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Problem with ObjectCollision visualization in Rviz #1007

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AleTarsi opened this issue Jan 14, 2025 · 3 comments
Closed

Problem with ObjectCollision visualization in Rviz #1007

AleTarsi opened this issue Jan 14, 2025 · 3 comments

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@AleTarsi
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AleTarsi commented Jan 14, 2025 •
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I followed the planning scene tutorial to publish Collision Objects in the MoveIt scene. The Collision object is published in /monitored_planning_scene and the robot considers the presence of the volume while planning. However, I cannot visualize the box in Rviz.

I tested the same code on different laptops and I am experiencing this problem with 2 out of 5 laptops. I am using conda environments as package manager, hence, I would exclude differences in the code version. This is my mamba list:

Click here for the mamba list. 
(m2p) camozzi@iiticb002lw023u:~$ mamba list | grep ros-humble
ros-humble-ackermann-msgs 2.0.2           py311hb335429_6    robostack-staging
ros-humble-ackermann-steering-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-action-msgs    1.2.1           py311hb335429_6    robostack-staging
ros-humble-action-tutorials-cpp 0.20.3          py311hb335429_6    robostack-staging
ros-humble-action-tutorials-interfaces 0.20.3          py311hb335429_6    robostack-staging
ros-humble-action-tutorials-py 0.20.3          py311hb335429_6    robostack-staging
ros-humble-actionlib-msgs 4.2.3           py311hb335429_6    robostack-staging
ros-humble-admittance-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-ament-cmake    1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-auto 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-copyright 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-core 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-cppcheck 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-cpplint 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-definitions 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-dependencies 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-include-directories 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-interfaces 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-libraries 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-link-flags 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-export-targets 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-flake8 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-gen-version-h 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-gmock 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-gtest 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-include-directories 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-libraries 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-lint-cmake 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-pep257 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-pytest 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-python 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-ros 0.10.0          py311hb335429_6    robostack-staging
ros-humble-ament-cmake-target-dependencies 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-test 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-uncrustify 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cmake-version 1.3.7           py311hb335429_6    robostack-staging
ros-humble-ament-cmake-xmllint 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-copyright 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cppcheck 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-cpplint  0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-flake8   0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-index-cpp 1.4.0           py311hb335429_6    robostack-staging
ros-humble-ament-index-python 1.4.0           py311hb335429_6    robostack-staging
ros-humble-ament-lint     0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-lint-auto 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-lint-cmake 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-lint-common 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-package  0.14.0          py311hb335429_6    robostack-staging
ros-humble-ament-pep257   0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-uncrustify 0.12.10         py311hb335429_6    robostack-staging
ros-humble-ament-xmllint  0.12.10         py311hb335429_6    robostack-staging
ros-humble-angles         1.15.0          py311hb335429_6    robostack-staging
ros-humble-backward-ros   1.0.2           py311h4ff203a_6    robostack-staging
ros-humble-bicycle-steering-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-builtin-interfaces 1.2.1           py311hb335429_6    robostack-staging
ros-humble-camera-calibration-parsers 3.1.8           py311hb335429_6    robostack-staging
ros-humble-camera-info-manager 3.1.8           py311hb335429_6    robostack-staging
ros-humble-class-loader   2.2.0           py311hb303436_6    robostack-staging
ros-humble-common-interfaces 4.2.3           py311hb335429_6    robostack-staging
ros-humble-composition    0.20.3          py311hb335429_6    robostack-staging
ros-humble-composition-interfaces 1.2.1           py311hb335429_6    robostack-staging
ros-humble-console-bridge-vendor 1.4.1           py311hb303436_6    robostack-staging
ros-humble-control-msgs   4.4.0           py311hb335429_6    robostack-staging
ros-humble-control-toolbox 3.2.0           py311hb335429_6    robostack-staging
ros-humble-controller-interface 2.38.0          py311hb335429_6    robostack-staging
ros-humble-controller-manager 2.38.0          py311hb335429_6    robostack-staging
ros-humble-controller-manager-msgs 2.38.0          py311hb335429_6    robostack-staging
ros-humble-cv-bridge      3.2.1           py311h5fd4792_6    robostack-staging
ros-humble-cyclonedds     0.10.4          py311h8eb0f6d_6    robostack-staging
ros-humble-demo-nodes-cpp 0.20.3          py311hb335429_6    robostack-staging
ros-humble-demo-nodes-cpp-native 0.20.3          py311hb335429_6    robostack-staging
ros-humble-demo-nodes-py  0.20.3          py311hb335429_6    robostack-staging
ros-humble-depthimage-to-laserscan 2.5.1           py311h5fd4792_6    robostack-staging
ros-humble-desktop        0.10.0          py311hb335429_6    robostack-staging
ros-humble-diagnostic-msgs 4.2.3           py311hb335429_6    robostack-staging
ros-humble-diagnostic-updater 3.1.2           py311hb335429_6    robostack-staging
ros-humble-diff-drive-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-domain-coordinator 0.10.0          py311hb335429_6    robostack-staging
ros-humble-dummy-map-server 0.20.3          py311hb335429_6    robostack-staging
ros-humble-dummy-robot-bringup 0.20.3          py311hb335429_6    robostack-staging
ros-humble-dummy-sensors  0.20.3          py311hb335429_6    robostack-staging
ros-humble-effort-controllers 2.32.0          py311hb335429_6    robostack-staging
ros-humble-eigen-stl-containers 1.0.0           py311hb335429_6    robostack-staging
ros-humble-eigen3-cmake-module 0.1.1           py311hb335429_6    robostack-staging
