Error Launching MoveIt2 Script for Moving the Robot: SRDF Not Found

[janperenic]

Hi, I’m experiencing an issue with my MoveIt2 project using a Yaskawa HC10DT robot. With the help of @jimmy-mcelwain, I was able to successfully plan a path and move the robot using the interactive marker in RViz. However, when I try to launch the script to move, I encounter an error that I can't resolve.

The script is a modified version of the hello_moveit tutorial script. Despite including both robot_description and robot_description_semantic in the parameter list and ensuring that the files are correctly formatted, I still encounter the following error:

This script previously worked with the official Panda tutorial and my setup from the Setup Assistant, where it successfully planned a path (the problem is this one doesn't work on real robot). I also tested it on your robot simulation but got the same error. The .srdf file is listed in the demo.launch.py file and appears correct.

Error message when launcing the script to move the robot:

janperenic@janperenic-OMEN:~/moveit2$ ros2 run hello_moveit hello_moveit_node
[ERROR] [1732271419.460509462] [hello_moveit]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
Error:   Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
         at line 715 in ./src/model.cpp
[ERROR] [1732271419.478091279] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[FATAL] [1732271419.478178221] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to construct robot model. Please make sure all needed information is on the parameter server.
[ros2run]: Aborted

I am using Motors2 version & ROS2 distribution:
0.1.2
Humble

Robot Controller & Robot:
YRC1000
HC10

Terminal log:

