I've been trying to set up a URDF file exported from Solidworks in MoveIt using MoveIt Setup Assistant. So far, I have followed this guide (https://github.com/kunalaglave4/import_your_custom_urdf_package_to_ROS/blob/b9541ef0dae257ff35e2c30349717af0b41de66e/Importing_URDF_Package_from_Soloidworks_in_ROS.pdf) to edit my files up to step 4.2. However, when trying to launch the demo_gazebo.launch file, my rViz is stuck on the initialization screen and my model doesn't in Gazebo. This is the error log:

... logging to /home/eric/.ros/log/8ad310f0-de4b-11ed-84fb-615b0b529a75/roslaunch-ubuntu-38928.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:39411/

SUMMARY

PARAMETERS * /armpositioncontroller/gains/joint1/d: 1 * /armpositioncontroller/gains/joint1/i: 1 * /armpositioncontroller/gains/joint1/iclamp: 1 * /armpositioncontroller/gains/joint1/p: 100 * /armpositioncontroller/gains/joint2/d: 1 * /armpositioncontroller/gains/joint2/i: 1 * /armpositioncontroller/gains/joint2/iclamp: 1 * /armpositioncontroller/gains/joint2/p: 100 * /armpositioncontroller/gains/joint3/d: 1 * /armpositioncontroller/gains/joint3/i: 1 * /armpositioncontroller/gains/joint3/iclamp: 1 * /armpositioncontroller/gains/joint3/p: 100 * /armpositioncontroller/gains/joint4/d: 1 * /armpositioncontroller/gains/joint4/i: 1 * /armpositioncontroller/gains/joint4/iclamp: 1 * /armpositioncontroller/gains/joint4/p: 100 * /armpositioncontroller/gains/joint5/d: 1 * /armpositioncontroller/gains/joint5/i: 1 * /armpositioncontroller/gains/joint5/iclamp: 1 * /armpositioncontroller/gains/joint5/p: 100 * /armpositioncontroller/joints: ['joint1', 'join... * /armpositioncontroller/type: positioncontroll... * /gazebo/enablerosnetwork: True * /jointstatecontroller/publishrate: 50 * /jointstatecontroller/type: jointstatecontr... * /movegroup/allowtrajectoryexecution: True * /movegroup/capabilities: * /movegroup/defaultplanningpipeline: ompl * /movegroup/disablecapabilities: * /movegroup/maxrange: 5.0 * /movegroup/monitordynamics: False * /movegroup/moveitcontrollermanager: moveitroscontro... * /movegroup/moveitmanagecontrollers: True * /movegroup/octomapresolution: 0.025 * /movegroup/planningpipelines/chomp/collisionclearance: 0.2 * /movegroup/planningpipelines/chomp/collisionthreshold: 0.07 * /movegroup/planningpipelines/chomp/enablefailurerecovery: False * /movegroup/planningpipelines/chomp/jigglefraction: 0.05 * /movegroup/planningpipelines/chomp/jointupdatelimit: 0.1 * /movegroup/planningpipelines/chomp/learningrate: 0.01 * /movegroup/planningpipelines/chomp/maxiterations: 200 * /movegroup/planningpipelines/chomp/maxiterationsaftercollisionfree: 5 * /movegroup/planningpipelines/chomp/maxrecoveryattempts: 5 * /movegroup/planningpipelines/chomp/obstaclecostweight: 1.0 * /movegroup/planningpipelines/chomp/planningplugin: chompinterface/C... * /movegroup/planningpipelines/chomp/planningtimelimit: 10.0 * /movegroup/planningpipelines/chomp/pseudoinverseridgefactor: 1e-4 * /movegroup/planningpipelines/chomp/requestadapters: defaultplannerr... * /movegroup/planningpipelines/chomp/ridgefactor: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostacceleration: 1.0 * /movegroup/planningpipelines/chomp/smoothnesscostjerk: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostvelocity: 0.0 * /movegroup/planningpipelines/chomp/smoothnesscostweight: 0.1 * /movegroup/planningpipelines/chomp/startstatemaxboundserror: 0.1 * /movegroup/planningpipelines/chomp/usepseudoinverse: False * /movegroup/planningpipelines/chomp/usestochasticdescent: True * /movegroup/planningpipelines/ompl/armgroup/defaultplannerconfig: RRT * /movegroup/planningpipelines/ompl/armgroup/longestvalidsegmentfraction: 0.005 * /movegroup/planningpipelines/ompl/armgroup/plannerconfigs: ['AnytimePathShor... * /movegroup/planningpipelines/ompl/armgroup/projectionevaluator: joints(joint1,jo... * /movegroup/planningpipelines/ompl/jigglefraction: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/hybridize: True * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/maxhybridpaths: 24 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/numplanners: 4 * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/planners: * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/shortcut: True * /movegroup/planningpipelines/ompl/plannerconfigs/AnytimePathShortening/type: geometric::Anytim... * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/balanced: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/cachecc: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/extendedfmt: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/heuristics: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/nearestk: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/numsamples: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/optimality: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/radiusmultiplier: 1.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BFMT/type: geometric::BFMT * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/failedexpansionscorefactor: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BKPIECE/type: geometric::BKPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/BiEST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiEST/type: geometric::BiEST * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/costthreshold: 1e300 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/frountiernoderatio: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/frountierthreshold: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/inittemperature: 100 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/tempchangefactor: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/BiTRRT/type: geometric::BiTRRT * /movegroup/planningpipelines/ompl/plannerconfigs/EST/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/EST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/EST/type: geometric::EST * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/cachecc: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/extendedfmt: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/heuristics: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/nearestk: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/numsamples: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/radiusmultiplier: 1.1 * /movegroup/planningpipelines/ompl/plannerconfigs/FMT/type: geometric::FMT * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/failedexpansionscorefactor: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/KPIECE/type: geometric::KPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/borderfraction: 