Real Yaskawa Robot unable to be run on MoveIt2?

[azalutsky]

Hey all, I'll spam with a bunch of information- hopefully some of this will help discern my issue. But basically I'm struggling with several things in the moveit2 setup to be able to do several of the following:

• I can't move the robot, but I can see feedback from the robot along the TF and sometimes through a robot model if I play around with the config a bit.
• I can't see the interactive cursors anymore ever since I started modifying the namestates
• If I modify the global_frame to base_link the interactive displays come back, but it breaks the global_frame... However, it does let me start to do plans and lets me do execute- the log below demonstrates that.

I've been trying to figure out how to basically use the cursor to send /yaskawa_a1/joint_trajectory_follow a command for a week now and I still am not making any progress.
/yaskawa_a1/joint_states is publishing successfully. {/yaskawa_a1/joint_1_s -> ....}
/tf is publishing successfully through /robot_state_publisher. {/world -> /yaskawa_a1/base_link -> ... }
the difficulty is something got screwed up when I modified the names states since I plan on using two robots.

However, as I bring up RVIZ the motion controller and motion_scene seem to always start to have issues... and very little seems to work. I have no idea what I am doing wrong but would love some help!

Heres the launch/config/urdf/srdf/etc...
motoman_motomini_support.zip

Heres what the logs kind of look like as of now:
logs.txt

*note this is likey because I didn't kill all processes so its keep a few alive or something as I keep trying? Please let me know if theres a way to fix this or something?

[azalutsky]

