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ROS2 Foxy - MoveIt Simulation "NO PLANNING LIBRARY LOADED" error #59

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sicktronics opened this issue Apr 14, 2023 · 1 comment
Open

ROS2 Foxy - MoveIt Simulation "NO PLANNING LIBRARY LOADED" error #59

sicktronics opened this issue Apr 14, 2023 · 1 comment

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@sicktronics
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Hello,

After following the e-manual installation instructions, I launched a simulation with MoveIt using the following command:

$ ros2 launch turtlebot3_manipulation_moveit_config moveit_gazebo.launch.py

The launch is successful, however in the "MotionPlanning" Context panel I get a "NO PLANNING LIBRARY LOADED" error. I tried creating a new from-scratch workspace and encountered the same thing.

  • Distro: ROS2 Foxy
  • OS: Ubuntu 20.04

Here is my full terminal output:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [38869]
[INFO] [move_group-2]: process started with pid [38871]
[INFO] [robot_state_publisher-3]: process started with pid [38873]
[INFO] [spawner.py-4]: process started with pid [38875]
[INFO] [spawner.py-5]: process started with pid [38877]
[INFO] [spawner.py-6]: process started with pid [38880]
[INFO] [spawner.py-7]: process started with pid [38891]
[INFO] [gzserver-8]: process started with pid [38893]
[INFO] [gzclient   -9]: process started with pid [38896]
[INFO] [spawn_entity.py-10]: process started with pid [38900]
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link base_link had 8 children
[robot_state_publisher-3] Link link1 had 1 children
[robot_state_publisher-3] Link link2 had 1 children
[robot_state_publisher-3] Link link3 had 1 children
[robot_state_publisher-3] Link link4 had 1 children
[robot_state_publisher-3] Link link5 had 3 children
[robot_state_publisher-3] Link end_effector_link had 0 children
[robot_state_publisher-3] Link gripper_left_link had 0 children
[robot_state_publisher-3] Link gripper_right_link had 0 children
[robot_state_publisher-3] Link camera_link had 1 children
[robot_state_publisher-3] Link camera_rgb_frame had 1 children
[robot_state_publisher-3] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-3] Link caster_back_left_link had 0 children
[robot_state_publisher-3] Link caster_back_right_link had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link base_scan had 0 children
[robot_state_publisher-3] Link wheel_left_link had 0 children
[robot_state_publisher-3] Link wheel_right_link had 0 children
[robot_state_publisher-3] [INFO] [1681512808.602366477] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1681512808.605008194] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1681512808.605053101] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1681512808.605071700] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1681512808.605089053] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-3] [INFO] [1681512808.605106092] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-3] [INFO] [1681512808.605122099] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-3] [INFO] [1681512808.605138993] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-3] [INFO] [1681512808.605155144] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-3] [INFO] [1681512808.605171450] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-3] [INFO] [1681512808.605188467] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-3] [INFO] [1681512808.605205131] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1681512808.605222064] [robot_state_publisher]: got segment link1
[robot_state_publisher-3] [INFO] [1681512808.605239789] [robot_state_publisher]: got segment link2
[robot_state_publisher-3] [INFO] [1681512808.605257147] [robot_state_publisher]: got segment link3
[robot_state_publisher-3] [INFO] [1681512808.605274065] [robot_state_publisher]: got segment link4
[robot_state_publisher-3] [INFO] [1681512808.605290606] [robot_state_publisher]: got segment link5
[robot_state_publisher-3] [INFO] [1681512808.605330650] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1681512808.605348844] [robot_state_publisher]: got segment wheel_right_link
[move_group-2] [WARN] [1681512808.670592127] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-2] [WARN] [1681512808.671614299] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-2] Parsing robot urdf xml string.
[move_group-2] [INFO] [1681512808.702879983] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-2] [INFO] [1681512808.703893853] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[spawner.py-7] [INFO] [1681512808.964302724] [spawner_gripper_controller]: Waiting for /controller_manager services
[move_group-2] [WARN] [1681512809.205658927] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-2] Link base_link had 8 children
[move_group-2] Link link1 had 1 children
[move_group-2] Link link2 had 1 children
[move_group-2] Link link3 had 1 children
[move_group-2] Link link4 had 1 children
[move_group-2] Link link5 had 3 children
[move_group-2] Link end_effector_link had 0 children
[move_group-2] Link gripper_left_link had 0 children
[move_group-2] Link gripper_right_link had 0 children
[move_group-2] Link camera_link had 1 children
[move_group-2] Link camera_rgb_frame had 1 children
[move_group-2] Link camera_rgb_optical_frame had 0 children
[move_group-2] Link caster_back_left_link had 0 children
[move_group-2] Link caster_back_right_link had 0 children
[move_group-2] Link imu_link had 0 children
[move_group-2] Link base_scan had 0 children
[move_group-2] Link wheel_left_link had 0 children
[move_group-2] Link wheel_right_link had 0 children
[move_group-2] [INFO] [1681512809.265051422] [moveit_kinematics_base.kinematics_base]: Using position only ik
[spawner.py-5] [INFO] [1681512809.356328441] [spawner_imu_broadcaster]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1681512809.487573150] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[rviz2-1] [INFO] [1681512809.523204078] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1681512809.523535021] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-1] [INFO] [1681512809.574856322] [rviz2]: Stereo is NOT SUPPORTED