ros-humble-example-interfaces 0.9.3           py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-action-client 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-action-server 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-client 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-composition 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-publisher 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-service 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-subscriber 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-minimal-timer 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclcpp-multithreaded-executor 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-executors 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-action-client 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-action-server 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-client 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-publisher 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-service 0.15.1          py311hb335429_6    robostack-staging
ros-humble-examples-rclpy-minimal-subscriber 0.15.1          py311hb335429_6    robostack-staging
ros-humble-fastcdr        1.0.24          py311hb335429_6    robostack-staging
ros-humble-fastrtps       2.6.7           py311h70423f0_6    robostack-staging
ros-humble-fastrtps-cmake-module 2.2.2           py311hb335429_6    robostack-staging
ros-humble-filters        2.1.0           py311hb335429_6    robostack-staging
ros-humble-foonathan-memory-vendor 1.2.0           py311hb335429_6    robostack-staging
ros-humble-force-torque-sensor-broadcaster 2.32.0          py311hb335429_6    robostack-staging
ros-humble-forward-command-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-gazebo-dev     3.7.0           py311h281bc2f_6    robostack-staging
ros-humble-gazebo-msgs    3.7.0           py311hb335429_6    robostack-staging
ros-humble-gazebo-plugins 3.7.0           py311hb335429_6    robostack-staging
ros-humble-gazebo-ros     3.7.0           py311hb335429_6    robostack-staging
ros-humble-gazebo-ros2-control 0.4.6           py311hb335429_6    robostack-staging
ros-humble-generate-parameter-library 0.3.7           py311h5888c24_6    robostack-staging
ros-humble-generate-parameter-library-py 0.3.7           py311hb335429_6    robostack-staging
ros-humble-geometric-shapes 2.1.3           py311h391de45_6    robostack-staging
ros-humble-geometry-msgs  4.2.3           py311hb335429_6    robostack-staging
ros-humble-geometry2      0.25.5          py311hb335429_6    robostack-staging
ros-humble-gmock-vendor   1.10.9004       py311hb335429_6    robostack-staging
ros-humble-graph-msgs     0.2.0           py311hb335429_6    robostack-staging
ros-humble-gripper-controllers 2.32.0          py311hb335429_6    robostack-staging
ros-humble-gtest-vendor   1.10.9004       py311hb335429_6    robostack-staging
ros-humble-hardware-interface 2.38.0          py311hb335429_6    robostack-staging
ros-humble-iceoryx-binding-c 2.0.5           py311hb335429_6    robostack-staging
ros-humble-iceoryx-hoofs  2.0.5           py311hb335429_6    robostack-staging
ros-humble-iceoryx-posh   2.0.5           py311hb335429_6    robostack-staging
ros-humble-ignition-cmake2-vendor 0.0.2           py311hd50fb47_6    robostack-staging
ros-humble-ignition-math6-vendor 0.0.2           py311hb335429_6    robostack-staging
ros-humble-image-geometry 3.2.1           py311h5fd4792_6    robostack-staging
ros-humble-image-tools    0.20.3          py311h5fd4792_6    robostack-staging
ros-humble-image-transport 3.1.8           py311hb335429_6    robostack-staging
ros-humble-imu-sensor-broadcaster 2.32.0          py311hb335429_6    robostack-staging
ros-humble-interactive-markers 2.3.2           py311hb335429_6    robostack-staging
ros-humble-intra-process-demo 0.20.3          py311h5fd4792_6    robostack-staging
ros-humble-joint-limits   2.38.0          py311hb335429_6    robostack-staging
ros-humble-joint-state-broadcaster 2.32.0          py311hb335429_6    robostack-staging
ros-humble-joint-state-publisher 2.4.0           py311hb335429_6    robostack-staging
ros-humble-joint-state-publisher-gui 2.4.0           py311hb335429_6    robostack-staging
ros-humble-joint-trajectory-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-joy            3.3.0           py311hb335429_6    robostack-staging
ros-humble-kdl-parser     2.6.4           py311hb335429_6    robostack-staging
ros-humble-keyboard-handler 0.0.5           py311hb335429_6    robostack-staging
ros-humble-kinematics-interface 0.2.0           py311hb335429_6    robostack-staging
ros-humble-laser-geometry 2.4.0           py311hb335429_6    robostack-staging
ros-humble-launch         1.0.4           py311hb335429_6    robostack-staging
ros-humble-launch-param-builder 0.1.1           py311hb335429_6    robostack-staging
ros-humble-launch-ros     0.19.7          py311hb335429_6    robostack-staging
ros-humble-launch-testing 1.0.4           py311hb335429_6    robostack-staging
ros-humble-launch-testing-ament-cmake 1.0.4           py311hb335429_6    robostack-staging
ros-humble-launch-testing-ros 0.19.7          py311hb335429_6    robostack-staging
ros-humble-launch-xml     1.0.4           py311hb335429_6    robostack-staging
ros-humble-launch-yaml    1.0.4           py311hb335429_6    robostack-staging
ros-humble-libcurl-vendor 3.1.1           py311hfbeaf8d_6    robostack-staging
ros-humble-libstatistics-collector 1.3.1           py311hb335429_6    robostack-staging
ros-humble-libyaml-vendor 1.2.2           py311hb335429_6    robostack-staging
ros-humble-lifecycle      0.20.3          py311hb335429_6    robostack-staging
ros-humble-lifecycle-msgs 1.2.1           py311hb335429_6    robostack-staging
ros-humble-logging-demo   0.20.3          py311hb335429_6    robostack-staging
ros-humble-map-msgs       2.1.0           py311hb335429_6    robostack-staging
ros-humble-message-filters 4.3.3           py311hb335429_6    robostack-staging
ros-humble-moveit         2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-common  2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-configs-utils 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-core    2.5.5           py311h391de45_6    robostack-staging
ros-humble-moveit-kinematics 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-msgs    2.2.1           py311hb335429_6    robostack-staging
ros-humble-moveit-planners 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-planners-ompl 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-plugins 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros     2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-benchmarks 2.5.5           py311h141ba8b_6    robostack-staging
ros-humble-moveit-ros-move-group 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-occupancy-map-monitor 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-planning 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-planning-interface 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-robot-interaction 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-ros-visualization 2.5.5           py311h27406db_6    robostack-staging
ros-humble-moveit-ros-warehouse 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-servo   2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-setup-app-plugins 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-setup-assistant 2.5.5           py311h27406db_6    robostack-staging
ros-humble-moveit-setup-controllers 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-setup-core-plugins 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-setup-framework 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-setup-srdf-plugins 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-simple-controller-manager 2.5.5           py311hb335429_6    robostack-staging
ros-humble-moveit-visual-tools 4.1.0           py311hb335429_6    robostack-staging
ros-humble-nav-msgs       4.2.3           py311hb335429_6    robostack-staging
ros-humble-object-recognition-msgs 2.0.0           py311hb335429_6    robostack-staging
ros-humble-octomap-msgs   2.0.0           py311hb335429_6    robostack-staging
ros-humble-ompl           1.6.0           py311h284c4b5_6    robostack-staging
