reachy2-core logs reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 0 core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo core | [ERROR] [hal-4]: process has died [pid 344, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_a6y7ckbz']. core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' core | [INFO] [component_container-10]: process has finished cleanly [pid 356] core | [component_container-10] [INFO]: signal_handler(signum=15) core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 342] core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] core | [ERROR] [dynamic_state_router-12]: process has died [pid 360, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] core | [ERROR] [fake_gz_interface-5]: process has died [pid 346, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_vbtnr8bv']. core | [INFO] [launch.user]: Critical node failed : [goto_server] core | [ERROR] [goto_server-11]: process has died [pid 358, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. core | [INFO] [rosbag-13]: process has finished cleanly [pid 362] core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 350, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. core | [rplidar_scan_publisher-3] [INFO]: Stop motor core | [hal-4] RuntimeError: Default zuuu_hal shutdown core | [hal-4] raise RuntimeError(msg) core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in core | [hal-4] Traceback (most recent call last): core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] core | [ERROR] [robot_state_publisher-6]: process has died [pid 348, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_dawtz34t']. core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 354, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. core | [rosbag-13] [INFO]: Recording stopped core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal core | [component_container-10] [WARN]: stop streams core | [component_container-10] [WARN]: Stop color frame thread core | [component_container-10] [WARN]: Stop tf thread core | [component_container-10] [WARN]: Do destroy ~OBCameraNode core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Event publisher thread: Exiting core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while core | [fake_gz_interface-5] KeyboardInterrupt core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [fake_gz_interface-5] return next(self._cb_iter) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [fake_gz_interface-5] executor.spin_once() core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [fake_gz_interface-5] rclpy.spin(publisher) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in core | [fake_gz_interface-5] Traceback (most recent call last): core | [joint_state_broadcaster-7] KeyboardInterrupt core | [joint_state_broadcaster-7] time.sleep(0.2) core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager core | [joint_state_broadcaster-7] if not wait_for_controller_manager( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in core | [joint_state_broadcaster-7] Traceback (most recent call last): core | [component_container-10] [INFO]: Color frame thread exit! core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait core | [reachy_grpc_video_sdk_server-9] return _common.wait( core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [component_container-10] [INFO]: signal_handler(signum=2) core | [goto_server-11] KeyboardInterrupt core | [goto_server-11] time.sleep(0.1) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 46, in __init__ core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in core | [goto_server-11] Traceback (most recent call last): core | [dynamic_state_router-12] KeyboardInterrupt core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [dynamic_state_router-12] return next(self._cb_iter) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [dynamic_state_router-12] rclpy.spin_once(self) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup core | [dynamic_state_router-12] self.wait_for_setup() core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ core | [dynamic_state_router-12] node = DynamicStateRouterNode( core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in core | [dynamic_state_router-12] Traceback (most recent call last): core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' node to exist core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 352, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 core | [component_container-10] [INFO]: Translation 0, 0, 0 core | [component_container-10] [INFO]: Publishing static transform from depth to depth core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993 core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355 core | [component_container-10] [INFO]: Publishing static transform from color to depth core | [hal-4] [INFO]: => Zuuu HAL up and running! ** core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 577] core | [hal-4] [WARN]: Battery voltage OK (26.0V) core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s core | [hal-4] [INFO]: Reading Zuuu's sensors once... core | [hal-4] [INFO]: zuuu version: 1.2 core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True) core | [rosbag_snapshot_dump-14] response: core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() core | [hal-4] core | [hal-4] [INFO]: Running zuuu_hal on physical hardware core | [hal-4] [INFO]: Zuuu Goto action server init. core | [hal-4] [INFO]: Starting zuuu_hal! core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [component_container-10] [INFO]: Initialize device cost 148 ms core | [component_container-10] [INFO]: Start device cost 321 ms core | [component_container-10] [INFO]: usb connect type: USB3.2 core | [component_container-10] [INFO]: Current node pid: 356 core | [component_container-10] [INFO]: device unique id: 8-1-2 core | [component_container-10] [INFO]: Hardware version: 0.1 core | [component_container-10] [INFO]: Firmware version: 1.2.81 core | [component_container-10] [INFO]: Serial number: CP7X54P00078 core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Enable frame sync core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 core | [component_container-10] [INFO]: Enable depth stream core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG core | [component_container-10] [INFO]: Enable color stream core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds core | [fake_gz_interface-5] [WARN]: Robot config: full_kit core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter core | [component_container-10] [INFO]: set ThresholdFilter to false core | [component_container-10] [INFO]: Setting ThresholdFilter...... core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform core | [component_container-10] [INFO]: Setting DisparityTransform...... core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter core | [component_container-10] [INFO]: set HoleFillingFilter to false core | [component_container-10] [INFO]: Setting HoleFillingFilter...... core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter core | [component_container-10] [INFO]: set TemporalFilter to false core | [component_container-10] [INFO]: Setting TemporalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter core | [component_container-10] [INFO]: Setting SpatialFastFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: set NoiseRemovalFilter to true core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter core | [component_container-10] [INFO]: Setting SequenceIdFilter...... core | [component_container-10] [INFO]: Skip setting filter: HDRMerge core | [component_container-10] [INFO]: set HDRMerge to false core | [component_container-10] [INFO]: Setting HDRMerge...... core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter core | [component_container-10] [INFO]: set DecimationFilter to false core | [component_container-10] [INFO]: Setting DecimationFilter...... core | [component_container-10] [INFO]: Setting IR auto exposure to ON core | [component_container-10] [INFO]: Setting color auto exposure to ON core | [component_container-10] [INFO]: Setting color auto white balance to ON core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Device preset Default loaded core | [component_container-10] [INFO]: Load device preset: Default core | [component_container-10] [INFO]: Preset 3: Factory Calib core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass core | [component_container-10] [INFO]: Preset 1: Default core | [component_container-10] [INFO]: Preset 0: Custom core | [component_container-10] [INFO]: Available presets: core | [component_container-10] [INFO]: Setting laser on off mode to 0 core | [component_container-10] [INFO]: Setting laser control to 1 core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Depth process is HW D2D core | [component_container-10] [INFO]: Create align filter core | [component_container-10] [INFO]: Setting heartbeat to OFF core | [component_container-10] [INFO]: current time domain: device core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF core | [component_container-10] [INFO]: Try to connect device via USB3.2 core | [component_container-10] [INFO]: Select device cost 163 ms core | [rosbag-13] [INFO]: Subscribed to topic '/tf' core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' core | [component_container-10] [INFO]: Connecting to the default device core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' core | [component_container-10] [06/01 10:41:56.194636][info][356][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P00078, Connection: USB3.2 core | [component_container-10] [06/01 10:41:56.194105][info][356][DeviceManager.cpp:15] Current found device(s): (1) core | [component_container-10] [06/01 