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Interfacing YuMi using abb_robot_driver with MoveIt #36

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bhomaidan1990 opened this issue Nov 24, 2021 · 1 comment
Closed

Interfacing YuMi using abb_robot_driver with MoveIt #36

bhomaidan1990 opened this issue Nov 24, 2021 · 1 comment

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@bhomaidan1990
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bhomaidan1990 commented Nov 24, 2021 •
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Hi,

I followed these instructions to interface YuMi IRB 14000 with MoveIt, but I'm getting the following error:

[ERROR] [1637931416.948102111]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.
[ERROR] [1637931416.948312]: Failed to start controllers:  joint_velocity_trajectory_controller

[ERROR] [1637931445.008988980]: Unable to identify any set of controllers that can actuate the specified joints: [ yumi_robl_joint_1 yumi_robl_joint_2 yumi_robl_joint_3 yumi_robl_joint_4 yumi_robl_joint_5 yumi_robl_joint_6 yumi_robl_joint_7 yumi_robr_joint_1 yumi_robr_joint_2 yumi_robr_joint_3 yumi_robr_joint_4 yumi_robr_joint_5 yumi_robr_joint_6 yumi_robr_joint_7 ]
[ERROR] [1637931445.009081481]: Known controllers and their joints:

My controllers.yaml file is as follows:

# ros_control_namespace: /yumi/egm
controller_list:
  - name:  " /yumi/egm/joint_group_velocity_controller"
    type: velocity_controllers/JointGroupVelocityController
    action_ns: command
    joints:
      - yumi_robl_joint_1
      - yumi_robl_joint_2
      - yumi_robl_joint_3
      - yumi_robl_joint_4
      - yumi_robl_joint_5
      - yumi_robl_joint_6
      - yumi_robl_joint_7
      - yumi_robr_joint_1
      - yumi_robr_joint_2
      - yumi_robr_joint_3
      - yumi_robr_joint_4
      - yumi_robr_joint_5
      - yumi_robr_joint_6
      - yumi_robr_joint_7

  - name: "yumi/egm/joint_velocity_trajectory_controller"
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints:
      - yumi_robl_joint_1
      - yumi_robl_joint_2
      - yumi_robl_joint_3
      - yumi_robl_joint_4
      - yumi_robl_joint_5
      - yumi_robl_joint_6
      - yumi_robl_joint_7
      - yumi_robr_joint_1
      - yumi_robr_joint_2
      - yumi_robr_joint_3
      - yumi_robr_joint_4
      - yumi_robr_joint_5
      - yumi_robr_joint_6
      - yumi_robr_joint_7

My ros_controllers.yaml as follows:

# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
  joint_model_group: todo_group_name
  joint_model_group_pose: todo_state_name
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: /yumi/egm/joint_velocity_trajectory_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7

  - name: "/yumi/egm/joint_position_trajectory_controller"
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints: [yumi_robl_joint_1, yumi_robl_joint_2, yumi_robl_joint_3, yumi_robl_joint_4, yumi_robl_joint_5, yumi_robl_joint_6, yumi_robl_joint_7, yumi_robr_joint_1, yumi_robr_joint_2, yumi_robr_joint_3, yumi_robr_joint_4, yumi_robr_joint_5, yumi_robr_joint_6, yumi_robr_joint_7]

Also, I have changed the bring up example configuration file ex3_controllers.yaml to be as follows:

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 250

egm_state_controller:
  type         : abb_egm_state_controller/EGMStateController
  publish_rate : 250

joint_group_velocity_controller:
  type: velocity_controllers/JointGroupVelocityController
  joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7
    
joint_velocity_trajectory_controller:
  type: velocity_controllers/JointTrajectoryController
  joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7
  constraints:
    stopped_velocity_tolerance: 0
  gains:
    yumi_robl_joint_1: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_2: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_3: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_4: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_5: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_6: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_7: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_1: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_2: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_3: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_4: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_5: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_6: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_7: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}

joint_position_trajectory_controller:
  type: position_controllers/JointTrajectoryController
  joints: [yumi_robl_joint_1, yumi_robl_joint_2, yumi_robl_joint_3, yumi_robl_joint_4, yumi_robl_joint_5, yumi_robl_joint_6, yumi_robl_joint_7, yumi_robr_joint_1, yumi_robr_joint_2, yumi_robr_joint_3, yumi_robr_joint_4, yumi_robr_joint_5, yumi_robr_joint_6, yumi_robr_joint_7]

