Update istio/api to #3094619 release 1.1 subject_alt_names in Service…

Update istio/api to #3094619 release 1.1 to include subject_alt_names in ServiceEntry.

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SDS related tests fail because the functionality from #11496 is missing.
We can either merge this PR and unblock the endpoints work, or wait for #11496 and re-run tests.

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@wenchenglu could you please approve this? It is bringing the latest api changes.

[APPROVALNOTIFIER] This PR is NOT APPROVED
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Owners, can you please approve this? @costinm @geeknoid @linsun @rshriram
(you may need to add more people to the list, I see it has been trimmed down)

/approve
/lgtm

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/test istio-integ-k8s-tests

prow/istio-pilot-multicluster-e2e.sh
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prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
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prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
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prow/istio-pilot-multicluster-e2e.sh
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/test istio-pilot-e2e-envoyv2-v1alpha3

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dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
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/test istio-integ-k8s-tests

prow/istio-pilot-multicluster-e2e.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
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/test istio-pilot-multicluster-e2e

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-simpleTests

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prow/istio-integ-k8s-tests.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
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/test istio-integ-k8s-tests

prow/istio-pilot-multicluster-e2e.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
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/test istio-pilot-multicluster-e2e

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
link
/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-simpleTests

prow/e2e-mixer-no_auth.sh
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/test e2e-mixer-no_auth

prow/e2e-bookInfoTests-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-bookInfoTests-envoyv2-v1alpha3

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/test istio-unit-tests

prow/istio-integ-k8s-tests.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
link
/test istio-integ-k8s-tests

prow/istio-pilot-multicluster-e2e.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
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/test istio-pilot-multicluster-e2e

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-simpleTests

prow/e2e-mixer-no_auth.sh
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/test e2e-mixer-no_auth

prow/e2e-bookInfoTests-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-bookInfoTests-envoyv2-v1alpha3

prow/e2e_pilotv2_auth_sds.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-unit-tests

prow/istio-integ-k8s-tests.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
link
/test istio-integ-k8s-tests

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-simpleTests

prow/e2e-mixer-no_auth.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-mixer-no_auth

prow/e2e-bookInfoTests-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-bookInfoTests-envoyv2-v1alpha3

prow/e2e_pilotv2_auth_sds.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio_auth_sds_e2e

prow/istio-pilot-multicluster-e2e.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-multicluster-e2e

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/test istio-unit-tests

prow/istio-integ-k8s-tests.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
link
/test istio-integ-k8s-tests

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
link
/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-simpleTests

prow/e2e-mixer-no_auth.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-mixer-no_auth

prow/e2e-bookInfoTests-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test e2e-bookInfoTests-envoyv2-v1alpha3

prow/e2e_pilotv2_auth_sds.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio_auth_sds_e2e

prow/istio-pilot-multicluster-e2e.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
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/test istio-pilot-multicluster-e2e

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/test istio-unit-tests

prow/istio-integ-k8s-tests.sh
dfad67a70f9340b4b6cb08c32fdf3ee4f210c75e
link
/test istio-integ-k8s-tests

prow/istio-pilot-e2e-envoyv2-v1alpha3.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
link
/test istio-pilot-e2e-envoyv2-v1alpha3

prow/e2e-dashboard.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
link
/test e2e-dashboard

prow/e2e-simpleTests.sh
876ca3d1ed814e08c8b0974cd4ea510c24ae9811
link
/test e2e-simpleTests

prow/e2e-mixer-no_auth.sh
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/test istio_auth_sds_e2e

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/test release-test

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Prow has SDS failures which are unrelated to my change that just brings in a new field in the api:
https://k8s-gubernator.appspot.com/build/istio-prow/pr-logs/pull/istio_istio/11541/istio-unit-tests/20666

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@wenchenglu all required tests passing after re-tests, could you please merge this to unblock the endpoints work in Galley?
@JimmyCYJ there is clearly an intermittent issue with the sds code, please continue to look at that, it's not introduced by this PR.


Need Tooltips _ttip in action links also

It would be beneficial to be able to use the tooltips keywords in views.  Currently it's only effective in fields.
This would allow using them with Action Links for example, where the outcome is not obvious and may need a bit more explanation.
If there's an overlap, i.e. being used in both the field and the view, then the view's should have precedence.
For for it Craig!!!
Norm

Hi Norm I have been thinking about that as well so already on it.
Craig


This resource was not in this map?

My application is crashing with the error:
This resource was not in this map?

On this line.
I don't have a standalone test case, but I'm switching between two <React3> top level components and both top level components have the same <MyObjects /> component as a child, which holds its own resources. Strangely, I can only reproduce the bug if I scale one of my objects down. I don't think this is directly causing the issue but maybe exposing something that is.

I'll be able to take a look in a couple days!

More info:
This seems to be happening when a child of a scene has a <resource> in it. As in my child has:
<group><resource>...</resources><meshh /></group>
My use case is this child is in the scene, then I re-render the child with new props, then I replace the top level <React3> component with a new <React3> component, and I get the error. However, if I move the <resource> group in the child to the parent component (containing the first <React3>) then the error goes away.

