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| ros@ubuntu:~$ roslaunch icclab_summit_xl irlab_sim_summit_xls_complete.launch | |
| ... logging to /home/ros/.ros/log/87b1b1ae-ce4d-11e9-9bbf-000c29e563e7/roslaunch-ubuntu-4557.log | |
| Checking log directory for disk usage. This may take awhile. | |
| Press Ctrl-C to interrupt | |
| Done checking log file disk usage. Usage is <1GB. | |
| inconsistent namespace redefinitions for xmlns:xacro: | |
| old: http://www.ros.org/wiki/xacro | |
| new: http://wiki.ros.org/xacro (/opt/ros/kinetic/share/ur_description/urdf/ur5.urdf.xacro) | |
| inconsistent namespace redefinitions for xmlns:xacro: | |
| old: http://www.ros.org/wiki/xacro | |
| new: http://ros.org/wiki/xacro (/home/ros/catkin_ws/src/icclab_summit_xl/urdf/sensors/intel_d435.urdf.xacro) | |
| started roslaunch server http://ubuntu:45911/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /detect_grasps/camera_position: [0, 0, 0] | |
| * /detect_grasps/cloud_topic: /cloud_indexed | |
| * /detect_grasps/cloud_type: 1 | |
| * /detect_grasps/create_image_batches: False | |
| * /detect_grasps/filter_grasps: True | |
| * /detect_grasps/filter_half_antipodal: False | |
| * /detect_grasps/finger_width: 0.01 | |
| * /detect_grasps/hand_depth: 0.06 | |
| * /detect_grasps/hand_height: 0.02 | |
| * /detect_grasps/hand_outer_diameter: 0.12 | |
| * /detect_grasps/image_depth: 0.06 | |
| * /detect_grasps/image_height: 0.02 | |
| * /detect_grasps/image_num_channels: 15 | |
| * /detect_grasps/image_outer_diameter: 0.1 | |
| * /detect_grasps/image_size: 60 | |
| * /detect_grasps/init_bite: 0.01 | |
| * /detect_grasps/lenet_params_dir: /home/ros/catkin_... | |
| * /detect_grasps/max_aperture: 0.025 | |
| * /detect_grasps/min_aperture: 0.001 | |
| * /detect_grasps/min_inliers: 1 | |
| * /detect_grasps/min_score_diff: 0 | |
| * /detect_grasps/nn_radius: 0.01 | |
| * /detect_grasps/num_orientations: 12 | |
| * /detect_grasps/num_samples: 1000 | |
| * /detect_grasps/num_selected: 30 | |
| * /detect_grasps/num_threads: 4 | |
| * /detect_grasps/plot_candidates: False | |
| * /detect_grasps/plot_clusters: False | |
| * /detect_grasps/plot_filtered_grasps: False | |
| * /detect_grasps/plot_normals: False | |
| * /detect_grasps/plot_samples: False | |
| * /detect_grasps/plot_selected_grasps: False | |
| * /detect_grasps/plot_valid_grasps: False | |
| * /detect_grasps/remove_outliers: False | |
| * /detect_grasps/remove_plane_before_image_calculation: False | |
| * /detect_grasps/rviz_topic: grasps_rviz | |
| * /detect_grasps/samples_topic: | |
| * /detect_grasps/use_importance_sampling: False | |
| * /detect_grasps/voxelize: True | |
| * /detect_grasps/workspace: [-2.0, 2.0, -2.0,... | |
| * /detect_grasps/workspace_grasps: [-2.0, 2.0, -2.0,... | |
| * /rosdistro: kinetic | |
| * /rosversion: 1.12.14 | |
| * /summit_xl/amcl/base_frame_id: summit_xl_base_fo... | |
| * /summit_xl/amcl/global_frame_id: summit_xl_map | |
| * /summit_xl/amcl/gui_publish_rate: 10.0 | |
| * /summit_xl/amcl/initial_pose_a: 0 | |
| * /summit_xl/amcl/initial_pose_x: 0 | |
| * /summit_xl/amcl/initial_pose_y: 0 | |
| * /summit_xl/amcl/initial_pose_z: 0 | |
| * /summit_xl/amcl/kld_err: 0.05 | |
| * /summit_xl/amcl/kld_z: 0.99 | |
| * /summit_xl/amcl/laser_lambda_short: 0.1 | |
| * /summit_xl/amcl/laser_likelihood_max_dist: 2.0 | |
| * /summit_xl/amcl/laser_max_beams: 60 | |
| * /summit_xl/amcl/laser_max_range: -1.0 | |
| * /summit_xl/amcl/laser_model_type: likelihood_field | |
| * /summit_xl/amcl/laser_sigma_hit: 0.2 | |
| * /summit_xl/amcl/laser_z_hit: 0.5 | |
| * /summit_xl/amcl/laser_z_max: 0.05 | |
| * /summit_xl/amcl/laser_z_rand: 0.5 | |
| * /summit_xl/amcl/laser_z_short: 0.05 | |
| * /summit_xl/amcl/max_particles: 2000 | |
| * /summit_xl/amcl/min_particles: 500 | |
| * /summit_xl/amcl/odom_alpha1: 0.2 | |
| * /summit_xl/amcl/odom_alpha2: 0.2 | |
| * /summit_xl/amcl/odom_alpha3: 0.2 | |
| * /summit_xl/amcl/odom_alpha4: 0.2 | |
| * /summit_xl/amcl/odom_alpha5: 0.1 | |
| * /summit_xl/amcl/odom_frame_id: summit_xl_odom | |
| * /summit_xl/amcl/odom_model_type: omni | |
| * /summit_xl/amcl/recovery_alpha_fast: 0.0 | |
| * /summit_xl/amcl/recovery_alpha_slow: 0.0 | |
| * /summit_xl/amcl/resample_interval: 1 | |
| * /summit_xl/amcl/transform_tolerance: 0.1 | |
| * /summit_xl/amcl/update_min_a: 0.2 | |