root@anton-the-manton:~/workspace# ros2 launch motoman_motomini_support control.launch.py
[INFO] [launch]: All log files can be found below /home/ebots/.ros/log/2022-09-29-01-48-53-279391-anton-the-manton-4496
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [4498]
[INFO] [move_group-2]: process started with pid [4500]
[INFO] [robot_state_publisher-3]: process started with pid [4502]
[robot_state_publisher-3] [WARN] [1664416133.603366569] [yaskawa_a1.robot_state_publisher]: use_tf_static is deprecated and will be removed in the future
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link link_1_s had 1 children
[robot_state_publisher-3] Link link_2_l had 1 children
[robot_state_publisher-3] Link link_3_u had 1 children
[robot_state_publisher-3] Link link_4_r had 1 children
[robot_state_publisher-3] Link link_5_b had 1 children
[robot_state_publisher-3] Link link_6_t had 1 children
[robot_state_publisher-3] Link tool0 had 0 children
[robot_state_publisher-3] [INFO] [1664416133.604967275] [yaskawa_a1.robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1664416133.604990044] [yaskawa_a1.robot_state_publisher]: got segment link_1_s
[robot_state_publisher-3] [INFO] [1664416133.604995201] [yaskawa_a1.robot_state_publisher]: got segment link_2_l
[robot_state_publisher-3] [INFO] [1664416133.604999211] [yaskawa_a1.robot_state_publisher]: got segment link_3_u
[robot_state_publisher-3] [INFO] [1664416133.605003065] [yaskawa_a1.robot_state_publisher]: got segment link_4_r
[robot_state_publisher-3] [INFO] [1664416133.605006850] [yaskawa_a1.robot_state_publisher]: got segment link_5_b
[robot_state_publisher-3] [INFO] [1664416133.605010660] [yaskawa_a1.robot_state_publisher]: got segment link_6_t
[robot_state_publisher-3] [INFO] [1664416133.605014510] [yaskawa_a1.robot_state_publisher]: got segment tool0
[rviz2-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[move_group-2] [WARN] [1664416133.642666684] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-2] [WARN] [1664416133.642711102] [move_group.move_group]: Using default pipeline 'ompl'
[move_group-2] Parsing robot urdf xml string.
[move_group-2] [INFO] [1664416133.644974196] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000574483 seconds
[move_group-2] [INFO] [1664416133.645006847] [moveit_robot_model.robot_model]: Loading robot model 'motoman_motomini'...
[move_group-2] Link link_1_s had 1 children
[move_group-2] Link link_2_l had 1 children
[move_group-2] Link link_3_u had 1 children
[move_group-2] Link link_4_r had 1 children
[move_group-2] Link link_5_b had 1 children
[move_group-2] Link link_6_t had 1 children
[move_group-2] Link tool0 had 0 children
[move_group-2] [INFO] [1664416133.663158535] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-2] [INFO] [1664416133.663309064] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/yaskawa_a1/joint_states' for joint states
[move_group-2] [INFO] [1664416133.663721682] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/yaskawa_a1/joint_states'
[move_group-2] [INFO] [1664416133.664033285] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/yaskawa_a1/planning_scene_monitor' for attached collision objects
[move_group-2] [INFO] [1664416133.664048778] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-2] [INFO] [1664416133.664273531] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/publish_planning_scene'
[move_group-2] [INFO] [1664416133.664286554] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-2] [INFO] [1664416133.664530760] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-2] [INFO] [1664416133.664751187] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-2] [WARN] [1664416133.664783672] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-2] [ERROR] [1664416133.664811799] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-2] [INFO] [1664416133.666061304] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-2] [INFO] [1664416133.667323214] [moveit.ros_planning.planning_pipeline]: No '~planning_plugin' parameter specified, but only 'ompl_interface/OMPLPlanner' planning plugin is available. Using that one.
[move_group-2] [INFO] [1664416133.690929594] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-2] [WARN] [1664416133.692607597] [moveit_ros.trajectory_execution_manager]: Parameter '~moveit_controller_manager' is not specified but only one matching plugin was found: 'moveit_simple_controller_manager/MoveItSimpleControllerManager'. Using that one.
[move_group-2] [ERROR] [1664416133.709884469] [moveit.plugins.moveit_simple_controller_manager]: No controller_names specified.
[move_group-2] [INFO] [1664416133.709985222] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-2] [INFO] [1664416133.710376444] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-2] [INFO] [1664416133.710392394] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-2] [INFO] [1664416133.720126541] [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] [1664416133.720159955] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-2] [INFO] [1664416133.720166819] [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] 
[rviz2-1] [INFO] [1664416133.727854281] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1664416133.727958010] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-1] [INFO] [1664416133.755890680] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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] [ERROR] [1664416136.860227566] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1664416136.995046912] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00121185 seconds
[rviz2-1] [INFO] [1664416136.995124376] [moveit_robot_model.robot_model]: Loading robot model 'motoman_motomini'...
[rviz2-1] Link link_1_s had 1 children
[rviz2-1] Link link_2_l had 1 children
[rviz2-1] Link link_3_u had 1 children
[rviz2-1] Link link_4_r had 1 children
[rviz2-1] Link link_5_b had 1 children
[rviz2-1] Link link_6_t had 1 children
[rviz2-1] Link tool0 had 0 children
[rviz2-1] [WARN] [1664416137.006677036] [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] [1664416137.171837053] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1664416137.172563155] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/yaskawa_a1/yaskawa_a1/publish_planning_scene'
[rviz2-1] [INFO] [1664416137.277412760] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1664416137.278014066] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/yaskawa_a1/monitored_planning_scene'
[move_group-2] [WARN] [1664416137.278110316] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/tool0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278152629] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_6_t' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278166827] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_1_s' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278175632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/base_link' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278191472] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_2_l' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278200870] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_3_u' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278208624] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_4_r' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.278216247] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_5_b' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[rviz2-1] [INFO] [1664416137.287983413] [yaskawa_a1.interactive_marker_display_94544611805856]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] Link link_1_s had 1 children