janperenic@janperenic-OMEN:~/moveit2$ ros2 launch hc10dt_moveit_config demo.launch.py 
[INFO] [launch]: All log files can be found below /home/janperenic/.ros/log/2024-11-20-15-56-09-358892-janperenic-OMEN-114392
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [114393]
[INFO] [rviz2-2]: process started with pid [114395]
[INFO] [robot_state_publisher-3]: process started with pid [114397]
[robot_state_publisher-3] [INFO] [1732114569.594887459] [robot_state_publisher]: got segment base
[robot_state_publisher-3] [INFO] [1732114569.595091440] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1732114569.595099283] [robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1732114569.595104090] [robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1732114569.595108898] [robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1732114569.595113155] [robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1732114569.595117222] [robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1732114569.595121959] [robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1732114569.595126407] [robot_state_publisher]: got segment tool0
[move_group-1] [INFO] [1732114569.604070435] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0235261 seconds
[move_group-1] [INFO] [1732114569.604134729] [moveit_robot_model.robot_model]: Loading robot model 'motoman_hc10dt'...
[move_group-1] [INFO] [1732114569.640956340] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1732114569.641143103] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1732114569.641875791] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1732114569.642119497] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1732114569.642132187] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1732114569.642328175] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1732114569.642339453] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1732114569.642559090] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1732114569.642757281] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1732114569.642944936] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1732114569.642956114] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1732114569.644864830] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [INFO] [1732114569.654970593] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1732114569.657236799] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.657271205] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.657276173] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1732114569.657292950] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1732114569.657306572] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1732114569.657312652] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.657321727] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.657327526] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1732114569.657332394] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1732114569.657439127] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1732114569.657444296] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1732114569.657447501] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1732114569.657451137] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1732114569.657454322] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1732114569.657459160] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1732114569.659263697] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1732114569.661265254] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1732114569.663076943] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1732114569.663088582] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1732114569.663935716] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1732114569.663945221] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1732114569.664508265] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1732114569.664516919] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1732114569.665046498] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1732114569.665056344] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1732114569.665527117] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1732114569.666464348] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1732114569.667323061] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.667331254] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1732114569.667334840] [moveit_ros.add_time_optimal_parameterization]: Param 'chomp.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1732114569.667354882] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1732114569.667365630] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1732114569.667369456] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.667377699] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1732114569.667381766] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1732114569.667385702] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1732114569.667395799] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1732114569.667398794] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1732114569.667401638] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1732114569.667405074] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1732114569.667407478] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1732114569.667411043] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1732114569.667740027] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1732114569.689489708] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for follow_joint_trajectory
[move_group-1] [INFO] [1732114569.689712630] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114569.689732662] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114569.690088370] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1732114569.690103154] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1732114569.702036772] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1732114569.702096869] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1732114569.702105944] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] [INFO] [1732114569.850640350] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1732114569.850825941] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1732114569.868951032] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] 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.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1732114572.956672772] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1732114572.968170806] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1732114573.040175715] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0195664 seconds
[rviz2-2] [INFO] [1732114573.040245438] [moveit_robot_model.robot_model]: Loading robot model 'motoman_hc10dt'...
[rviz2-2] [INFO] [1732114573.100962354] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1732114573.101653741] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1732114573.329440664] [interactive_marker_display_101501286873456]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[move_group-1] [WARN] [1732114573.334236718] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/base' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/base' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334282422] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' (Could not find a connection between 'base_link' and 'world' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334292779] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/flange' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/flange' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334300231] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tool0' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tool0' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114573.334307453] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tcp_15' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tcp_15' because they are not part of the same tree.Tf has two or more unconnected trees.)
[rviz2-2] [INFO] [1732114573.335085801] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-2] [INFO] [1732114573.335103420] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[rviz2-2] [INFO] [1732114573.342973943] [move_group_interface]: Ready to take commands for planning group manipulator.
[rviz2-2] [INFO] [1732114573.344037997] [moveit_ros_visualization.motion_planning_frame]: group manipulator
[rviz2-2] [INFO] [1732114573.344630643] [interactive_marker_display_101501286873456]: Sending request for interactive markers
[rviz2-2] [INFO] [1732114573.377712283] [interactive_marker_display_101501286873456]: Service response received for initialization
[rviz2-2] [INFO] [1732114584.785945070] [move_group_interface]: MoveGroup action client/server ready
[move_group-1] [INFO] [1732114584.786967816] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-2] [INFO] [1732114584.787224318] [move_group_interface]: Planning request accepted
[move_group-1] [INFO] [1732114584.787236448] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [WARN] [1732114584.804238224] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/base' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/base' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804295459] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'world' to planning frame'base_link' (Could not find a connection between 'base_link' and 'world' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804307719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/flange' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/flange' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804388011] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tool0' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tool0' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [WARN] [1732114584.804396495] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'r1/tcp_15' to planning frame'base_link' (Could not find a connection between 'base_link' and 'r1/tcp_15' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-1] [INFO] [1732114584.804498043] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [INFO] [1732114584.804580899] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [INFO] [1732114584.804673472] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-1] [INFO] [1732114584.804724676] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[move_group-1] [INFO] [1732114584.805673770] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully.
[rviz2-2] [INFO] [1732114584.806191643] [move_group_interface]: Planning request complete!
[rviz2-2] [INFO] [1732114584.806876762] [move_group_interface]: time taken to generate plan: 0.000292091 seconds
[move_group-1] [INFO] [1732114586.534683611] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-1] [INFO] [1732114586.534827228] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-1] [INFO] [1732114586.534887057] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.534907300] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[rviz2-2] [INFO] [1732114586.534912308] [move_group_interface]: Execute request accepted
[move_group-1] [INFO] [1732114586.534998451] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1732114586.540882605] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1732114586.540939990] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.540957439] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-1] [INFO] [1732114586.541080562] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to follow_joint_trajectory
[move_group-1] [INFO] [1732114586.570922692] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: follow_joint_trajectory started execution
[move_group-1] [INFO] [1732114586.570979556] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-1] [WARN] [1732114589.076368877] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'follow_joint_trajectory' failed with error unknown error: Final position was outside tolerance. Check robot safety-limits that could be inhibiting motion. [joint_3: 0.0000 deviation] [joint_5: 0.0000 deviation]
[move_group-1] [WARN] [1732114589.076444883] [moveit_ros.trajectory_execution_manager]: Controller handle follow_joint_trajectory reports status ABORTED
[move_group-1] [INFO] [1732114589.076457794] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-1] [INFO] [1732114589.076523513] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-2] [INFO] [1732114589.076854281] [move_group_interface]: Execute request aborted
[rviz2-2] [ERROR] [1732114589.076949709] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached

demo.launch.py :

