Problem when launching franka_bringup

[rikhsitlladeveloper]

Hello I am using Ros2 Humble, with libfranka 0.15.0 , Robot Control is 5.8.0 , franka_ros2 v1.0.0.

When I launch ros2 launch franka_bringup cartesian_pose_example_controller.launch.py
Or other launch files, there is following error.

ros2 launch franka_bringup cartesian_pose_example_controller.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-06-17-05-07-51-335905-franka-ai-companion-640451
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [640465]
[INFO] [robot_state_publisher-2]: process started with pid [640467]
[INFO] [ros2_control_node-3]: process started with pid [640469]
[INFO] [spawner-4]: process started with pid [640471]
[INFO] [spawner-5]: process started with pid [640473]
[INFO] [spawner-6]: process started with pid [640475]
[ros2_control_node-3] [WARN] [1750136871.796107330] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] text not specified in the prefix tag
[ros2_control_node-3] text not specified in the arm_prefix tag
[ros2_control_node-3] [INFO] [1750136871.796825587] [resource_manager]: Loading hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.813566937] [resource_manager]: Initialize hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.813726525] [FrankaHardwareInterface]: Connecting to robot at "192.168.19.2" ...
[robot_state_publisher-2] [INFO] [1750136871.829915574] [robot_state_publisher]: got segment base
[ros2_control_node-3] [INFO] [1750136871.830008408] [FrankaHardwareInterface]: Successfully connected to robot
[robot_state_publisher-2] [INFO] [1750136871.830191900] [robot_state_publisher]: got segment fr3_link0
[robot_state_publisher-2] [INFO] [1750136871.830221885] [robot_state_publisher]: got segment fr3_link1
[robot_state_publisher-2] [INFO] [1750136871.830253406] [robot_state_publisher]: got segment fr3_link2
[robot_state_publisher-2] [INFO] [1750136871.830261598] [robot_state_publisher]: got segment fr3_link3
[robot_state_publisher-2] [INFO] [1750136871.830268574] [robot_state_publisher]: got segment fr3_link4
[robot_state_publisher-2] [INFO] [1750136871.830275486] [robot_state_publisher]: got segment fr3_link5
[robot_state_publisher-2] [INFO] [1750136871.830282110] [robot_state_publisher]: got segment fr3_link6
[robot_state_publisher-2] [INFO] [1750136871.830288671] [robot_state_publisher]: got segment fr3_link7
[robot_state_publisher-2] [INFO] [1750136871.830294943] [robot_state_publisher]: got segment fr3_link8
[ros2_control_node-3] [INFO] [1750136871.846378550] [service_server]: Service started
[ros2_control_node-3] [INFO] [1750136871.981600870] [action_server]: Action server started
[ros2_control_node-3] [INFO] [1750136871.981785898] [resource_manager]: Successful initialization of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.982093649] [resource_manager]: 'configure' hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.982118898] [resource_manager]: Successful 'configure' of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.982144243] [resource_manager]: 'activate' hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136871.982709024] [FrankaHardwareInterface]: Started
[ros2_control_node-3] [INFO] [1750136871.982738720] [resource_manager]: Successful 'activate' of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750136872.166073394] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-3] [INFO] [1750136872.166264503] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-3] [INFO] [1750136872.179320711] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[ros2_control_node-3] [INFO] [1750136872.368253276] [controller_manager]: Loading controller 'franka_robot_state_broadcaster'
[joint_state_publisher-1] [INFO] [1750136872.374217991] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ros2_control_node-3] [INFO] [1750136872.397989969] [controller_manager]: Loading controller 'cartesian_pose_example_controller'
[ros2_control_node-3] [INFO] [1750136872.421432148] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-5] [INFO] [1750136872.424871652] [spawner_franka_robot_state_broadcaster]: Loaded franka_robot_state_broadcaster
[ros2_control_node-3] [INFO] [1750136872.442392348] [controller_manager]: Configuring controller 'franka_robot_state_broadcaster'
[spawner-6] [INFO] [1750136872.449321470] [spawner_cartesian_pose_example_controller]: Loaded cartesian_pose_example_controller
[spawner-4] [INFO] [1750136872.472538363] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1750136872.515847917] [controller_manager]: Configuring controller 'cartesian_pose_example_controller'
[ros2_control_node-3] [INFO] [1750136872.521131688] [cartesian_pose_example_controller]: Default collision behavior set.
[ros2_control_node-3] [INFO] [1750136872.533258595] [cartesian_pose_example_controller]: Extracted Robot Name: fr3
[ros2_control_node-3] [INFO] [1750136872.547329771] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1750136872.547484334] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1750136872.567388702] [spawner_franka_robot_state_broadcaster]: Configured and activated franka_robot_state_broadcaster