10:41:56.193332][info][356][LinuxPal.cpp:166] Create PollingDeviceWatcher! core | [component_container-10] [06/01 10:41:56.186911][info][356][LinuxPal.cpp:32] createObPal: create LinuxPal! core | [component_container-10] [06/01 10:41:56.186257][info][356][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 core | [component_container-10] [06/01 10:41:56.183095][info][356][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate core | [rosbag-13] [INFO]: Event publisher thread: Starting core | [rosbag-13] [INFO]: Recording... core | [rosbag-13] [INFO]: Listening for topics... core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-06-01-10-41-50-691321-reachy2-pvt03-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming core | [INFO] [rosbag_snapshot_dump-14]: process started with pid [577] core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_rtludbrn --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_right/position ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' r_hand_finger/position ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing command interfaces: core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_left/velocity ' ' antenna_left/effort ' ' antenna_right/position ' ' antenna_right/velocity ' ' antenna_right/effort ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/temperature ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/temperature ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' l_hand_finger/velocity ' ' l_hand_finger/effort ' ' r_hand_finger/position ' ' r_hand_finger/velocity ' ' r_hand_finger/effort ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/temperature ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/temperature ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing state interfaces: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' core | [ros2_control_node-2] [WARN]: System hardware component 'gripper' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave LeftWristOrbita3d (id: 5)... core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave LeftElbowOrbita2d (id: 4)... core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 7D8CEC95C1EA9ED1B2E49CF4FE504571 core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 core | [INFO] [rosbag-13]: process started with pid [362] core | [INFO] [dynamic_state_router-12]: process started with pid [360] core | [INFO] [goto_server-11]: process started with pid [358] core | [INFO] [component_container-10]: process started with pid [356] core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [354] core | [INFO] [joint_state_broadcaster-7]: process started with pid [350] core | [INFO] [robot_state_publisher-6]: process started with pid [348] core | [INFO] [fake_gz_interface-5]: process started with pid [346] core | [INFO] [hal-4]: process started with pid [344] core | [INFO] [rplidar_scan_publisher-3]: process started with pid [342] core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [352] core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 6)... core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:55Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... core | [ros2_control_node-2] [WARN]: System hardware component 'antenna' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. core | [INFO] [ros2_control_node-2]: process started with pid [130] core | [ethercat_master_server-1] [2026-06-01T10:41:52Z INFO server] POULPE controller ready! core | [ethercat_master_server-1] [2026-06-01T10:41:52Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 6 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 5 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 4 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 core | [ethercat_master_server-1] [2026-06-01T10:41:51Z INFO ethercat_controller::ethercat_controller] Found 7 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [108] core | core | -------------------------------------------------- core | Launching nodes... core | -------------------------------------------------- core | [INFO] [launch.user]: core | core | robot_model "dvt" core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/fake/fake_neck.yaml" core | robot_config full_kit core | depth_camera true core | [INFO] [launch.user]: Reachy URDF config : core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced serial_number reachy2-pvt-default => reachy2-pvt03 core | Replaced reachy2_configuration.neck_config.mode default => fake core | Replaced mobile_base.serial_number MB-001 => MB-0021 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-06-01-10-41-50-691321-reachy2-pvt03-107 core | Sound config written to ~/.asoundrc core | Buffer Size: 2048 core | Period Size: 512 core | Source Card: 1,0 core | Sink Card: 1,0 core | ALSA configuration generated with the following settings: core | Input : Rode, Output: Rode Attaching to core Container core Created Container core Creating Started Reachy2 Core. What a clear sky to launch a [core] container Starting Reachy2 Core... Stopped Reachy2 Core. reachy2-core.service: Scheduled restart job, restart counter is at 6. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 0 core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo core | [ERROR] [hal-4]: process has died [pid 413, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_0j_zjs5t']. core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' core | [INFO] [component_container-10]: process has finished cleanly [pid 425] core | [component_container-10] [INFO]: signal_handler(signum=15) core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 175, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 411] core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] core | [ERROR] [dynamic_state_router-12]: process has died [pid 429, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. core | [INFO] [rosbag-13]: process has finished cleanly [pid 431] core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] core | [ERROR] [fake_gz_interface-5]: process has died [pid 415, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_5wn774gm']. core | [INFO] [launch.user]: Critical node failed : [goto_server] core | [ERROR] [goto_server-11]: process has died [pid 427, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 419, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. core | [rplidar_scan_publisher-3] [INFO]: Stop motor core | [hal-4] RuntimeError: Default zuuu_hal shutdown core | [hal-4] raise RuntimeError(msg) core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in core | [hal-4] Traceback (most recent call last): core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] core | [ERROR] [robot_state_publisher-6]: process has died [pid 417, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_kt7mbmbr']. core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 423, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Event publisher thread: Exiting core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal core | [component_container-10] [WARN]: stop streams core | [component_container-10] [WARN]: Stop color frame thread core | [component_container-10] [WARN]: Stop tf thread core | [component_container-10] [WARN]: Do destroy ~OBCameraNode core | [fake_gz_interface-5] KeyboardInterrupt core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [fake_gz_interface-5] return next(self._cb_iter) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [fake_gz_interface-5] executor.spin_once() core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [fake_gz_interface-5] rclpy.spin(publisher) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in core | [fake_gz_interface-5] Traceback (most recent call last): core | [component_container-10] [INFO]: Color frame thread exit! core | [joint_state_broadcaster-7] KeyboardInterrupt core | [joint_state_broadcaster-7] time.sleep(0.2) core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager core | [joint_state_broadcaster-7] if not wait_for_controller_manager( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in core | [joint_state_broadcaster-7] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [reachy_grpc_video_sdk_server-9] executor.spin_once() core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait core | [reachy_grpc_video_sdk_server-9] return _common.wait( core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run core | [reachy_grpc_video_sdk_server-9] self.run() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [component_container-10] [INFO]: signal_handler(signum=2) core | [goto_server-11] KeyboardInterrupt core | [goto_server-11] time.sleep(0.1) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 46, in __init__ core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in core | [goto_server-11] Traceback (most recent call last): core | [dynamic_state_router-12] KeyboardInterrupt core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [dynamic_state_router-12] return next(self._cb_iter) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [dynamic_state_router-12] rclpy.spin_once(self) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup core | [dynamic_state_router-12] self.wait_for_setup() core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ core | [dynamic_state_router-12] node = DynamicStateRouterNode( core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in core | [dynamic_state_router-12] Traceback (most recent call last): core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' node to exist core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 421, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [hal-4] [INFO]: => Zuuu HAL up and running! ** core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' core | [hal-4] [WARN]: Battery voltage OK (26.0V) core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 