Moveit Servo for Jazzy

[ssophia-k]

There does not seem to be an implementation of moveit servo in Jazzy like the keyboard teleop in Humble.

[ssophia-k]

Also, the servo node does not launch.

jaeho@marvin:~/test$ ros2 launch open_manipulator_moveit_config servo.launch.py 
[INFO] [launch]: All log files can be found below /home/jaeho/.ros/log/2025-03-31-23-34-11-092344-marvin-3373757
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [servo_node-1]: process started with pid [3373760]
[servo_node-1] [WARN] [1743478451.362834670] [servo_node]: Could not enable FIFO RT scheduling policy. Continuing with the default.
[servo_node-1] [WARN] [1743478451.362927546] [servo_node]: Realtime kernel is recommended for better performance.
[servo_node-1] [INFO] [1743478451.368139040] [servo_node.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00364566 seconds
[servo_node-1] [INFO] [1743478451.368202209] [servo_node.moveit.moveit.core.robot_model]: Loading robot model 'open_manipulator_x'...
[servo_node-1] [WARN] [1743478451.437024655] [servo_node.moveit.moveit.core.robot_model]: Link end_effector_link has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[servo_node-1] [INFO] [1743478451.447371566] [servo_node.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1
[servo_node-1] [INFO] [1743478451.755625706] [servo_node.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node-1] [INFO] [1743478451.762238945] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node-1] [INFO] [1743478451.762268884] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[servo_node-1] [INFO] [1743478451.763932038] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node-1] [INFO] [1743478451.763954596] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node-1] [INFO] [1743478451.764218497] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[servo_node-1] [INFO] [1743478451.764461381] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[servo_node-1] [INFO] [1743478451.765217754] [servo_node.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[servo_node-1] [ERROR] [1743478451.765521606] [servo_node.moveit.moveit.ros.servo]: The publish period (0.050000 sec) parameter must be less than 1/3 of the max expected latency parameter (0.100000 sec).
[servo_node-1] [ERROR] [1743478451.765577570] [servo_node.moveit.moveit.ros.servo]: Got invalid parameters, exiting.
[servo_node-1] Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[servo_node-1]          at line 127 in ./src/class_loader.cpp
[servo_node-1] Stack trace (most recent call last) in thread 3373789:
[servo_node-1] #13   Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in 
[servo_node-1] #12   Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x7f648e129c3b]
[servo_node-1] #11   Source "./nptl/pthread_create.c", line 447, in start_thread [0x7f648e09caa3]
[ERROR] [servo_node-1]: process has died [pid 3373760, exit code 1, cmd '/opt/ros/jazzy/lib/moveit_servo/servo_node --ros-args --params-file /tmp/launch_params_9nemsbdy --params-file /tmp/launch_params_91_m465z --params-file /tmp/launch_params_3fzhffvq --params-file /tmp/launch_params_ankxm7n3 --params-file /tmp/launch_params_z1kzz77z --params-file /tmp/launch_params_lzwoidlm'].

However, when I decreased the outgoing command publishing period to 0.02 seconds in the moveit_servo.yaml file, this seemed to fix it.

open_manipulator_moveit_config/config/om_x/moveit_servo.yaml

original

## Properties of outgoing commands
publish_period: 0.05  # 1/Nominal publish rate [seconds]
low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is isgnored)

fix

## Properties of outgoing commands
publish_period: 0.02  # 1/Nominal publish rate [seconds]
low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is isgnored)

Afterwards, the servo node itself can be launched, but there does not seem to be anything that calls commands for that node.