Velocity 3141.6005 required to reach the received target within 0.002 seconds is exceeding the joint velocity limits. #1235
Comments
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This seems to be a large overlap / duplicate with #1192. I am also not able to reproduce this using a rolling source build against a 5.19 URSim. I have been planning and executing different motions using MoveIt without any problems. I will try again later using a Jazzy binary build. |
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With the URSim I had no problems, but with the real robot (UR3e) I couldnt. I tried to run the test_scaled_joint_trajectory_controller and I moved the robot successfuly, I just cant do it with move_it |
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MoveIt or not shouldn't make any difference in terms of control and URSim or real robot shouldn't make any difference in terms of MoveIt. I'm not saying that your issue is invalid, I'm just having a hard time identifying the problem. |
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I am not an expert at all, but it seems to me that MoveIt is not catching properly the robot URDF and SRDF and that may cause problems in planning the motion of the robot. Maybe its an installation problem from my side, although I tried in different devices (PC with Linux and two times in RaspberryPi5), if it helps I leave here the history of commands I used in the instalation of ros2 and the ur_driver: sudo apt update && sudo apt upgrade locale sudo apt-get install ros-jazzy-ur echo " Run on simulatorros2 run ur_client_library start_ursim.sh -m ur3e #Run in the real robot |
No, that's not the case. By default, MoveIt loads its own urdf and publishes that. We deliberately did not do that in our description package, but re-use the robot_description published by the robot_state_publisher. Hence the warnings at the beginning, as the default files that MoveIt would look for are not there. The "fallback" Regarding the SRDF we use a xacro version to only maintain one common srdf for all robots. For this we pass that manually to the move_group node for republishing. The output you've posted doesn't seem unnormal. |
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Thank you for your explanation, now it makes more sense to me. |
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For me personally, I have encountered a similar issue and was able to find a temporary workaround by setting the speed slider on the teach pendant of the UR I was using (UR5e) to be around 30% and then running a moveit config for a custom arm with a robotiq gripper. I am not aware why this fixed it but please try and check from your side! |
Affected ROS2 Driver version(s)
Ubuntu 24.04 ros-jazzy-ur
Used ROS distribution.
Other
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
ur3e
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
When I use the ur_moveit_config.py and move the robot through the rviz (for example rotate the first joint 5 degrees), the "Velocity 3141.6005 required to reach the received target within 0.002 seconds is exceeding the joint velocity limits" error appears
Issue details
Steps to Reproduce
I run the command: ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.1.102 launch_rviz:=false kinematics_params_file:="${HOME}/my_robot_calibration.yaml"
And then, in other command window I run: ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
The communication appears to be working fine because if I move the robot in freedrive, the rviz is updating the pose.
Expected Behavior
When I move the robot with move_it, just a simple 5 degree movement with the first joint, I expected the action to be planned easily using the ompl planning and executed
Actual Behavior
The robot doesnt move and the error "Velocity 3141.6005 required to reach the received target within 0.002 seconds is exceeding the joint velocity limits" appears on the pendant. Additionaly, it only seems capable of planning when the option "Use cartesian path" is selected and in previous attempts (in early october 2024) I did plan without this option selected and it worked well in the execution of the task
Workaround Suggestion
Every time I run: ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
The are 4 warnings that tell something is not working properly regarding the robot urdf, something that I think it didnt happen in my first try back in october 2024:
WARNING:root:Cannot infer URDF from
/opt/ros/jazzy/share/ur_moveit_config. -- using config/ur.urdfWARNING:root:Cannot infer SRDF from
/opt/ros/jazzy/share/ur_moveit_config. -- using config/ur.srdfWARNING:root:"File /opt/ros/jazzy/share/ur_moveit_config/config/ur.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
The full output of the command is:
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2025-01-14-15-21-35-122479-ros2-5824
[INFO] [launch]: Default logging verbosity is set to INFO
WARNING:root:Cannot infer URDF from
/opt/ros/jazzy/share/ur_moveit_config. -- using config/ur.urdfWARNING:root:Cannot infer SRDF from
/opt/ros/jazzy/share/ur_moveit_config. -- using config/ur.srdfWARNING:root:"File /opt/ros/jazzy/share/ur_moveit_config/config/ur.urdf doesn't exist"
WARNING:root:The robot description will be loaded from /robot_description topic
[INFO] [wait_for_robot_description-1]: process started with pid [5831]
[wait_for_robot_description-1] [INFO] [1736868096.310253235] [wait_for_robot_description]: Waiting for message on /robot_description.
[wait_for_robot_description-1] [INFO] [1736868097.168360282] [wait_for_robot_description]: Received message on /robot_description. Shutting down.
[INFO] [wait_for_robot_description-1]: process has finished cleanly [pid 5831]
[INFO] [move_group-2]: process started with pid [5848]
[INFO] [rviz2-3]: process started with pid [5849]
[move_group-2] [INFO] [1736868098.133226121] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.0991887 seconds
[move_group-2] [INFO] [1736868098.133634426] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'ur3e'...