ros-humble-orocos-kdl-vendor 0.2.5           py311hb335429_6    robostack-staging
ros-humble-osrf-pycommon  2.0.2           py311hb335429_6    robostack-staging
ros-humble-parameter-traits 0.3.7           py311h5888c24_6    robostack-staging
ros-humble-pcl-conversions 2.4.0           py311hf85fee4_6    robostack-staging
ros-humble-pcl-msgs       1.0.0           py311hb335429_6    robostack-staging
ros-humble-pendulum-control 0.20.3          py311hb335429_6    robostack-staging
ros-humble-pendulum-msgs  0.20.3          py311hb335429_6    robostack-staging
ros-humble-pilz-industrial-motion-planner 2.5.5           py311h9ee2941_6    robostack-staging
ros-humble-pluginlib      5.1.0           py311hb335429_6    robostack-staging
ros-humble-position-controllers 2.32.0          py311hb335429_6    robostack-staging
ros-humble-pybind11-vendor 2.4.2           py311hb335429_6    robostack-staging
ros-humble-python-cmake-module 0.10.0          py311hb335429_6    robostack-staging
ros-humble-python-qt-binding 1.1.2           py311hf4f0b2d_6    robostack-staging
ros-humble-qt-dotgraph    2.2.3           py311hb335429_6    robostack-staging
ros-humble-qt-gui         2.2.3           py311hf4f0b2d_6    robostack-staging
ros-humble-qt-gui-cpp     2.2.3           py311h27406db_6    robostack-staging
ros-humble-qt-gui-py-common 2.2.3           py311hb335429_6    robostack-staging
ros-humble-quality-of-service-demo-cpp 0.20.3          py311hb335429_6    robostack-staging
ros-humble-quality-of-service-demo-py 0.20.3          py311hb335429_6    robostack-staging
ros-humble-random-numbers 2.0.1           py311hb335429_6    robostack-staging
ros-humble-range-sensor-broadcaster 2.32.0          py311hb335429_6    robostack-staging
ros-humble-rcl            5.3.7           py311hb335429_6    robostack-staging
ros-humble-rcl-action     5.3.7           py311hb335429_6    robostack-staging
ros-humble-rcl-interfaces 1.2.1           py311hb335429_6    robostack-staging
ros-humble-rcl-lifecycle  5.3.7           py311hb335429_6    robostack-staging
ros-humble-rcl-logging-interface 2.3.1           py311hb335429_6    robostack-staging
ros-humble-rcl-logging-spdlog 2.3.1           py311h9883907_6    robostack-staging
ros-humble-rcl-yaml-param-parser 5.3.7           py311hb335429_6    robostack-staging
ros-humble-rclcpp         16.0.8          py311hb335429_6    robostack-staging
ros-humble-rclcpp-action  16.0.8          py311hb335429_6    robostack-staging
ros-humble-rclcpp-components 16.0.8          py311hb335429_6    robostack-staging
ros-humble-rclcpp-lifecycle 16.0.8          py311hb335429_6    robostack-staging
ros-humble-rclpy          3.3.11          py311hb335429_6    robostack-staging
ros-humble-rcpputils      2.4.1           py311hb335429_6    robostack-staging
ros-humble-rcutils        5.1.4           py311hb335429_6    robostack-staging
ros-humble-realtime-tools 2.5.0           py311hb335429_6    robostack-staging
ros-humble-resource-retriever 3.1.1           py311hb335429_6    robostack-staging
ros-humble-rmw            6.1.1           py311hb335429_6    robostack-staging
ros-humble-rmw-connextdds 0.11.2          py311hb335429_6    robostack-staging
ros-humble-rmw-connextdds-common 0.11.2          py311hb335429_6    robostack-staging
ros-humble-rmw-cyclonedds-cpp 1.3.4           py311hb335429_6    robostack-staging
ros-humble-rmw-dds-common 1.6.0           py311hb335429_6    robostack-staging
ros-humble-rmw-fastrtps-cpp 6.2.6           py311hb335429_6    robostack-staging
ros-humble-rmw-fastrtps-dynamic-cpp 6.2.6           py311hb335429_6    robostack-staging
ros-humble-rmw-fastrtps-shared-cpp 6.2.6           py311hb335429_6    robostack-staging
ros-humble-rmw-implementation 2.8.2           py311hb335429_6    robostack-staging
ros-humble-rmw-implementation-cmake 6.1.1           py311hb335429_6    robostack-staging
ros-humble-robot-state-publisher 3.0.3           py311hb335429_6    robostack-staging
ros-humble-ros-base       0.10.0          py311hb335429_6    robostack-staging
ros-humble-ros-core       0.10.0          py311hb335429_6    robostack-staging
ros-humble-ros-environment 3.2.2           py311hb335429_6    robostack-staging
ros-humble-ros-workspace  1.0.2           py311hb335429_6    robostack-staging
ros-humble-ros2-control   2.38.0          py311hb335429_6    robostack-staging
ros-humble-ros2-control-test-assets 2.38.0          py311hb335429_6    robostack-staging
ros-humble-ros2-controllers 2.32.0          py311hb335429_6    robostack-staging
ros-humble-ros2-controllers-test-nodes 2.32.0          py311hb335429_6    robostack-staging
ros-humble-ros2action     0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2bag        0.15.9          py311hb335429_6    robostack-staging
ros-humble-ros2cli        0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2cli-common-extensions 0.1.1           py311hb335429_6    robostack-staging
ros-humble-ros2component  0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2controlcli 2.38.0          py311hb335429_6    robostack-staging
ros-humble-ros2doctor     0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2interface  0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2launch     0.19.7          py311hb335429_6    robostack-staging
ros-humble-ros2lifecycle  0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2multicast  0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2node       0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2param      0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2pkg        0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2run        0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2service    0.18.8          py311hb335429_6    robostack-staging
ros-humble-ros2topic      0.18.8          py311hb335429_6    robostack-staging
ros-humble-rosbag2        0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-compression 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-compression-zstd 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-cpp    0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-interfaces 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-py     0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-storage 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-storage-default-plugins 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosbag2-transport 0.15.9          py311hb335429_6    robostack-staging
ros-humble-rosgraph-msgs  1.2.1           py311hb335429_6    robostack-staging
ros-humble-rosidl-adapter 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-cli     3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-cmake   3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-default-generators 1.2.0           py311hb335429_6    robostack-staging
ros-humble-rosidl-default-runtime 1.2.0           py311hb335429_6    robostack-staging
ros-humble-rosidl-generator-c 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-generator-cpp 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-generator-py 0.14.4          py311hb335429_6    robostack-staging
ros-humble-rosidl-parser  3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-runtime-c 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-runtime-cpp 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-runtime-py 0.9.3           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-c 2.0.1           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-cpp 2.0.1           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-fastrtps-c 2.2.2           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-fastrtps-cpp 2.2.2           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-interface 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-introspection-c 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rosidl-typesupport-introspection-cpp 3.1.5           py311hb335429_6    robostack-staging