[ros2_control_node-3] terminate called after throwing an instance of 'franka::ControlException'
[ros2_control_node-3] what(): libfranka: Move command rejected: cannot start at singular pose!
[ros2_control_node-3] Stack trace (most recent call last) in thread 640531:
[ros2_control_node-3] #20 Object "/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1", at 0xffffffffffffffff, in
[ros2_control_node-3] #19 Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa7ee5edb, in
[ros2_control_node-3] #18 Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa7e7d5b7, in
[ros2_control_node-3] #17 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffffa80b31fb, in
[ros2_control_node-3] #16 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0xaaaac54d5b5b, in
[ros2_control_node-3] #15 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0xffffa8507de7, in controller_manager::ControllerManager::update(rclcpp::Time const&, rclcpp::Duration const&)
[ros2_control_node-3] #14 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0xffffa84fa877, in controller_manager::ControllerManager::manage_switch()
[ros2_control_node-3] #13 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0xffffa7cac40b, in hardware_interface::ResourceManager::perform_command_mode_switch(std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&)
[ros2_control_node-3] #12 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0xffffa7cac243, in
[ros2_control_node-3] #11 Object "/ros2_ws/build/franka_hardware/libfranka_hardware.so", at 0xffffa077448b, in franka_hardware::FrankaHardwareInterface::perform_command_mode_switch(std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::allocator<std::__cxx11::basic_string<char, std::char_traits, std::allocator > > > const&)
[ros2_control_node-3] #10 Object "/ros2_ws/build/franka_hardware/libfranka_hardware.so", at 0xffffa078316b, in franka_hardware::Robot::initializeCartesianPoseInterface()
[ros2_control_node-3] #9 Object "/opt/ros/humble/lib/aarch64-linux-gnu/libfranka.so.0.15.0", at 0xffffa06667b7, in franka::Robot::startCartesianPoseControl(research_interface::robot::Move::ControllerMode const&)
[ros2_control_node-3] #8 Object "/opt/ros/humble/lib/aarch64-linux-gnu/libfranka.so.0.15.0", at 0xffffa066640f, in std::unique_ptr<franka::ActiveControlBase, std::default_deletefranka::ActiveControlBase > franka::Robot::startControlfranka::CartesianPose(research_interface::robot::Move::ControllerMode const&)
[ros2_control_node-3] #7 Object "/opt/ros/humble/lib/aarch64-linux-gnu/libfranka.so.0.15.0", at 0xffffa066b917, in franka::Robot::Impl::startMotion(research_interface::robot::Move::ControllerMode, research_interface::robot::Move::MotionGeneratorMode, research_interface::robot::Move::Deviation const&, research_interface::robot::Move::Deviation const&)
[ros2_control_node-3] #6 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffffa8082e03, in __cxa_throw
[ros2_control_node-3] #5 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffffa8082b1f, in std::terminate()
[ros2_control_node-3] #4 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffffa8082abb, in
[ros2_control_node-3] #3 Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffffa80862db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2 Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa7e2712f, in abort
[ros2_control_node-3] #1 Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa7e3a67b, in raise
[ros2_control_node-3] #0 Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffffa7e7f1f0, in
[ros2_control_node-3] Aborted (Signal sent by tkill() 640469 1000)
[INFO] [spawner-5]: process has finished cleanly [pid 640473]
[ERROR] [ros2_control_node-3]: process has died [pid 640469, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /ros2_ws/install/franka_bringup/share/franka_bringup/config/controllers.yaml --params-file /tmp/launch_params_powvx0u8 --params-file /tmp/launch_params_t1r8q66m --params-file /tmp/launch_params_jj087c6y -r joint_states:=franka/joint_states'].
[INFO] [launch]: process[ros2_control_node-3] was required: shutting down launched system
[INFO] [spawner-6]: sending signal 'SIGINT' to process[spawner-6]
[INFO] [spawner-4]: sending signal 'SIGINT' to process[spawner-4]
[INFO] [robot_state_publisher-2]: sending signal 'SIGINT' to process[robot_state_publisher-2]
[INFO] [joint_state_publisher-1]: sending signal 'SIGINT' to process[joint_state_publisher-1]
[robot_state_publisher-2] [INFO] [1750136872.938550027] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 640467]
[INFO] [joint_state_publisher-1]: process has finished cleanly [pid 640465]
[ERROR] [spawner-6]: process[spawner-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [spawner-4]: process[spawner-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [spawner-6]: sending signal 'SIGTERM' to process[spawner-6]
[INFO] [spawner-4]: sending signal 'SIGTERM' to process[spawner-4]
[ERROR] [spawner-6]: process has died [pid 640475, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner cartesian_pose_example_controller --ros-args'].
[ERROR] [spawner-4]: process has died [pid 640471, exit code -15, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --ros-args'].