How do you replace the component, what do you mean by a "new" react3 component? With react, if you want to replace, you may need to change a "key" property

Having troubles reproducing it... Please let me know when you run into it next @DelvarWorld

Closing issue until it can be reproduced, please feel free to reopen


Replace custom server by next routes

Merging because there are too many PRs depending on this. Will fix manually if deployment doesn't work.


Dataset Viewer issue for Fredithefish/GPTeacher-for-RedPajama-Chat

Link
https://huggingface.co/datasets/Fredithefish/GPTeacher-for-RedPajama-Chat
Description
The dataset viewer is not working for dataset Fredithefish/GPTeacher-for-RedPajama-Chat.
Error details:
Error code:   ResponseNotReady

Thanks for reporting, it's fixed now.


Create graphql_client README.md

A readme within graphql_client that refers back to the root readme

Closing this for inactivity


ش

ش
Originally posted by @ssssttp in https://github.com/github/docs/issues/24092#issuecomment-1440803285

ش

خ


MoveIt with gripper

Hello
I am looking into using the stack to control my kuka iiwa robot.
I'm also thinking that I could use MoveIt to help me move the robot, and also in aiding in grasping of objects, is this something that you've experience in, or what methods have you seen work using this stack?
Best regards.

hi @TobiasAxelsen , once you finished setting things up (see for example https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/robot_setup.html), you can launch moveit to control the robot via
ros2 launch lbr_bringup bringup.launch.py \
    model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
    sim:=true # [true, false] \
    rviz:=true # [true, false] \
    moveit:=true # [true, false]

personally, I have no experience with adding a gripper, so if you could share your insights that would be great.

Hello @mhubii Mhubii, appreciate the answer!
Which topic is it that moveit subscribes to, to gain the information of which positions to go to.
Best regards.

I believe moveit implements an action server but they also have a Python api. Is that what you meant? Can try to write a demo

That is exactly what I meant actually :)

Hello again @mhubii .
I dug a bit more around in your documentation, and saw that you've implemented ros-control, but only for joint positions.
Maybe I am just unable to find it, but have you guys also made ros-control by the use of cartesian coordinates, such that you can just give the robot a pose that you wish to move to?
Best regards.

hi @TobiasAxelsen , so ros2_control doesn't provide this functionality (as far as I am aware of). The joint trajectory controller in ros2_control just provides a smooth interpolation for going from q0 to q1. It is the user's responsibility to compute the target q1. This can e.g. be done using path planning, that is what moveit does.

A custom example for interfacting the moveit action server is this
#!/usr/bin/python3
from typing import List

import rclpy
from geometry_msgs.msg import Pose
from moveit_msgs.action import MoveGroup
from moveit_msgs.msg import (
    BoundingVolume,
    Constraints,
    OrientationConstraint,
    PositionConstraint,
)
from rclpy.action import ActionClient
from rclpy.node import Node
from shape_msgs.msg import SolidPrimitive
from std_msgs.msg import Header
from geometry_msgs.msg import Quaternion, Point

import csv

class MoveGroupActionClientNode(Node):
    def __init__(self, node_name: str) -> None:
        super().__init__(node_name)

        self.declare_parameters(
            namespace="",
            parameters=[
                ("move_group_action_server_name", "/move_action"),
                ("move_group_name", "med7_arm"),
                ("base", "world"),
                ("end_effector", "lbr_link_ee"),
            ],
        )
        self.move_group_action_server_name = (
            self.get_parameter("move_group_action_server_name")
            .get_parameter_value()
            .string_value
        )
        self.move_group_name = (
            self.get_parameter("move_group_name").get_parameter_value().string_value
        )
        self.base = self.get_parameter("base").get_parameter_value().string_value
        self.end_effector = (
            self.get_parameter("end_effector").get_parameter_value().string_value
        )

        self.move_group_action_client = ActionClient(
            self, MoveGroup, self.move_group_action_server_name
        )

        self.get_logger().info(
            f"Waiting for action server {self.move_group_action_server_name}..."
        )
        if not self.move_group_action_client.wait_for_server(timeout_sec=1):
            raise RuntimeError(
                f"Couldn't connect to action server {self.move_group_action_server_name}."
            )
        self.get_logger().info(f"Done.")

    def send_goal_async(self, target: Pose):
        goal = MoveGroup.Goal()
        goal.request.allowed_planning_time = 1.0
        goal.request.goal_constraints.append(
            Constraints(
                position_constraints=[
                    PositionConstraint(
                        header=Header(frame_id=self.base),
                        link_name=self.end_effector,
                        constraint_region=BoundingVolume(
                            primitives=[SolidPrimitive(type=2, dimensions=[0.0001])],
                            primitive_poses=[Pose(position=target.position)],
                        ),
                        weight=1.0,
                    )
                ],
                orientation_constraints=[
                    OrientationConstraint(
                        header=Header(frame_id=self.base),
                        link_name=self.end_effector,
                        orientation=target.orientation,
                        absolute_x_axis_tolerance=0.001,
                        absolute_y_axis_tolerance=0.001,
                        absolute_z_axis_tolerance=0.001,
                        weight=1.0,
                    )
                ],
            )
        )
        goal.request.group_name = self.move_group_name
        goal.request.max_acceleration_scaling_factor = 0.1
        goal.request.max_velocity_scaling_factor = 0.01
        goal.request.num_planning_attempts = 1

        return self.move_group_action_client.send_goal_async(goal)

def load_poses(file: str) -> List:
    data = []
    with open(file, "r") as f:
        reader = csv.reader(f)
        for row in reader:
            row = [float(xi) for xi in row]
            data.append(row)
    return data

def main(args: List = None) -> None:
    rclpy.init(args=args)
    move_group_action_client_node = MoveGroupActionClientNode(
        "move_group_action_client_node"
    )

    poses = load_poses("/tmp/trajectory_replay_ws/src/trajectory_replay/poses.csv")