| * /summit_xl/amcl/update_min_d: 0.25 | |
| * /summit_xl/amcl/use_map_topic: True | |
| * /summit_xl/arm_force_torque_sensor_controller/publish_rate: 125 | |
| * /summit_xl/arm_force_torque_sensor_controller/type: force_torque_sens... | |
| * /summit_xl/arm_hardware_control_loop/loop_hz: 125 | |
| * /summit_xl/arm_hardware_interface/joints: ['arm_shoulder_pa... | |
| * /summit_xl/arm_joint_state_controller/publish_rate: 125 | |
| * /summit_xl/arm_joint_state_controller/type: joint_state_contr... | |
| * /summit_xl/arm_pos_based_pos_traj_controller/action_monitor_rate: 10 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/action_ns: follow_joint_traj... | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_elbow_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_elbow_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_shoulder_lift_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_shoulder_lift_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_shoulder_pan_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_shoulder_pan_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_1_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_1_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_2_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_2_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_3_joint/goal: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/arm_wrist_3_joint/trajectory: 0.1 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/goal_time: 0.6 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/joints: ['arm_shoulder_pa... | |
| * /summit_xl/arm_pos_based_pos_traj_controller/state_publish_rate: 125 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/stop_trajectory_duration: 0.5 | |
| * /summit_xl/arm_pos_based_pos_traj_controller/type: position_controll... | |
| * /summit_xl/arm_vel_based_pos_traj_controller/action_monitor_rate: 10 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_elbow_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_elbow_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_shoulder_lift_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_shoulder_lift_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_shoulder_pan_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_shoulder_pan_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_1_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_1_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_2_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_2_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_3_joint/goal: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/arm_wrist_3_joint/trajectory: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/goal_time: 0.6 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_elbow_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_elbow_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_elbow_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_elbow_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_lift_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_lift_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_lift_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_lift_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_pan_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_pan_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_pan_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_shoulder_pan_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_1_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_1_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_1_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_1_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_2_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_2_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_2_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_2_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_3_joint/d: 0.1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_3_joint/i: 0.0 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_3_joint/i_clamp: 1 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/gains/arm_wrist_3_joint/p: 1.2 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/joints: ['arm_shoulder_pa... | |