And my launch file moveit_planning_execution.launch is:

<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->
 
  <!-- Non-standard joint names:
       - Create a file [robot_moveit_config]/config/joint_names.yaml
           controller_joint_names: [joint_1, joint_2, ... joint_N] 
       - Update with joint names for your robot (in order expected by rbt controller)
       - and uncomment the following line: -->
  <rosparam command="load" file="$(find yumi_moveit_config)/config/joint_names.yaml"/>
 
  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
  <arg name="sim" default="false" doc="Use industrial robot simulator instead of real robot" />
  <arg name="robot_ip" unless="$(arg sim)" value="192.168.125.1" doc="IP of controller (only required if not using industrial simulator)" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" doc="Start the MoveIt database" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find yumi_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

  <!-- load the robot_description parameter before launching ROS-I nodes -->
  <include file="$(find yumi_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <!-- run the robot simulator and action interface nodes -->
  <group if="$(arg sim)">
    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
  </group>

  <!-- run the "real robot" interface nodes -->
  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  <group unless="$(arg sim)">
    <include file="$(find abb_robot_bringup_examples)/launch/ex3_rws_and_egm_yumi_robot.launch" >
      <arg name="robot_ip" value="$(arg robot_ip)"/>
    </include>
  </group>

  <!-- , "/yumi/gripper_states" -->
	<!-- Joint state and robot state publisher calls -->
  <node name="yumi_joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <rosparam param="source_list">["/yumi/rws/joint_states"]</rosparam> 
  </node>

  <!-- publish the robot state (tf transforms) -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find yumi_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find yumi_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find yumi_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

I'm using this robot_description.

and the way I'm loading the controller is as follows:

rosservice call /yumi/egm/controller_manager/switch_controller "start_controllers: [joint_velocity_trajectory_controller]
stop_controllers: ['']
strictness: 1
start_asap: false
timeout: 0.0"