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
import xacro


def generate_launch_description():
      db_arg = DeclareLaunchArgument("warehouse_host", default_value="", description="Database connection path")

      robot_description_file_path = os.path.join(
        get_package_share_directory("hc10dt_moveit_config"), "config", "motoman_hc10dt.urdf.xacro"
      )

      robot_description_semantic_file_path = os.path.join(
        get_package_share_directory("hc10dt_moveit_config"), "config", "motoman_hc10dt.srdf"
      )

      trajectory_execution_file_path = os.path.join(
        get_package_share_directory("hc10dt_moveit_config"), "config", "moveit_controllers.yaml"
      )

      rviz_config_file_path = os.path.join(
        get_package_share_directory("hc10dt_moveit_config"), "config", "moveit.rviz"
      )

      robot_description_contents = xacro.process_file(robot_description_file_path).toxml()

      warehouse_ros_config = {
            "warehouse_plugin": "warehouse_ros_sqlite::DatabaseConnection",
            "warehouse_host": LaunchConfiguration("warehouse_host")
      }

      moveit_config = (
            MoveItConfigsBuilder("motoman_hc10dt", 
			      package_name="hc10dt_moveit_config",)
        	  .robot_description(file_path=robot_description_file_path)
        	  .robot_description_semantic(file_path=robot_description_semantic_file_path)
    		    .trajectory_execution(file_path=trajectory_execution_file_path)
    		    .to_moveit_configs()
	  )
    

	  # Start the actual move_group node/action server
      move_group_node = Node(
        
            package="moveit_ros_move_group",
            executable="move_group",
            output="screen",
            parameters=[moveit_config.to_dict(), warehouse_ros_config],
            arguments=["--ros-args", "--log-level", "info"],
	  )


      rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_config_file_path],
        parameters=[
            moveit_config.robot_description,
            moveit_config.robot_description_semantic,
            moveit_config.robot_description_kinematics,
            moveit_config.planning_pipelines,
            moveit_config.joint_limits,
            warehouse_ros_config,
        ],
      )

      robot_state_publisher_node = Node(
            package="robot_state_publisher",
            executable="robot_state_publisher",
            name="robot_state_publisher",
            output="both",
            parameters=[{'robot_description':robot_description_contents}]
            )


      return LaunchDescription(
        [
          db_arg,
          move_group_node, 
          rviz_node, 
          robot_state_publisher_node,
        ]
      )

hello_moveit.py :

#include <memory>
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_visual_tools/moveit_visual_tools.h>

int main(int argc, char *argv[])
{
  // Initialize ROS and create the Node
  rclcpp::init(argc, argv);
  auto const node = std::make_shared<rclcpp::Node>(
    "hello_moveit",
    rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
  );

  // Create a ROS logger
  auto const logger = rclcpp::get_logger("hello_moveit");

  // Spin up a SingleThreadedExecutor for MoveItVisualTools to interact with ROS
  rclcpp::executors::SingleThreadedExecutor executor;
  executor.add_node(node);
  auto spinner = std::thread([&executor]() { executor.spin(); });

  // Create the MoveIt MoveGroup Interface
  using moveit::planning_interface::MoveGroupInterface;
  auto move_group_interface = MoveGroupInterface(node, "manipulator");

  // Construct and initialize MoveItVisualTools
  auto moveit_visual_tools = moveit_visual_tools::MoveItVisualTools{
    node, "base_link", rviz_visual_tools::RVIZ_MARKER_TOPIC,
    move_group_interface.getRobotModel()};
  moveit_visual_tools.deleteAllMarkers();
  moveit_visual_tools.loadRemoteControl();