Pls any recoomendation will help me.

[AndreasKuhner]

Hi @rikhsitlladeveloper ,
the magic 2 lines are

[ros2_control_node-3] terminate called after throwing an instance of 'franka::ControlException'
[ros2_control_node-3] what(): libfranka: Move command rejected: cannot start at singular pose

Could it be that you want to do a Cartesian movement while the robot is in a singular pose? Aka the robot light is 'yellow'? If yes, you can just hand guide the robot to another pose.

Cheers,
Andreas

[rikhsitlladeveloper]

No now situation is light is green.
Now I am using new updated franka_ros2 with new franka_descrription.

When I launch ros2 launch franka_fr3_moveit_config moveit.launch.py

I am not getting planning group in rviz.

I can not control robot with motion planning in rviz2.
Can you help?@AndreasKuhner

Here is logs.

ros2 launch franka_fr3_moveit_config moveit.launch.py
[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-06-24-09-10-34-623633-franka-ai-companion-830240
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [830250]
[INFO] [move_group-2]: process started with pid [830252]
[INFO] [ros2_control_node-3]: process started with pid [830254]
[INFO] [joint_state_publisher-4]: process started with pid [830256]
[INFO] [spawner-5]: process started with pid [830258]
[INFO] [ros2-6]: process started with pid [830260]
[INFO] [ros2-7]: process started with pid [830262]
[ros2_control_node-3] [WARN] [1750756235.446311504] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] text not specified in the prefix tag
[ros2_control_node-3] text not specified in the arm_prefix tag
[ros2_control_node-3] [INFO] [1750756235.447060643] [resource_manager]: Loading hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.472291804] [resource_manager]: Initialize hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.472490177] [FrankaHardwareInterface]: Parsed Franka ros2_control interface version: 0.1.0
[ros2_control_node-3] [INFO] [1750756235.472507842] [FrankaHardwareInterface]: Connecting to robot at "192.168.19.2" ...
[move_group-2] [WARN] [1750756235.478465535] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[ros2_control_node-3] [INFO] [1750756235.483842412] [FrankaHardwareInterface]: Successfully connected to robot
[robot_state_publisher-1] [INFO] [1750756235.505370659] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1750756235.505685164] [robot_state_publisher]: got segment fr3_link0
[robot_state_publisher-1] [INFO] [1750756235.505726829] [robot_state_publisher]: got segment fr3_link1
[robot_state_publisher-1] [INFO] [1750756235.505740781] [robot_state_publisher]: got segment fr3_link2
[robot_state_publisher-1] [INFO] [1750756235.505750701] [robot_state_publisher]: got segment fr3_link3
[robot_state_publisher-1] [INFO] [1750756235.505759726] [robot_state_publisher]: got segment fr3_link4
[robot_state_publisher-1] [INFO] [1750756235.505767470] [robot_state_publisher]: got segment fr3_link5
[robot_state_publisher-1] [INFO] [1750756235.505774606] [robot_state_publisher]: got segment fr3_link6
[robot_state_publisher-1] [INFO] [1750756235.505781646] [robot_state_publisher]: got segment fr3_link7
[robot_state_publisher-1] [INFO] [1750756235.505788398] [robot_state_publisher]: got segment fr3_link8
[ros2_control_node-3] [INFO] [1750756235.522484358] [service_server]: Service started
[move_group-2] [INFO] [1750756235.537974686] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0590761 seconds
[move_group-2] [INFO] [1750756235.538074337] [moveit_robot_model.robot_model]: Loading robot model 'fr3'...
[move_group-2] [WARN] [1750756235.538091969] [moveit_robot_model.robot_model]: Skipping virtual joint 'virtual_joint' because its child frame 'fr3_link0' does not match the URDF frame 'base'