and I get: `ok: True

here is the full output... 
roslaunch yumi_moveit_config moveit_planning_execution.launch
... logging to /home/belal/.ros/log/036ac590-4d10-11ec-949a-87f1882ee563/roslaunch-belal-96975.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://belal:38011/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['yumi_robl_joint...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': '/yumi/...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities: 
 * /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /move_group/generic_hw_control_loop/loop_hz: 300
 * /move_group/hardware_interface/joints: ['yumi_robl_joint...
 * /move_group/hardware_interface/sim_control_mode: 1
 * /move_group/joint_state_controller/publish_rate: 50
 * /move_group/joint_state_controller/type: joint_state_contr...
 * /move_group/max_range: 5.0
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/moveit_sim_hw_interface/joint_model_group: todo_group_name
 * /move_group/moveit_sim_hw_interface/joint_model_group_pose: todo_state_name
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: True
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.01
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/both_arms/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/both_arms/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/both_arms/projection_evaluator: joints(yumi_robl_...
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/left_arm/default_planner_config: RRTConnect
 * /move_group/planning_pipelines/ompl/left_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/left_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/left_arm/projection_evaluator: joints(yumi_robl_...
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/right_arm/default_planner_config: RRTConnect
 * /move_group/planning_pipelines/ompl/right_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/right_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/right_arm/projection_evaluator: joints(yumi_robr_...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/sense_for_plan/max_safe_path_cost: 1
 * /move_group/sensors: []
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/left_arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/left_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/left_arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /robot_description_planning/joint_limits/yumi_robl_joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_1/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robl_joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_2/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robl_joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_3/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robl_joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_4/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robl_joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_5/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robl_joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_6/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robl_joint_7/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robl_joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robl_joint_7/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robl_joint_7/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robr_joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_1/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robr_joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_2/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robr_joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_3/max_velocity: 3.141592653589793
 * /robot_description_planning/joint_limits/yumi_robr_joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_4/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robr_joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_5/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robr_joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_6/max_velocity: 6.981317007977318
 * /robot_description_planning/joint_limits/yumi_robr_joint_7/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/yumi_robr_joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/yumi_robr_joint_7/max_acceleration: 0
 * /robot_description_planning/joint_limits/yumi_robr_joint_7/max_velocity: 3.141592653589793
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.13
 * /rviz_belal_96975_7166737977313588153/controller_list: [{'name': '', 'ty...
 * /rviz_belal_96975_7166737977313588153/left_arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_belal_96975_7166737977313588153/left_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_belal_96975_7166737977313588153/left_arm/kinematics_solver_timeout: 0.005
 * /rviz_belal_96975_7166737977313588153/right_arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_belal_96975_7166737977313588153/right_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_belal_96975_7166737977313588153/right_arm/kinematics_solver_timeout: 0.005
 * /yumi/egm/egm_state_controller/publish_rate: 250
 * /yumi/egm/egm_state_controller/type: abb_egm_state_con...
 * /yumi/egm/joint_group_velocity_controller/joints: ['yumi_robl_joint...
 * /yumi/egm/joint_group_velocity_controller/type: velocity_controll...
 * /yumi/egm/joint_position_trajectory_controller/joints: ['yumi_robl_joint...
 * /yumi/egm/joint_position_trajectory_controller/type: position_controll...
 * /yumi/egm/joint_state_controller/publish_rate: 250
 * /yumi/egm/joint_state_controller/type: joint_state_contr...
 * /yumi/egm/joint_velocity_trajectory_controller/constraints/stopped_velocity_tolerance: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_1/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_1/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_1/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_1/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_2/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_2/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_2/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_2/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_3/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_3/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_3/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_3/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_4/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_4/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_4/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_4/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_5/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_5/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_5/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_5/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_6/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_6/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_6/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_6/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_7/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_7/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_7/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robl_joint_7/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_1/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_1/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_1/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_1/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_2/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_2/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_2/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_2/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_3/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_3/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_3/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_3/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_4/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_4/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_4/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_4/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_5/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_5/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_5/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_5/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_6/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_6/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_6/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_6/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_7/d: 0.0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_7/i: 0
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_7/i_clamp: 0.1
 * /yumi/egm/joint_velocity_trajectory_controller/gains/yumi_robr_joint_7/p: 1.0
 * /yumi/egm/joint_velocity_trajectory_controller/joints: ['yumi_robl_joint...
 * /yumi/egm/joint_velocity_trajectory_controller/type: velocity_controll...
 * /yumi/egm_controller_stopper/no_service_timeout: False
 * /yumi/egm_controller_stopper/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /yumi/egm_controller_stopper/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /yumi/egm_hardware_interface/egm/channel_1/mech_unit_group: rob_l
 * /yumi/egm_hardware_interface/egm/channel_1/port_number: 6511
 * /yumi/egm_hardware_interface/egm/channel_2/mech_unit_group: rob_r
 * /yumi/egm_hardware_interface/egm/channel_2/port_number: 6512
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_1/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_1/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_2/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_2/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_3/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_3/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_4/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_4/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_5/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_5/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_6/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_6/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_7/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robl_joint_7/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_1/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_1/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_2/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_2/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_3/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_3/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_4/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_4/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_5/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_5/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_6/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_6/max_velocity: 0.2
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_7/has_velocity_limits: True
 * /yumi/egm_hardware_interface/joint_limits/yumi_robr_joint_7/max_velocity: 0.2
 * /yumi/egm_hardware_interface/no_service_timeout: False
 * /yumi/egm_hardware_interface/ros_control/controllers/always_ok_to_start: ['egm_state_contr...
 * /yumi/egm_hardware_interface/ros_control/controllers/ok_to_keep_running: ['egm_state_contr...
 * /yumi/rws_service_provider/no_connection_timeout: False
 * /yumi/rws_service_provider/robot_ip: 192.168.125.1
 * /yumi/rws_service_provider/robot_nickname: yumi
 * /yumi/rws_service_provider/robot_port: 80
 * /yumi/rws_state_publisher/no_connection_timeout: False
 * /yumi/rws_state_publisher/polling_rate: 5
 * /yumi/rws_state_publisher/robot_ip: 192.168.125.1
 * /yumi/rws_state_publisher/robot_nickname: yumi
 * /yumi/rws_state_publisher/robot_port: 80
 * /yumi_joint_state_publisher/source_list: ['/yumi/rws/joint...