    # load list
    for pose in poses:
        pose = Pose(
            position=Point(x=pose[0], y=pose[1], z=pose[2]),
            orientation=Quaternion(x=pose[3], y=pose[4], z=pose[5], w=pose[6]),
        )
        future = move_group_action_client_node.send_goal_async(pose)
        rclpy.spin_until_future_complete(
            move_group_action_client_node, future
        )  # gets stuck for invalid goals

    rclpy.shutdown()

if __name__ == "__main__":
    main()

Hello @mhubii.
I created the copy pasted the code you gave me, and put it in a file called move_robot.py
I then put this file under ~/ros_ws/src
When I open the simulation, and then run the move_robot.py file I am told that
"tobias@tobias-Yoga-Slim-7-14ARE05:~/ros_ws/src$ python3 move_robot.py
[INFO] [1699862721.227189770] [move_group_action_client_node]: Waiting for action server /lbr/move_action...
[INFO] [1699862721.227765550] [move_group_action_client_node]: Done."
I'd assume that this would have moved the simulation, but when I look in the simulation, nothing has moved.
Best regards.

Hi @TobiasAxelsen , yes, you can execute the above code in simulation. You can launch
ros2 launch lbr_bringup bringup.launch.py \
    model:=iiwa7 \
    sim:=true \
    moveit:=true

then run the above script

tobias@tobias-Yoga-Slim-7-14ARE05:~/lbr-stack$ python3 move_robot.py
[INFO] [1699866221.474760477] [move_group_action_client_node]: Waiting for action server /lbr/move_action...
[INFO] [1699866221.475212626] [move_group_action_client_node]: Done.

This output is expected. It just informs that the action client established a connection to the action server.

This repository clearly misses documentation on how to use it through the python moveit API

[move_group-9] [ERROR] [1699866222.485828873] [ompl]: ./src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:252 - arm/arm: Unable to sample any valid states for goal tree

This error suggests that the ompl path planner had some error, maybe that is what causes the fail?

A custom example for interfacting the moveit action server is this. Create a file move_robot.py, copy paste this:
#!/usr/bin/python3
from typing import List

import rclpy
from geometry_msgs.msg import Point, Pose, Quaternion
from moveit_msgs.action import MoveGroup
from moveit_msgs.msg import (
    BoundingVolume,
    Constraints,
    OrientationConstraint,
    PositionConstraint,
)
from rclpy.action import ActionClient
from rclpy.node import Node
from shape_msgs.msg import SolidPrimitive
from std_msgs.msg import Header

class MoveGroupActionClientNode(Node):
    def __init__(self, node_name: str) -> None:
        super().__init__(node_name)

        self.action_server = "/lbr/move_action"
        self.move_group_name = "arm"
        self.base = "link_0"
        self.end_effector = "link_ee"

        self.move_group_action_client = ActionClient(
            self, MoveGroup, self.action_server
        )

        self.get_logger().info(f"Waiting for action server {self.action_server}...")
        if not self.move_group_action_client.wait_for_server(timeout_sec=1):
            raise RuntimeError(
                f"Couldn't connect to action server {self.action_server}."
            )
        self.get_logger().info(f"Done.")

    def send_goal_async(self, target: Pose):
        goal = MoveGroup.Goal()
        goal.request.allowed_planning_time = 1.0
        goal.request.goal_constraints.append(
            Constraints(
                position_constraints=[
                    PositionConstraint(
                        header=Header(frame_id=self.base),
                        link_name=self.end_effector,
                        constraint_region=BoundingVolume(
                            primitives=[SolidPrimitive(type=2, dimensions=[0.0001])],
                            primitive_poses=[Pose(position=target.position)],
                        ),
                        weight=1.0,
                    )
                ],
                orientation_constraints=[
                    OrientationConstraint(
                        header=Header(frame_id=self.base),
                        link_name=self.end_effector,
                        orientation=target.orientation,
                        absolute_x_axis_tolerance=0.001,
                        absolute_y_axis_tolerance=0.001,
                        absolute_z_axis_tolerance=0.001,
                        weight=1.0,
                    )
                ],
            )
        )
        goal.request.group_name = self.move_group_name
        goal.request.max_acceleration_scaling_factor = 0.1
        goal.request.max_velocity_scaling_factor = 0.01
        goal.request.num_planning_attempts = 1

        return self.move_group_action_client.send_goal_async(goal)

def main(args: List = None) -> None:
    rclpy.init(args=args)
    move_group_action_client_node = MoveGroupActionClientNode(
        "move_group_action_client_node"
    )

    pose = Pose(
        position=Point(x=0.0, y=0.0, z=1.0),
        orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0),
    )
    future = move_group_action_client_node.send_goal_async(pose)
    rclpy.spin_until_future_complete(
        move_group_action_client_node, future
    )  # gets stuck for invalid goals

    rclpy.shutdown()

if __name__ == "__main__":
    main()

Launch
ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 sim:=true moveit:=true base_frame:=world

Run
python3 move_robot.py

Action servers can be a little difficult to deal with in the beginning, but you can read a bit about them here https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html

Hello.
By the use of this code, is it possible to have the robot move in cartesian space, instead of joint space? I am looking to move in cartesian space, as we find that this often creates a bit more predictable movement, and thus allows for less space for the robot to be used.