core | [component_container-10] [INFO]: Translation 0, 0, 0 core | [component_container-10] [INFO]: Publishing static transform from depth to depth core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993 core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355 core | [component_container-10] [INFO]: Publishing static transform from color to depth core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 677] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [hal-4] [INFO]: Reading Zuuu's sensors once... core | [hal-4] [INFO]: zuuu version: 1.2 core | [hal-4] core | [hal-4] [INFO]: Running zuuu_hal on physical hardware core | [hal-4] [INFO]: Zuuu Goto action server init. core | [hal-4] [INFO]: Starting zuuu_hal! core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True) core | [rosbag_snapshot_dump-14] response: core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states core | [fake_gz_interface-5] [WARN]: Robot config: full_kit core | [component_container-10] [INFO]: Initialize device cost 154 ms core | [component_container-10] [INFO]: Start device cost 356 ms core | [component_container-10] [INFO]: usb connect type: USB3.2 core | [component_container-10] [INFO]: Current node pid: 425 core | [component_container-10] [INFO]: device unique id: 8-1-2 core | [component_container-10] [INFO]: Hardware version: 0.1 core | [component_container-10] [INFO]: Firmware version: 1.2.81 core | [component_container-10] [INFO]: Serial number: CP7X54P00078 core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Enable frame sync core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 core | [component_container-10] [INFO]: Enable depth stream core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG core | [component_container-10] [INFO]: Enable color stream core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter core | [component_container-10] [INFO]: set ThresholdFilter to false core | [component_container-10] [INFO]: Setting ThresholdFilter...... core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform core | [component_container-10] [INFO]: Setting DisparityTransform...... core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter core | [component_container-10] [INFO]: set HoleFillingFilter to false core | [component_container-10] [INFO]: Setting HoleFillingFilter...... core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter core | [component_container-10] [INFO]: set TemporalFilter to false core | [component_container-10] [INFO]: Setting TemporalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter core | [component_container-10] [INFO]: Setting SpatialFastFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: set NoiseRemovalFilter to true core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter core | [component_container-10] [INFO]: Setting SequenceIdFilter...... core | [component_container-10] [INFO]: Skip setting filter: HDRMerge core | [component_container-10] [INFO]: set HDRMerge to false core | [component_container-10] [INFO]: Setting HDRMerge...... core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter core | [component_container-10] [INFO]: set DecimationFilter to false core | [component_container-10] [INFO]: Setting DecimationFilter...... core | [component_container-10] [INFO]: Setting IR auto exposure to ON core | [component_container-10] [INFO]: Setting color auto exposure to ON core | [component_container-10] [INFO]: Setting color auto white balance to ON core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Device preset Default loaded core | [component_container-10] [INFO]: Load device preset: Default core | [component_container-10] [INFO]: Preset 3: Factory Calib core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass core | [component_container-10] [INFO]: Preset 1: Default core | [component_container-10] [INFO]: Preset 0: Custom core | [component_container-10] [INFO]: Available presets: core | [component_container-10] [INFO]: Setting laser on off mode to 0 core | [component_container-10] [INFO]: Setting laser control to 1 core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Depth process is HW D2D core | [component_container-10] [INFO]: Create align filter core | [component_container-10] [INFO]: Setting heartbeat to OFF core | [component_container-10] [INFO]: current time domain: device core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF core | [component_container-10] [INFO]: Try to connect device via USB3.2 core | [component_container-10] [INFO]: Select device cost 191 ms core | [rosbag-13] [INFO]: Recording... core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' core | [rosbag-13] [INFO]: Event publisher thread: Starting core | [rosbag-13] [INFO]: Subscribed to topic '/tf' core | [rosbag-13] [INFO]: Listening for topics... core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-06-01-10-41-22-937527-reachy2-pvt03-161/reachy.bag/reachy.bag_0.db3' for READ_WRITE. core | [component_container-10] [INFO]: Connecting to the default device core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' core | [INFO] [rosbag_snapshot_dump-14]: process started with pid [677] core | [component_container-10] [06/01 10:41:28.414819][info][425][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P00078, Connection: USB3.2 core | [component_container-10] [06/01 10:41:28.414811][info][425][DeviceManager.cpp:15] Current found device(s): (1) core | [component_container-10] [06/01 10:41:28.414772][info][425][LinuxPal.cpp:166] Create PollingDeviceWatcher! core | [component_container-10] [06/01 10:41:28.403156][info][425][LinuxPal.cpp:32] createObPal: create LinuxPal! core | [component_container-10] [06/01 10:41:28.403110][info][425][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] core | [ERROR] [ros2_control_node-2]: process has died [pid 197, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_04ij0qvz --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. core | [component_container-10] [06/01 10:41:28.392442][info][425][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_right/position ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' r_hand_finger/position ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing command interfaces: core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_left/velocity ' ' antenna_left/effort ' ' antenna_right/position ' ' antenna_right/velocity ' ' antenna_right/effort ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/temperature ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/temperature ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' l_hand_finger/velocity ' ' l_hand_finger/effort ' ' r_hand_finger/position ' ' r_hand_finger/velocity ' ' r_hand_finger/effort ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/temperature ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/temperature ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing state interfaces: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' core | [ros2_control_node-2] [WARN]: System hardware component 'gripper' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] Setup Slave LeftWristOrbita3d (id: 5)... core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:28Z INFO server] Setup Slave LeftElbowOrbita2d (id: 4)... core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 7D8CEC95C1EA9ED1B2E49CF4FE504571 core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 core | [INFO] [rosbag-13]: process started with pid [431] core | [INFO] [dynamic_state_router-12]: process started with pid [429] core | [INFO] [goto_server-11]: process started with pid [427] core | [INFO] [component_container-10]: process started with pid [425] core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [423] core | [INFO] [joint_state_broadcaster-7]: process started with pid [419] core | [INFO] [robot_state_publisher-6]: process started with pid [417] core | [INFO] [fake_gz_interface-5]: process started with pid [415] core | [INFO] [hal-4]: process started with pid [413] core | [INFO] [rplidar_scan_publisher-3]: process started with pid [411] core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [421] core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 6)... core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:41:27Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... core | [ros2_control_node-2] [WARN]: System hardware component 'antenna' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. core | [INFO] [ros2_control_node-2]: process started with pid [197] core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO server] POULPE controller ready! core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:24Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 6 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 5 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 4 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 core | [ethercat_master_server-1] [2026-06-01T10:41:23Z INFO ethercat_controller::ethercat_controller] Found 7 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [175] core | core | -------------------------------------------------- core | Launching nodes... core | -------------------------------------------------- core | [INFO] [launch.user]: core | core | robot_model "dvt" core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/fake/fake_neck.yaml" core | robot_config full_kit core | depth_camera true core | [INFO] [launch.user]: Reachy URDF config : core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced serial_number reachy2-pvt-default => reachy2-pvt03 core | Replaced reachy2_configuration.neck_config.mode default => fake core | Replaced mobile_base.serial_number MB-001 => MB-0021 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-06-01-10-41-22-937527-reachy2-pvt03-161 core | Sound config written to ~/.asoundrc core | Buffer Size: 2048 core | Period Size: 512 core | Source Card: 1,0 core | Sink Card: 1,0 core | ALSA configuration generated with the following settings: core | Input : Rode, Output: Rode Attaching to core Container core Created Container core Creating Started Reachy2 Core. What a clear sky to launch a [core] container Starting Reachy2 Core... Stopped Reachy2 Core. reachy2-core.service: Scheduled restart job, restart counter is at 5. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 0 core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo core | [ERROR] [hal-4]: process has died [pid 344, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_edfzc3cs']. core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' core | [INFO] [component_container-10]: process has finished cleanly [pid 356] core | [component_container-10] [INFO]: signal_handler(signum=15) core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ethercat_master_server-1] [2026-06-01T10:41:05Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 942.97 Hz core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 342] core | [INFO] [rosbag-13]: process has finished cleanly [pid 362] core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] core | [ERROR] [dynamic_state_router-12]: process has died [pid 360, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] core | [ERROR] [fake_gz_interface-5]: process has died [pid 346, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_6nhznqun']. core | [INFO] [launch.user]: Critical node failed : [goto_server] core | [ERROR] [goto_server-11]: process has died [pid 358, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 350, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. core | [rplidar_scan_publisher-3] [INFO]: Stop motor core | [hal-4] RuntimeError: Default zuuu_hal shutdown core | [hal-4] raise RuntimeError(msg) core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in core | [hal-4] Traceback (most recent call last): core | [rosbag-13] [INFO]: Recording stopped core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Event publisher thread: Exiting core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 354, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] core | [ERROR] [robot_state_publisher-6]: process has died [pid 348, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_49819ikq']. core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal core | [fake_gz_interface-5] KeyboardInterrupt core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [fake_gz_interface-5] return next(self._cb_iter) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [fake_gz_interface-5] executor.spin_once() core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [fake_gz_interface-5] rclpy.spin(publisher) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in core | [fake_gz_interface-5] Traceback (most recent call last): core | [component_container-10] [WARN]: stop streams core | [component_container-10] [INFO]: Color frame thread exit! core | [component_container-10] [WARN]: Stop color frame thread core | [component_container-10] [WARN]: Stop tf thread core | [component_container-10] [WARN]: Do destroy ~OBCameraNode core | [joint_state_broadcaster-7] KeyboardInterrupt core | [joint_state_broadcaster-7] time.sleep(0.2) core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager core | [joint_state_broadcaster-7] if not wait_for_controller_manager( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in core | [joint_state_broadcaster-7] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [reachy_grpc_video_sdk_server-9] executor.spin_once() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait core | [reachy_grpc_video_sdk_server-9] return _common.wait( core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run core | [reachy_grpc_video_sdk_server-9] self.run() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [component_container-10] [INFO]: signal_handler(signum=2) core | [goto_server-11] KeyboardInterrupt core | [goto_server-11] wait_set.wait(timeout_nsec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [goto_server-11] return next(self._cb_iter) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [goto_server-11] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [goto_server-11] self._spin_once_impl(timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [goto_server-11] executor.spin_once(timeout_sec=timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [goto_server-11] rclpy.spin_once(self, timeout_sec=0.1) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 44, in __init__ core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in core | [goto_server-11] Traceback (most recent call last): core | [dynamic_state_router-12] KeyboardInterrupt core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [dynamic_state_router-12] return next(self._cb_iter) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [dynamic_state_router-12] rclpy.spin_once(self) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup core | [dynamic_state_router-12] self.wait_for_setup() core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ core | [dynamic_state_router-12] node = DynamicStateRouterNode( core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in core | [dynamic_state_router-12] Traceback (most recent call last): core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' node to exist core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 352, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 594] core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' core | [hal-4] [INFO]: => Zuuu HAL up and running! ** core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node core | [hal-4] [WARN]: Battery voltage OK (26.1V) core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 core | [component_container-10] [INFO]: Translation 0, 0, 0 core | [component_container-10] [INFO]: Publishing static transform from depth to depth core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993 core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355 core | [component_container-10] [INFO]: Publishing static transform from color to depth core | [hal-4] [INFO]: Reading Zuuu's sensors once... core | [hal-4] [INFO]: zuuu version: 1.2 core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [hal-4] core | [hal-4] [INFO]: Running zuuu_hal on physical hardware core | [hal-4] [INFO]: Zuuu Goto action server init. core | [hal-4] [INFO]: Starting zuuu_hal! core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True) core | [rosbag_snapshot_dump-14] response: core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' core | [fake_gz_interface-5] [WARN]: Robot config: full_kit core | [component_container-10] [INFO]: Initialize device cost 139 ms core | [component_container-10] [INFO]: Start device cost 315 ms core | [component_container-10] [INFO]: usb connect type: USB3.2 core | [component_container-10] [INFO]: Current node pid: 356 core | [component_container-10] [INFO]: device unique id: 8-1-2 core | [component_container-10] [INFO]: Hardware version: 0.1 core | [component_container-10] [INFO]: Firmware version: 1.2.81 core | [component_container-10] [INFO]: Serial number: CP7X54P00078 core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Enable frame sync core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 core | [component_container-10] [INFO]: Enable depth stream core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG core | [component_container-10] [INFO]: Enable color stream core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds core | [rosbag-13] [INFO]: Subscribed to topic '/tf' core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter core | [component_container-10] [INFO]: set ThresholdFilter to false core | [component_container-10] [INFO]: Setting ThresholdFilter...... core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform core | [component_container-10] [INFO]: Setting DisparityTransform...... core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter core | [component_container-10] [INFO]: set HoleFillingFilter to false core | [component_container-10] [INFO]: Setting HoleFillingFilter...... core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter core | [component_container-10] [INFO]: set TemporalFilter to false core | [component_container-10] [INFO]: Setting TemporalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter core | [component_container-10] [INFO]: Setting SpatialFastFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: set NoiseRemovalFilter to true core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter core | [component_container-10] [INFO]: Setting SequenceIdFilter...... core | [component_container-10] [INFO]: Skip setting filter: HDRMerge core | [component_container-10] [INFO]: set HDRMerge to false core | [component_container-10] [INFO]: Setting HDRMerge...... core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter core | [component_container-10] [INFO]: set DecimationFilter to false core | [component_container-10] [INFO]: Setting DecimationFilter...... core | [component_container-10] [INFO]: Setting IR auto exposure to ON core | [component_container-10] [INFO]: Setting color auto exposure to ON core | [component_container-10] [INFO]: Setting color auto white balance to ON core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Device preset Default loaded core | [component_container-10] [INFO]: Load device preset: Default core | [component_container-10] [INFO]: Preset 3: Factory Calib core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass core | [component_container-10] [INFO]: Preset 1: Default core | [component_container-10] [INFO]: Preset 0: Custom