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_belal_96975_7166737977313588153 (rviz/rviz)
    yumi_joint_state_publisher (joint_state_publisher/joint_state_publisher)
  /yumi/
    egm_controller_stopper (abb_egm_hardware_interface/egm_controller_stopper)
    egm_hardware_interface (abb_egm_hardware_interface/egm_hardware_interface)
    rws_service_provider (abb_rws_service_provider/rws_service_provider)
    rws_state_publisher (abb_rws_state_publisher/rws_state_publisher)
  /yumi/egm/
    started (controller_manager/spawner)
    stopped (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [96994]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 036ac590-4d10-11ec-949a-87f1882ee563
process[rosout-1]: started with pid [97015]
started core service [/rosout]
process[yumi/rws_state_publisher-2]: started with pid [97022]
process[yumi/rws_service_provider-3]: started with pid [97023]
process[yumi/egm_hardware_interface-4]: started with pid [97024]
process[yumi/egm_controller_stopper-5]: started with pid [97026]
process[yumi/egm/started-6]: started with pid [97033]
process[yumi/egm/stopped-7]: started with pid [97038]
process[yumi_joint_state_publisher-8]: started with pid [97048]
process[robot_state_publisher-9]: started with pid [97053]
process[move_group-10]: started with pid [97055]
process[rviz_belal_96975_7166737977313588153-11]: started with pid [97056]
[ INFO] [1637749172.587802492]: Loading robot model 'yumi'...
[ INFO] [1637749172.811178614]: rviz version 1.14.11
[ INFO] [1637749172.811216103]: compiled against Qt version 5.12.8
[ INFO] [1637749172.811229037]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1637749172.820454471]: Forcing OpenGl version 0.
[ WARN] [1637749172.862265509]: IK plugin for group 'left_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637749172.865765452]: IK Using joint yumi_link_1_l -2.94088 2.94088
[ INFO] [1637749172.865796061]: IK Using joint yumi_link_2_l -2.50455 0.759218
[ INFO] [1637749172.865812769]: IK Using joint yumi_link_3_l -2.94088 2.94088
[ INFO] [1637749172.865828717]: IK Using joint yumi_link_4_l -2.15548 1.39626
[ INFO] [1637749172.865844005]: IK Using joint yumi_link_5_l -5.06145 5.06145
[ INFO] [1637749172.865858142]: IK Using joint yumi_link_6_l -1.53589 2.40855
[ INFO] [1637749172.865872458]: IK Using joint yumi_link_7_l -3.9968 3.9968
[ INFO] [1637749172.865890201]: Looking in common namespaces for param name: left_arm/position_only_ik
[ INFO] [1637749172.866744895]: Looking in common namespaces for param name: left_arm/solve_type
[ INFO] [1637749172.867765101]: Using solve type Speed
[ WARN] [1637749172.867859522]: IK plugin for group 'right_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637749172.871200325]: IK Using joint yumi_link_1_r -2.94088 2.94088
[ INFO] [1637749172.871229268]: IK Using joint yumi_link_2_r -2.50455 0.759218
[ INFO] [1637749172.871241687]: IK Using joint yumi_link_3_r -2.94088 2.94088
[ INFO] [1637749172.871252194]: IK Using joint yumi_link_4_r -2.15548 1.39626
[ INFO] [1637749172.871260554]: IK Using joint yumi_link_5_r -5.06145 5.06145
[ INFO] [1637749172.871268815]: IK Using joint yumi_link_6_r -1.53589 2.40855
[ INFO] [1637749172.871278631]: IK Using joint yumi_link_7_r -3.9968 3.9968
[ INFO] [1637749172.871286787]: Looking in common namespaces for param name: right_arm/position_only_ik
[ INFO] [1637749172.872841780]: Looking in common namespaces for param name: right_arm/solve_type
[ INFO] [1637749172.874217343]: Using solve type Speed
[ WARN] [1637749172.982852407]: Configured default soft limits for 'yumi_robr_joint_1': position [-2.91147; 2.91147], k: 1
[ WARN] [1637749172.985070683]: Configured default soft limits for 'yumi_robr_joint_2': position [-2.4795; 0.751626], k: 1