Hi @TobiasAxelsen , fair question. So moveit has a variable called "Use Cartesian Path". Surely that is accessible somewhere through the action server, but I didn't check

Hi @mhubii. When using the MoveIt GUI, and checking the variable "Use Cartesian Path", and then planning & executing a trajectory, Rviz will immediately crash, and I am provided with the following output in my terminal, from the launch command to Rviz dying on me.
tobias@tobias-Yoga-Slim-7-14ARE05:~/lbr-stack$ ros2 launch lbr_bringup bringup.launch.py moveit:=true sim:=true
[INFO] [launch]: All log files can be found below /home/tobias/.ros/log/2023-11-21-09-49-51-134306-tobias-Yoga-Slim-7-14ARE05-6199
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [6619]
[INFO] [gzclient-2]: process started with pid [6621]
[INFO] [spawn_entity.py-3]: process started with pid [6624]
[INFO] [spawner-4]: process started with pid [6626]
[INFO] [robot_state_publisher-5]: process started with pid [6628]
[INFO] [spawner-6]: process started with pid [6630]
[INFO] [static_transform_publisher-7]: process started with pid [6632]
[INFO] [static_transform_publisher-8]: process started with pid [6634]
[INFO] [move_group-9]: process started with pid [6637]
[static_transform_publisher-8] [INFO] [1700556592.178000872] [static_transform_publisher_NG8X75i22ZLKdZrS]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-8] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-8] from 'base_frame' to 'lbr/base_frame'
[static_transform_publisher-7] [INFO] [1700556592.178243568] [static_transform_publisher_W247E5SDT6XqZRHE]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from 'world' to 'base_frame'
[robot_state_publisher-5] [INFO] [1700556592.179903399] [lbr.robot_state_publisher]: got segment base_frame
[robot_state_publisher-5] [INFO] [1700556592.180085753] [lbr.robot_state_publisher]: got segment link_0
[robot_state_publisher-5] [INFO] [1700556592.180102864] [lbr.robot_state_publisher]: got segment link_1
[robot_state_publisher-5] [INFO] [1700556592.180114318] [lbr.robot_state_publisher]: got segment link_2
[robot_state_publisher-5] [INFO] [1700556592.180127658] [lbr.robot_state_publisher]: got segment link_3
[robot_state_publisher-5] [INFO] [1700556592.180139042] [lbr.robot_state_publisher]: got segment link_4
[robot_state_publisher-5] [INFO] [1700556592.180150146] [lbr.robot_state_publisher]: got segment link_5
[robot_state_publisher-5] [INFO] [1700556592.180162438] [lbr.robot_state_publisher]: got segment link_6
[robot_state_publisher-5] [INFO] [1700556592.180174870] [lbr.robot_state_publisher]: got segment link_7
[robot_state_publisher-5] [INFO] [1700556592.180187371] [lbr.robot_state_publisher]: got segment link_ee
[move_group-9] [INFO] [1700556592.211893320] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-9] [INFO] [1700556592.211992354] [moveit_robot_model.robot_model]: Loading robot model 'iiwa7'...
[move_group-9] [INFO] [1700556592.212004646] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[spawn_entity.py-3] [INFO] [1700556592.750761817] [lbr.spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1700556592.751120448] [lbr.spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1700556592.753504317] [lbr.spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-3] [INFO] [1700556592.764899716] [lbr.spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1700556592.765218817] [lbr.spawn_entity]: Waiting for service /spawn_entity
[move_group-9] [INFO] [1700556592.838651441] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1700556592.838841408] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1700556592.839570753] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1700556592.840029186] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1700556592.840055866] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1700556592.840407233] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene'
[move_group-9] [INFO] [1700556592.840426719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1700556592.840796525] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1700556592.841192381] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1700556592.841517629] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1700556592.841531807] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-9] [INFO] [1700556593.010983430] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-9] [INFO] [1700556593.020770750] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1700556593.022991402] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700556593.023006068] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1700556593.023012214] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1700556593.023030931] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1700556593.023046576] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-9] [INFO] [1700556593.023052442] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700556593.023064315] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1700556593.023070950] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-9] [INFO] [1700556593.023078074] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1700556593.023089667] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1700556593.023095255] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-9] [INFO] [1700556593.023101470] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1700556593.023107197] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1700556593.023112924] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1700556593.023118302] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1700556593.055451981] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for position_trajectory_controller
[move_group-9] [INFO] [1700556593.055600392] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700556593.055619319] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-9] [INFO] [1700556593.056068953] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-9] [INFO] [1700556593.056091860] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-9] [INFO] [1700556593.073471482] [move_group.move_group]:
[move_group-9]
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using:
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] ********************************************************
[move_group-9]