ros-humble-rpyutils       0.2.1           py311hb335429_6    robostack-staging
ros-humble-rqt-action     2.0.1           py311hb335429_6    robostack-staging
ros-humble-rqt-bag        1.1.4           py311hb335429_6    robostack-staging
ros-humble-rqt-bag-plugins 1.1.4           py311hb335429_6    robostack-staging
ros-humble-rqt-common-plugins 1.2.0           py311hb335429_6    robostack-staging
ros-humble-rqt-console    2.0.2           py311hb335429_6    robostack-staging
ros-humble-rqt-graph      1.3.0           py311hb335429_6    robostack-staging
ros-humble-rqt-gui        1.1.6           py311hb335429_6    robostack-staging
ros-humble-rqt-gui-cpp    1.1.6           py311h27406db_6    robostack-staging
ros-humble-rqt-gui-py     1.1.6           py311hb335429_6    robostack-staging
ros-humble-rqt-image-view 1.2.0           py311h27406db_6    robostack-staging
ros-humble-rqt-msg        1.2.0           py311hb335429_6    robostack-staging
ros-humble-rqt-plot       1.1.2           py311hb335429_6    robostack-staging
ros-humble-rqt-publisher  1.5.0           py311hb335429_6    robostack-staging
ros-humble-rqt-py-common  1.1.6           py311h27406db_6    robostack-staging
ros-humble-rqt-py-console 1.0.2           py311hb335429_6    robostack-staging
ros-humble-rqt-reconfigure 1.1.2           py311hb335429_6    robostack-staging
ros-humble-rqt-service-caller 1.0.5           py311hb335429_6    robostack-staging
ros-humble-rqt-shell      1.0.2           py311hb335429_6    robostack-staging
ros-humble-rqt-srv        1.0.3           py311hb335429_6    robostack-staging
ros-humble-rqt-topic      1.5.0           py311hb335429_6    robostack-staging
ros-humble-rsl            1.1.0           py311hba9e1f2_6    robostack-staging
ros-humble-rti-connext-dds-cmake-module 0.11.2          py311hb335429_6    robostack-staging
ros-humble-rttest         0.13.0          py311hb335429_6    robostack-staging
ros-humble-ruckig         0.9.2           py311hb335429_6    robostack-staging
ros-humble-rviz-assimp-vendor 11.2.10         py311h391de45_6    robostack-staging
ros-humble-rviz-common    11.2.10         py311h27406db_6    robostack-staging
ros-humble-rviz-default-plugins 11.2.10         py311h27406db_6    robostack-staging
ros-humble-rviz-ogre-vendor 11.2.10         py311hcb5fb3e_6    robostack-staging
ros-humble-rviz-rendering 11.2.10         py311hd4beeb7_6    robostack-staging
ros-humble-rviz-visual-tools 4.1.4           py311h27406db_6    robostack-staging
ros-humble-rviz2          11.2.10         py311h27406db_6    robostack-staging
ros-humble-sdl2-vendor    3.3.0           py311h5e8cc36_6    robostack-staging
ros-humble-sensor-msgs    4.2.3           py311hb335429_6    robostack-staging
ros-humble-sensor-msgs-py 4.2.3           py311hb335429_6    robostack-staging
ros-humble-shape-msgs     4.2.3           py311hb335429_6    robostack-staging
ros-humble-shared-queues-vendor 0.15.9          py311hb335429_6    robostack-staging
ros-humble-spdlog-vendor  1.3.1           py311h9883907_6    robostack-staging
ros-humble-sqlite3-vendor 0.15.9          py311he5a647e_6    robostack-staging
ros-humble-srdfdom        2.0.4           py311hb303436_6    robostack-staging
ros-humble-sros2          0.10.4          py311hb335429_6    robostack-staging
ros-humble-sros2-cmake    0.10.4          py311hb335429_6    robostack-staging
ros-humble-statistics-msgs 1.2.1           py311hb335429_6    robostack-staging
ros-humble-std-msgs       4.2.3           py311hb335429_6    robostack-staging
ros-humble-std-srvs       4.2.3           py311hb335429_6    robostack-staging
ros-humble-steering-controllers-library 2.32.0          py311hb335429_6    robostack-staging
ros-humble-stereo-msgs    4.2.3           py311hb335429_6    robostack-staging
ros-humble-tango-icons-vendor 0.1.1           py311hb335429_6    robostack-staging
ros-humble-tcb-span       1.0.2           py311hb335429_6    robostack-staging
ros-humble-teleop-twist-joy 2.4.5           py311hb335429_6    robostack-staging
ros-humble-teleop-twist-keyboard 2.3.2           py311hb335429_6    robostack-staging
ros-humble-tf2            0.25.5          py311hb303436_6    robostack-staging
ros-humble-tf2-bullet     0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-eigen      0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-eigen-kdl  0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-geometry-msgs 0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-kdl        0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-msgs       0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-py         0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-ros        0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-ros-py     0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-sensor-msgs 0.25.5          py311hb335429_6    robostack-staging
ros-humble-tf2-tools      0.25.5          py311hb335429_6    robostack-staging
ros-humble-tinyxml-vendor 0.8.3           py311hb335429_6    robostack-staging
ros-humble-tinyxml2-vendor 0.7.6           py311hfc76a15_6    robostack-staging
ros-humble-tl-expected    1.0.2           py311hb335429_6    robostack-staging
ros-humble-tlsf           0.7.0           py311hb335429_6    robostack-staging
ros-humble-tlsf-cpp       0.13.0          py311hb335429_6    robostack-staging
ros-humble-topic-monitor  0.20.3          py311hb335429_6    robostack-staging
ros-humble-tracetools     4.1.1           py311hb335429_6    robostack-staging
ros-humble-trajectory-msgs 4.2.3           py311hb335429_6    robostack-staging
ros-humble-transmission-interface 2.38.0          py311hb335429_6    robostack-staging
ros-humble-tricycle-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-tricycle-steering-controller 2.32.0          py311hb335429_6    robostack-staging
ros-humble-turtlesim      1.4.2           py311h27406db_6    robostack-staging
ros-humble-uncrustify-vendor 2.0.2           py311hb335429_6    robostack-staging
ros-humble-unique-identifier-msgs 2.2.1           py311hb335429_6    robostack-staging
ros-humble-ur             2.2.10          py311hb335429_6    robostack-staging
ros-humble-ur-calibration 2.2.10          py311hb335429_6    robostack-staging
ros-humble-ur-client-library 1.3.4           py311hb335429_6    robostack-staging
ros-humble-ur-controllers 2.2.10          py311hb335429_6    robostack-staging
ros-humble-ur-dashboard-msgs 2.2.10          py311hb335429_6    robostack-staging
ros-humble-ur-description 2.1.3           py311h0d0431f_6    robostack-staging
ros-humble-ur-moveit-config 2.2.10          py311hb335429_6    robostack-staging
ros-humble-ur-msgs        2.0.0           py311hb335429_6    robostack-staging
ros-humble-ur-robot-driver 2.2.10          py311hb335429_6    robostack-staging
ros-humble-urdf           2.6.0           py311hb335429_6    robostack-staging
ros-humble-urdf-parser-plugin 2.6.0           py311hb335429_6    robostack-staging
ros-humble-urdfdom        3.0.2           py311hb303436_6    robostack-staging
ros-humble-urdfdom-headers 1.0.6           py311hb335429_6    robostack-staging
ros-humble-urdfdom-py     1.2.1           py311hb335429_6    robostack-staging
ros-humble-velocity-controllers 2.32.0          py311hb335429_6    robostack-staging
ros-humble-visualization-msgs 4.2.3           py311hb335429_6    robostack-staging
ros-humble-warehouse-ros  2.0.4           py311h8eb0f6d_6    robostack-staging
ros-humble-warehouse-ros-sqlite 1.0.3           py311he5a647e_6    robostack-staging
ros-humble-xacro          2.0.8           py311hb335429_6    robostack-staging
ros-humble-yaml-cpp-vendor 8.0.2           py311hb335429_6    robostack-staging
ros-humble-zstd-vendor    0.15.9          py311hefdfea7_6    robostack-staging