[move_group-2] [INFO] [1750756235.538099489] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-2] [INFO] [1750756235.609855107] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1750756235.610201068] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-2] [INFO] [1750756235.612374662] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-2] [INFO] [1750756235.613724105] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-2] [INFO] [1750756235.613774923] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1750756235.614768933] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-2] [INFO] [1750756235.614806918] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1750756235.615961156] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1750756235.617138243] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1750756235.617889815] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1750756235.617924056] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1750756235.621111724] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-2] [INFO] [1750756235.648446620] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [INFO] [1750756235.653237178] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1750756235.653299228] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-2] [INFO] [1750756235.653309116] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-2] [INFO] [1750756235.653345181] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-2] [INFO] [1750756235.653371902] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-2] [INFO] [1750756235.653380862] [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] [1750756235.653396190] [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] [1750756235.653403134] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-2] [INFO] [1750756235.653411519] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-2] [INFO] [1750756235.653426719] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-2] [INFO] [1750756235.653432607] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-2] [INFO] [1750756235.653436767] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-2] [INFO] [1750756235.653537634] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-2] [INFO] [1750756235.653547714] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-2] [INFO] [1750756235.653552226] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[ros2_control_node-3] [INFO] [1750756235.659454366] [action_server]: Action server started
[ros2_control_node-3] [INFO] [1750756235.659602722] [resource_manager]: Successful initialization of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.659713477] [FrankaHardwareInterface]: Register joint-based command interfaces
[ros2_control_node-3] [INFO] [1750756235.659726469] [FrankaHardwareInterface]: Registering command interface: fr3_joint1 for command interface position with index 0
[ros2_control_node-3] [INFO] [1750756235.659733061] [FrankaHardwareInterface]: Registering command interface: fr3_joint1 for command interface velocity with index 0
[ros2_control_node-3] [INFO] [1750756235.659737957] [FrankaHardwareInterface]: Registering command interface: fr3_joint1 for command interface effort with index 0
[ros2_control_node-3] [INFO] [1750756235.659743205] [FrankaHardwareInterface]: Registering command interface: fr3_joint2 for command interface position with index 1
[ros2_control_node-3] [INFO] [1750756235.659747974] [FrankaHardwareInterface]: Registering command interface: fr3_joint2 for command interface velocity with index 1
[ros2_control_node-3] [INFO] [1750756235.659752486] [FrankaHardwareInterface]: Registering command interface: fr3_joint2 for command interface effort with index 1
[ros2_control_node-3] [INFO] [1750756235.659757318] [FrankaHardwareInterface]: Registering command interface: fr3_joint3 for command interface position with index 2
[ros2_control_node-3] [INFO] [1750756235.659769414] [FrankaHardwareInterface]: Registering command interface: fr3_joint3 for command interface velocity with index 2
[ros2_control_node-3] [INFO] [1750756235.659774054] [FrankaHardwareInterface]: Registering command interface: fr3_joint3 for command interface effort with index 2
[ros2_control_node-3] [INFO] [1750756235.659778438] [FrankaHardwareInterface]: Registering command interface: fr3_joint4 for command interface position with index 3