[ WARN] [1637749172.987267067]: Configured default soft limits for 'yumi_robr_joint_3': position [-2.91147; 2.91147], k: 1
[ WARN] [1637749172.988941806]: Configured default soft limits for 'yumi_robr_joint_4': position [-2.13393; 1.3823], k: 1
[ WARN] [1637749172.990612099]: Configured default soft limits for 'yumi_robr_joint_5': position [-5.01084; 5.01084], k: 1
[ WARN] [1637749172.992328648]: Configured default soft limits for 'yumi_robr_joint_6': position [-1.52053; 2.38446], k: 1
[ WARN] [1637749172.993971039]: Configured default soft limits for 'yumi_robr_joint_7': position [-3.95683; 3.95683], k: 1
[ WARN] [1637749172.995658937]: Configured default soft limits for 'yumi_robl_joint_1': position [-2.91147; 2.91147], k: 1
[ WARN] [1637749172.997381229]: Configured default soft limits for 'yumi_robl_joint_2': position [-2.4795; 0.751626], k: 1
[ WARN] [1637749172.999197144]: Configured default soft limits for 'yumi_robl_joint_3': position [-2.91147; 2.91147], k: 1
[ WARN] [1637749173.001190600]: Configured default soft limits for 'yumi_robl_joint_4': position [-2.13393; 1.3823], k: 1
[ WARN] [1637749173.003277057]: Configured default soft limits for 'yumi_robl_joint_5': position [-5.01084; 5.01084], k: 1
[ WARN] [1637749173.004903807]: Configured default soft limits for 'yumi_robl_joint_6': position [-1.52053; 2.38446], k: 1
[ WARN] [1637749173.006510928]: Configured default soft limits for 'yumi_robl_joint_7': position [-3.95683; 3.95683], k: 1
[ INFO] [1637749173.206501784]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1637749173.208202583]: Listening to 'joint_states' for joint states
[ INFO] [1637749173.211468170]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1637749173.211492796]: Starting planning scene monitor
[ INFO] [1637749173.212692209]: Listening to '/planning_scene'
[ INFO] [1637749173.212714598]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1637749173.214038618]: Listening to '/collision_object'
[ INFO] [1637749173.215262635]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1637749173.300055971]: Stereo is NOT SUPPORTED
[ INFO] [1637749173.300099325]: OpenGL device: Mesa Intel(R) UHD Graphics 630 (CFL GT2)
[ INFO] [1637749173.300113725]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1637749173.354616975]: Loading planning pipeline 'chomp'
[ INFO] [1637749173.386937143]: Using planning interface 'CHOMP'
[ INFO] [1637749173.389192630]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1637749173.389471567]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1637749173.389731892]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637749173.389985393]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637749173.390214978]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1637749173.390438685]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1637749173.390464255]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1637749173.390476321]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1637749173.390490636]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1637749173.390507818]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1637749173.390524473]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1637749173.390541202]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1637749173.391216609]: Loading planning pipeline 'ompl'
[ WARN] [1637749173.435618806]: Timed out while waiting for EGM feedback (did the EGM session end on the robot controller?)
[ INFO] [1637749173.447342990]: Using planning interface 'OMPL'