[spawner.py-6] [INFO] [1681512809.663976457] [spawner_arm_controller]: Waiting for /controller_manager services
[move_group-2] [INFO] [1681512809.837564738] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1681512809.837820807] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1681512809.841163338] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1681512809.844131820] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1681512809.845838796] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1681512809.848517698] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1681512809.848555837] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1681512809.852809656] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1681512809.857460649] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1681512809.857535916] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1681512809.857589499] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1681512809.924828720] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00457412 seconds
[rviz2-1] [INFO] [1681512809.924988717] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[spawn_entity.py-10] [INFO] [1681512809.939578426] [spawn_entity]: Spawn Entity started
[spawn_entity.py-10] [INFO] [1681512809.940703211] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-10] [INFO] [1681512809.945715410] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-10] [INFO] [1681512809.964061046] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-10] [INFO] [1681512809.965649015] [spawn_entity]: Waiting for service /spawn_entity
[rviz2-1] [WARN] [1681512810.094292537] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[move_group-2] [INFO] [1681512810.267821150] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-2] [INFO] [1681512810.315518657] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [INFO] [1681512810.321941623] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1681512810.321975147] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1681512810.321988286] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1681512810.322019197] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1681512810.322052651] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-2] [INFO] [1681512810.322066253] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1681512810.322093396] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-2] [INFO] [1681512810.322105740] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-2] [INFO] [1681512810.322127805] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1681512810.322154062] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1681512810.322166518] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1681512810.322210430] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1681512810.322220890] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1681512810.322229073] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[spawn_entity.py-10] [INFO] [1681512810.728444403] [spawn_entity]: Calling service /spawn_entity
[spawner.py-7] [INFO] [1681512810.978106433] [spawner_gripper_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1681512811.371351520] [spawner_imu_broadcaster]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1681512811.500569431] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[gzserver-8] [INFO] [1681512811.545903129] [camera_controller]: Publishing camera info to [/pi_camera/camera_info]
[spawner.py-6] [INFO] [1681512811.680690720] [spawner_arm_controller]: Waiting for /controller_manager services
[spawn_entity.py-10] [INFO] [1681512811.809482226] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [turtlebot3_manipulation_system]
[INFO] [spawn_entity.py-10]: process has finished cleanly [pid 38900]
[spawner.py-7] [INFO] [1681512812.996225946] [spawner_gripper_controller]: Waiting for /controller_manager services
[gzserver-8] Segmentation fault (core dumped)
[ERROR] [gzserver-8]: process has died [pid 38893, exit code 139, cmd 'gzserver /home/parker/v3_turtlebot3_ws/install/turtlebot3_manipulation_bringup/share/turtlebot3_manipulation_bringup/worlds/empty_world.model                                                                      -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].
[spawner.py-5] [INFO] [1681512813.385145509] [spawner_imu_broadcaster]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1681512813.512898620] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1681512813.693180171] [spawner_arm_controller]: Waiting for /controller_manager services
[spawner.py-7] [INFO] [1681512815.007745647] [spawner_gripper_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1681512815.396992209] [spawner_imu_broadcaster]: Waiting for /controller_manager services
[move_group-2] [WARN] [1681512815.403191173] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for arm_controller/follow_joint_trajectory to come up
[spawner.py-4] [INFO] [1681512815.525662514] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1681512815.704733270] [spawner_arm_controller]: Waiting for /controller_manager services
[spawner.py-7] [INFO] [1681512817.020493154] [spawner_gripper_controller]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1681512817.409172648] [spawner_imu_broadcaster]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1681512817.536771567] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1681512817.718443109] [spawner_arm_controller]: Waiting for /controller_manager services
[rviz2-1] [ERROR] [1681512817.756535265] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1681512817.893015069] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00468455 seconds
[rviz2-1] [INFO] [1681512817.893117353] [moveit_robot_model.robot_model]: Loading robot model 'turtlebot3_manipulation'...