  // Create closures for visualization
  auto const draw_title = [&moveit_visual_tools](auto text) {
    auto const text_pose = [] {
      auto msg = Eigen::Isometry3d::Identity();
      msg.translation().z() = 1.5;  // Place text 1.5m above the base link
      return msg;
    }();
    moveit_visual_tools.publishText(text_pose, text, rviz_visual_tools::WHITE,
                                    rviz_visual_tools::XLARGE);
  };
  auto const prompt = [&moveit_visual_tools](auto text) {
    moveit_visual_tools.prompt(text);
  };
  auto const draw_trajectory_tool_path =
      [&moveit_visual_tools,
      jmg = move_group_interface.getRobotModel()->getJointModelGroup(
          "manipulator")](auto const trajectory) {
        moveit_visual_tools.publishTrajectoryLine(trajectory, jmg);
      };

  // Example Cartesian Path Integration Section (refer to the previous answer)
  std::vector<geometry_msgs::msg::Pose> waypoints;
  // geometry_msgs::msg::Pose start_pose = move_group_interface.getCurrentPose().pose;

  // Set start_pose as the first waypoint
  // Initial point (bottom-left corner of the square)
  geometry_msgs::msg::Pose start_pose;
  start_pose.position.x = 0.5;
  start_pose.position.y = -0.176;
  start_pose.position.z = 0.85;
  start_pose.orientation.x = 0.0;
  start_pose.orientation.y = 0.0;
  start_pose.orientation.z = 0.0;
  start_pose.orientation.w = 1.0;
  waypoints.push_back(start_pose);

  // Define other waypoints
  geometry_msgs::msg::Pose target_pose = start_pose;
  target_pose.position.z -= 0.2;  // Move down 20 cm
  waypoints.push_back(target_pose);

  target_pose.position.z += 0.2;  // Move up 20 cm back to origin
  waypoints.push_back(target_pose);

  target_pose.position.z += 0.2;  // Move up 20 cm
  waypoints.push_back(target_pose);

  target_pose.position.z -= 0.2;  // Move down 20 cm back to origin
  waypoints.push_back(target_pose);

  target_pose.position.y -= 0.2;  // Move right 20 cm
  waypoints.push_back(target_pose);

  target_pose.position.z += 0.2;  // Move up 20 cm
  target_pose.position.y += 0.2;  // Move back to original Y
  target_pose.position.x -= 0.2;  // Move left 20 cm
  waypoints.push_back(target_pose);

  // Compute Cartesian Path
  moveit_msgs::msg::RobotTrajectory trajectory;
  const double jump_threshold = 0.0;
  const double eef_step = 0.01;
  double fraction = move_group_interface.computeCartesianPath(
      waypoints, eef_step, jump_threshold, trajectory);
  RCLCPP_INFO(logger, "Visualizing plan (Cartesian path) (%.2f%% achieved)",
              fraction * 100.0);

  // Visualize Cartesian Path in RViz
  moveit_visual_tools.deleteAllMarkers();
  moveit_visual_tools.publishText(start_pose, "Cartesian_Path", rviz_visual_tools::WHITE, rviz_visual_tools::XLARGE);
  moveit_visual_tools.publishPath(waypoints, rviz_visual_tools::LIME_GREEN, rviz_visual_tools::SMALL);
  for (std::size_t i = 0; i < waypoints.size(); ++i)
    moveit_visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rviz_visual_tools::SMALL);
  moveit_visual_tools.trigger();
  prompt("Press 'next' in the RvizVisualToolsGui window to execute Cartesian Path");

  // Execute Cartesian Path
  move_group_interface.execute(trajectory);

  // Shutdown ROS
  rclcpp::shutdown();
  spinner.join();
  return 0;
}

I would appreciate any helpful input on how to solve the issue.
Thanks