core | [component_container-10] [INFO]: Available presets: core | [component_container-10] [INFO]: Setting laser on off mode to 0 core | [component_container-10] [INFO]: Setting laser control to 1 core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Depth process is HW D2D core | [component_container-10] [INFO]: Create align filter core | [component_container-10] [INFO]: Setting heartbeat to OFF core | [component_container-10] [INFO]: current time domain: device core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF core | [component_container-10] [INFO]: Try to connect device via USB3.2 core | [component_container-10] [INFO]: Select device cost 165 ms core | [rosbag-13] [INFO]: Recording... core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' core | [rosbag-13] [INFO]: Event publisher thread: Starting core | [rosbag-13] [INFO]: Listening for topics... core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-06-01-10-40-54-401900-reachy2-pvt03-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming core | [component_container-10] [INFO]: Connecting to the default device core | [INFO] [rosbag_snapshot_dump-14]: process started with pid [594] core | [component_container-10] [06/01 10:40:59.859606][info][356][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P00078, Connection: USB3.2 core | [component_container-10] [06/01 10:40:59.859597][info][356][DeviceManager.cpp:15] Current found device(s): (1) core | [component_container-10] [06/01 10:40:59.859558][info][356][LinuxPal.cpp:166] Create PollingDeviceWatcher! core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_hvenks9k --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. core | [component_container-10] [06/01 10:40:59.849034][info][356][LinuxPal.cpp:32] createObPal: create LinuxPal! core | [component_container-10] [06/01 10:40:59.849010][info][356][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 core | [component_container-10] [06/01 10:40:59.848984][info][356][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_right/position ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' r_hand_finger/position ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing command interfaces: core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_left/velocity ' ' antenna_left/effort ' ' antenna_right/position ' ' antenna_right/velocity ' ' antenna_right/effort ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/temperature ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/temperature ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' l_hand_finger/velocity ' ' l_hand_finger/effort ' ' r_hand_finger/position ' ' r_hand_finger/velocity ' ' r_hand_finger/effort ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/temperature ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/temperature ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing state interfaces: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' core | [ros2_control_node-2] [WARN]: System hardware component 'gripper' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Setup Slave LeftWristOrbita3d (id: 5)... core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Setup Slave LeftElbowOrbita2d (id: 4)... core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 7D8CEC95C1EA9ED1B2E49CF4FE504571 core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 core | [INFO] [rosbag-13]: process started with pid [362] core | [INFO] [dynamic_state_router-12]: process started with pid [360] core | [INFO] [goto_server-11]: process started with pid [358] core | [INFO] [component_container-10]: process started with pid [356] core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [354] core | [INFO] [joint_state_broadcaster-7]: process started with pid [350] core | [INFO] [robot_state_publisher-6]: process started with pid [348] core | [INFO] [fake_gz_interface-5]: process started with pid [346] core | [INFO] [hal-4]: process started with pid [344] core | [INFO] [rplidar_scan_publisher-3]: process started with pid [342] core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [352] core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 6)... core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:59Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:58Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... core | [ros2_control_node-2] [WARN]: System hardware component 'antenna' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. core | [INFO] [ros2_control_node-2]: process started with pid [130] core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO server] POULPE controller ready! core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 6 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 5 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 4 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 core | [ethercat_master_server-1] [2026-06-01T10:40:55Z INFO ethercat_controller::ethercat_controller] Found 7 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [108] core | core | -------------------------------------------------- core | Launching nodes... core | -------------------------------------------------- core | [INFO] [launch.user]: core | core | robot_model "dvt" core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/fake/fake_neck.yaml" core | robot_config full_kit core | depth_camera true core | [INFO] [launch.user]: Reachy URDF config : core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced serial_number reachy2-pvt-default => reachy2-pvt03 core | Replaced reachy2_configuration.neck_config.mode default => fake core | Replaced mobile_base.serial_number MB-001 => MB-0021 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-06-01-10-40-54-401900-reachy2-pvt03-107 core | Sound config written to ~/.asoundrc core | Buffer Size: 2048 core | Period Size: 512 core | Source Card: 1,0 core | Sink Card: 1,0 core | ALSA configuration generated with the following settings: core | Input : Rode, Output: Rode Attaching to core Container core Created Container core Creating Started Reachy2 Core. What a clear sky to launch a [core] container Starting Reachy2 Core... Stopped Reachy2 Core. reachy2-core.service: Scheduled restart job, restart counter is at 4. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 0 core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo core | [ERROR] [hal-4]: process has died [pid 411, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_y52mbj2j']. core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' core | [INFO] [component_container-10]: process has finished cleanly [pid 423] core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] core | [component_container-10] [INFO]: signal_handler(signum=15) core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): '_io.StringIO' object has no attribute 'info' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. core | [INFO] [ethercat_master_server-1]: sending signal 'SIGTERM' to process[ethercat_master_server-1] core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate '2' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 409] core | [INFO] [rosbag-13]: process has finished cleanly [pid 429] core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] core | [ERROR] [dynamic_state_router-12]: process has died [pid 427, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] core | [ERROR] [fake_gz_interface-5]: process has died [pid 413, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_k6ttnh_e']. core | [INFO] [launch.user]: Critical node failed : [goto_server] core | [ERROR] [goto_server-11]: process has died [pid 425, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 417, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. core | [rplidar_scan_publisher-3] [INFO]: Stop motor core | [hal-4] RuntimeError: Default zuuu_hal shutdown core | [hal-4] raise RuntimeError(msg) core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in core | [hal-4] Traceback (most recent call last): core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] core | [ERROR] [robot_state_publisher-6]: process has died [pid 415, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_4od6o62v']. core | [rosbag-13] [INFO]: Recording stopped core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 421, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Event publisher thread: Exiting core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal core | [fake_gz_interface-5] KeyboardInterrupt core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [fake_gz_interface-5] return next(self._cb_iter) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [fake_gz_interface-5] executor.spin_once() core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [fake_gz_interface-5] rclpy.spin(publisher) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in core | [fake_gz_interface-5] Traceback (most recent call last): core | [component_container-10] [WARN]: stop streams core | [component_container-10] [INFO]: Color frame thread exit! core | [component_container-10] [WARN]: Stop color frame thread core | [component_container-10] [WARN]: Stop tf thread core | [component_container-10] [WARN]: Do destroy ~OBCameraNode core | [joint_state_broadcaster-7] KeyboardInterrupt core | [joint_state_broadcaster-7] time.sleep(0.2) core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager core | [joint_state_broadcaster-7] if not wait_for_controller_manager( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in core | [joint_state_broadcaster-7] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [reachy_grpc_video_sdk_server-9] executor.spin_once() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait core | [reachy_grpc_video_sdk_server-9] return _common.wait( core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run