I tried looking at the different topics /planning_scene, /planning_scene_world, /attached_collision_object, /collision_object but I didn’t spot any difference.

I tested also the following tutorial obtaining the same result: 2 out of 5 laptops are not working.

I expect to visualize the box as shown in the picture below:

In the following table also the result of rqt_graph compared:

Working case Not working case
Image Image

Output MoveIt launch file:

MoveIt Launch 
(m2p) camozzi@iiticb002lw023u:~/code/project-jl2-camozzi/jl2_workspace$ ros2 launch main_package robot_control.launch.py
[INFO] [launch]: All log files can be found below /home/camozzi/.ros/log/2025-01-15-10-03-12-248284-iiticb002lw023u-12274
[INFO] [launch]: Default logging verbosity is set to INFO
Robot calibration correctly defined!
[INFO] [dashboard_client-1]: process started with pid [12278]
[INFO] [urscript_interface-2]: process started with pid [12280]
[INFO] [robot_state_publisher-3]: process started with pid [12282]
[dashboard_client-1] [INFO] [1736931792.694649730] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-1] 
[robot_state_publisher-3] [INFO] [1736931792.696384630] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1736931792.696416111] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1736931792.696419879] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-3] [INFO] [1736931792.696422289] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1736931792.696424438] [robot_state_publisher]: got segment camera_link_gazebo
[robot_state_publisher-3] [INFO] [1736931792.696426550] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-3] [INFO] [1736931792.696428644] [robot_state_publisher]: got segment end_effector
[robot_state_publisher-3] [INFO] [1736931792.696430750] [robot_state_publisher]: got segment finger_1
[robot_state_publisher-3] [INFO] [1736931792.696432937] [robot_state_publisher]: got segment finger_2
[robot_state_publisher-3] [INFO] [1736931792.696435061] [robot_state_publisher]: got segment flange
[robot_state_publisher-3] [INFO] [1736931792.696437079] [robot_state_publisher]: got segment flange_link
[robot_state_publisher-3] [INFO] [1736931792.696439178] [robot_state_publisher]: got segment flange_to_camera
[robot_state_publisher-3] [INFO] [1736931792.696441271] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-3] [INFO] [1736931792.696443367] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-3] [INFO] [1736931792.696445436] [robot_state_publisher]: got segment rack_1
[robot_state_publisher-3] [INFO] [1736931792.696447526] [robot_state_publisher]: got segment rack_2
[robot_state_publisher-3] [INFO] [1736931792.696449540] [robot_state_publisher]: got segment root_link
[robot_state_publisher-3] [INFO] [1736931792.696451620] [robot_state_publisher]: got segment shaft
[robot_state_publisher-3] [INFO] [1736931792.696453673] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-3] [INFO] [1736931792.696455691] [robot_state_publisher]: got segment tool0
[robot_state_publisher-3] [INFO] [1736931792.696457617] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-3] [INFO] [1736931792.696459682] [robot_state_publisher]: got segment world
[robot_state_publisher-3] [INFO] [1736931792.696461643] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-3] [INFO] [1736931792.696463743] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-3] [INFO] [1736931792.696465940] [robot_state_publisher]: got segment wrist_3_link
[INFO] [ur_ros2_control_node-4]: process started with pid [12313]
[ur_ros2_control_node-4] [WARN] [1736931795.826393048] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-4] text not specified in the tf_prefix tag
[ur_ros2_control_node-4] [INFO] [1736931795.826597702] [resource_manager]: Loading hardware 'ur' 
[ur_ros2_control_node-4] [INFO] [1736931795.827309204] [resource_manager]: Initialize hardware 'ur' 
[ur_ros2_control_node-4] [INFO] [1736931795.827329723] [resource_manager]: Successful initialization of hardware 'ur'
[ur_ros2_control_node-4] [INFO] [1736931795.827408509] [resource_manager]: 'configure' hardware 'ur' 
[ur_ros2_control_node-4] [INFO] [1736931795.827411423] [resource_manager]: Successful 'configure' of hardware 'ur'
[ur_ros2_control_node-4] [INFO] [1736931795.827424285] [resource_manager]: 'activate' hardware 'ur' 
[ur_ros2_control_node-4] [INFO] [1736931795.827426328] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-4] [INFO] [1736931795.827431634] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-4] [WARN] [1736931795.828120932] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-4] [INFO] [1736931795.948157016] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-4] [INFO] [1736931795.948788823] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ur_ros2_control_node-4] [WARN] [1736931797.010414596] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-4] [WARN] [1736931797.010436672] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-4] [INFO] [1736931797.010441378] [URPositionHardwareInterface]: Calibration checksum: 'calib_11453222953044254961'.
[INFO] [controller_stopper_node-5]: process started with pid [12332]
[INFO] [spawner-6]: process started with pid [12334]
[controller_stopper_node-5] [INFO] [1736931797.694873711] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-4] [INFO] [1736931798.075718123] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-4] [INFO] [1736931798.075773204] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-4] [INFO] [1736931798.075780245] [resource_manager]: Successful 'activate' of hardware 'ur'
[controller_stopper_node-5] [INFO] [1736931798.077129985] [Controller stopper]: Service available
[controller_stopper_node-5] [INFO] [1736931798.077141597] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-5] [INFO] [1736931798.077149396] [Controller stopper]: Service available
[ur_ros2_control_node-4] [WARN] [1736931798.077509531] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-4] [WARN] [1736931798.077609946] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-4] [INFO] [1736931798.198032586] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-6] [INFO] [1736931798.202398254] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-4] [INFO] [1736931798.202898624] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-4] [INFO] [1736931798.202942152] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-6] [INFO] [1736931798.210433596] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-6]: process has finished cleanly [pid 12334]
[INFO] [spawner-7]: process started with pid [12392]
[ur_ros2_control_node-4] [INFO] [1736931800.794478146] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-4] [INFO] [1736931800.797017160] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[spawner-7] [INFO] [1736931800.805135907] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-4] [INFO] [1736931800.805518252] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-4] [INFO] [1736931800.805544942] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-7] [INFO] [1736931800.812315529] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[ur_ros2_control_node-4] [INFO] [1736931800.823284887] [controller_manager]: Loading controller 'io_and_status_controller'
[spawner-7] [INFO] [1736931800.826371631] [spawner_speed_scaling_state_broadcaster]: Loaded io_and_status_controller
[ur_ros2_control_node-4] [INFO] [1736931800.827451349] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-7] [INFO] [1736931800.832375204] [spawner_speed_scaling_state_broadcaster]: Configured and activated io_and_status_controller
[INFO] [spawner-7]: process has finished cleanly [pid 12392]
Launching your Real Robot config in MoveIt
WARNING:root:Cannot infer URDF from `/home/camozzi/code/project-jl2-camozzi/jl2_workspace/install/ur5e_moveit/share/ur5e_moveit`. -- using config/jl2.urdf
WARNING:root:Cannot infer SRDF from `/home/camozzi/code/project-jl2-camozzi/jl2_workspace/install/ur5e_moveit/share/ur5e_moveit`. -- using config/jl2.srdf
[ur_ros2_control_node-4] [INFO] [1736931802.789353880] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[ur_ros2_control_node-4] [INFO] [1736931802.799836094] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[INFO] [spawner-8]: process started with pid [12403]
[INFO] [move_group-9]: process started with pid [12416]
[INFO] [rviz2-10]: process started with pid [12418]
[INFO] [spawner-11]: process started with pid [12420]
[INFO] [pilz_moveit_node-12]: process started with pid [12422]
[spawner-8] [INFO] [1736931802.799383287] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[move_group-9] [INFO] [1736931802.875556099] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00189273 seconds
[move_group-9] [INFO] [1736931802.875576501] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[pilz_moveit_node-12] [INFO] [1736931802.878373080] [pilz_sequence_node]: Server Created!
[pilz_moveit_node-12] [INFO] [1736931802.881669714] [pilz_sequence_node]: Ready to receive target poses
[pilz_moveit_node-12] [INFO] [1736931802.885042424] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00295184 seconds
[pilz_moveit_node-12] [INFO] [1736931802.885054529] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[move_group-9] [WARN] [1736931802.915295806] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[pilz_moveit_node-12] [WARN] [1736931802.923339710] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[INFO] [spawner-8]: process has finished cleanly [pid 12403]
[rviz2-10] [INFO] [1736931803.004511694] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1736931803.004545665] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-10] [INFO] [1736931803.023770009] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-10]          at line 253 in /home/camozzi/miniforge3/envs/m2p/include/class_loader/class_loader/class_loader_core.hpp
[move_group-9] [INFO] [1736931803.113969400] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-9] [INFO] [1736931803.114032985] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-9] [INFO] [1736931803.114200696] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-9] [INFO] [1736931803.114485827] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-9] [INFO] [1736931803.114493420] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-9] [INFO] [1736931803.115049561] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-9] [INFO] [1736931803.115056148] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-9] [INFO] [1736931803.115251624] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-9] [INFO] [1736931803.115436982] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-9] [WARN] [1736931803.115553423] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-9] [ERROR] [1736931803.115609436] [moveit.ros.occupancy_map_monitor.middleware_handle]: Exception while loading octomap updater 'occupancy_map_monitor/PointCloudOctomapUpdater': According to the loaded plugin descriptions the class occupancy_map_monitor/PointCloudOctomapUpdater with base class type occupancy_map_monitor::OccupancyMapUpdater does not exist. Declared types are 