[move_group-9] [INFO] [1700556593.073535875] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-9] [INFO] [1700556593.073546910] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9]
[move_group-9] You can start planning now!
[move_group-9]
[spawn_entity.py-3] [INFO] [1700556593.770251633] [lbr.spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-3] [INFO] [1700556593.951623315] [lbr.spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [lbr]
[gzserver-1] [INFO] [1700556594.101994585] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-1] [INFO] [1700556594.104924887] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /lbr
[gzserver-1] [INFO] [1700556594.105169748] [lbr.gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-1] [INFO] [1700556594.105225062] [lbr.gazebo_ros2_control]: Loading parameter files /home/tobias/lbr-stack/install/lbr_ros2_control/share/lbr_ros2_control/config/lbr_controllers.yaml
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 6624]
[INFO] [rviz2-10]: process started with pid [7879]
[rviz2-10] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-10] [INFO] [1700556594.435092467] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1700556594.435310789] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-10] [INFO] [1700556594.450803459] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] 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.
[rviz2-10]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[gzserver-1] [ERROR] [1700556594.607549923] [lbr.gazebo_ros2_control]: robot_state_publisher service not available, waiting again...
[spawner-4] [INFO] [1700556594.660917707] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' node to exist
[spawner-6] [INFO] [1700556594.663061185] [lbr.spawner_position_trajectory_controller]: Waiting for '/lbr/controller_manager' node to exist
[gzserver-1] [INFO] [1700556595.010532402] [lbr.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-1] [INFO] [1700556595.011725350] [lbr.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-1] [INFO] [1700556595.023193945] [lbr.gazebo_ros2_control]: Loading joint: A1
[gzserver-1] [INFO] [1700556595.023289277] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023305969] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023321264] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023335093] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023348363] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023361353] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023430425] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023446209] [lbr.gazebo_ros2_control]: Loading joint: A2
[gzserver-1] [INFO] [1700556595.023459060] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023471911] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023484901] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023499009] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023511859] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023524640] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023547408] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023561656] [lbr.gazebo_ros2_control]: Loading joint: A3
[gzserver-1] [INFO] [1700556595.023574576] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023587497] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023600278] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023612779] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023627027] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023638480] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023658525] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023672423] [lbr.gazebo_ros2_control]: Loading joint: A4
[gzserver-1] [INFO] [1700556595.023685623] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023699032] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023712023] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023726200] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023737794] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023750924] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023770898] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023784517] [lbr.gazebo_ros2_control]: Loading joint: A5
[gzserver-1] [INFO] [1700556595.023797787] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023810777] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023823558] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023836548] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023849818] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023862669] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023881805] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023895145] [lbr.gazebo_ros2_control]: Loading joint: A6
[gzserver-1] [INFO] [1700556595.023908973] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.023920357] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023932859] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.023947106] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.023959049] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.023970503] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.023986706] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.024143428] [lbr.gazebo_ros2_control]: Loading joint: A7
[gzserver-1] [INFO] [1700556595.024164939] [lbr.gazebo_ros2_control]: 	State:
[gzserver-1] [INFO] [1700556595.024177720] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.024192177] [lbr.gazebo_ros2_control]: 		 velocity
[gzserver-1] [INFO] [1700556595.024204958] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.024218926] [lbr.gazebo_ros2_control]: 	Command:
[gzserver-1] [INFO] [1700556595.024234430] [lbr.gazebo_ros2_control]: 		 position
[gzserver-1] [INFO] [1700556595.024256570] [lbr.gazebo_ros2_control]: 		 effort
[gzserver-1] [INFO] [1700556595.024395832] [resource_manager]: Initialize hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024602420] [resource_manager]: Successful initialization of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024710184] [resource_manager]: 'configure' hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024722546] [resource_manager]: Successful 'configure' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024734559] [resource_manager]: 'activate' hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024743079] [resource_manager]: Successful 'activate' of hardware 'lbr_system_interface'
