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Create Controlling the robot arm by joint_state_publisher
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Salwa-Mhz authored Jul 8, 2024
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@Salwa-Mhz Salwa-Mhz commented on ac44701 Jul 8, 2024 •
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Controlling the robot arm by joint_state_publisher

$ roslaunch robot_arm_pkg check_motors.launch

output:
... logging to /home/salwa/.ros/log/185f9e9a-3d08-11ef-8ec9-0800278eeabe/roslaunch-salwa-VirtualBox-12703.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://salwa-VirtualBox:41651/

SUMMARY

PARAMETERS

  • /robot_description: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.17

NODES
/
joint_state_publisher_gui (joint_state_publisher_gui/joint_state_publisher_gui)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [12713]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 185f9e9a-3d08-11ef-8ec9-0800278eeabe
process[rosout-1]: started with pid [12726]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [12740]
process[rviz-3]: started with pid [12745]
process[joint_state_publisher_gui-4]: started with pid [12746]
[INFO] [1720429046.633493]: Centering

$ roslaunch robot_arm_pkg check_motors_gazebo.launch

... logging to /home/salwa/.ros/log/185f9e9a-3d08-11ef-8ec9-0800278eeabe/roslaunch-salwa-VirtualBox-12924.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://salwa-VirtualBox:43677/

SUMMARY

PARAMETERS

  • /arm_controller/gains/base_joint/d: 1
  • /arm_controller/gains/base_joint/i: 1
  • /arm_controller/gains/base_joint/i_clamp: 1
  • /arm_controller/gains/base_joint/p: 100
  • /arm_controller/gains/elbow/d: 1
  • /arm_controller/gains/elbow/i: 1
  • /arm_controller/gains/elbow/i_clamp: 1
  • /arm_controller/gains/elbow/p: 100
  • /arm_controller/gains/shoulder/d: 1
  • /arm_controller/gains/shoulder/i: 1
  • /arm_controller/gains/shoulder/i_clamp: 1
  • /arm_controller/gains/shoulder/p: 100
  • /arm_controller/gains/wrist/d: 1
  • /arm_controller/gains/wrist/i: 1
  • /arm_controller/gains/wrist/i_clamp: 1
  • /arm_controller/gains/wrist/p: 100
  • /arm_controller/joints: ['base_joint', 's...
  • /arm_controller/type: position_controll...
  • /joint_state_controller/publish_rate: 50
  • /joint_state_controller/type: joint_state_contr...
  • /robot_description: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.17
  • /use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_gazebo_model (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [12941]
process[gazebo_gui-2]: started with pid [12946]
process[spawn_gazebo_model-3]: started with pid [12950]
process[controller_spawner-4]: started with pid [12952]
[INFO] [1720429130.843946, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1720429131.028266561]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1720429131.029534994]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1720429131.212119760]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1720429131.216934882]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Error [parser.cc:581] Unable to find uri[model://sun]
SpawnModel script started
Error [parser.cc:581] Unable to find uri[model://ground_plane]
[INFO] [1720429132.391371, 0.000000]: Loading model XML from ros parameter
[INFO] [1720429132.393113, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1720429132.707762, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1720429132.709556549]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1720429132.710472815]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1720429133.191409, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1720429133.287198520, 0.001000000]: Physics dynamic reconfigure ready.
[ INFO] [1720429133.359292903]: Physics dynamic reconfigure ready.
[ INFO] [1720429133.438835605, 0.001000000]: Loading gazebo_ros_control plugin
[ERROR] [1720429133.457454760, 0.001000000]: GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set to true.

[ INFO] [1720429133.457721345, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1720429133.458915401, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/salwa/.ros/log/185f9e9a-3d08-11ef-8ec9-0800278eeabe/spawn_gazebo_model-3*.log
[ INFO] [1720429133.619138819, 0.001000000]: Loaded gazebo_ros_control.
[ WARN] [1720429133.619637101, 0.002000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1720429133.619797171, 0.002000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1720429133.619917194, 0.002000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1720429133.620107089, 0.002000000]: For details, see ros-simulation/gazebo_ros_pkgs#612
[INFO] [1720429133.920748, 0.155000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1720429133.922939, 0.157000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1720429133.924275, 0.157000]: Loading controller: arm_controller
[INFO] [1720429134.153488, 0.263000]: Controller Spawner: Loaded controllers: arm_controller
[INFO] [1720429134.168783, 0.278000]: Started controllers: arm_controller

MoveIt controlling:

-$ roslaunch moveit_pkg demo.launch

output:
... logging to /home/salwa/.ros/log/185f9e9a-3d08-11ef-8ec9-0800278eeabe/roslaunch-salwa-VirtualBox-14561.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://salwa-VirtualBox:34001/

SUMMARY

PARAMETERS

  • /joint_state_publisher/source_list: ['move_group/fake...
  • /joint_state_publisher/use_gui: False
  • /move_group/allow_trajectory_execution: True
  • /move_group/arm/default_planner_config: None
  • /move_group/arm/planner_configs: ['SBL', 'EST', 'L...
  • /move_group/capabilities:
  • /move_group/controller_list: [{'joints': ['bas...
  • /move_group/disable_capabilities:
  • /move_group/jiggle_fraction: 0.05
  • /move_group/max_range: 5.0
  • /move_group/max_safe_path_cost: 1
  • /move_group/moveit_controller_manager: moveit_fake_contr...
  • /move_group/moveit_manage_controllers: True
  • /move_group/octomap_resolution: 0.025
  • /move_group/planner_configs/BFMT/balanced: 0
  • /move_group/planner_configs/BFMT/cache_cc: 1
  • /move_group/planner_configs/BFMT/extended_fmt: 1
  • /move_group/planner_configs/BFMT/heuristics: 1
  • /move_group/planner_configs/BFMT/nearest_k: 1
  • /move_group/planner_configs/BFMT/num_samples: 1000
  • /move_group/planner_configs/BFMT/optimality: 1
  • /move_group/planner_configs/BFMT/radius_multiplier: 1.0
  • /move_group/planner_configs/BFMT/type: geometric::BFMT
  • /move_group/planner_configs/BKPIECE/border_fraction: 0.9
  • /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/BKPIECE/range: 0.0
  • /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
  • /move_group/planner_configs/BiEST/range: 0.0
  • /move_group/planner_configs/BiEST/type: geometric::BiEST
  • /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
  • /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
  • /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
  • /move_group/planner_configs/BiTRRT/init_temperature: 100
  • /move_group/planner_configs/BiTRRT/range: 0.0
  • /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
  • /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
  • /move_group/planner_configs/EST/goal_bias: 0.05
  • /move_group/planner_configs/EST/range: 0.0
  • /move_group/planner_configs/EST/type: geometric::EST
  • /move_group/planner_configs/FMT/cache_cc: 1
  • /move_group/planner_configs/FMT/extended_fmt: 1
  • /move_group/planner_configs/FMT/heuristics: 0
  • /move_group/planner_configs/FMT/nearest_k: 1
  • /move_group/planner_configs/FMT/num_samples: 1000
  • /move_group/planner_configs/FMT/radius_multiplier: 1.1
  • /move_group/planner_configs/FMT/type: geometric::FMT
  • /move_group/planner_configs/KPIECE/border_fraction: 0.9
  • /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/KPIECE/goal_bias: 0.05
  • /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/KPIECE/range: 0.0
  • /move_group/planner_configs/KPIECE/type: geometric::KPIECE
  • /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
  • /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/LBKPIECE/range: 0.0
  • /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
  • /move_group/planner_configs/LBTRRT/epsilon: 0.4
  • /move_group/planner_configs/LBTRRT/goal_bias: 0.05
  • /move_group/planner_configs/LBTRRT/range: 0.0
  • /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
  • /move_group/planner_configs/LazyPRM/range: 0.0
  • /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
  • /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
  • /move_group/planner_configs/PDST/type: geometric::PDST
  • /move_group/planner_configs/PRM/max_nearest_neighbors: 10
  • /move_group/planner_configs/PRM/type: geometric::PRM
  • /move_group/planner_configs/PRMstar/type: geometric::PRMstar
  • /move_group/planner_configs/ProjEST/goal_bias: 0.05
  • /move_group/planner_configs/ProjEST/range: 0.0
  • /move_group/planner_configs/ProjEST/type: geometric::ProjEST
  • /move_group/planner_configs/RRT/goal_bias: 0.05
  • /move_group/planner_configs/RRT/range: 0.0
  • /move_group/planner_configs/RRT/type: geometric::RRT
  • /move_group/planner_configs/RRTConnect/range: 0.0
  • /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
  • /move_group/planner_configs/RRTstar/delay_collision_checking: 1
  • /move_group/planner_configs/RRTstar/goal_bias: 0.05
  • /move_group/planner_configs/RRTstar/range: 0.0
  • /move_group/planner_configs/RRTstar/type: geometric::RRTstar
  • /move_group/planner_configs/SBL/range: 0.0
  • /move_group/planner_configs/SBL/type: geometric::SBL
  • /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARS/max_failures: 1000
  • /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARS/stretch_factor: 3.0
  • /move_group/planner_configs/SPARS/type: geometric::SPARS
  • /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARStwo/max_failures: 5000
  • /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
  • /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
  • /move_group/planner_configs/STRIDE/degree: 16
  • /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
  • /move_group/planner_configs/STRIDE/goal_bias: 0.05
  • /move_group/planner_configs/STRIDE/max_degree: 18
  • /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
  • /move_group/planner_configs/STRIDE/min_degree: 12
  • /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
  • /move_group/planner_configs/STRIDE/range: 0.0
  • /move_group/planner_configs/STRIDE/type: geometric::STRIDE
  • /move_group/planner_configs/STRIDE/use_projected_distance: 0
  • /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
  • /move_group/planner_configs/TRRT/frountier_threshold: 0.0
  • /move_group/planner_configs/TRRT/goal_bias: 0.05
  • /move_group/planner_configs/TRRT/init_temperature: 10e-6
  • /move_group/planner_configs/TRRT/k_constant: 0.0
  • /move_group/planner_configs/TRRT/max_states_failed: 10
  • /move_group/planner_configs/TRRT/min_temperature: 10e-10
  • /move_group/planner_configs/TRRT/range: 0.0
  • /move_group/planner_configs/TRRT/temp_change_factor: 2.0
  • /move_group/planner_configs/TRRT/type: geometric::TRRT
  • /move_group/planning_plugin: ompl_interface/OM...
  • /move_group/planning_scene_monitor/publish_geometry_updates: True
  • /move_group/planning_scene_monitor/publish_planning_scene: True
  • /move_group/planning_scene_monitor/publish_state_updates: True
  • /move_group/planning_scene_monitor/publish_transforms_updates: True
  • /move_group/request_adapters: default_planner_r...
  • /move_group/sensors: [{}]
  • /move_group/start_state_max_bounds_error: 0.1
  • /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
  • /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
  • /move_group/trajectory_execution/allowed_start_tolerance: 0.01
  • /robot_description: <?xml version="1....
  • /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/arm/kinematics_solver_attempts: 3
  • /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
  • /robot_description_planning/joint_limits/base_joint/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/base_joint/has_velocity_limits: True
  • /robot_description_planning/joint_limits/base_joint/max_acceleration: 0
  • /robot_description_planning/joint_limits/base_joint/max_velocity: 1
  • /robot_description_planning/joint_limits/elbow/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/elbow/has_velocity_limits: True
  • /robot_description_planning/joint_limits/elbow/max_acceleration: 0
  • /robot_description_planning/joint_limits/elbow/max_velocity: 1
  • /robot_description_planning/joint_limits/shoulder/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/shoulder/has_velocity_limits: True
  • /robot_description_planning/joint_limits/shoulder/max_acceleration: 0
  • /robot_description_planning/joint_limits/shoulder/max_velocity: 1
  • /robot_description_planning/joint_limits/wrist/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/wrist/has_velocity_limits: True
  • /robot_description_planning/joint_limits/wrist/max_acceleration: 0
  • /robot_description_planning/joint_limits/wrist/max_velocity: 1
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.17
  • /rviz_salwa_VirtualBox_14561_4451717796384345965/arm/kinematics_solver: kdl_kinematics_pl...
  • /rviz_salwa_VirtualBox_14561_4451717796384345965/arm/kinematics_solver_attempts: 3
  • /rviz_salwa_VirtualBox_14561_4451717796384345965/arm/kinematics_solver_search_resolution: 0.005
  • /rviz_salwa_VirtualBox_14561_4451717796384345965/arm/kinematics_solver_timeout: 0.005

NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_salwa_VirtualBox_14561_4451717796384345965 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [14578]
process[robot_state_publisher-2]: started with pid [14579]
process[move_group-3]: started with pid [14580]
process[rviz_salwa_VirtualBox_14561_4451717796384345965-4]: started with pid [14582]
[ WARN] [1720429245.817562437]: The root link base 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.
[ INFO] [1720429246.067127884]: Loading robot model 'arduino_robot_arm'...
[ WARN] [1720429246.309518658, 69.720000000]: Could not identify parent group for end-effector 'gripper'
[ INFO] [1720429246.441632035]: rviz version 1.12.17
[ INFO] [1720429246.447906144]: compiled against Qt version 5.5.1
[ INFO] [1720429246.448013918]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1720429246.470823432, 69.785000000]: Loading robot model 'arduino_robot_arm'...
[ WARN] [1720429246.537726046, 69.805000000]: Could not identify parent group for end-effector 'gripper'
[ WARN] [1720429246.542307021, 69.807000000]: The root link base 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.
[ INFO] [1720429246.827067711, 69.961000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1720429246.872414337, 69.980000000]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1720429246.872491844, 69.980000000]: Starting scene monitor
[ INFO] [1720429246.926117456, 70.005000000]: Listening to '/planning_scene'
[ INFO] [1720429246.926199042, 70.005000000]: Starting world geometry monitor
[ INFO] [1720429246.974087792, 70.027000000]: Listening to '/collision_object' using message notifier with target frame '/base '
[ INFO] [1720429247.047416016, 70.046000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1720429247.064884593, 70.051000000]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1720429247.152018616, 70.087000000]: Stereo is NOT SUPPORTED
[ INFO] [1720429247.152228564, 70.087000000]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1720429247.183810525, 70.104000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1720429247.297177788, 70.148000000]: Initializing OMPL interface using ROS parameters
[ERROR] [1720429247.350898444, 70.158000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1720429247.448035506, 70.215000000]: Using planning interface 'OMPL'
[ INFO] [1720429247.452599918, 70.215000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1720429247.453370024, 70.215000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1720429247.453957347, 70.215000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1720429247.454558160, 70.215000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1720429247.455116471, 70.215000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1720429247.455676347, 70.215000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1720429247.455753492, 70.215000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1720429247.455790790, 70.215000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1720429247.455821401, 70.215000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1720429247.455849985, 70.215000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1720429247.455878700, 70.215000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1720429247.511311792, 70.258000000]: Fake controller 'fake_arm_controller' with joints [ base_joint shoulder elbow wrist ]
[ INFO] [1720429247.513956682, 70.260000000]: Returned 1 controllers in list
[ INFO] [1720429247.574378008, 70.310000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1720429247.863102192, 70.501000000]:

  • MoveGroup using:
  • - ApplyPlanningSceneService

  • - ClearOctomapService

  • - CartesianPathService

  • - ExecuteTrajectoryAction

  • - GetPlanningSceneService

  • - KinematicsService

  • - MoveAction

  • - PickPlaceAction

  • - MotionPlanService

  • - QueryPlannersService

  • - StateValidationService

[ INFO] [1720429247.863224749, 70.501000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1720429247.863274597, 70.501000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1720429251.060279237, 73.363000000]: Loading robot model 'arduino_robot_arm'...
[ WARN] [1720429251.083290091, 73.370000000]: Could not identify parent group for end-effector 'gripper'
[ INFO] [1720429251.278212420, 73.489000000]: Loading robot model 'arduino_robot_arm'...
[ WARN] [1720429251.331509184, 73.525000000]: Could not identify parent group for end-effector 'gripper'
[ WARN] [1720429251.355434045, 73.530000000]: The root link base 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.
[ INFO] [1720429251.767425074, 73.815000000]: Starting scene monitor
[ INFO] [1720429251.770472434, 73.815000000]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1720429252.051319597, 74.001000000]: The root link base 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.
[ INFO] [1720429252.057728007, 74.005000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1720429253.298667577, 74.829000000]: Ready to take commands for planning group arm.
[ INFO] [1720429253.299845062, 74.829000000]: Looking around: no
[ INFO] [1720429253.300102860, 74.831000000]: Replanning: no
[ WARN] [1720429253.320359219, 74.839000000]: Interactive marker 'EE:goal_gripper' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

photo_2024-07-08_16-56-35

$ roslaunch moveit_pkg demo_gazebo.launch

output

state_publisher-6] process has finished cleanly
log file: /home/salwa/.ros/log/44a7b4c8-3d09-11ef-8ec9-0800278eeabe/robot_state_publisher-6*.log
[robot_state_publisher-6] restarting process
process[robot_state_publisher-6]: started with pid [24630]
[ WARN] [1720446205.410411958]: The root link base 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.
[ WARN] [1720446205.898897292]: Shutdown request received.
[ WARN] [1720446205.898930713]: Reason given for shutdown: [new node registered with same name]
[robot_state_publisher-6] process has finished cleanly

photo_2024-07-08_16-56-42

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