[move_group-9] 
[move_group-9] [ERROR] [1736931803.115615936] [moveit.ros.occupancy_map_monitor]: Failed to load sensor: `camera_1_pointcloud` of type: `occupancy_map_monitor/PointCloudOctomapUpdater`
[ur_ros2_control_node-4] [INFO] [1736931803.186233159] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-4] [WARN] [1736931803.189060441] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-11] [INFO] [1736931803.190372345] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-4] [INFO] [1736931803.192773947] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-4] [INFO] [1736931803.192906982] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-4] [INFO] [1736931803.192934104] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-4] [INFO] [1736931803.192944866] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-4] [INFO] [1736931803.193201987] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-4] [INFO] [1736931803.193858039] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-11] [INFO] [1736931803.200351660] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[INFO] [spawner-11]: process has finished cleanly [pid 12420]
[move_group-9] [INFO] [1736931803.545055000] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-9] [INFO] [1736931803.553330065] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-9] [INFO] [1736931803.554420144] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1736931803.554427802] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-9] [INFO] [1736931803.554430104] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-9] [INFO] [1736931803.554436749] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-9] [INFO] [1736931803.554443148] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-9] [INFO] [1736931803.554445697] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1736931803.554451197] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-9] [INFO] [1736931803.554452997] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-9] [INFO] [1736931803.554454652] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-9] [INFO] [1736931803.554459393] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-9] [INFO] [1736931803.554461222] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-9] [INFO] [1736931803.554475419] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-9] [INFO] [1736931803.554476541] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-9] [INFO] [1736931803.554477838] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-9] [INFO] [1736931803.555046174] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-9] [INFO] [1736931803.556035037] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-9] [INFO] [1736931803.558239804] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-9] [INFO] [1736931803.558252161] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-9] [INFO] [1736931803.559195830] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-9] [INFO] [1736931803.559205044] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-9] [INFO] [1736931803.559779367] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-9] [INFO] [1736931803.559787193] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-9] [INFO] [1736931803.560330401] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-9] [INFO] [1736931803.560339433] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-9] [INFO] [1736931803.569270824] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-9] [INFO] [1736931803.570304703] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-9] [INFO] [1736931803.570405884] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-9] [INFO] [1736931803.570415777] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-9] [INFO] [1736931803.570537078] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-9] [INFO] [1736931803.570541754] [move_group.move_group]: MoveGroup debug mode is ON
[pilz_moveit_node-12] [INFO] [1736931803.577167459] [move_group_interface]: Ready to take commands for planning group manipulator.
[pilz_moveit_node-12] [INFO] [1736931803.577193665] [MoveItPilz]: Controlled Link: end_effector
[move_group-9] [INFO] [1736931803.577877647] [moveit.pilz_industrial_motion_planner.move_group_sequence_action]: initialize move group sequence action
[move_group-9] [INFO] [1736931803.578947244] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-9] [WARN] [1736931803.579016407] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579051042] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579066867] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579079990] [move_group]: Failed loading deceleration limits
[pilz_moveit_node-12] [INFO] [1736931803.579075460] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00185006 seconds
[pilz_moveit_node-12] [INFO] [1736931803.579083183] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[move_group-9] [WARN] [1736931803.579091739] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579103439] [move_group]: Failed loading deceleration limits
[move_group-9] [INFO] [1736931803.579122949] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-9] [WARN] [1736931803.579134212] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579144662] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579154689] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579166474] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579177478] [move_group]: Failed loading deceleration limits
[move_group-9] [WARN] [1736931803.579188576] [move_group]: Failed loading deceleration limits
[move_group-9] [INFO] [1736931803.579799539] [move_group.move_group]: 
[move_group-9] 
[move_group-9] ********************************************************
[move_group-9] * MoveGroup using: 
[move_group-9] *     - ApplyPlanningSceneService
[move_group-9] *     - ClearOctomapService
[move_group-9] *     - CartesianPathService
[move_group-9] *     - ExecuteTrajectoryAction
[move_group-9] *     - GetPlanningSceneService
[move_group-9] *     - KinematicsService
[move_group-9] *     - MoveAction
[move_group-9] *     - MotionPlanService
[move_group-9] *     - QueryPlannersService
[move_group-9] *     - StateValidationService
[move_group-9] *     - SequenceAction
[move_group-9] *     - SequenceService
[move_group-9] ********************************************************
[move_group-9] 
[move_group-9] [INFO] [1736931803.579826441] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin pilz_industrial_motion_planner/CommandPlanner
[move_group-9] [INFO] [1736931803.579836449] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-9] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-9] Loading 'move_group/ClearOctomapService'...
[move_group-9] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-9] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-9] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-9] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-9] Loading 'move_group/MoveGroupMoveAction'...
[move_group-9] Loading 'move_group/MoveGroupPlanService'...
[move_group-9] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-9] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-9] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[move_group-9] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[move_group-9] 
[move_group-9] You can start planning now!
[move_group-9] 
[pilz_moveit_node-12] [WARN] [1736931803.609825699] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[pilz_moveit_node-12] [INFO] [1736931803.791901397] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[pilz_moveit_node-12] [INFO] [1736931803.792302593] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[pilz_moveit_node-12] [INFO] [1736931803.792646377] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[pilz_moveit_node-12] [INFO] [1736931803.792650991] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[pilz_moveit_node-12] [INFO] [1736931803.792778943] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[pilz_moveit_node-12] [INFO] [1736931803.792926785] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[pilz_moveit_node-12] [INFO] [1736931803.793129043] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[pilz_moveit_node-12] [INFO] [1736931803.793313236] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[pilz_moveit_node-12] [INFO] [1736931803.794005190] [MoveItPilz.remote_control]: RemoteControl Ready.
[pilz_moveit_node-12] [INFO] [1736931803.795163211] [pilz_sequence_node]: Ready to take target goals.
[rviz2-10] [ERROR] [1736931806.100331334] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-10] [INFO] [1736931806.111186437] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-10] [INFO] [1736931806.118321670] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0021162 seconds
[rviz2-10] [INFO] [1736931806.118345185] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[rviz2-10] [WARN] [1736931806.157692581] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-10] [WARN] [1736931806.422858807] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-10] [INFO] [1736931806.460583077] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-10] [INFO] [1736931806.477859099] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00168143 seconds
[rviz2-10] [INFO] [1736931806.477877894] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[rviz2-10] [WARN] [1736931806.513679059] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-10] [ERROR] [1736931806.518020971] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.shoulder_pan_joint.max_position} is of type {double}, setting it to {string} is not allowed.
[rviz2-10] [INFO] [1736931806.519802496] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00168041 seconds
[rviz2-10] [INFO] [1736931806.519810016] [moveit_robot_model.robot_model]: Loading robot model 'jl2'...
[rviz2-10] [WARN] [1736931806.555678072] [moveit_robot_model.robot_model]: Link end_effector has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[rviz2-10] [ERROR] [1736931806.559307042] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.shoulder_pan_joint.max_position} is of type {double}, setting it to {string} is not allowed.
@AleTarsi
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On the laptops in which the visualization doesn’t work, I can still see the collision objects on topic /monitored_planning_scene:

Here the result of ros2 topic echo /monitored_planning_scene 
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736931657
        nanosec: 435391540
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -0.8729313055621546
    - -1.3129354280284424
    - 1.2297447363482874
    - -1.541550950413086
    - -1.5508673826800745
    - 0.2064502239227295
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms: []
allowed_collision_matrix:
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding:
- link_name: base_link_inertia
  padding: 0.0
- link_name: finger_1
  padding: 0.0
- link_name: finger_2
  padding: 0.0
- link_name: flange_link
  padding: 0.0
- link_name: flange_to_camera
  padding: 0.0
- link_name: forearm_link
  padding: 0.0
- link_name: rack_1
  padding: 0.0
- link_name: rack_2
  padding: 0.0
- link_name: root_link
  padding: 0.0
- link_name: shaft
  padding: 0.0
- link_name: shoulder_link
  padding: 0.0
- link_name: upper_arm_link
  padding: 0.0
- link_name: wrist_1_link
  padding: 0.0
- link_name: wrist_2_link
  padding: 0.0
- link_name: wrist_3_link
  padding: 0.0
link_scale:
- link_name: base_link_inertia
  scale: 1.0
- link_name: finger_1
  scale: 1.0
- link_name: finger_2
  scale: 1.0
- link_name: flange_link
  scale: 1.0
- link_name: flange_to_camera
  scale: 1.0
- link_name: forearm_link
  scale: 1.0
- link_name: rack_1
  scale: 1.0
- link_name: rack_2
  scale: 1.0
- link_name: root_link
  scale: 1.0
- link_name: shaft
  scale: 1.0
- link_name: shoulder_link
  scale: 1.0
- link_name: upper_arm_link
  scale: 1.0
- link_name: wrist_1_link
  scale: 1.0
- link_name: wrist_2_link
  scale: 1.0
- link_name: wrist_3_link
  scale: 1.0
object_colors: []
world:
  collision_objects:
  - header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    pose:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    id: box
    type:
      key: ''
      db: ''
    primitives: []
    primitive_poses: []
    meshes: []
    mesh_poses: []
    planes: []
    plane_poses: []
    subframe_names: []
    subframe_poses: []
    operation: "\x01"
  octomap:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: ''
    origin:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap:
      header:
        stamp:
          sec: 0
          nanosec: 0
        frame_id: ''
      binary: false
      id: ''
      resolution: 0.0
      data: []
is_diff: true
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736931657
        nanosec: 431388331
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -0.8729670683490198
    - -1.3129235070994874
    - 1.229769531880514
    - -1.5415631097606202
    - -1.550819222127096
    - 0.2064380645751953
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms: []
allowed_collision_matrix:
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding:
- link_name: base_link_inertia
  padding: 0.0
- link_name: finger_1
  padding: 0.0
- link_name: finger_2
  padding: 0.0
- link_name: flange_link
  padding: 0.0
- link_name: flange_to_camera
  padding: 0.0
- link_name: forearm_link
  padding: 0.0
- link_name: rack_1
  padding: 0.0
- link_name: rack_2
  padding: 0.0
- link_name: root_link
  padding: 0.0
- link_name: shaft
  padding: 0.0
- link_name: shoulder_link
  padding: 0.0
- link_name: upper_arm_link
  padding: 0.0
- link_name: wrist_1_link
  padding: 0.0
- link_name: wrist_2_link
  padding: 0.0
- link_name: wrist_3_link
  padding: 0.0
link_scale:
- link_name: base_link_inertia
  scale: 1.0
- link_name: finger_1
  scale: 1.0
- link_name: finger_2
  scale: 1.0
- link_name: flange_link
  scale: 1.0
- link_name: flange_to_camera
  scale: 1.0
- link_name: forearm_link
  scale: 1.0
- link_name: rack_1
  scale: 1.0
- link_name: rack_2
  scale: 1.0
- link_name: root_link
  scale: 1.0
- link_name: shaft
  scale: 1.0
- link_name: shoulder_link
  scale: 1.0
- link_name: upper_arm_link
  scale: 1.0
- link_name: wrist_1_link
  scale: 1.0
- link_name: wrist_2_link
  scale: 1.0
- link_name: wrist_3_link
  scale: 1.0
object_colors: []
world:
  collision_objects:
  - header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    pose:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    id: box
    type:
      key: ''
      db: ''
    primitives: []
    primitive_poses: []
    meshes: []
    mesh_poses: []
    planes: []
    plane_poses: []
    subframe_names: []
    subframe_poses: []
    operation: "\x01"
  octomap:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: ''
    origin:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap:
      header:
        stamp:
          sec: 0
          nanosec: 0
        frame_id: ''
      binary: false
      id: ''
      resolution: 0.0
      data: []
is_diff: true
---