[gzserver-1] [INFO] [1700556595.024840507] [lbr.gazebo_ros2_control]: Loading controller_manager
[gzserver-1] [WARN] [1700556595.053259557] [lbr.gazebo_ros2_control]:  Desired controller update period (0.005 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-1] [INFO] [1700556595.053631528] [lbr.gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-1] [INFO] [1700556595.075080974] [lbr.controller_manager]: Loading controller 'position_trajectory_controller'
[gzserver-1] [WARN] [1700556595.104608184] [lbr.position_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[gzserver-1] [INFO] [1700556595.104776849] [lbr.controller_manager]: Setting use_sim_time=True for position_trajectory_controller to match controller manager (see ros2_control#325 for details)
[spawner-6] [INFO] [1700556595.110550781] [lbr.spawner_position_trajectory_controller]: Loaded position_trajectory_controller
[gzserver-1] [INFO] [1700556595.113455731] [lbr.controller_manager]: Loading controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700556595.128155363] [lbr.controller_manager]: Setting use_sim_time=True for joint_state_broadcaster to match controller manager (see ros2_control#325 for details)
[gzserver-1] [INFO] [1700556595.130207210] [lbr.controller_manager]: Configuring controller 'position_trajectory_controller'
[gzserver-1] [INFO] [1700556595.130996897] [lbr.position_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[gzserver-1] [INFO] [1700556595.131088877] [lbr.position_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[gzserver-1] [INFO] [1700556595.131140420] [lbr.position_trajectory_controller]: Using 'splines' interpolation method.
[spawner-4] [INFO] [1700556595.130995431] [lbr.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-1] [INFO] [1700556595.133598600] [lbr.position_trajectory_controller]: Controller state will be published at 50.00 Hz.
[gzserver-1] [INFO] [1700556595.146165788] [lbr.position_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[gzserver-1] [INFO] [1700556595.156256218] [lbr.controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-1] [INFO] [1700556595.156393595] [lbr.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1700556595.171360925] [lbr.spawner_position_trajectory_controller]: Configured and activated position_trajectory_controller
[spawner-4] [INFO] [1700556595.182011757] [lbr.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 6630]
[INFO] [spawner-4]: process has finished cleanly [pid 6626]
[rviz2-10] [ERROR] [1700556597.565668396] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-10] [INFO] [1700556597.588608663] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-10] [INFO] [1700556597.594015514] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> lbr. Reloading params.
[rviz2-10] [WARN] [1700556597.681059690] [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.
[rviz2-10] [INFO] [1700556597.758820162] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0788911 seconds
[rviz2-10] [INFO] [1700556597.758960752] [moveit_robot_model.robot_model]: Loading robot model 'iiwa7'...
[rviz2-10] [INFO] [1700556597.758987431] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700556598.229921468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700556598.230576224] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700556598.824939753] [interactive_marker_display_94096093134544]: Connected on namespace: lbr/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-10] [INFO] [1700556598.840322360] [interactive_marker_display_94096093134544]: Sending request for interactive markers
[rviz2-10] [INFO] [1700556598.843375862] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Stopping planning scene monitor
[rviz2-10] [WARN] [1700556598.874198833] [interactive_marker_display_94096093134544]: Server not available during initialization, resetting
[rviz2-10] [INFO] [1700556598.901620915] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0494885 seconds
[rviz2-10] [INFO] [1700556598.901648293] [moveit_robot_model.robot_model]: Loading robot model 'iiwa7'...
[rviz2-10] [INFO] [1700556598.901655975] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-10] [INFO] [1700556599.321662278] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-10] [INFO] [1700556599.322360894] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/monitored_planning_scene'
[rviz2-10] [INFO] [1700556599.342392234] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700556599.342427992] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace 'lbr'
[rviz2-10] [INFO] [1700556599.354328765] [interactive_marker_display_94096093134544]: Sending request for interactive markers
[rviz2-10] [INFO] [1700556599.357089286] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-10] [INFO] [1700556599.360772960] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-10] [INFO] [1700556599.385761168] [interactive_marker_display_94096093134544]: Service response received for initialization
[move_group-9] [INFO] [1700556611.422021672] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-9] [INFO] [1700556611.422147594] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'link_ee' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[move_group-9] [INFO] [1700556611.429838660] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 37 points (followed 100.000000% of requested trajectory)
[rviz2-10] [INFO] [1700556611.430279774] [moveit_ros_visualization.motion_planning_frame_planning]: Achieved 100.000000 % of Cartesian path
[rviz2-10] [INFO] [1700556611.431620506] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-10] [INFO] [1700556612.431853194] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time<PHONE_NUMBER>.431668, but latest received state has time 0.000000.
[rviz2-10] Check clock synchronization if your are running ROS across multiple machines!
[rviz2-10] [ERROR] [1700556612.431990920] [move_group_interface]: Failed to fetch current robot state
[ERROR] [rviz2-10]: process has died [pid 7879, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/tobias/lbr-stack/install/iiwa7_moveit_config/share/iiwa7_moveit_config/config/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_1xwxz3zf --params-file /tmp/launch_params_3m3fvpks -r robot_description:=lbr/robot_description -r robot_description_semantic:=lbr/robot_description_semantic -r display_planned_path:=lbr/display_planned_path -r monitored_planning_scene:=lbr/monitored_planning_scene'].