0.9 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/minvalidpathfraction: 0.5 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LBKPIECE/type: geometric::LBKPIECE * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/epsilon: 0.4 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LBTRRT/type: geometric::LBTRRT * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRM/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRM/type: geometric::LazyPRM * /movegroup/planningpipelines/ompl/plannerconfigs/LazyPRMstar/type: geometric::LazyPR... * /movegroup/planningpipelines/ompl/plannerconfigs/PDST/type: geometric::PDST * /movegroup/planningpipelines/ompl/plannerconfigs/PRM/maxnearestneighbors: 10 * /movegroup/planningpipelines/ompl/plannerconfigs/PRM/type: geometric::PRM * /movegroup/planningpipelines/ompl/plannerconfigs/PRMstar/type: geometric::PRMstar * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/ProjEST/type: geometric::ProjEST * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRT/type: geometric::RRT * /movegroup/planningpipelines/ompl/plannerconfigs/RRTConnect/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTConnect/type: geometric::RRTCon... * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/delaycollisionchecking: 1 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/RRTstar/type: geometric::RRTstar * /movegroup/planningpipelines/ompl/plannerconfigs/SBL/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SBL/type: geometric::SBL * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/densedeltafraction: 0.001 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/maxfailures: 1000 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/sparsedeltafraction: 0.25 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/stretchfactor: 3.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARS/type: geometric::SPARS * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/densedeltafraction: 0.001 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/maxfailures: 5000 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/sparsedeltafraction: 0.25 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/stretchfactor: 3.0 * /movegroup/planningpipelines/ompl/plannerconfigs/SPARStwo/type: geometric::SPARStwo * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/degree: 16 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/estimateddimension: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/maxdegree: 18 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/maxptsperleaf: 6 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/mindegree: 12 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/minvalidpathfraction: 0.2 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/type: geometric::STRIDE * /movegroup/planningpipelines/ompl/plannerconfigs/STRIDE/useprojecteddistance: 0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/frountierNodeRatio: 0.1 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/frountierthreshold: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/goalbias: 0.05 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/inittemperature: 10e-6 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/kconstant: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/maxstatesfailed: 10 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/mintemperature: 10e-10 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/range: 0.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/tempchangefactor: 2.0 * /movegroup/planningpipelines/ompl/plannerconfigs/TRRT/type: geometric::TRRT * /movegroup/planningpipelines/ompl/planningplugin: omplinterface/OM... * /movegroup/planningpipelines/ompl/requestadapters: defaultplannerr... * /movegroup/planningpipelines/ompl/startstatemaxboundserror: 0.1 * /movegroup/planningpipelines/pilzindustrialmotionplanner/capabilities: pilzindustrialm... * /movegroup/planningpipelines/pilzindustrialmotionplanner/defaultplannerconfig: PTP * /movegroup/planningpipelines/pilzindustrialmotionplanner/planningplugin: pilzindustrialm... * /movegroup/planningpipelines/pilzindustrialmotionplanner/requestadapters: * /movegroup/planningscenemonitor/publishgeometryupdates: True * /movegroup/planningscenemonitor/publishplanningscene: True * /movegroup/planningscenemonitor/publishstateupdates: True * /movegroup/planningscenemonitor/publishtransformsupdates: True * /movegroup/senseforplan/maxsafepathcost: 1 * /movegroup/sensors: [] * /movegroup/trajectoryexecution/allowedexecutiondurationscaling: 1.2 * /movegroup/trajectoryexecution/allowedgoaldurationmargin: 0.5 * /movegroup/trajectoryexecution/allowedstarttolerance: 0.01 * /robotdescription: <?xml version="1.... * /robotdescriptionkinematics/armgroup/kinematicssolver: kdlkinematicspl... * /robotdescriptionkinematics/armgroup/kinematicssolversearchresolution: 0.005 * /robotdescriptionkinematics/armgroup/kinematicssolvertimeout: 0.005 * /robotdescriptionplanning/cartesianlimits/maxrotvel: 1.57 * /robotdescriptionplanning/cartesianlimits/maxtransacc: 2.25 * /robotdescriptionplanning/cartesianlimits/maxtransdec: -5 * /robotdescriptionplanning/cartesianlimits/maxtransvel: 1 * /robotdescriptionplanning/defaultaccelerationscalingfactor: 0.1 * /robotdescriptionplanning/defaultvelocityscalingfactor: 0.1 * /robotdescriptionplanning/jointlimits/joint1/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint1/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint1/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint1/maxvelocity: 6 * /robotdescriptionplanning/jointlimits/joint2/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint2/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint2/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint2/maxvelocity: 6 * /robotdescriptionplanning/jointlimits/joint3/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint3/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint3/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint3/maxvelocity: 6 * /robotdescriptionplanning/jointlimits/joint4/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint4/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint4/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint4/maxvelocity: 6 * /robotdescriptionplanning/jointlimits/joint5/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/joint5/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/joint5/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/joint5/maxvelocity: 6 * /robotdescriptionsemantic: <?xml version="1.... * /rosdistro: noetic * /rosversion: 1.16.0 * /usesim_time: True

