Process finished on startup and demo fail

[rouzinho]

Hi,

I'm coming back with a fresh install (Pop Os - ubuntu 20-04) with ros noetic. The build did go well but I'm unable to launch the demo.
In the first terminal (roslaunch panda_gazebo panda_world.launch) :

roslaunch panda_gazebo panda_world.launch            
... logging to /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/roslaunch-pop-os-97470.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://pop-os:42933/


PARAMETERS
 * /SIMULATOR_: True
 * /arm/gravity_tip_name: panda_hand
 * /arm/root_name: panda_link0
 * /arm/tip_name: panda_hand
 * /controllers_config/default_controller: panda_simulator/p...
 * /controllers_config/position_controller: panda_simulator/p...
 * /controllers_config/torque_controller: panda_simulator/e...
 * /controllers_config/velocity_controller: panda_simulator/v...
 * /franka_gripper/robot_ip: sim
 * /gazebo/enable_ros_network: True
 * /gripper_config/default_grasp_epsilon/inner: 0.005
 * /gripper_config/default_grasp_epsilon/outer: 0.005
 * /gripper_config/default_speed: 0.1
 * /gripper_config/joint_names: ['panda_finger_jo...
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_gravity_controller/type: panda_sim_control...
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_torque_controller/topic: /panda_simulator/...
 * /panda_simulator/effort_joint_torque_controller/type: panda_sim_control...
 * /panda_simulator/joint_state_controller/publish_rate: 100
 * /panda_simulator/joint_state_controller/type: joint_state_contr...
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/joint: panda_finger_joint1
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/joint: panda_finger_joint2
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/pub_topic: /franka_gripper/j...
 * /panda_simulator/panda_gripper_controller/type: panda_sim_control...
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/d: 25.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/d: 50.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/d: 8.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/d: 5.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/i: 1.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/d: 4.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/topic_joint_command: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/topic_set_speed_ratio: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/type: panda_sim_control...
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/p: 10
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/i: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/p: 100
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/i: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/p: 0.5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/p: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/topic: /panda_simulator/...
 * /panda_simulator/velocity_joint_velocity_controller/type: panda_sim_control...
 * /robot_config/arm_id: panda
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
 * /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
 * /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
 * /robot_config/joint_names: ['panda_joint1', ...
 * /robot_config/neutral_pose/panda_joint1: -0.01779206022777...
 * /robot_config/neutral_pose/panda_joint2: -0.7601235411041661
 * /robot_config/neutral_pose/panda_joint3: 0.019782607023391807
 * /robot_config/neutral_pose/panda_joint4: -2.342050140544315
 * /robot_config/neutral_pose/panda_joint5: 0.029840531355804868
 * /robot_config/neutral_pose/panda_joint6: 1.5411935298621688
 * /robot_config/neutral_pose/panda_joint7: 0.7534486589746342
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /use_sim_time: True