[rviz2-1] Link link_2_l had 1 children
[rviz2-1] Link link_3_u had 1 children
[rviz2-1] Link link_4_r had 1 children
[rviz2-1] Link link_5_b had 1 children
[rviz2-1] Link link_6_t had 1 children
[rviz2-1] Link tool0 had 0 children
[rviz2-1] Link link_1_s had 1 children
[rviz2-1] Link link_2_l had 1 children
[rviz2-1] Link link_3_u had 1 children
[rviz2-1] Link link_4_r had 1 children
[rviz2-1] Link link_5_b had 1 children
[rviz2-1] Link link_6_t had 1 children
[rviz2-1] Link tool0 had 0 children
[move_group-2] [WARN] [1664416137.300893190] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/tool0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300922881] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_6_t' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300932268] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_1_s' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300940030] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/base_link' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300947942] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_2_l' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300955732] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_3_u' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300963222] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_4_r' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416137.300970811] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_5_b' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[rviz2-1] [INFO] [1664416137.301637969] [moveit_ros_visualization.motion_planning_frame]: group motomini_arm
[rviz2-1] [INFO] [1664416137.301692938] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'motomini_arm' in namespace ''
[rviz2-1] [WARN] [1664416137.301802357] [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] [1664416137.310225997] [move_group_interface]: Ready to take commands for planning group motomini_arm.
[rviz2-1] [INFO] [1664416137.310268445] [move_group_interface]: Looking around: no
[rviz2-1] [INFO] [1664416137.310281231] [move_group_interface]: Replanning: no
[rviz2-1] [INFO] [1664416137.388514165] [yaskawa_a1.interactive_marker_display_94544611805856]: Sending request for interactive markers
[rviz2-1] [INFO] [1664416137.394610909] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 3 grp: motomini_arm
[rviz2-1] [INFO] [1664416137.394719538] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: motomini_arm
[rviz2-1] [INFO] [1664416137.394726822] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: motomini_arm_tool
[rviz2-1] [INFO] [1664416137.394729849] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: tool
[rviz2-1] [INFO] [1664416137.428449311] [yaskawa_a1.interactive_marker_display_94544611805856]: Service response received for initialization
[move_group-2] [INFO] [1664416152.775839233] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[move_group-2] [INFO] [1664416152.775994272] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-2] [WARN] [1664416152.791283895] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/tool0' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791333660] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_6_t' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791348555] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_1_s' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791361089] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/base_link' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791373915] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_2_l' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791386290] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_3_u' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791399632] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_4_r' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [WARN] [1664416152.791411839] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'yaskawa_a1/link_5_b' to planning frame'base_link' ("base_link" passed to lookupTransform argument target_frame does not exist. )
[move_group-2] [INFO] [1664416152.791472430] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-2] [INFO] [1664416152.791615953] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-2] [INFO] [1664416152.791628520] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl'
[move_group-2] [INFO] [1664416152.792515874] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'motomini_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-2] [INFO] [1664416152.793165005] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.793536300] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.793624822] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.793647154] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.793961341] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.794000374] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.794025969] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.803531818] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 4 states (2 start + 2 goal)
[move_group-2] [INFO] [1664416152.803661019] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.010796 seconds
[move_group-2] [INFO] [1664416152.803793943] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.803821296] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.803856645] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.803970434] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.804065383] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804136651] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804207788] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804238041] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804312068] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.000590 seconds
[move_group-2] [INFO] [1664416152.804389960] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.804529512] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:220 - motomini_arm/motomini_arm: Starting planning with 1 states already in datastructure
[move_group-2] [INFO] [1664416152.804618157] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804858937] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:354 - motomini_arm/motomini_arm: Created 5 states (2 start + 3 goal)
[move_group-2] [INFO] [1664416152.804935704] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:135 - ParallelPlan::solve(): Solution found by one or more threads in 0.000592 seconds
[move_group-2] [INFO] [1664416152.806172911] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/src/SimpleSetup.cpp:179 - SimpleSetup: Path simplification took 0.001171 seconds and changed from 3 to 2 states
[move_group-2] [INFO] [1664416152.806514294] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-2] [ERROR] [1664416152.806532639] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1_s joint_2_l joint_3_u joint_4_r joint_5_b joint_6_t ]
[move_group-2] [ERROR] [1664416152.806538322] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-2] 
[move_group-2] [ERROR] [1664416152.806548227] [moveit_ros.plan_execution]: Apparently trajectory initialization failed
[move_group-2] [INFO] [1664416152.806609344] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-1] [INFO] [1664416153.176217875] [move_group_interface]: Plan and Execute request accepted
[rviz2-1] [INFO] [1664416153.276517449] [move_group_interface]: Plan and Execute request aborted
[rviz2-1] [ERROR] [1664416153.376638855] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

Heres the most up to date log from a fresh start* please ignore the one inside