[ros2_control_node-3] [INFO] [1750756235.659782534] [FrankaHardwareInterface]: Registering command interface: fr3_joint4 for command interface velocity with index 3
[ros2_control_node-3] [INFO] [1750756235.659786855] [FrankaHardwareInterface]: Registering command interface: fr3_joint4 for command interface effort with index 3
[ros2_control_node-3] [INFO] [1750756235.659791847] [FrankaHardwareInterface]: Registering command interface: fr3_joint5 for command interface position with index 4
[ros2_control_node-3] [INFO] [1750756235.659796231] [FrankaHardwareInterface]: Registering command interface: fr3_joint5 for command interface velocity with index 4
[ros2_control_node-3] [INFO] [1750756235.659801319] [FrankaHardwareInterface]: Registering command interface: fr3_joint5 for command interface effort with index 4
[ros2_control_node-3] [INFO] [1750756235.659805703] [FrankaHardwareInterface]: Registering command interface: fr3_joint6 for command interface position with index 5
[ros2_control_node-3] [INFO] [1750756235.659810919] [FrankaHardwareInterface]: Registering command interface: fr3_joint6 for command interface velocity with index 5
[ros2_control_node-3] [INFO] [1750756235.659815015] [FrankaHardwareInterface]: Registering command interface: fr3_joint6 for command interface effort with index 5
[ros2_control_node-3] [INFO] [1750756235.659819463] [FrankaHardwareInterface]: Registering command interface: fr3_joint7 for command interface position with index 6
[ros2_control_node-3] [INFO] [1750756235.659823528] [FrankaHardwareInterface]: Registering command interface: fr3_joint7 for command interface velocity with index 6
[ros2_control_node-3] [INFO] [1750756235.659827880] [FrankaHardwareInterface]: Registering command interface: fr3_joint7 for command interface effort with index 6
[ros2_control_node-3] [INFO] [1750756235.659831944] [FrankaHardwareInterface]: Register general purpose command interfaces
[ros2_control_node-3] [INFO] [1750756235.659936330] [FrankaHardwareInterface]: Registering command interface: vx for command interface cartesian_velocity with index 0
[ros2_control_node-3] [INFO] [1750756235.659945739] [FrankaHardwareInterface]: Registering command interface: vy for command interface cartesian_velocity with index 1
[ros2_control_node-3] [INFO] [1750756235.659950667] [FrankaHardwareInterface]: Registering command interface: vz for command interface cartesian_velocity with index 2
[ros2_control_node-3] [INFO] [1750756235.659955307] [FrankaHardwareInterface]: Registering command interface: wx for command interface cartesian_velocity with index 3
[ros2_control_node-3] [INFO] [1750756235.659960395] [FrankaHardwareInterface]: Registering command interface: wy for command interface cartesian_velocity with index 4
[ros2_control_node-3] [INFO] [1750756235.659964875] [FrankaHardwareInterface]: Registering command interface: wz for command interface cartesian_velocity with index 5
[ros2_control_node-3] [INFO] [1750756235.659969579] [FrankaHardwareInterface]: Registering command interface: 0 for command interface cartesian_pose_command with index 0
[ros2_control_node-3] [INFO] [1750756235.659981036] [FrankaHardwareInterface]: Registering command interface: 1 for command interface cartesian_pose_command with index 1
[ros2_control_node-3] [INFO] [1750756235.659986764] [FrankaHardwareInterface]: Registering command interface: 2 for command interface cartesian_pose_command with index 2
[ros2_control_node-3] [INFO] [1750756235.659991628] [FrankaHardwareInterface]: Registering command interface: 3 for command interface cartesian_pose_command with index 3
[ros2_control_node-3] [INFO] [1750756235.659996140] [FrankaHardwareInterface]: Registering command interface: 4 for command interface cartesian_pose_command with index 4
[ros2_control_node-3] [INFO] [1750756235.660000716] [FrankaHardwareInterface]: Registering command interface: 5 for command interface cartesian_pose_command with index 5
[ros2_control_node-3] [INFO] [1750756235.660005292] [FrankaHardwareInterface]: Registering command interface: 6 for command interface cartesian_pose_command with index 6