NODES
  /
    base_to_link0 (tf/static_transform_publisher)
    controller_spawner (controller_manager/controller_manager)
    controller_spawner_stopped (controller_manager/controller_manager)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py)
    joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py)
    panda_gripper_controller_spawner_stopped (controller_manager/controller_manager)
    robot_description (gazebo_ros/spawn_model)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    startup_script (panda_gazebo/force_neutral_pose.py)
    topic_remap (topic_tools/relay)
    world_to_base (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [97480]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0bbe3e08-0516-11ec-b610-fb6eaaf7b86e
process[rosout-1]: started with pid [97490]
started core service [/rosout]
process[gazebo-2]: started with pid [97497]
process[gazebo_gui-3]: started with pid [97502]
process[robot_description-4]: started with pid [97507]
process[base_to_link0-5]: started with pid [97508]
process[world_to_base-6]: started with pid [97509]
process[controller_spawner-7]: started with pid [97510]
process[controller_spawner_stopped-8]: started with pid [97515]
process[panda_gripper_controller_spawner_stopped-9]: started with pid [97521]
process[robot_state_publisher-10]: started with pid [97523]
process[topic_remap-11]: started with pid [97524]
process[joint_trajectory_server_emulator-12]: started with pid [97525]
process[gripper_action_server_emulator-13]: started with pid [97527]
process[startup_script-14]: started with pid [97535]
[ INFO] [1629835280.856458815]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629835280.858460428]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1629835280.953158512]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629835280.953965227]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1629835281.622778558, 0.003000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1629835281.912655345, 0.156000000]: ft_sensor plugin reporting wrench values to the frame [panda_link7]
[ INFO] [1629835281.914405870, 0.156000000]: Physics dynamic reconfigure ready.
[ INFO] [1629835281.914472574, 0.156000000]: imu plugin missing <gaussianNoise>, defaults to 0.0
[ INFO] [1629835281.941126326, 0.156000000]: Loading gazebo_ros_control plugin
[ INFO] [1629835281.943643050, 0.156000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1629835281.944251375, 0.156000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1629835282.075440873, 0.156000000]: Loaded gazebo_ros_control.
[ INFO] [1629835282.090101636, 0.156000000]: Unable to find Acceleration values for joint panda_finger_joint1...
[ INFO] [1629835282.090298804, 0.156000000]: Unable to find Acceleration values for joint panda_finger_joint2...
[ INFO] [1629835282.251800122, 0.298000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints.
[ INFO] [1629835282.251943900, 0.298000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller
[ INFO] [1629835282.278034911, 0.324000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller
[ INFO] [1629835282.309383107, 0.354000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller
[ INFO] [1629835282.337578112, 0.382000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller
[ INFO] [1629835282.369774931, 0.414000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller
[ INFO] [1629835282.400065204, 0.444000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller
[ INFO] [1629835282.429930124, 0.474000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/velocity_joint_velocity_controller'
[ INFO] [1629835282.475253173, 0.519000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints.
[ INFO] [1629835282.475419133, 0.519000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller
[ INFO] [1629835282.507751645, 0.551000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller
[ INFO] [1629835282.541094300, 0.584000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller
[ INFO] [1629835282.573736069, 0.617000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller
[ INFO] [1629835282.603974224, 0.647000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller
[ INFO] [1629835282.636188296, 0.679000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller
[ INFO] [1629835282.663776890, 0.707000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/position_joint_position_controller'
[ INFO] [1629835282.713604421, 0.756000000]: Initializing PandaGripperController with 2 joints.
[ INFO] [1629835282.714270964, 0.757000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller
[ INFO] [1629835282.748731064, 0.791000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller
Loaded 'panda_simulator/panda_gripper_controller'
[ INFO] [1629835282.843782079, 0.886000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints.
[ INFO] [1629835282.843899928, 0.886000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller
[ INFO] [1629835282.845626038, 0.887000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller
[ INFO] [1629835282.846686105, 0.889000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller
[ INFO] [1629835282.847546590, 0.889000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller
[ INFO] [1629835282.847906802, 0.890000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller
[ INFO] [1629835282.848160886, 0.890000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller
[ INFO] [1629835282.848654256, 0.890000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_gravity_controller'
Loaded 'panda_simulator/joint_state_controller'
Started ['panda_simulator/panda_gripper_controller'] successfully
[ INFO] [1629835282.868572464, 0.910000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints.
[ INFO] [1629835282.868631604, 0.911000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller
[ INFO] [1629835282.871160471, 0.913000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller
[ INFO] [1629835282.874370317, 0.916000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller
[ INFO] [1629835282.876245615, 0.918000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller
[ INFO] [1629835282.878967852, 0.921000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller
[ INFO] [1629835282.882363174, 0.924000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller
[ INFO] [1629835282.884500250, 0.927000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_torque_controller'
Started ['panda_simulator/position_joint_position_controller'] successfully
Started ['panda_simulator/joint_state_controller'] successfully
[panda_gripper_controller_spawner_stopped-9] process has finished cleanly
log file: /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/panda_gripper_controller_spawner_stopped-9*.log
[ INFO] [1629835283.653160986, 1.692000000]: ArmControllerInterface: Controller panda_simulator/position_joint_position_controller started; Controllers panda_simulator/effort_joint_torque_controller, panda_simulator/velocity_joint_velocity_controller stopped.
[robot_description-4] process has finished cleanly
log file: /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/robot_description-4*.log
[controller_spawner-7] process has finished cleanly
log file: /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/controller_spawner-7*.log
[controller_spawner_stopped-8] process has finished cleanly
log file: /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/controller_spawner_stopped-8*.log
[startup_script-14] process has finished cleanly
log file: /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/startup_script-14*.log

and in the second terminal :

roslaunch panda_simulator_examples demo_moveit.launch
... logging to /home/altair/.ros/log/0bbe3e08-0516-11ec-b610-fb6eaaf7b86e/roslaunch-pop-os-101383.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://pop-os:34079/

