UR16e bringup in rviz2 laying down

[eladpar]

Affected ROS2 Driver version(s)

2.2.10

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

?

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

sometimes robot bring up finishes with robot laying down as described in the image

Steps to Reproduce

1. launch robot driver
2. play program in robot
3. launch moveit config

Expected Behavior

robot standing up and receiveng commands

Actual Behavior

robot laying down sometimes
doesn't happen all the time

possible problem

when running ros2 control list_controllers
i get
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
seemes like scaled controller dosnt go up

Relevant log output

this is driver output:



source ~/ws_ur_moveit/install/setup.bash && ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur16e robot_ip:=192.168.1.102 launch_rviz:=false initial_joint_controller:=scaled_joint_trajectory_controller
[INFO] [launch]: All log files can be found below /home/hvmr/.ros/log/2024-06-04-12-32-01-377010-hvmr-NUC12DCMi9-16009
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [16014]
[INFO] [controller_stopper_node-3]: process started with pid [16016]
[INFO] [ur_ros2_control_node-1]: process started with pid [16012]
[INFO] [urscript_interface-4]: process started with pid [16018]
[INFO] [robot_state_publisher-5]: process started with pid [16020]
[INFO] [spawner-6]: process started with pid [16022]
[INFO] [spawner-7]: process started with pid [16024]
[INFO] [spawner-8]: process started with pid [16026]
[INFO] [spawner-9]: process started with pid [16028]
[INFO] [spawner-10]: process started with pid [16030]
[INFO] [spawner-11]: process started with pid [16032]
[dashboard_client-2] [INFO] [1717493521.757483772] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ur_ros2_control_node-1] [WARN] [1717493521.760230004] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1717493521.760521349] [resource_manager]: Loading hardware 'ur16e' 
[controller_stopper_node-3] [INFO] [1717493521.760865729] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] [INFO] [1717493521.761627463] [resource_manager]: Initialize hardware 'ur16e' 
[ur_ros2_control_node-1] [INFO] [1717493521.761662821] [resource_manager]: Successful initialization of hardware 'ur16e'
[ur_ros2_control_node-1] [WARN] [1717493521.761753951] [controller_manager]: [Deprecated]: Automatic activation of all hardware components will not be supported in the future anymore. Use hardware_spawner instead.
[ur_ros2_control_node-1] [INFO] [1717493521.761768778] [resource_manager]: 'configure' hardware 'ur16e' 
[ur_ros2_control_node-1] [INFO] [1717493521.761772473] [resource_manager]: Successful 'configure' of hardware 'ur16e'
[ur_ros2_control_node-1] [INFO] [1717493521.761787681] [resource_manager]: 'activate' hardware 'ur16e' 
[ur_ros2_control_node-1] [INFO] [1717493521.761792022] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1717493521.761799592] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1717493521.762950901] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[robot_state_publisher-5] [INFO] [1717493521.763093460] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1717493521.763233586] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1717493521.763245513] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1717493521.763252564] [robot_state_publisher]: got segment endbox
[robot_state_publisher-5] [INFO] [1717493521.763258416] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1717493521.763264117] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1717493521.763269975] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1717493521.763275676] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1717493521.763281434] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1717493521.763286946] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1717493521.763292394] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1717493521.763297708] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1717493521.763303106] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1717493521.763308352] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [INFO] [1717493522.263282153] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1717493522.264161435] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ur_ros2_control_node-1] [WARN] [1717493523.301779868] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [WARN] [1717493523.301837612] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [INFO] [1717493523.301857269] [URPositionHardwareInterface]: Calibration checksum: 'calib_11928420912726930711'.
[spawner-11] [INFO] [1717493524.019997661] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1717493524.045007999] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1717493524.045762036] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1717493524.051885595] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1717493524.052366099] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1717493524.052995312] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [INFO] [1717493524.351805147] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-1] [INFO] [1717493524.351941199] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1717493524.351969414] [resource_manager]: Successful 'activate' of hardware 'ur16e'
[spawner-11] [INFO] [1717493526.035904167] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-8] [INFO] [1717493526.061186628] [spawner_io_and_status_controller]: Waiting for '/controller_manager' services to be available
[spawner-9] [INFO] [1717493526.062359306] [spawner_speed_scaling_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1717493526.066946976] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-10] [INFO] [1717493526.067132650] [spawner_force_torque_sensor_broadcaster]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1717493526.067757895] [spawner_scaled_joint_trajectory_controller]: Waiting for '/controller_manager' services to be available
[ur_ros2_control_node-1] [WARN] [1717493526.163249328] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1717493526.163583667] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[spawner-11] [INFO] [1717493528.050824016] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[spawner-11] [INFO] [1717493530.064703759] [spawner_forward_position_controller]: Waiting for '/controller_manager' services to be available
[controller_stopper_node-3] [INFO] [1717493532.114987307] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1717493532.115051180] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1717493532.115105504] [Controller stopper]: Service available
[ur_ros2_control_node-1] [INFO] [1717493540.041363345] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1717493540.041395248] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1717493540.260159813] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)