[ros2_control_node-3] [INFO] [1750756235.660009772] [FrankaHardwareInterface]: Registering command interface: 7 for command interface cartesian_pose_command with index 7
[ros2_control_node-3] [INFO] [1750756235.660014605] [FrankaHardwareInterface]: Registering command interface: 8 for command interface cartesian_pose_command with index 8
[ros2_control_node-3] [INFO] [1750756235.660018925] [FrankaHardwareInterface]: Registering command interface: 9 for command interface cartesian_pose_command with index 9
[ros2_control_node-3] [INFO] [1750756235.660023277] [FrankaHardwareInterface]: Registering command interface: 10 for command interface cartesian_pose_command with index 10
[ros2_control_node-3] [INFO] [1750756235.660028333] [FrankaHardwareInterface]: Registering command interface: 11 for command interface cartesian_pose_command with index 11
[ros2_control_node-3] [INFO] [1750756235.660032717] [FrankaHardwareInterface]: Registering command interface: 12 for command interface cartesian_pose_command with index 12
[ros2_control_node-3] [INFO] [1750756235.660037293] [FrankaHardwareInterface]: Registering command interface: 13 for command interface cartesian_pose_command with index 13
[ros2_control_node-3] [INFO] [1750756235.660041581] [FrankaHardwareInterface]: Registering command interface: 14 for command interface cartesian_pose_command with index 14
[ros2_control_node-3] [INFO] [1750756235.660045933] [FrankaHardwareInterface]: Registering command interface: 15 for command interface cartesian_pose_command with index 15
[ros2_control_node-3] [INFO] [1750756235.660050990] [FrankaHardwareInterface]: Registering command interface: joint_3_position for command interface elbow_command with index 0
[ros2_control_node-3] [INFO] [1750756235.660056014] [FrankaHardwareInterface]: Registering command interface: joint_4_sign for command interface elbow_command with index 1
[ros2_control_node-3] [INFO] [1750756235.660213490] [resource_manager]: 'configure' hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.660231282] [resource_manager]: Successful 'configure' of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.660254387] [resource_manager]: 'activate' hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.660603932] [FrankaHardwareInterface]: Started
[ros2_control_node-3] [INFO] [1750756235.660620349] [resource_manager]: Successful 'activate' of hardware 'FrankaHardwareInterface'
[ros2_control_node-3] [INFO] [1750756235.773025261] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-3] [INFO] [1750756235.773224562] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[move_group-2] [INFO] [1750756235.787740113] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for fr3_arm_controller
[move_group-2] [INFO] [1750756235.787867412] [moveit.plugins.moveit_simple_controller_manager]: Max effort set to 0.0
[ros2_control_node-3] [INFO] [1750756235.800418047] [controller_manager]: Successful set up FIFO RT scheduling policy with priority 50.
[move_group-2] [INFO] [1750756235.802795293] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for fr3_gripper
[move_group-2] [INFO] [1750756235.803150951] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1750756235.803203080] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-2] [INFO] [1750756235.807011116] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-2] [INFO] [1750756235.807087438] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1750756235.858398774] [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] [1750756235.858521817] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-2] [INFO] [1750756235.858546682] [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]
[spawner-5] [INFO] [1750756236.048062618] [spawner_franka_robot_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-3] [INFO] [1750756236.053224386] [controller_manager]: Loading controller 'franka_robot_state_broadcaster'
[joint_state_publisher-4] [INFO] [1750756236.062773629] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[spawner-5] [INFO] [1750756236.079993571] [spawner_franka_robot_state_broadcaster]: Loaded franka_robot_state_broadcaster
