Motion Planning API tutorial not working

[sjahr]

Description

☝️ Goal constraints probably need to be updated.

Your environment

• ROS Distro: [Rolling]
• OS Version: Ubuntu 22.04
• Source or Binary build? Source
• If source, which git commit or tag? main 71ee840

Steps to reproduce

Terminal 1

ros2 launch moveit2_tutorials move_group.launch.py

Terminal 2

ros2 launch moveit2_tutorials motion_planning_api_tutorial.launch.py

Expected behaviour

Tell us what should happen

Backtrace or Console output

^^/ws_moveit_tutorials >>> ros2 launch moveit2_tutorials motion_planning_api_tutorial.launch.py                                                                                                             12:08:46
[INFO] [launch]: All log files can be found below /home/sebastian/.ros/log/2023-11-30-12-08-47-990265-hedgehog12-187683
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_planning_api_tutorial-1]: process started with pid [187720]
[motion_planning_api_tutorial-1] [WARN] [1701342528.196861378] [rcl.logging_rosout]: Publisher already registered for node name: 'motion_planning_api_tutorial'. If this is due to multiple nodes with the same name then all logs for the logger named 'motion_planning_api_tutorial' 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.
[motion_planning_api_tutorial-1] [INFO] [1701342528.202206696] [motion_planning_api_tutorial.rdf_loader]: Loaded robot model in 0.00266384 seconds
[motion_planning_api_tutorial-1] [INFO] [1701342528.202247845] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[motion_planning_api_tutorial-1] [WARN] [1701342528.216001236] [motion_planning_api_tutorial.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[motion_planning_api_tutorial-1] [INFO] [1701342528.236636017] [motion_planning_api_tutorial]: Using planning interface 'OMPL'
[motion_planning_api_tutorial-1] [INFO] [1701342528.238544639] [motion_planning_api_tutorial.rdf_loader]: Loaded robot model in 0.00168789 seconds
[motion_planning_api_tutorial-1] [INFO] [1701342528.238565008] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[motion_planning_api_tutorial-1] [WARN] [1701342528.247747087] [motion_planning_api_tutorial.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[motion_planning_api_tutorial-1] [INFO] [1701342528.260783050] [motion_planning_api_tutorial.move_group_interface]: Ready to take commands for planning group panda_arm.
[motion_planning_api_tutorial-1] [INFO] [1701342528.262077299] [motion_planning_api_tutorial.remote_control]: RemoteControl Ready.
[motion_planning_api_tutorial-1] [INFO] [1701342528.262131883] [motion_planning_api_tutorial.remote_control]: Waiting to continue: Press 'next' in the RvizVisualToolsGui window to start the demo
[motion_planning_api_tutorial-1] [INFO] [1701342532.596931789] [motion_planning_api_tutorial.remote_control]: ... continuing
[motion_planning_api_tutorial-1] [ERROR] [1701342532.597413889] [moveit_robot_state.conversions]: Found empty JointState message
[motion_planning_api_tutorial-1] [INFO] [1701342532.597460447] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[motion_planning_api_tutorial-1] [WARN] [1701342532.597476248] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[motion_planning_api_tutorial-1] [ERROR] [1701342532.597586618] [moveit.ompl_planning.model_based_planning_context]: Unable to construct goal representation
[motion_planning_api_tutorial-1] Stack trace (most recent call last):
[motion_planning_api_tutorial-1] #4    Object "", at 0xffffffffffffffff, in
[motion_planning_api_tutorial-1] #3    Object "/home/sebastian/ws_moveit_tutorials/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_api_tutorial", at 0x559e0fbc9bf4, in _start
[motion_planning_api_tutorial-1] #2    Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f4617229e3f]
[motion_planning_api_tutorial-1] #1    Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f4617229d8f]
[motion_planning_api_tutorial-1] #0    Object "/home/sebastian/ws_moveit_tutorials/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_api_tutorial", at 0x559e0fbc71eb, in main
[motion_planning_api_tutorial-1] Segmentation fault (Address not mapped to object [(nil)])

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.