[ INFO] [1637749173.448506165]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1637749173.448755326]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1637749173.448977836]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637749173.449183057]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637749173.449378633]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1637749173.449669267]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1637749173.449692287]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1637749173.449700449]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1637749173.449707275]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1637749173.449718102]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1637749173.449730228]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1637749173.449740203]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1637749173.449794644]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1637749173.451339331]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1637749173.451380083]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[ INFO] [1637749177.412791757]: Loading robot model 'yumi'...
[ WARN] [1637749177.567599908]: IK plugin for group 'left_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637749177.571493145]: IK Using joint yumi_link_1_l -2.94088 2.94088
[ INFO] [1637749177.571521111]: IK Using joint yumi_link_2_l -2.50455 0.759218
[ INFO] [1637749177.571530040]: IK Using joint yumi_link_3_l -2.94088 2.94088
[ INFO] [1637749177.571537524]: IK Using joint yumi_link_4_l -2.15548 1.39626
[ INFO] [1637749177.571549463]: IK Using joint yumi_link_5_l -5.06145 5.06145
[ INFO] [1637749177.571562052]: IK Using joint yumi_link_6_l -1.53589 2.40855
[ INFO] [1637749177.571580212]: IK Using joint yumi_link_7_l -3.9968 3.9968
[ INFO] [1637749177.571598739]: Looking in common namespaces for param name: left_arm/position_only_ik
[ INFO] [1637749177.572839113]: Looking in common namespaces for param name: left_arm/solve_type
[ INFO] [1637749177.574408079]: Using solve type Speed
[ WARN] [1637749177.574643184]: IK plugin for group 'right_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637749177.578141796]: IK Using joint yumi_link_1_r -2.94088 2.94088
[ INFO] [1637749177.578196402]: IK Using joint yumi_link_2_r -2.50455 0.759218
[ INFO] [1637749177.578217227]: IK Using joint yumi_link_3_r -2.94088 2.94088
[ INFO] [1637749177.578231743]: IK Using joint yumi_link_4_r -2.15548 1.39626
[ INFO] [1637749177.578245281]: IK Using joint yumi_link_5_r -5.06145 5.06145
[ INFO] [1637749177.578262830]: IK Using joint yumi_link_6_r -1.53589 2.40855
[ INFO] [1637749177.578282023]: IK Using joint yumi_link_7_r -3.9968 3.9968
[ INFO] [1637749177.578299678]: Looking in common namespaces for param name: right_arm/position_only_ik
[ INFO] [1637749177.579885102]: Looking in common namespaces for param name: right_arm/solve_type
[ INFO] [1637749177.580859289]: Using solve type Speed
[ INFO] [1637749177.955397522]: Starting planning scene monitor
[ INFO] [1637749177.957235331]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1637749177.976237248]: No active joints or end effectors found for group 'both_arms'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1637749177.982039601]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1637749178.467871573]: Waiting for /yumi/egm/joint_velocity_trajectory_controller/follow_joint_trajectory to come up
[ INFO] [1637749182.996249075]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1637749182.996499683]: Constructing new MoveGroup connection for group 'both_arms' in namespace ''
[ WARN] [1637749183.462775860]: Timed out while waiting for EGM feedback (did the EGM session end on the robot controller?)
[ WARN] [1637749184.468137569]: Waiting for /yumi/egm/joint_velocity_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1637749190.468415143]: Action client not connected: /yumi/egm/joint_velocity_trajectory_controller/follow_joint_trajectory
[ WARN] [1637749193.489211840]: Timed out while waiting for EGM feedback (did the EGM session end on the robot controller?)