Do you have any idea of why this happens?

woah that's strange, can confirm this happens, but don't know why

Will ask around and see if I can have some of my co-students check if this also happens for them... Possibly test on an ur3, will report back if I find anything

Just out of curiosity, how much are you dependent on moveit?

Hey Martin! Thank you for everything so far, I have no idea where we would be without your help! We appreciate it!
Any updates regarding MoveIt? We are considering different approaches to making a cartesian trajectory. I tried to get it working through the action server, but I haven't found any documentation, so it feels like sharpshooting blindfolded. Do you know where to find any documentation for it?
Specifically, I tried writing to referenceTrajectories in the action server, and add a custom path I created by interpolating between two poses. The server denies my request though, as it detects some error with the classes if I recall correctly. I have yet to spot my error, but I don't even know if the action server works this way, so it feels demotivating to sink even more time into this method without knowing for sure. In the end, I am just guessing that giving it a cartesian path in referenceTrajectories will make it move like I want to. I didn't see any easy toggle in the interface for using a cartesian path instead.
We have considered if it is an option to just skip MoveIt, and send a Pose directly to the Kuka and ask it to move there in cartesian space. We have done this with UR robots in the past, but we don't know if this is possible with the Kuka through FRI, and if there is a "simple" way to do this through lbr stack. We would lose out on collision detection, but at this point we just need the robot to move properly.
We also tried briefly with the C++ library for MoveIt, without success. We wanted to try the newly developed Python library, but there is basically no documentation, so we have no idea how to use it.

hi @EliasTDam . So if you can skip Moveit, and just want to execute a Cartesian motion, you can do something like: dq = J^# @ dx. There are many ways to achieve that. I can provide you with a script, np

Thanks Martin! This is exactly the kind of insight we needed. We just tested it, and also gained a better understanding of the /lbr/command/position topic. Perhaps we might just implement our own trajectory planner for the sake of learning, or use the library you sent. Thank you very much!

Okay hope this helps you move forward. Just be aware that the robot will execute what you ask it to execute. There are some velocity checks but be mindful regardless and execute in T1 mode until you are confident.

I'd just like to get back to you here Martin, and tell you that we now have it working in cartesian space as we wanted and interfacing with our own systems as a service.  It is custom for our usecase, but I'll attach the code here for future reference for others: https://github.com/andreasHovaldt/pose_commander

very excited to hear about this! Maybe this could be added to the demos?

Theoretically yes, but it is setup as a service with a custom interface (it's just geometry_msgs/msg/Pose combined with a "bool success" as the response). It would probably work if anyone wants to use it, as long as they modify the URDF imported and the links for the kinematic chain in Kinpy (like mentioned earlier in this issue).
For us it is a handy tool, as it interpolates straight cartesian paths and executes them rather smoothly. I would love to modify it to make it more universal, so it can easily be used by others, but like many others we are caught up in our semester project.

makes a lot of sense. In case you find time, you can fork this repo, add the pose_commander as is somewhere to demos, and I can review / fork your fork to suggest changes etc.

hi @EliasTDam , the Cartesian path through moveit is now fixed, thanks to @josefinemonnet


Updated the CONTRIBUTING.md template

I just updated the CONTRIBUTING.md template with a link to this playbook

LGTM!


challenges with the Sankey Chart Card.

Hello.
I have challenges with the Sankey Chart Card. Sankey looks like in the picture when HA is updated or restarted?
Can you help me with this problem?
Greetings, Ole Jørgen.

Checklist:

[x] I updated to the latest version available
[x] I cleared the cache of my browser

Release with the issue:
Last working release (if known):
Browser and Operating System:

Description of problem:

Javascript errors shown in the web inspector (if applicable):

Additional information:

Looks like something in HA isn't loaded yet. Maybe a template sensor. I don't see how the card itself can cause this.
Does it get better after HA is fully started?


Watch Service with 'watcherService.close()'

https://github.com/eugenp/tutorials/blob/master/core-java/src/main/java/com/baeldung/java/nio2/watcher/DirectoryWatcherExample.java
After the while loop please include : watcherService.close();
Thanks.

Good point.
Done.


Update Tailwind patcher for phx_new >= 1.7.8

Currently it fails to patch assets/tailwind.config.js because 1.7.8 changed the content of the file.

@tiagoefmoraes thank you! 💚


Multiple Module warnings with latest Angular-CLI

Please provide us with the following information:

OS?  Windows 7, 8 or 10. Linux (which distribution). Mac OSX (Yosemite? El Capitan?)

Windows 10
Powershell and cmd.exe command lines

Versions. Please run ng --version. If there's nothing outputted, please run
in a Terminal: node --version and paste the result here:

angular-cli: local (v1.0.0-beta.11-webpack.8, branch: master)
node: 6.5.0
os: win32 x64

Repro steps. Was this an app that wasn't created using the CLI? What change did you
do on your code? etc.

Using the latest Master version of A-Cli, create a new test project:
ng new a2testing --link-cli
Start the project, making no code changes:
ng serve

The log given by the failure. Normally this include a stack trace and some
more information.

Webpack warnings in the terminal window and also the browser debugger console:
WARNING in (webpack)/buildin/module.js
There are multiple modules with names that only differ in casing.
This can lead to unexpected behavior when compiling on a filesystem with other case-semantic.
Use equal casing. Compare these module identifiers:
* C:\Code\angular-cli\node_modules\webpack\buildin\module.js
    Used by 1 module(s), i. e.
    C:\Code\ng2testing\node_modules\rxjs\util\root.js
* C:\code\angular-cli\node_modules\webpack\buildin\module.js
    Used by 2 module(s), i. e.
    C:\code\angular-cli\node_modules\punycode\punycode.js

Mention any other details that might be useful.

Dupe of https://github.com/angular/angular-cli/issues/1702


Adapt demos to new vaadin site

Connected to vaadin/components-team-tasks#273

This change is

 Thank you for your submission, we really appreciate it. Like many open source projects, we ask that you all sign our Contributor License Agreement before we can accept your contribution.1 out of 2 committers have signed the CLA.:white_check_mark: YuriyVaadin:x: manoloYou have signed the CLA already but the status is still pending? Let us recheck it.