[ros2_control_node-3] [INFO] [1750756236.083818375] [controller_manager]: Configuring controller 'franka_robot_state_broadcaster'
[spawner-5] [INFO] [1750756236.201418177] [spawner_franka_robot_state_broadcaster]: Configured and activated franka_robot_state_broadcaster
[ros2_control_node-3] [ERROR] [1750756236.276656639] [franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts
[ros2_control_node-3] [ERROR] [1750756236.343647555] [franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts
[ros2_control_node-3] [ERROR] [1750756236.344637981] [franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts
[ros2-7] [INFO] [1750756236.368074886] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-3] [INFO] [1750756236.373775421] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2-6] [INFO] [1750756236.397649361] [spawner_fr3_arm_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2-7] [INFO] [1750756236.399169465] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-3] [INFO] [1750756236.402589876] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-3] [INFO] [1750756236.402739895] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2-7] [INFO] [1750756236.423976551] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[ros2_control_node-3] [ERROR] [1750756236.425664979] [franka_robot_state_broadcaster]: Failed to lock the realtime publisher after 5 attempts
[INFO] [spawner-5]: process has finished cleanly [pid 830258]
[INFO] [ros2-7]: process has finished cleanly [pid 830262]
[ros2_control_node-3] [INFO] [1750756239.162799440] [controller_manager]: Loading controller 'fr3_arm_controller'
[ros2_control_node-3] [WARN] [1750756239.205446867] [fr3_arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ros2-6] [INFO] [1750756239.209129684] [spawner_fr3_arm_controller]: Loaded fr3_arm_controller
[ros2_control_node-3] [INFO] [1750756239.212482476] [controller_manager]: Configuring controller 'fr3_arm_controller'
[ros2_control_node-3] [INFO] [1750756239.212824181] [fr3_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-3] [WARN] [1750756239.212911096] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.213214464] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.213614986] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.214095703] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.214492481] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.214922349] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [WARN] [1750756239.215135122] [fr3_arm_controller]: 'ff_velocity_scale' parameters is not defined under 'gains.<joint_name>.' structure. Maybe you are using deprecated format 'ff_velocity_scale/<joint_name>'!
[ros2_control_node-3] [INFO] [1750756239.215328471] [fr3_arm_controller]: Command interfaces are [effort] and state interfaces are [position velocity].
[ros2_control_node-3] [INFO] [1750756239.215400313] [fr3_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-3] [INFO] [1750756239.217306475] [fr3_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-3] [INFO] [1750756239.228981343] [fr3_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2-6] [INFO] [1750756239.329732637] [spawner_fr3_arm_controller]: Configured and activated fr3_arm_controller
[INFO] [ros2-6]: process has finished cleanly [pid 830260]

[AndreasKuhner]

We pushed again some fixes for franka_ros2 and franka_description - can you check them out?

[rikhsitlladeveloper]

@AndreasKuhner After using new releases it is working, But why less launch files in franka_bringup ?
I need Cartesian Impedance controller with Moveit2.
Thanks

[AndreasKuhner]

We unified the launch file to work with almost all standard examples. E.g. you can now do a
ros2 launch franka_bringup example.launch.py controller_name:=joint_position_example_controller

... just add whatever example you wanna run.

Cheers,
Andreas

[AndreasKuhner]

Additional note: The parameters can now be put into the franka.config.yaml - for convenience.