@AleTarsi
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AleTarsi commented Jan 15, 2025 •
edited
Loading

I noticed a difference in the /monitored_planning_scene, in the case it doesn't works I get is_diff: true for all the messages and the allowed_collision_matrix is empty.

Not working case: 
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736934167
        nanosec: 704009022
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -1.426513973866598
    - -1.4754741948894043
    - 1.981518570576803
    - -2.179256101647848
    - -1.116347614918844
    - -0.4884570280658167
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms: []
allowed_collision_matrix:
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding:
- link_name: base_link_inertia
  padding: 0.0
- link_name: finger_1
  padding: 0.0
- link_name: finger_2
  padding: 0.0
- link_name: flange_link
  padding: 0.0
- link_name: flange_to_camera
  padding: 0.0
- link_name: forearm_link
  padding: 0.0
- link_name: rack_1
  padding: 0.0
- link_name: rack_2
  padding: 0.0
- link_name: root_link
  padding: 0.0
- link_name: shaft
  padding: 0.0
- link_name: shoulder_link
  padding: 0.0
- link_name: upper_arm_link
  padding: 0.0
- link_name: wrist_1_link
  padding: 0.0
- link_name: wrist_2_link
  padding: 0.0
- link_name: wrist_3_link
  padding: 0.0
link_scale:
- link_name: base_link_inertia
  scale: 1.0
- link_name: finger_1
  scale: 1.0
- link_name: finger_2
  scale: 1.0
- link_name: flange_link
  scale: 1.0
- link_name: flange_to_camera
  scale: 1.0
- link_name: forearm_link
  scale: 1.0
- link_name: rack_1
  scale: 1.0
- link_name: rack_2
  scale: 1.0
- link_name: root_link
  scale: 1.0
- link_name: shaft
  scale: 1.0
- link_name: shoulder_link
  scale: 1.0
- link_name: upper_arm_link
  scale: 1.0
- link_name: wrist_1_link
  scale: 1.0
- link_name: wrist_2_link
  scale: 1.0
- link_name: wrist_3_link
  scale: 1.0
object_colors: []
world:
  collision_objects: []
  octomap:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: ''
    origin:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap:
      header:
        stamp:
          sec: 0
          nanosec: 0
        frame_id: ''
      binary: false
      id: ''
      resolution: 0.0
      data: []
is_diff: true
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736934167
        nanosec: 742180832
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -1.426502529774801
    - -1.4754741948894043
    - 1.9815548102008265
    - -2.179268022576803
    - -1.116432015095846
    - -0.4884570280658167
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms: []
allowed_collision_matrix:
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding:
- link_name: base_link_inertia
  padding: 0.0
- link_name: finger_1
  padding: 0.0
- link_name: finger_2
  padding: 0.0
- link_name: flange_link
  padding: 0.0
- link_name: flange_to_camera
  padding: 0.0
- link_name: forearm_link
  padding: 0.0
- link_name: rack_1
  padding: 0.0
- link_name: rack_2
  padding: 0.0
- link_name: root_link
  padding: 0.0
- link_name: shaft
  padding: 0.0
- link_name: shoulder_link
  padding: 0.0
- link_name: upper_arm_link
  padding: 0.0
- link_name: wrist_1_link
  padding: 0.0
- link_name: wrist_2_link
  padding: 0.0
- link_name: wrist_3_link
  padding: 0.0
link_scale:
- link_name: base_link_inertia
  scale: 1.0
- link_name: finger_1
  scale: 1.0
- link_name: finger_2
  scale: 1.0
- link_name: flange_link
  scale: 1.0
- link_name: flange_to_camera
  scale: 1.0
- link_name: forearm_link
  scale: 1.0
- link_name: rack_1
  scale: 1.0
- link_name: rack_2
  scale: 1.0
- link_name: root_link
  scale: 1.0
- link_name: shaft
  scale: 1.0
- link_name: shoulder_link
  scale: 1.0
- link_name: upper_arm_link
  scale: 1.0
- link_name: wrist_1_link
  scale: 1.0
- link_name: wrist_2_link
  scale: 1.0
- link_name: wrist_3_link
  scale: 1.0
object_colors: []
world:
  collision_objects: []
  octomap:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: ''
    origin:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap:
      header:
        stamp:
          sec: 0
          nanosec: 0
        frame_id: ''
      binary: false
      id: ''
      resolution: 0.0
      data: []
is_diff: true
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736934167
        nanosec: 954010749
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -1.4230297247516077
    - -1.4752456110766907
    - 1.9794791380511683
    - -2.1784120998778285
    - -1.120589558278219
    - -0.4863498846637171
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms: []
allowed_collision_matrix:
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding:
- link_name: base_link_inertia
  padding: 0.0
- link_name: finger_1
  padding: 0.0
- link_name: finger_2
  padding: 0.0
- link_name: flange_link
  padding: 0.0
- link_name: flange_to_camera
  padding: 0.0
- link_name: forearm_link
  padding: 0.0
- link_name: rack_1
  padding: 0.0
- link_name: rack_2
  padding: 0.0
- link_name: root_link
  padding: 0.0
- link_name: shaft
  padding: 0.0
- link_name: shoulder_link
  padding: 0.0
- link_name: upper_arm_link
  padding: 0.0
- link_name: wrist_1_link
  padding: 0.0
- link_name: wrist_2_link
  padding: 0.0
- link_name: wrist_3_link
  padding: 0.0
link_scale:
- link_name: base_link_inertia
  scale: 1.0
- link_name: finger_1
  scale: 1.0
- link_name: finger_2
  scale: 1.0
- link_name: flange_link
  scale: 1.0
- link_name: flange_to_camera
  scale: 1.0
- link_name: forearm_link
  scale: 1.0
- link_name: rack_1
  scale: 1.0
- link_name: rack_2
  scale: 1.0
- link_name: root_link
  scale: 1.0
- link_name: shaft
  scale: 1.0
- link_name: shoulder_link
  scale: 1.0
- link_name: upper_arm_link
  scale: 1.0
- link_name: wrist_1_link
  scale: 1.0
- link_name: wrist_2_link
  scale: 1.0
- link_name: wrist_3_link
  scale: 1.0
object_colors: []
world:
  collision_objects:
  - header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    pose:
      position:
        x: 0.0
        y: 0.0
        z: 0.001
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    id: tables_and_walls
    type:
      key: ''
      db: ''
    primitives:
    - type: 1
      dimensions:
      - 0.76
      - 0.68
      - 0.03
      polygon:
        points: []
    - type: 1
      dimensions:
      - 0.03
      - 1.4
      - 1.0
      polygon:
        points: []
    - type: 1
      dimensions:
      - 1.4
      - 0.03
      - 1.0
      polygon:
        points: []
    primitive_poses:
    - position:
        x: 0.4361954304972895
        y: -0.4318677881866476
        z: -0.04913243097685357
      orientation:
        x: -0.3797975199201851
        y: 0.9249024638089298
        z: -0.015913778685083518
        w: -0.007485182069264416
    - position:
        x: -0.49497474683
        y: 0.49497474683
        z: 0.5
      orientation:
        x: 0.0
        y: 0.0
        z: -0.3826726921970569
        w: 0.9238839811614099
    - position:
        x: -0.49497474683
        y: -0.49497474683
        z: 0.5
      orientation:
        x: 0.0
        y: 0.0
        z: -0.3826726921970569
        w: 0.9238839811614099
    meshes: []
    mesh_poses: []
    planes: []
    plane_poses: []
    subframe_names: []
    subframe_poses: []
    operation: "\0"
  octomap:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: ''
    origin:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap:
      header:
        stamp:
          sec: 0
          nanosec: 0
        frame_id: ''
      binary: false
      id: ''
      resolution: 0.0
      data: []
is_diff: true
---
name: (noname)+
robot_state:
  joint_state:
    header:
      stamp:
        sec: 1736934167
        nanosec: 976033732
      frame_id: world
    name:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    position:
    - -1.4210909048663538
    - -1.4751494017294426
    - 1.9784310499774378
    - -2.1780272922911585
    - -1.1228840986834925
    - -0.48518449464906865
    velocity: []
    effort: []
  multi_dof_joint_state:
    header:
      stamp:
        sec: 0
        nanosec: 0
      frame_id: world
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: true
robot_model_name: jl2
fixed_frame_transforms:
- header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: charuco_frame
  child_frame_id: world
  transform:
    translation:
      x: 0.6626371824725605
      y: -0.4049915989485108
      z: -0.03447534363436028
    rotation:
      x: -0.37979751992018507
      y: 0.9249024638089298
      z: -0.01591377868508352
      w: -0.007485182069264415
- header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: goal_frame
  child_frame_id: world
  transform:
    translation:
      x: 0.3178383461571884
      y: -0.46572170573745963
      z: 0.17493723169879233
    rotation:
      x: -0.5547700412282023
      y: 0.15330300030723645
      z: -0.45428098220055996
      w: 0.679968514464716
- header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: world
  child_frame_id: world
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.0
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 0
      nanosec: 0
    frame_id: world_H_ee
  child_frame_id: world
  transform:
    translation:
      x: 0.0
      y: 0.0
      z: 0.001
    rotation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- header:
    stamp:
      sec: 0
      nanosec: 0
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---
name: (noname)+
robot_state:
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---
name: (noname)+
robot_state:
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---
name: (noname)+
robot_state:
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robot_model_name: jl2
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Working case 
---
name: (noname)++
robot_state:
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robot_model_name: jl2
fixed_frame_transforms:
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object_colors: []
world:
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      data: []
is_diff: false
---
name: (noname)+
robot_state:
  joint_state:
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      stamp:
        sec: 119
        nanosec: 575000000
      frame_id: world
    name:
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    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    - finger_1_joint
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    position:
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@AleTarsi
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Adding export LC_ALL=C to my .bashrc solved the problem.

The issue is due to a locale-dependent parsing problem as described in the following issue: moveit/moveit2#1882

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