[move_group-2] [INFO] [1736868098.133691890] [move_group.moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-2] [INFO] [1736868098.196017252] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[move_group-2] [INFO] [1736868098.305037255] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1736868098.305448616] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1736868098.307804369] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1736868098.311519578] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1736868098.311593357] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[move_group-2] [INFO] [1736868098.311914975] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[move_group-2] [INFO] [1736868098.316554630] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1736868098.316913545] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1736868098.319187074] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1736868098.319333948] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1736868098.321884743] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1736868098.323779857] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1736868098.324562578] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1736868098.324684358] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1736868098.359486857] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
[move_group-2] [INFO] [1736868098.361060631] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.362889911] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.362940116] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.363847690] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.363893173] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.363960285] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.364004212] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.364048750] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.365951569] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.376849930] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.376920394] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.386328983] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.386425874] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.389465883] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.396151322] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1736868098.430624499] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1736868098.430714056] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-2] [INFO] [1736868098.435869259] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
[move_group-2] [INFO] [1736868098.436011799] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-2] [INFO] [1736868098.438588557] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
[move_group-2] [INFO] [1736868098.438697930] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-2] [INFO] [1736868098.440622934] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
[move_group-2] [INFO] [1736868098.440697880] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
[move_group-2] [INFO] [1736868098.442139836] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.442337489] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.442364193] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.443997135] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.444053988] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.444123842] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.444142083] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.444171880] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.445751543] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.452827953] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.452894287] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.456386065] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.510870612] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
[move_group-2] [INFO] [1736868098.512500554] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.512687540] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.512712911] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.514567321] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.514622711] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.514696342] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.514713879] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.514740602] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.516216930] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.518638574] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.518700112] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.522504749] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.522794866] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.529213650] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.554411094] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP'
[move_group-2] [INFO] [1736868098.556097629] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.559791171] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
[move_group-2] [INFO] [1736868098.561125477] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.562414097] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
[move_group-2] [INFO] [1736868098.562479543] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.562550267] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
[move_group-2] [INFO] [1736868098.562569230] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.562602897] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
[move_group-2] [INFO] [1736868098.565307955] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.578353973] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
[move_group-2] [INFO] [1736868098.578470568] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.583542917] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
[move_group-2] [INFO] [1736868098.583609511] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
[move_group-2] [INFO] [1736868098.584414546] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
[rviz2-3] [INFO] [1736868098.724505098] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1736868098.724715696] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-3] [INFO] [1736868098.777220423] [rviz2]: Stereo is NOT SUPPORTED
[move_group-2] [INFO] [1736868098.895082873] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-2] [INFO] [1736868098.917683428] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-2] [INFO] [1736868098.921268633] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1736868098.921466082] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1736868098.925381776] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1736868098.925510983] [move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1736868099.009349265] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
[move_group-2] [INFO] [1736868099.029720364] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1736868099.030548863] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-2] [INFO] [1736868099.037582290] [move_group.moveit.moveit.ros.move_group.executable]:
[move_group-2]
[move_group-2] ********************************************************
[move_group-2] * MoveGroup using:
[move_group-2] * - apply_planning_scene_service
[move_group-2] * - clear_octomap_service
[move_group-2] * - get_group_urdf
[move_group-2] * - load_geometry_from_file
[move_group-2] * - CartesianPathService
[move_group-2] * - execute_trajectory_action
[move_group-2] * - get_planning_scene_service
[move_group-2] * - kinematics_service
[move_group-2] * - move_action
[move_group-2] * - motion_plan_service
[move_group-2] * - query_planners_service
[move_group-2] * - state_validation_service
[move_group-2] * - save_geometry_to_file
[move_group-2] * - SequenceAction
[move_group-2] * - SequenceService
[move_group-2] ********************************************************
[move_group-2]
[move_group-2] [INFO] [1736868099.037810610] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
[move_group-2] [INFO] [1736868099.037867926] [move_group.moveit.moveit.ros.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/GetUrdfService'...
[move_group-2] Loading 'move_group/LoadGeometryFromFileService'...
[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] Loading 'move_group/SaveGeometryToFileService'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-2] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-2]
[move_group-2] You can start planning now!
[move_group-2]
[rviz2-3] 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.
[rviz2-3] at line 321 in /opt/ros/jazzy/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-3] [WARN] [1736868099.280048733] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_moveit'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_moveit' 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.
[rviz2-3] [ERROR] [1736868102.391152214] [rviz2_moveit.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-3] [INFO] [1736868102.448842562] [rviz2_moveit.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-3] [WARN] [1736868102.628998756] [rcl.logging_rosout]: Publisher already registered for node name: 'rviz2_moveit'. If this is due to multiple nodes with the same name then all logs for the logger named 'rviz2_moveit' 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.
[rviz2-3] [INFO] [1736868102.833112734] [rviz2_moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.208441 seconds
[rviz2-3] [INFO] [1736868102.833550039] [rviz2_moveit.moveit.core.robot_model]: Loading robot model 'ur3e'...
[rviz2-3] [INFO] [1736868102.833616985] [rviz2_moveit.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-3] [INFO] [1736868102.911920083] [rviz2_moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'ur_manipulator': 1 1 1 1 1 1
[rviz2-3] [INFO] [1736868103.168012931] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1736868103.173763367] [rviz2_moveit.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-3] [INFO] [1736868103.775763562] [interactive_marker_display_187651596814864]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-3] [INFO] [1736868103.807093407] [rviz2_moveit.moveit.ros.motion_planning_frame]: group ur_manipulator
[rviz2-3] [INFO] [1736868103.807164002] [rviz2_moveit.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-3] [INFO] [1736868103.926604261] [interactive_marker_display_187651596814864]: Sending request for interactive markers
[rviz2-3] [INFO] [1736868103.991082565] [rviz2_moveit.moveit.ros.move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-3] [INFO] [1736868104.083651774] [interactive_marker_display_187651596814864]: Service response received for initialization
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