About Operate the Actual OpenMANIPULATOR (RVIZ)

[jckim-ckr]

RVIZ

I am trying with ROS2 Foxy on TB3 with OpenManipulator-X, and followed the instructions in emanual for all setup.
However, after running RVIZ, the turtlebot_Waffle+openmaniplator image is not displayed.
Please tell me how to set it up.

$ ros2 launch turtlebot3_manipulation_moveit_config moveit_core.launch.py

emanual : TurtleBot3

https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#bringup
7.Manipualtion - 7 7.Operate the Actual OpenMANIPULATOR
Please be aware that the acutual hardware operation requires Bringup from the TurtleBot3 SBC.
[Remote PC] Enter the command below to launch the MoveIt on RViz.
$ ros2 launch turtlebot3_manipulation_moveit_config moveit_core.launch.py

$ ros2 launch turtlebot3_manipulation_moveit_config moveit_core.launch.py
[INFO] [launch]: All log files can be found below /home/canon/.ros/log/2024-11-25-17-35-57-468855-N023233-090055-17709
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [17711]
[INFO] [move_group-2]: process started with pid [17713]
[move_group-2] [WARN] [1732523757.922005000] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-2] [WARN] [1732523757.922122718] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-2] Parsing robot urdf xml string.
[move_group-2] [INFO] [1732523757.929081469] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00145395 seconds
[move_group-2] [INFO] [1732523757.929134589] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[move_group-2] [WARN] [1732523758.008460068] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-2] Link base_link had 8 children
[move_group-2] Link link1 had 1 children
[move_group-2] Link link2 had 1 children
[move_group-2] Link link3 had 1 children
[move_group-2] Link link4 had 1 children
[move_group-2] Link link5 had 3 children
[move_group-2] Link end_effector_link had 0 children
[move_group-2] Link gripper_left_link had 0 children
[move_group-2] Link gripper_right_link had 0 children
[move_group-2] Link camera_link had 1 children
[move_group-2] Link camera_rgb_frame had 1 children
[move_group-2] Link camera_rgb_optical_frame had 0 children
[move_group-2] Link caster_back_left_link had 0 children
[move_group-2] Link caster_back_right_link had 0 children
[move_group-2] Link imu_link had 0 children
[move_group-2] Link base_scan had 0 children
[move_group-2] Link wheel_left_link had 0 children
[move_group-2] Link wheel_right_link had 0 children
[move_group-2] [INFO] [1732523758.024195365] [moveit_kinematics_base.kinematics_base]: Using position only ik
[move_group-2] [INFO] [1732523758.234425545] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1732523758.234577757] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1732523758.234989942] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1732523758.235288058] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1732523758.235301800] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1732523758.235737109] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1732523758.236062160] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1732523758.236528036] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1732523758.236922521] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1732523758.237011539] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1732523758.237041761] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1732523758.365533727] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-2] [INFO] [1732523758.399856799] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [INFO] [1732523758.402202667] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1732523758.402238421] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1732523758.402241924] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1732523758.402252535] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1732523758.402263076] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-2] [INFO] [1732523758.402266678] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1732523758.402273197] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1732523758.402276321] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-2] [INFO] [1732523758.402284002] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1732523758.402290740] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1732523758.402295002] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1732523758.402321594] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1732523758.402323684] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1732523758.402325482] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-2] [INFO] [1732523758.438875859] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller
[move_group-2] [INFO] [1732523758.442796086] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for gripper_controller
[move_group-2] [INFO] [1732523758.443040707] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1732523758.443737574] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1732523758.443774334] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1732523758.462205616] [move_group.move_group]:
[move_group-2]
[move_group-2] ********************************************************
[move_group-2] * MoveGroup using:
[move_group-2] *     - ApplyPlanningSceneService
[move_group-2] *     - ClearOctomapService
[move_group-2] *     - CartesianPathService
[move_group-2] *     - ExecuteTrajectoryAction
[move_group-2] *     - GetPlanningSceneService
[move_group-2] *     - KinematicsService
[move_group-2] *     - MoveAction
[move_group-2] *     - MotionPlanService
[move_group-2] *     - QueryPlannersService
[move_group-2] *     - StateValidationService
[move_group-2] ********************************************************
[move_group-2]
[move_group-2] [INFO] [1732523758.462253087] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-2] [INFO] [1732523758.462259840] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-2] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-2] Loading 'move_group/ClearOctomapService'...
[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-2] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-2] Loading 'move_group/MoveGroupMoveAction'...
[move_group-2] Loading 'move_group/MoveGroupPlanService'...
[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-2] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-2]
[move_group-2] You can start planning now!
[move_group-2]
[rviz2-1] [INFO] [1732523759.028902589] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1732523759.029112190] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-1] [INFO] [1732523759.090882301] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] 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.
[rviz2-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1732523759.224180099] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00143897 seconds
[rviz2-1] [INFO] [1732523759.224266104] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[rviz2-1] [WARN] [1732523759.281584866] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-1] [ERROR] [1732523765.353061337] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1732523765.507621533] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00134555 seconds
[rviz2-1] [INFO] [1732523765.507707295] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[rviz2-1] [WARN] [1732523765.582368759] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] [WARN] [1732523765.598294066] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1732523765.837622814] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1732523765.839055432] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1732523765.854485167] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1732523765.856345087] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1732523765.892249532] [interactive_marker_display_94825242867024]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] [WARN] [1732523765.921587766] [moveit_robot_model.joint_model_group]: comparing input tip: link5 to this groups tip: end_effector_link
[rviz2-1] [INFO] [1732523765.927663090] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1732523765.927703286] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-1] [WARN] [1732523765.928296128] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1732523765.944566848] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-1] [INFO] [1732523765.944662605] [move_group_interface]: Looking around: no
[rviz2-1] [INFO] [1732523765.944676220] [move_group_interface]: Replanning: no
[rviz2-1] [INFO] [1732523766.078761352] [interactive_marker_display_94825242867024]: Sending request for interactive markers
[rviz2-1] [INFO] [1732523766.081078444] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 2 grp: arm
[rviz2-1] [INFO] [1732523766.081239577] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: arm
[rviz2-1] [INFO] [1732523766.081247094] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: gripper
[rviz2-1] [INFO] [1732523766.132279464] [interactive_marker_display_94825242867024]: Service response received for initialization