SUMMARY
========

PARAMETERS
 * /panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /panda_arm/kinematics_solver_search_resolution: 0.005
 * /panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    demo_boxes_scene_loader (franka_moveit/test_scene_interface.py)
    rviz_pop_os_101383_8150143687552990353 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_pop_os_101383_8150143687552990353-1]: started with pid [101561]
process[demo_boxes_scene_loader-2]: started with pid [101563]
[ INFO] [1629835322.120228426]: rviz version 1.14.8
[ INFO] [1629835322.120265546]: compiled against Qt version 5.12.8
[ INFO] [1629835322.120274703]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1629835322.132806126]: Forcing OpenGl version 0.
[ INFO] [1629835322.695280690, 40.083000000]: Stereo is NOT SUPPORTED
[ INFO] [1629835322.695440728, 40.083000000]: OpenGL device: NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2
[ INFO] [1629835322.695492104, 40.083000000]: OpenGl version: 4.6 (GLSL 4.6).
============ Starting test ...
[ INFO] [1629835326.043801971, 43.381000000]: Loading robot model 'panda'...
[ INFO] [1629835326.043862784, 43.381000000]: Loading robot model 'panda'...
[ WARN] [1629835326.043889975, 43.381000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1629835326.043915623, 43.381000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1629835326.043940109, 43.381000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1629835326.043971437, 43.381000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1629835326.163202442, 43.498000000]: Starting planning scene monitor
[ INFO] [1629835326.168657447, 43.504000000]: Listening to '/planning_scene'
[ INFO] [1629835326.531438524, 43.865000000]: Starting planning scene monitor
[ INFO] [1629835326.531972379, 43.866000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1629835326.533571499, 43.868000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1629835326.535292546, 43.869000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
============ Press `Enter` to begin the tutorial by setting up the scene_interface (press ctrl-d to exit) ...[ INFO] [1629835331.539019239, 48.810000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1629835331.542013788, 48.813000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1629835331.542183665, 48.813000000]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[ERROR] [1629835361.552563965, 78.290000000]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ERROR] [1629835361.557176535, 78.295000000]: Could not find parameter for database plugin name

I think the controllers are not properly starting but not sure at all...

Anway, thanks a lot for your work. That would save the end of my PhD if it works !

[justagist]

This is probably because the moveit server is not running:
As mentioned in the readme, moveit server should be started manually before you can use any moveit functionalities. The error message also says that the move_group is not loaded. So the order of commands should be:

$ roslaunch panda_gazebo panda_world.launch
$ roslaunch panda_sim_moveit sim_move_group.launch # start moveit server
$ roslaunch panda_simulator_examples demo_moveit.launch # now you should be able to use moveit

[rouzinho]

Thanks a lot. Somehow I was still reading the melodic readme...

[mitsui29]

Hey, i wanna ask, did u solve this issue? I'm working on this simulator. But i met this kind of questions too. (20.04. Noetic). Thanks in advance

[rouzinho]

Yes, it's been a while I didn't use it but everything went well. I think I did as advised.

[mitsui29]

Yes, it's been a while I didn't use it but everything went well. I think I did as advised.

I already solved them. Just installed the right version of panda_moveit_config from another repo. Thanks for your time! Btw, do u know, where can i install the panda_robot pkg? just also under the same path with panda_simulator(/franka_ws/src)? I took a quick look at the code for panda_robot, could not find more things apart from the intuitive interface classes and some low level control. I just wanna write some controllers(Cpp) that i derived from some papers. I think It is not necessary to download this package. It's enough to use panda_simulator and gazebo to finish my ideas. Maybe, do you have some suggestions for me? Thanks a lot! :)