[ WARN] [1637749195.519549413]: Waiting for /yumi/egm/joint_position_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1637749201.519807363]: Waiting for /yumi/egm/joint_position_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1637749207.520045312]: Action client not connected: /yumi/egm/joint_position_trajectory_controller/follow_joint_trajectory
[ INFO] [1637749207.610288380]: Returned 0 controllers in list
[ INFO] [1637749207.635670495]: Trajectory execution is managing controllers
[ INFO] [1637749207.635738912]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1637749207.714968539]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1637749207.715017729]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1637749207.715035923]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1637749208.803360858]: Ready to take commands for planning group both_arms.
[ WARN] [1637749259.061843425]: Timed out while waiting for EGM feedback (did the EGM session end on the robot controller?)
[ INFO] [1637749279.142523221]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1637749279.142680438]: Using planning pipeline 'ompl'
[ INFO] [1637749279.151334640]: Planner configuration 'both_arms' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1637749279.154920711]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.155110277]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.155363155]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.155498807]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.203919541]: both_arms/both_arms: Created 5 states (3 start + 2 goal)
[ INFO] [1637749279.205834642]: both_arms/both_arms: Created 5 states (2 start + 3 goal)
[ INFO] [1637749279.212922848]: both_arms/both_arms: Created 5 states (2 start + 3 goal)
[ INFO] [1637749279.217001752]: both_arms/both_arms: Created 6 states (4 start + 2 goal)
[ INFO] [1637749279.217306746]: ParallelPlan::solve(): Solution found by one or more threads in 0.064627 seconds
[ INFO] [1637749279.217696414]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.217797827]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.217864507]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.217909139]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.236659613]: both_arms/both_arms: Created 5 states (3 start + 2 goal)
[ INFO] [1637749279.237838514]: both_arms/both_arms: Created 5 states (2 start + 3 goal)
[ INFO] [1637749279.238958786]: both_arms/both_arms: Created 6 states (2 start + 4 goal)
[ INFO] [1637749279.239668221]: both_arms/both_arms: Created 5 states (2 start + 3 goal)
[ INFO] [1637749279.239813676]: ParallelPlan::solve(): Solution found by one or more threads in 0.022292 seconds
[ INFO] [1637749279.240001816]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.240095255]: both_arms/both_arms: Starting planning with 1 states already in datastructure
[ INFO] [1637749279.261123930]: both_arms/both_arms: Created 5 states (3 start + 2 goal)
[ INFO] [1637749279.264707816]: both_arms/both_arms: Created 6 states (4 start + 2 goal)
[ INFO] [1637749279.264843297]: ParallelPlan::solve(): Solution found by one or more threads in 0.024938 seconds
[ INFO] [1637749279.401785688]: SimpleSetup: Path simplification took 0.136816 seconds and changed from 4 to 2 states
[ INFO] [1637749280.060279009]: Execution request received
[ INFO] [1637749280.060488998]: Returned 0 controllers in list
[ERROR] [1637749280.060614787]: Unable to identify any set of controllers that can actuate the specified joints: [ yumi_robl_joint_1 yumi_robl_joint_2 yumi_robl_joint_3 yumi_robl_joint_4 yumi_robl_joint_5 yumi_robl_joint_6 yumi_robl_joint_7 yumi_robr_joint_1 yumi_robr_joint_2 yumi_robr_joint_3 yumi_robr_joint_4 yumi_robr_joint_5 yumi_robr_joint_6 yumi_robr_joint_7 ]
[ERROR] [1637749280.060711060]: Known controllers and their joints:

[ INFO] [1637749280.067265775]: ABORTED: Solution found but controller failed during execution
@bhomaidan1990
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These settings have worked in my case:

ros_controllers.yaml:

# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
  joint_model_group: todo_group_name
  joint_model_group_pose: todo_state_name
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

controller_list:
  - name: /yumi/egm/jnt_traj_vel_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - yumi_robl_joint_1
      - yumi_robl_joint_2
      - yumi_robl_joint_3
      - yumi_robl_joint_4
      - yumi_robl_joint_5
      - yumi_robl_joint_6
      - yumi_robl_joint_7
      - yumi_robr_joint_1
      - yumi_robr_joint_2
      - yumi_robr_joint_3
      - yumi_robr_joint_4
      - yumi_robr_joint_5
      - yumi_robr_joint_6
      - yumi_robr_joint_7

controllers.yaml:

controller_list:
  - name: /yumi/egm/jnt_traj_vel_controller
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints:
      - yumi_robl_joint_1
      - yumi_robl_joint_2
      - yumi_robl_joint_3
      - yumi_robl_joint_4
      - yumi_robl_joint_5
      - yumi_robl_joint_6
      - yumi_robl_joint_7
      - yumi_robr_joint_1
      - yumi_robr_joint_2
      - yumi_robr_joint_3
      - yumi_robr_joint_4
      - yumi_robr_joint_5
      - yumi_robr_joint_6
      - yumi_robr_joint_7

ex3_controllers.yaml

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 250

egm_state_controller:
  type         : abb_egm_state_controller/EGMStateController
  publish_rate : 250

jnt_traj_vel_controller:
  type: velocity_controllers/JointTrajectoryController
  joints:
    - yumi_robl_joint_1
    - yumi_robl_joint_2
    - yumi_robl_joint_3
    - yumi_robl_joint_4
    - yumi_robl_joint_5
    - yumi_robl_joint_6
    - yumi_robl_joint_7
    - yumi_robr_joint_1
    - yumi_robr_joint_2
    - yumi_robr_joint_3
    - yumi_robr_joint_4
    - yumi_robr_joint_5
    - yumi_robr_joint_6
    - yumi_robr_joint_7
  constraints:
    stopped_velocity_tolerance: 0
  gains:
    yumi_robl_joint_1: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_2: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_3: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_4: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_5: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_6: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robl_joint_7: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_1: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_2: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_3: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_4: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_5: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_6: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}
    yumi_robr_joint_7: {p: 1.0, i: 0, d: 0.00, i_clamp: 0.1}

and changed the default controller in the bringup example launch file to be:

<node pkg="controller_manager" type="spawner" name="stopped" args="--stopped jnt_traj_vel_controller"/>
as it is compatible with MoveIt.

at each time to execute a motion using MoveIt, you have to start EGM joint:
rosservice call /yumi/rws/sm_addin/start_egm_joint "{}", and then switch the controller:

rosservice call /yumi/egm/controller_manager/switch_controller "start_controllers: [jnt_traj_vel_controller]
stop_controllers: ['']
strictness: 1
start_asap: false
timeout: 0.0"

And you should get: ok: True

Finally, here is my moveit_planning_execution.launch

<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->

  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
  <arg name="sim" default="false" doc="Use industrial robot simulator instead of real robot" />
  <arg name="robot_ip" unless="$(arg sim)" value="192.168.125.1" doc="IP of controller (only required if not using industrial simulator)" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" doc="Start the MoveIt database" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find yumi_moveit_config)/default_warehouse_mongo_db" doc="Path to database files" />

  <!-- load the robot_description parameter before launching ROS-I nodes -->
  <include file="$(find yumi_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <!-- run the robot simulator and action interface nodes -->
  <group if="$(arg sim)">
    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
  </group>

  <!-- run the "real robot" interface nodes -->
  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  <group unless="$(arg sim)">
    <include file="$(find abb_robot_bringup_examples)/launch/ex3_rws_and_egm_yumi_robot.launch" >
      <arg name="robot_ip" value="$(arg robot_ip)"/>
    </include>
  </group>

  <!-- , "/yumi/gripper_states" -->
  <!-- Joint state and robot state publisher calls -->
  <node name="yumi_joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <rosparam param="source_list">["/yumi/rws/joint_states"]</rosparam> 
  </node>

  <!-- publish the robot state (tf transforms) -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find yumi_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find yumi_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(find yumi_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>

@bhomaidan1990 bhomaidan1990 mentioned this issue Jul 3, 2022
Closed
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