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 source ~/ws_ur_moveit/install/setup.bash && ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur16e launch_rviz:=true
[INFO] [launch]: All log files can be found below /home/hvmr/.ros/log/2024-06-04-12-32-34-831536-hvmr-NUC12DCMi9-16370
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [16377]
[INFO] [rviz2-2]: process started with pid [16379]
[INFO] [servo_node_main-3]: process started with pid [16381]
[servo_node_main-3] [WARN] [1717493555.524351298] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [WARN] [1717493555.524514654] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1717493555.526094042] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00141084 seconds
[move_group-1] [INFO] [1717493555.526110752] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1717493555.526114800] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [INFO] [1717493555.526627934] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00120473 seconds
[servo_node_main-3] [INFO] [1717493555.526642838] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1717493555.526646257] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1717493555.533972074] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[servo_node_main-3] [INFO] [1717493555.558191599] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[servo_node_main-3] [INFO] [1717493555.560224990] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1717493555.560235447] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[servo_node_main-3] [INFO] [1717493555.560756275] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-3] [INFO] [1717493555.560938009] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[servo_node_main-3] [WARN] [1717493555.564026384] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[move_group-1] [INFO] [1717493555.611402461] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1717493555.611498484] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1717493555.611935238] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1717493555.612213519] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1717493555.612221106] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1717493555.612438417] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1717493555.612444346] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1717493555.612688479] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1717493555.612955825] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[rviz2-2] [INFO] [1717493555.977853549] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1717493555.977922970] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1717493556.064933930] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[move_group-1] [INFO] [1717493556.794112462] [moveit.ros.perception.pointcloud_octomap_updater]: Listening to '/camera/depth/color/points' using message filter with target frame 'world '
[move_group-1] [INFO] [1717493556.794137961] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-1] [INFO] [1717493556.800882426] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1717493556.801851275] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1717493556.801858812] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1717493556.801860957] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1717493556.801867903] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1717493556.801874960] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1717493556.801877298] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1717493556.801882446] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1717493556.801884442] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1717493556.801886547] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1717493556.801892574] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1717493556.801895958] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1717493556.801898046] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1717493556.801899727] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1717493556.801901608] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1717493558.559838514] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1717493558.814299436] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1717493558.814587826] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1717493558.814627908] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1717493558.838439601] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1717493558.838498595] [move_group.move_group]: MoveGroup debug mode is ON
[rviz2-2] [ERROR] [1717493559.759973933] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1717493560.131003470] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[move_group-1] [INFO] [1717493560.350218550] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1717493560.350322909] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1717493560.350342375] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] [INFO] [1717493560.954811137] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.041605 seconds
[rviz2-2] [INFO] [1717493560.954901142] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1717493560.954927037] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1717493563.311228336] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1717493563.348797768] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1717493564.194146871] [interactive_marker_display_108128111675392]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1717493564.225167091] [interactive_marker_display_108128111675392]: Sending request for interactive markers
[rviz2-2] [INFO] [1717493564.278505930] [interactive_marker_display_108128111675392]: Service response received for initialization
[rviz2-2] [INFO] [1717493569.256020865] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: GetPlanningScene service call to get_planning_scene timed out. at ./planning_scene_monitor/src/planning_scene_monitor.cpp:562
[rviz2-2] [INFO] [1717493569.256079716] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1717493569.256085747] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1717493577.223360133] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

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[VinDp]

Hi @eladpar,
from you log output it seems like you are stopping ur_control.launch.py to start ur_moveit.launch.py, that wouldn't work because they need to be both active in different terminals.
Assuming you are already doing that, the behavior you are describing sometimes happens when moveit starts and it still didn't receive any joint data, so it defaults to the zero configuration.
It could be also related to the fact that controller_spawner doesn't come up for you and this could be due to 1483 still not being merged.

[eladpar]

Hi @eladpar, from you log output it seems like you are stopping ur_control.launch.py to start ur_moveit.launch.py, that wouldn't work because they need to be both active in different terminals. Assuming you are already doing that, the behavior you are describing sometimes happens when moveit starts and it still didn't receive any joint data, so it defaults to the zero configuration. It could be also related to the fact that controller_spawner doesn't come up for you and this could be due to 1483 still not being merged.

im using them in 2 different terminals, just pasted them together.