.world                                                                      -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].
[ERROR] [gzclient   -4]: process has died [pid 11224, exit code -2, cmd 'gzclient   '].
[INFO] [rviz2-2]: process has finished cleanly [pid 11220]
ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ 

[ajinkyamar]

ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ ros2 topic list
/parameter_events
/rosout
ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ ros2 node list
ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$ ros2 service list
ajinkya@ajinkya-ThinkStation-P620:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_moveit/launch$