Description

I have severals issues. I am trying to reproduce the hello moveit tutorial for universal robot 5 ur5e. For this purpose I am trying to update this project https://github.com/LucaBross/simple_moveit2_universal_robots_movement.git from ur3e to ur5e.

Your environment

• ROS Distro: Humble (using ROS2)
• OS Version: e.g. Ubuntu 22.04
• Source or Binary build?
• If binary, which release version?
• I am using a source version of MOVE IT https://github.com/moveit/moveit2_tutorials
• If source, which branch?
• I am using a binary version of ur_robot_driver according to https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html, since I cannot use the source version due to this issue Build from source is broken for Humble by latest updates in ros2_controllers package UniversalRobots/Universal_Robots_ROS2_Driver#1062
• Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.

Steps to reproduce

In a first shell I launch :

cd ~/ws_moveit2/
source ~/ws_moveit2/install/setup.bash
source /opt/ros/humble/setup.bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller

Also launch URSIM. After some secconds the shell answer is :

[ur_ros2_control_node-1] [INFO] [1724661734.114233192] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.

In a seccond shell
source /opt/ros/humble/setup.bash
source ~/ws_moveit2/install/setup.bash  
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

This is the error:

[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-26-10-55-04-926688-pedro-B650-AORUS-ELITE-AX-35224
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node' not found on the libexec directory '/home/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo'

this is the content of the directory:

ls /home/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo
fake_command_publisher servo_node_main servo_pose_tracking_demo

I think the program is searching for a servo_node executable wich is the same has servo_node_main

Expected behaviour

Tell us what should happen
Get the robot ready to receive commands.

Actual behaviour

Tell us what happens instead
the controller for moveit stops

Backtrace or Console output

ERROR] [launch]: Caught exception in launch (see debug for traceback): executable 'servo_node' not found on the libexec directory '/home/pedro/ws_moveit2/install/moveit_servo/lib/moveit_servo'*
Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

I hope you can help.
Thanks