NODES / controllerspawner (controllermanager/spawner) gazebo (gazeboros/gzserver) gazebocontrollerspawner (controllermanager/spawner) gazebogui (gazeboros/gzclient) movegroup (moveitrosmovegroup/movegroup) robotstatepublisher (robotstatepublisher/robotstatepublisher) rvizubuntu38928369093188959706044 (rviz/rviz) spawngazebomodel (gazeboros/spawnmodel)

ROSMASTERURI=http://localhost:11311

process[gazebo-1]: started with pid [38942] process[gazebogui-2]: started with pid [38947] process[spawngazebomodel-3]: started with pid [38952] process[controllerspawner-4]: started with pid [38953] process[gazebocontrollerspawner-5]: started with pid [38954] process[robotstatepublisher-6]: started with pid [38955] process[movegroup-7]: started with pid [38956] process[rvizubuntu38928369093188959706044-8]: started with pid [38957] [ INFO] [1681867129.028391089]: Loading robot model 'urdffile2'... [ INFO] [1681867129.029904689]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1681867129.219243057]: Publishing maintained planning scene on 'monitoredplanningscene' [ INFO] [1681867129.222462541]: Listening to 'jointstates' for joint states [ INFO] [1681867129.225777393]: rviz version 1.14.19 [ INFO] [1681867129.225844907]: compiled against Qt version 5.12.8 [ INFO] [1681867129.225860182]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1681867129.229450828]: Listening to '/attachedcollisionobject' for attached collision objects [ INFO] [1681867129.229519924]: Starting planning scene monitor [ INFO] [1681867129.233267892]: Listening to '/planningscene' [ INFO] [1681867129.233331337]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1681867129.238201676]: Listening to '/collisionobject' [ INFO] [1681867129.243553949]: Listening to '/planningsceneworld' for planning scene world geometry [ INFO] [1681867129.248604146]: Forcing OpenGl version 0. [ INFO] [1681867129.256528553]: Loading planning pipeline 'chomp' [ INFO] [1681867129.285330869]: Using planning interface 'CHOMP' [ INFO] [1681867129.289055192]: Param 'defaultworkspacebounds' was not set. Using default value: 10 [ INFO] [1681867129.289610010]: Param 'startstatemaxboundserror' was set to 0.1 [ INFO] [1681867129.290120857]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1681867129.290584174]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1681867129.291139443]: Param 'jigglefraction' was set to 0.05 [ INFO] [1681867129.291674152]: Param 'maxsamplingattempts' was not set. Using default value: 100 [ INFO] [1681867129.291731199]: Using planning request adapter 'Limiting Max Cartesian Speed' [ INFO] [1681867129.291762850]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1681867129.291789879]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1681867129.291814494]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1681867129.291839570]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1681867129.291863001]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1681867129.291887226]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1681867129.293341708]: Loading planning pipeline 'ompl' [ INFO] [1681867129.368323050]: Using planning interface 'OMPL' [ INFO] [1681867129.371316654]: Param 'defaultworkspacebounds' was not set. Using default value: 10 [ INFO] [1681867129.371768095]: Param 'startstatemaxboundserror' was set to 0.1 [ INFO] [1681867129.372171685]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1681867129.372712230]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1681867129.373277069]: Param 'jigglefraction' was set to 0.05 [ INFO] [1681867129.373850162]: Param 'maxsamplingattempts' was not set. Using default value: 100 [ INFO] [1681867129.373929132]: Using planning request adapter 'Limiting Max Cartesian Speed' [ INFO] [1681867129.373961917]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1681867129.373990758]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1681867129.374019599]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1681867129.374046927]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1681867129.374073830]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1681867129.374100084]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1681867129.374181874]: Loading planning pipeline 'pilzindustrialmotionplanner' [ INFO] [1681867129.380028390]: Reading limits from namespace /robotdescriptionplanning [ INFO] [1681867129.403171487]: Available plugins: pilzindustrialmotionplanner::PlanningContextLoaderCIRC pilzindustrialmotionplanner::PlanningContextLoaderLIN pilzindustrialmotionplanner::PlanningContextLoaderPTP [ INFO] [1681867129.403229632]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderCIRC [ INFO] [1681867129.406587771]: Registered Algorithm [CIRC] [ INFO] [1681867129.406685662]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderLIN [ INFO] [1681867129.409445323]: Registered Algorithm [LIN] [ INFO] [1681867129.409503586]: About to load: pilzindustrialmotionplanner::PlanningContextLoaderPTP [ INFO] [1681867129.412310838]: Registered Algorithm [PTP] [ INFO] [1681867129.412372017]: Using planning interface 'Pilz Industrial Motion Planner' [ INFO] [1681867129.419385931]: Started moveitroscontrolinterface::MoveItControllerManager for namespace / [INFO] [1681867129.429184, 0.000000]: Waiting for /clock to be available... [INFO] [1681867129.430243, 0.000000]: Waiting for /clock to be available... [ INFO] [1681867129.441285964]: Trajectory execution is managing controllers [ INFO] [1681867129.441346123]: MoveGroup debug mode is ON Loading 'movegroup/ApplyPlanningSceneService'... Loading 'movegroup/ClearOctomapService'... Loading 'movegroup/MoveGroupCartesianPathService'... Loading 'movegroup/MoveGroupExecuteTrajectoryAction'... Loading 'movegroup/MoveGroupGetPlanningSceneService'... Loading 'movegroup/MoveGroupKinematicsService'... Loading 'movegroup/MoveGroupMoveAction'... Loading 'movegroup/MoveGroupPickPlaceAction'... [INFO] [1681867129.513502, 0.000000]: Loading model XML from ros parameter robotdescription Loading 'movegroup/MoveGroupPlanService'... Loading 'movegroup/MoveGroupQueryPlannersService'... [INFO] [1681867129.521981, 0.000000]: Waiting for service /gazebo/spawnurdfmodel Loading 'movegroup/MoveGroupStateValidationService'... Loading 'pilzindustrialmotionplanner/MoveGroupSequenceAction'... [ INFO] [1681867129.529784366]: initialize move group sequence action [ INFO] [1681867129.538327835]: Reading limits from namespace /robotdescriptionplanning Loading 'pilzindustrialmotionplanner/MoveGroupSequenceService'... [ INFO] [1681867129.558006145]: Reading limits from namespace /robotdescription_planning [ INFO] [1681867129.578147792]:

---

• MoveGroup using:
• - ApplyPlanningSceneService
• - ClearOctomapService
• - CartesianPathService
• - ExecuteTrajectoryAction
• - GetPlanningSceneService
• - KinematicsService
• - MoveAction
• - PickPlaceAction
• - MotionPlanService
• - QueryPlannersService
• - StateValidationService
• - SequenceAction
• - SequenceService ********************************************************

[ INFO] [1681867129.578925128]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1681867129.578959119]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1681867129.617678613]: Stereo is NOT SUPPORTED [ INFO] [1681867129.617768587]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2) [ INFO] [1681867129.617805655]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system. [ INFO] [1681867129.824534597]: Finished loading Gazebo ROS API Plugin. [ INFO] [1681867129.826220516]: waitForService: Service [/gazebo/setphysicsproperties] has not been advertised, waiting... [ INFO] [1681867130.160643172]: Finished loading Gazebo ROS API Plugin. [ INFO] [1681867130.162304231]: waitForService: Service [/gazebogui/setphysicsproperties] has not been advertised, waiting... [ INFO] [1681867130.497804229]: waitForService: Service [/gazebo/setphysicsproperties] is now available. [ INFO] [1681867130.546627257]: Physics dynamic reconfigure ready. [INFO] [1681867130.743626, 0.000000]: Calling service /gazebo/spawnurdf_model Error [parser.cc:488] parse as old deprecated model file failed. Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF. Error Code 8 Msg: Error reading element Error Code 8 Msg: Error reading element Error Code 8 Msg: Error reading element