[rviz2-1] [WARN] [1681512818.035113435] [moveit_robot_model.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] [WARN] [1681512818.059526562] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1681512818.573494258] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1681512818.574856014] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1681512818.635154896] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1681512818.637074834] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1681512818.762229426] [interactive_marker_display_94745416192912]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] Link base_link had 8 children
[rviz2-1] Link link1 had 1 children
[rviz2-1] Link link2 had 1 children
[rviz2-1] Link link3 had 1 children
[rviz2-1] Link link4 had 1 children
[rviz2-1] Link link5 had 3 children
[rviz2-1] Link end_effector_link had 0 children
[rviz2-1] Link gripper_left_link had 0 children
[rviz2-1] Link gripper_right_link had 0 children
[rviz2-1] Link camera_link had 1 children
[rviz2-1] Link camera_rgb_frame had 1 children
[rviz2-1] Link camera_rgb_optical_frame had 0 children
[rviz2-1] Link caster_back_left_link had 0 children
[rviz2-1] Link caster_back_right_link had 0 children
[rviz2-1] Link imu_link had 0 children
[rviz2-1] Link base_scan had 0 children
[rviz2-1] Link wheel_left_link had 0 children
[rviz2-1] Link wheel_right_link had 0 children
[rviz2-1] [WARN] [1681512818.887715600] [moveit_robot_model.joint_model_group]: comparing input tip: link5 to this groups tip: end_effector_link 
[rviz2-1] [INFO] [1681512818.986531596] [interactive_marker_display_94745416192912]: Sending request for interactive markers
[spawner.py-7] [ERROR] [1681512819.032872982] [spawner_gripper_controller]: Controller manager not available
[rviz2-1] [INFO] [1681512819.069508986] [interactive_marker_display_94745416192912]: Service response received for initialization
[ERROR] [spawner.py-7]: process has died [pid 38891, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py gripper_controller --ros-args'].
[spawner.py-5] [ERROR] [1681512819.421334785] [spawner_imu_broadcaster]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 38877, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py imu_broadcaster --ros-args'].
[spawner.py-4] [ERROR] [1681512819.550663187] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner.py-4]: process has died [pid 38875, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --ros-args'].
[spawner.py-6] [ERROR] [1681512819.732669400] [spawner_arm_controller]: Controller manager not available
[ERROR] [spawner.py-6]: process has died [pid 38880, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py arm_controller --ros-args'].
[move_group-2] [WARN] [1681512820.403370247] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for arm_controller/follow_joint_trajectory to come up
[rviz2-1] [INFO] [1681512823.635729252] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1681512823.893368995] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[rviz2-1] [INFO] [1681512823.893498188] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-1] [INFO] [1681512823.893507558] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-1] [WARN] [1681512823.893716775] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-1] [INFO] [1681512823.918302128] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-1] [INFO] [1681512823.919422548] [move_group_interface]: Looking around: no
[rviz2-1] [INFO] [1681512823.919477844] [move_group_interface]: Replanning: no
[move_group-2] [ERROR] [1681512825.403729700] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: arm_controller/follow_joint_trajectory
[move_group-2] [WARN] [1681512830.409119842] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[move_group-2] [WARN] [1681512835.409375417] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for gripper_controller/gripper_cmd to come up
[move_group-2] [ERROR] [1681512840.409581584] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: gripper_controller/gripper_cmd
[move_group-2] [INFO] [1681512840.412341470] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-2] [INFO] [1681512840.413222289] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1681512840.413256936] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1681512840.442227557] [move_group.move_group]: 
[move_group-2] 
[move_group-2] ********************************************************
[move_group-2] * MoveGroup using: 
[move_group-2] *     - ApplyPlanningSceneService
[move_group-2] *     - ClearOctomapService
[move_group-2] *     - CartesianPathService
[move_group-2] *     - ExecuteTrajectoryAction
[move_group-2] *     - GetPlanningSceneService
[move_group-2] *     - KinematicsService
[move_group-2] *     - MoveAction
[move_group-2] *     - MotionPlanService
[move_group-2] *     - QueryPlannersService
[move_group-2] *     - StateValidationService
[move_group-2] ********************************************************
[move_group-2] 
[move_group-2] [INFO] [1681512840.445038661] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-2] [INFO] [1681512840.445066735] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-2] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-2] Loading 'move_group/ClearOctomapService'...
[move_group-2] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-2] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-2] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-2] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-2] Loading 'move_group/MoveGroupMoveAction'...
[move_group-2] Loading 'move_group/MoveGroupPlanService'...
[move_group-2] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-2] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-2] 
[move_group-2] You can start planning now!
[move_group-2]

One thing that is strange is that this error appears to occasionally self-resolve, but there is no apparent pattern to when this happens (perhaps 1 out of 10 launches).

Let me know if I can share any other information. Any advice would be appreciated. Thank you!
@yeongkyuyoon
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@sicktronics Hi, Could you try install below package?

sudo apt install ros-foxy-ompl

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@yeongkyuyoon @sicktronics