Reviewed 3 of 8 files at r1, 7 of 7 files at r3.
Review status: all files reviewed at latest revision, all discussions resolved.

Comments from Reviewable

bower.json, line 41 at r3 (raw file):

    "vaadin-demo-helpers": "vaadin/vaadin-demo-helpers"
  },
  "resolutions": {

Why is this block added? It installs just fine without it?

Comments from Reviewable

Review status: 5 of 9 files reviewed at latest revision, 1 unresolved discussion.

bower.json, line 41 at r3 (raw file):
Previously, tomivirkki (Tomi Virkki) wrote…
Why is this block added? It installs just fine without it?

Done.

Comments from Reviewable

Reviewed 3 of 8 files at r1, 3 of 7 files at r3, 4 of 4 files at r4.
Review status: all files reviewed at latest revision, all discussions resolved.

Comments from Reviewable


DMN FEEL function split(string, delimiter, flags) should be removed

Here,  a FEEL function  split(string, delimiter, flags) is defined, even if not part of DMN 1.4 specs.
As a result of this conversion, It should be removed keeping the split(string, delimiter) function only

isn't this completed as part of https://github.com/kiegroup/kie-tools/pull/1757/files ?

@jomarko  No, the scope of this ticket is to remove it from the engine, as not part of the specs.
//cc @baldimir


Remote search timeout error

Hi,
I'm trying to run HGTector on a bacterial genome and I'm having a problem with the hgtector search function.
Every time I run the code hgtector search -i input.faa -o . I have this error :
"Number of queries: 1096.
Submitting 30 queries for search. RID: 8VM93XA8013................WARNING: Remote search timeout.
Traceback (most recent call last):
File "/opt/anaconda3/envs/hgtector/bin/hgtector", line 96, in
main()
File "/opt/anaconda3/envs/hgtector/bin/hgtector", line 35, in main
module(args)
File "/opt/anaconda3/envs/hgtector/lib/python3.11/site-packages/hgtector/search.py", line 164, in call
res = self.search_wf(
^^^^^^^^^^^^^^^
File "/opt/anaconda3/envs/hgtector/lib/python3.11/site-packages/hgtector/search.py", line 686, in search_wf
res = self.remote_search(seqs)
^^^^^^^^^^^^^^^^^^^^^^^^
File "/opt/anaconda3/envs/hgtector/lib/python3.11/site-packages/hgtector/search.py", line 1585, in remote_search
raise ValueError(
ValueError: Remote search failed after 1 trials."
I also tried with the example file containing 100 proteins and with only 20 proteins, and i'm having everytime the same error.
I'm running HGTector on a MacOS machine, and I installed it with conda.
I'm a PhD student and new to coding, so I'd like to thank you in advance for your help,
Sincerely,
Molamber

Hi,
Okay thank's for your answer, i'll try that ! :)


Delete invocations of commands that have enough information in the response

Poll
media commands (new version)

Media command deleting was a bad idea whoops


Feat/window state/custom state filename

Depends on https://github.com/tauri-apps/plugins-workspace/pull/1078
Add option to use custom filename for window state file with the method with_filename

Can you elaborate why you need this? Also see prior discussion here https://github.com/tauri-apps/plugins-workspace/issues/516

Hello. I work with @thewh1teagle
I don't mind having a hidden file with pre-defined name for binary data, but I think a json file should be visible and end with '.json'. If everyone agrees, then that suffices. But I assume that some people want to preserve the leading '.' and/or not append '.json' (and/or have other reasons for a custom filename). Hence this PR.
More generally, while I appreciate the benefits of 'opinionated' tools, I'm one of those app developers who want lots of choices so we can make our own tradeoffs.
Either way, thanks for considering.


NIMBUS-122:: Flexbox styling

Description
Flex box styling changes
Overview of Changes
With Flex the empty parent containers added by angular impact the overall layouts. To fix this we move the styles up to the parent containers.
Type of Change

[ ] Bug fix

Test Details
Tested with Petclinic and LTSS Application
Additional Notes
N/A

You did it @dinakarmeda!
Thank you for signing the Anthem Opensource Software CLA.


Crash during startup -- Failing to start - Undefined rest/var/definitions

When accessing an ISY which has no variables defined isy.js will crash at startup.

Resolved with 0.4.3.


🎨 CLI minor improvement

Codecov Report

Merging #49 (8cce013) into master (60a6a6c) will increase coverage by 0.22%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master      #49      +/-   ##
==========================================
+ Coverage   84.00%   84.22%   +0.22%
==========================================
  Files          12       12
  Lines        1075     1071       -4
==========================================
- Hits          903      902       -1
+ Misses        172      169       -3

Impacted Files
Coverage Δ

charset_normalizer/cli/normalizer.py
63.44% <ø> (+1.58%)
:arrow_up:

charset_normalizer/api.py
82.65% <0.00%> (-1.16%)
:arrow_down:

charset_normalizer/models.py
86.45% <0.00%> (+1.04%)
:arrow_up:

Continue to review full report at Codecov.

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