core | [reachy_grpc_video_sdk_server-9] self.run() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [component_container-10] [INFO]: signal_handler(signum=2) core | [goto_server-11] KeyboardInterrupt core | [goto_server-11] wait_set.wait(timeout_nsec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [goto_server-11] return next(self._cb_iter) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [goto_server-11] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [goto_server-11] self._spin_once_impl(timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [goto_server-11] executor.spin_once(timeout_sec=timeout_sec) core | [goto_server-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [goto_server-11] rclpy.spin_once(self, timeout_sec=0.1) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 44, in __init__ core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in core | [goto_server-11] Traceback (most recent call last): core | [dynamic_state_router-12] KeyboardInterrupt core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [dynamic_state_router-12] return next(self._cb_iter) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [dynamic_state_router-12] rclpy.spin_once(self) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup core | [dynamic_state_router-12] self.wait_for_setup() core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ core | [dynamic_state_router-12] node = DynamicStateRouterNode( core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in core | [dynamic_state_router-12] Traceback (most recent call last): core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' node to exist core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 419, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 645] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node core | [hal-4] [INFO]: => Zuuu HAL up and running! ** core | [hal-4] [WARN]: Battery voltage OK (26.1V) core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 core | [component_container-10] [INFO]: Translation 0, 0, 0 core | [component_container-10] [INFO]: Publishing static transform from depth to depth core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993 core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355 core | [component_container-10] [INFO]: Publishing static transform from color to depth core | [hal-4] [INFO]: Reading Zuuu's sensors once... core | [hal-4] [INFO]: zuuu version: 1.2 core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True) core | [rosbag_snapshot_dump-14] response: core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() core | [hal-4] core | [hal-4] [INFO]: Running zuuu_hal on physical hardware core | [hal-4] [INFO]: Zuuu Goto action server init. core | [hal-4] [INFO]: Starting zuuu_hal! core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' core | [component_container-10] [INFO]: Initialize device cost 136 ms core | [component_container-10] [INFO]: Start device cost 307 ms core | [component_container-10] [INFO]: usb connect type: USB3.2 core | [component_container-10] [INFO]: Current node pid: 423 core | [component_container-10] [INFO]: device unique id: 8-1-2 core | [component_container-10] [INFO]: Hardware version: 0.1 core | [component_container-10] [INFO]: Firmware version: 1.2.81 core | [component_container-10] [INFO]: Serial number: CP7X54P00078 core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states core | [fake_gz_interface-5] [WARN]: Robot config: full_kit core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Enable frame sync core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 core | [component_container-10] [INFO]: Enable depth stream core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG core | [component_container-10] [INFO]: Enable color stream core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter core | [component_container-10] [INFO]: set ThresholdFilter to false core | [component_container-10] [INFO]: Setting ThresholdFilter...... core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform core | [component_container-10] [INFO]: Setting DisparityTransform...... core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter core | [component_container-10] [INFO]: set HoleFillingFilter to false core | [component_container-10] [INFO]: Setting HoleFillingFilter...... core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter core | [component_container-10] [INFO]: set TemporalFilter to false core | [component_container-10] [INFO]: Setting TemporalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter core | [component_container-10] [INFO]: Setting SpatialModerateFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter core | [component_container-10] [INFO]: Setting SpatialFastFilter...... core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter...... core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80 core | [component_container-10] [INFO]: set NoiseRemovalFilter to true core | [component_container-10] [INFO]: Setting NoiseRemovalFilter...... core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter core | [component_container-10] [INFO]: Setting SequenceIdFilter...... core | [component_container-10] [INFO]: Skip setting filter: HDRMerge core | [component_container-10] [INFO]: set HDRMerge to false core | [component_container-10] [INFO]: Setting HDRMerge...... core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter core | [component_container-10] [INFO]: set DecimationFilter to false core | [component_container-10] [INFO]: Setting DecimationFilter...... core | [component_container-10] [INFO]: Setting IR auto exposure to ON core | [component_container-10] [INFO]: Setting color auto exposure to ON core | [component_container-10] [INFO]: Setting color auto white balance to ON core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE core | [component_container-10] [INFO]: Device preset Default loaded core | [component_container-10] [INFO]: Load device preset: Default core | [component_container-10] [INFO]: Preset 3: Factory Calib core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass core | [component_container-10] [INFO]: Preset 1: Default core | [component_container-10] [INFO]: Preset 0: Custom core | [component_container-10] [INFO]: Available presets: core | [component_container-10] [INFO]: Setting laser on off mode to 0 core | [component_container-10] [INFO]: Setting laser control to 1 core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Depth process is HW D2D core | [component_container-10] [INFO]: Create align filter core | [component_container-10] [INFO]: Setting heartbeat to OFF core | [component_container-10] [INFO]: current time domain: device core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF core | [component_container-10] [INFO]: Try to connect device via USB3.2 core | [component_container-10] [INFO]: Select device cost 161 ms core | [rosbag-13] [INFO]: Subscribed to topic '/tf' core | [rosbag-13] [INFO]: Subscribed to topic '/tf_static' core | [rosbag-13] [INFO]: Subscribed to topic '/robot_description' core | [rosbag-13] [INFO]: Subscribed to topic '/parameter_events' core | [component_container-10] [INFO]: Connecting to the default device core | [rosbag-13] [INFO]: Recording... core | [rosbag-13] [INFO]: Subscribed to topic '/events/write_split' core | [rosbag-13] [INFO]: Event publisher thread: Starting core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container' core | [rosbag-13] [INFO]: Subscribed to topic '/rosout' core | [component_container-10] [06/01 10:40:32.321308][info][423][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P00078, Connection: USB3.2 core | [component_container-10] [06/01 10:40:32.321299][info][423][DeviceManager.cpp:15] Current found device(s): (1) core | [component_container-10] [06/01 10:40:32.321254][info][423][LinuxPal.cpp:166] Create PollingDeviceWatcher! core | [rosbag-13] [INFO]: Listening for topics... core | [rosbag-13] [INFO]: Opened database '/home/reachy/.ros/log/2026-06-01-10-40-26-915855-reachy2-pvt03-107/reachy.bag/reachy.bag_0.db3' for READ_WRITE. core | [component_container-10] [06/01 10:40:32.317452][info][423][LinuxPal.cpp:32] createObPal: create LinuxPal! core | [component_container-10] [06/01 10:40:32.317425][info][423][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6 core | [component_container-10] [06/01 10:40:32.317398][info][423][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming core | [INFO] [rosbag_snapshot_dump-14]: process started with pid [645] core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate core | [INFO] [launch.user]: Critical node failed : [ros2_control_node] core | [ERROR] [ros2_control_node-2]: process has died [pid 197, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_x8e0z29w --params-file /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml']. core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz, core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_right/position ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' r_hand_finger/position ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing command interfaces: core | [ros2_control_node-2] ' antenna_left/position ' ' antenna_left/velocity ' ' antenna_left/effort ' ' antenna_right/position ' ' antenna_right/velocity ' ' antenna_right/effort ' ' antenna_left/torque ' ' antenna_right/torque ' ' antenna_left_raw_motor/speed_limit ' ' antenna_left_raw_motor/torque_limit ' ' antenna_left_raw_motor/temperature ' ' antenna_left_raw_motor/mode ' ' antenna_left_raw_motor/p_gain ' ' antenna_left_raw_motor/i_gain ' ' antenna_left_raw_motor/d_gain ' ' antenna_left_raw_motor/current ' ' antenna_right_raw_motor/speed_limit ' ' antenna_right_raw_motor/torque_limit ' ' antenna_right_raw_motor/temperature ' ' antenna_right_raw_motor/mode ' ' antenna_right_raw_motor/p_gain ' ' antenna_right_raw_motor/i_gain ' ' antenna_right_raw_motor/d_gain ' ' antenna_right_raw_motor/current ' ' l_hand_finger/position ' ' l_hand_finger/velocity ' ' l_hand_finger/effort ' ' r_hand_finger/position ' ' r_hand_finger/velocity ' ' r_hand_finger/effort ' ' l_hand/torque ' ' r_hand/torque ' ' l_hand_raw_motor_1/speed_limit ' ' l_hand_raw_motor_1/torque_limit ' ' l_hand_raw_motor_1/temperature ' ' l_hand_raw_motor_1/mode ' ' l_hand_raw_motor_1/p_gain ' ' l_hand_raw_motor_1/i_gain ' ' l_hand_raw_motor_1/d_gain ' ' l_hand_raw_motor_1/current ' ' r_hand_raw_motor_1/speed_limit ' ' r_hand_raw_motor_1/torque_limit ' ' r_hand_raw_motor_1/temperature ' ' r_hand_raw_motor_1/mode ' ' r_hand_raw_motor_1/p_gain ' ' r_hand_raw_motor_1/i_gain ' ' r_hand_raw_motor_1/d_gain ' ' r_hand_raw_motor_1/current ' core | [ros2_control_node-2] missing state interfaces: core | [ros2_control_node-2] what(): Wrong state or command interface configuration. core | [ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error' core | [ros2_control_node-2] [WARN]: System hardware component 'gripper' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] Setup Slave LeftWristOrbita3d (id: 5)... core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:32Z INFO server] Setup Slave LeftElbowOrbita2d (id: 4)... core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK. core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0 core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18 core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01 core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 7D8CEC95C1EA9ED1B2E49CF4FE504571 core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 core | [INFO] [rosbag-13]: process started with pid [429] core | [INFO] [dynamic_state_router-12]: process started with pid [427] core | [INFO] [goto_server-11]: process started with pid [425] core | [INFO] [component_container-10]: process started with pid [423] core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [421] core | [INFO] [joint_state_broadcaster-7]: process started with pid [417] core | [INFO] [robot_state_publisher-6]: process started with pid [415] core | [INFO] [fake_gz_interface-5]: process started with pid [413] core | [INFO] [hal-4]: process started with pid [411] core | [INFO] [rplidar_scan_publisher-3]: process started with pid [409] core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [419] core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 6)... core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Setup Slave RightWristOrbita3d (id: 3)... core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)... core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] New client - update period of 0.002s core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Done! core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled core | [ethercat_master_server-1] [2026-06-01T10:40:31Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)... core | [ros2_control_node-2] [WARN]: System hardware component 'antenna' from plugin 'dynamixel_2joints_system_hwi/DynamixelSystem' failed to initialize. core | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. core | [INFO] [ros2_control_node-2]: process started with pid [197] core | [ethercat_master_server-1] [2026-06-01T10:40:28Z INFO server] POULPE controller ready! core | [ethercat_master_server-1] [2026-06-01T10:40:28Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational! core | [ethercat_master_server-1] [2026-06-01T10:40:28Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:28Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:28Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: "b122e4b18f310b667d11fb29587a5e277fa91787" core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "LeftShoulderOrbita2d" at position 6 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "LeftWristOrbita3d" at position 5 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "LeftElbowOrbita2d" at position 4 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "RightWristOrbita3d" at position 3 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "RightElbowOrbita2d" at position 2 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "RightShoulderOrbita2d" at position 1 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Slave "NeckOrbita3d" at position 0 core | [ethercat_master_server-1] [2026-06-01T10:40:27Z INFO ethercat_controller::ethercat_controller] Found 7 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [108] core | core | -------------------------------------------------- core | Launching nodes... core | -------------------------------------------------- core | [INFO] [launch.user]: core | core | robot_model "dvt" core | grippers_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml" core | antenna_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml" core | left_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml" core | left_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml" core | left_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml" core | right_wrist_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml" core | right_elbow_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml" core | right_shoulder_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml" core | neck_config "/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/fake/fake_neck.yaml" core | robot_config full_kit core | depth_camera true core | [INFO] [launch.user]: Reachy URDF config : core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced serial_number reachy2-pvt-default => reachy2-pvt03 core | Replaced reachy2_configuration.neck_config.mode default => fake core | Replaced mobile_base.serial_number MB-001 => MB-0021 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-06-01-10-40-26-915855-reachy2-pvt03-107 core | Sound config written to ~/.asoundrc core | Buffer Size: 2048 core | Period Size: 512 core | Source Card: 1,0 core | Sink Card: 1,0 core | ALSA configuration generated with the following settings: core | Input : Rode, Output: Rode Attaching to core Container core Created Container core Creating Started Reachy2 Core. What a clear sky to launch a [core] container Starting Reachy2 Core... Stopped Reachy2 Core. reachy2-core.service: Scheduled restart job, restart counter is at 3. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 0 core | Playing WAVE '/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav' : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo core | [ERROR] [hal-4]: process has died [pid 411, exit code -9, cmd '/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_pssa020n']. core | [INFO] [hal-4]: sending signal 'SIGKILL' to process[hal-4] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' core | [INFO] [component_container-10]: process has finished cleanly [pid 423] core | [component_container-10] [INFO]: signal_handler(signum=15) core | [INFO] [hal-4]: sending signal 'SIGTERM' to process[hal-4] core | [INFO] [component_container-10]: sending signal 'SIGTERM' to process[component_container-10] core | [ERROR] [hal-4]: process[hal-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 409] core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router] core | [ERROR] [dynamic_state_router-12]: process has died [pid 427, exit code -2, cmd '/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args']. core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface] core | [ERROR] [fake_gz_interface-5]: process has died [pid 413, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_kc9ees5a']. core | [INFO] [launch.user]: Critical node failed : [goto_server] core | [ERROR] [goto_server-11]: process has died [pid 425, exit code -2, cmd '/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args']. core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 417, exit code -2, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster']. core | [INFO] [rosbag-13]: process has finished cleanly [pid 429] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code 143, cmd '/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml']. core | [ethercat_master_server-1] Terminated core | [rplidar_scan_publisher-3] [INFO]: Stop motor core | [hal-4] RuntimeError: Default zuuu_hal shutdown core | [hal-4] raise RuntimeError(msg) core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 966, in emergency_shutdown core | [hal-4] zuuu_hal.emergency_shutdown("Default zuuu_hal shutdown") core | [hal-4] File "/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py", line 1495, in main core | [hal-4] sys.exit(load_entry_point('zuuu-hal', 'console_scripts', 'hal')()) core | [hal-4] File "/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal", line 33, in core | [hal-4] Traceback (most recent call last): core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server] core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 421, exit code -2, cmd '/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args']. core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher] core | [ERROR] [robot_state_publisher-6]: process has died [pid 415, exit code -11, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_adg3jpvo']. core | [rosbag-13] [INFO]: Recording stopped core | [hal-4] Failed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:389 core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal core | [rosbag-13] [INFO]: Recording stopped core | [rosbag-13] [INFO]: Event publisher thread: Exiting core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while core | [fake_gz_interface-5] KeyboardInterrupt core | [fake_gz_interface-5] wait_set.wait(timeout_nsec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [fake_gz_interface-5] return next(self._cb_iter) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec) core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [fake_gz_interface-5] executor.spin_once() core | [fake_gz_interface-5] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [fake_gz_interface-5] rclpy.spin(publisher) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py", line 283, in main core | [fake_gz_interface-5] sys.exit(load_entry_point('reachy-gazebo', 'console_scripts', 'fake_gz_interface')()) core | [fake_gz_interface-5] File "/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface", line 33, in core | [fake_gz_interface-5] Traceback (most recent call last): core | [component_container-10] [WARN]: stop streams core | [component_container-10] [INFO]: Color frame thread exit! core | [component_container-10] [WARN]: Stop color frame thread core | [component_container-10] [WARN]: Stop tf thread core | [component_container-10] [WARN]: Do destroy ~OBCameraNode core | [joint_state_broadcaster-7] KeyboardInterrupt core | [joint_state_broadcaster-7] time.sleep(0.2) core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 66, in wait_for_value_or core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 106, in wait_for_controller_manager core | [joint_state_broadcaster-7] if not wait_for_controller_manager( core | [joint_state_broadcaster-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 222, in main core | [joint_state_broadcaster-7] sys.exit(load_entry_point('controller-manager==2.42.0', 'console_scripts', 'spawner')()) core | [joint_state_broadcaster-7] File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in core | [joint_state_broadcaster-7] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 324, in wait core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 607, in wait core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout) core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [reachy_grpc_video_sdk_server-9] executor.spin_once() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 116, in _wait_once core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py", line 156, in wait core | [reachy_grpc_video_sdk_server-9] return _common.wait( core | [reachy_grpc_video_sdk_server-9] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py", line 1494, in wait_for_termination core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 187, in spin_ros core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs) core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py", line 368, in main core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point('reachy-sdk-server', 'console_scripts', 'reachy_grpc_video_sdk_server')()) core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 953, in run core | [reachy_grpc_video_sdk_server-9] self.run() core | [reachy_grpc_video_sdk_server-9] File "/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server", line 33, in core | [reachy_grpc_video_sdk_server-9] File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros): core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last): core | [component_container-10] [INFO]: signal_handler(signum=2) core | [goto_server-11] KeyboardInterrupt core | [goto_server-11] time.sleep(0.1) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 46, in __init__ core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group) core | [goto_server-11] File "/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py", line 590, in main core | [goto_server-11] sys.exit(load_entry_point('pollen-goto', 'console_scripts', 'goto_server')()) core | [goto_server-11] File "/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server", line 33, in core | [goto_server-11] Traceback (most recent call last): core | [dynamic_state_router-12] KeyboardInterrupt core | [dynamic_state_router-12] wait_set.wait(timeout_nsec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks core | [dynamic_state_router-12] return next(self._cb_iter) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec) core | [dynamic_state_router-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 202, in spin_once core | [dynamic_state_router-12] rclpy.spin_once(self) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 384, in wait_for_setup core | [dynamic_state_router-12] self.wait_for_setup() core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 91, in __init__ core | [dynamic_state_router-12] node = DynamicStateRouterNode( core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py", line 397, in main core | [dynamic_state_router-12] sys.exit(load_entry_point('dynamic-state-router', 'console_scripts', 'dynamic_state_router')()) core | [dynamic_state_router-12] File "/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router", line 33, in core | [dynamic_state_router-12] Traceback (most recent call last): core | [joint_state_broadcaster-7] [INFO]: Waiting for '/controller_manager' node to exist core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [INFO] [ethercat_master_server-1]: sending signal 'SIGINT' to process[ethercat_master_server-1] core | [INFO] [rplidar_scan_publisher-3]: sending signal 'SIGINT' to process[rplidar_scan_publisher-3] core | [INFO] [hal-4]: sending signal 'SIGINT' to process[hal-4] core | [INFO] [fake_gz_interface-5]: sending signal 'SIGINT' to process[fake_gz_interface-5] core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 419, exit code -2, cmd '/bin/bash -c reachy2_sdk_audio_server_rs']. core | [INFO] [robot_state_publisher-6]: sending signal 'SIGINT' to process[robot_state_publisher-6] core | [INFO] [joint_state_broadcaster-7]: sending signal 'SIGINT' to process[joint_state_broadcaster-7] core | [INFO] [reachy_sdk_audio_server-8]: sending signal 'SIGINT' to process[reachy_sdk_audio_server-8] core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal 'SIGINT' to process[reachy_grpc_video_sdk_server-9] core | [INFO] [component_container-10]: sending signal 'SIGINT' to process[component_container-10] core | [INFO] [goto_server-11]: sending signal 'SIGINT' to process[goto_server-11] core | [INFO] [dynamic_state_router-12]: sending signal 'SIGINT' to process[dynamic_state_router-12] core | [INFO] [rosbag-13]: sending signal 'SIGINT' to process[rosbag-13] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states... core | [rosbag-13] [INFO]: Subscribed to topic '/mobile_base_state' core | [hal-4] [INFO]: => Zuuu HAL up and running! ** core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [hal-4] [WARN]: Battery voltage OK (26.1V) core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065. core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering 'VideoServiceServicer' to server. core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Orbbec core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for camera: Luxonis core | [reachy_grpc_video_sdk_server-9] [INFO]: Searching for cameras... core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized. core | [hal-4] [INFO]: Reading Zuuu's sensors once... core | [hal-4] [INFO]: zuuu version: 1.2 core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 666] core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1 core | [component_container-10] [INFO]: Translation 0, 0, 0 core | [component_container-10] [INFO]: Publishing static transform from depth to depth core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993 core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355 core | [component_container-10] [INFO]: Publishing static transform from color to depth core | [hal-4] core | [hal-4] [INFO]: Running zuuu_hal on physical hardware core | [hal-4] [INFO]: Zuuu Goto action server init. core | [hal-4] [INFO]: Starting zuuu_hal! core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True) core | [rosbag_snapshot_dump-14] response: core | [rosbag_snapshot_dump-14] core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request() core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states core | [fake_gz_interface-5] [WARN]: Robot config: full_kit core | [component_container-10] [INFO]: Initialize device cost 146 ms core | [component_container-10] [INFO]: Start device cost 334 ms core | [component_container-10] [INFO]: usb connect type: USB3.2 core | [component_container-10] [INFO]: Current node pid: 423 core | [component_container-10] [INFO]: device unique id: 8-1-2 core | [component_container-10] [INFO]: Hardware version: 0.1 core | [component_container-10] [INFO]: Firmware version: 1.2.81 core | [component_container-10] [INFO]: Serial number: CP7X54P00078 core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected core | [rosbag-13] [INFO]: Subscribed to topic '/joint_states' core | [rosbag-13] [INFO]: Subscribed to topic '/dynamic_joint_states' core | [component_container-10] [INFO]: Setting LDP to ON core | [component_container-10] [INFO]: Enable frame sync core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16 core | [component_container-10] [INFO]: Enable depth stream core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG core | [component_container-10] [INFO]: Enable color stream core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16 core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter core | [component_container-10] [INFO]: set ThresholdFilter to false core | [component_container-10] [INFO]: Setting ThresholdFilter...... core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform core | [component_container-10] [INFO]: Setting DisparityTransform...... core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter core | [component_container-10] [INFO]: set HoleFillingFilter to false core | [component_container-10] [INFO]: Setting HoleFillingFilter...... 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