| * /summit_xl/arm_vel_based_pos_traj_controller/state_publish_rate: 125 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/stop_trajectory_duration: 0.5 | |
| * /summit_xl/arm_vel_based_pos_traj_controller/type: velocity_controll... | |
| * /summit_xl/controller_list: [{'action_ns': 'f... | |
| * /summit_xl/depthimage_to_laserscan/output_frame_id: summit_xl_front_r... | |
| * /summit_xl/depthimage_to_laserscan/range_max: 10.0 | |
| * /summit_xl/depthimage_to_laserscan/range_min: 0.05 | |
| * /summit_xl/depthimage_to_laserscan/scan_height: 5 | |
| * /summit_xl/depthimage_to_laserscan/scan_time: 0.2 | |
| * /summit_xl/gripper_left_controller/action_monitor_rate: 20 | |
| * /summit_xl/gripper_left_controller/goal_tolerance: 0.002 | |
| * /summit_xl/gripper_left_controller/joint: gripper_left_fing... | |
| * /summit_xl/gripper_left_controller/lower: -0.001 | |
| * /summit_xl/gripper_left_controller/max_effort: 10 | |
| * /summit_xl/gripper_left_controller/stall_timeout: 1.0 | |
| * /summit_xl/gripper_left_controller/stall_velocity_threshold: 0.041 | |
| * /summit_xl/gripper_left_controller/type: effort_controller... | |
| * /summit_xl/gripper_left_controller/upper: 0.0301 | |
| * /summit_xl/gripper_left_controller/velocity: 0.041 | |
| * /summit_xl/gripper_right_controller/action_monitor_rate: 20 | |
| * /summit_xl/gripper_right_controller/goal_tolerance: 0.002 | |
| * /summit_xl/gripper_right_controller/joint: gripper_right_fin... | |
| * /summit_xl/gripper_right_controller/lower: -0.001 | |
| * /summit_xl/gripper_right_controller/max_effort: 10 | |
| * /summit_xl/gripper_right_controller/stall_timeout: 1.0 | |
| * /summit_xl/gripper_right_controller/stall_velocity_threshold: 0.041 | |
| * /summit_xl/gripper_right_controller/type: effort_controller... | |
| * /summit_xl/gripper_right_controller/upper: 0.0301 | |
| * /summit_xl/gripper_right_controller/velocity: 0.041 | |
| * /summit_xl/joint_blw_velocity_controller/joint: summit_xl_back_le... | |
| * /summit_xl/joint_blw_velocity_controller/type: velocity_controll... | |
| * /summit_xl/joint_brw_velocity_controller/joint: summit_xl_back_ri... | |
| * /summit_xl/joint_brw_velocity_controller/type: velocity_controll... | |
| * /summit_xl/joint_flw_velocity_controller/joint: summit_xl_front_l... | |
| * /summit_xl/joint_flw_velocity_controller/type: velocity_controll... | |
| * /summit_xl/joint_frw_velocity_controller/joint: summit_xl_front_r... | |
| * /summit_xl/joint_frw_velocity_controller/type: velocity_controll... | |
| * /summit_xl/joint_read_state_controller/publish_rate: 100.0 | |
| * /summit_xl/joint_read_state_controller/type: joint_state_contr... | |
| * /summit_xl/joint_state_controller/publish_rate: 50 | |
| * /summit_xl/joint_state_controller/type: joint_state_contr... | |
| * /summit_xl/map_server/frame_id: summit_xl_map | |
| * /summit_xl/move_base/GlobalPlanner/allow_unknown: False | |
| * /summit_xl/move_base/GlobalPlanner/cost_factor: 0.55 | |
| * /summit_xl/move_base/GlobalPlanner/default_tolerance: 0.0 | |
| * /summit_xl/move_base/GlobalPlanner/lethal_cost: 253 | |
| * /summit_xl/move_base/GlobalPlanner/neutral_cost: 66 | |
| * /summit_xl/move_base/GlobalPlanner/old_navfn_behavior: False | |
| * /summit_xl/move_base/GlobalPlanner/orientation_mode: 1 | |
| * /summit_xl/move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0 | |
| * /summit_xl/move_base/GlobalPlanner/planner_frequency: 1.0 | |
| * /summit_xl/move_base/GlobalPlanner/planner_patience: 0.0 | |
| * /summit_xl/move_base/GlobalPlanner/planner_window_x: 0.0 | |
| * /summit_xl/move_base/GlobalPlanner/planner_window_y: 0.0 | |
| * /summit_xl/move_base/GlobalPlanner/publish_potential: True | |
| * /summit_xl/move_base/GlobalPlanner/publish_scale: 100 | |
| * /summit_xl/move_base/GlobalPlanner/use_dijkstra: True | |
| * /summit_xl/move_base/GlobalPlanner/use_grid_path: False | |
| * /summit_xl/move_base/GlobalPlanner/use_quadratic: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/acc_lim_theta: 2.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/acc_lim_x: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/acc_lim_y: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/allow_init_with_backwards_motion: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/costmap_converter_plugin: costmap_converter... | |
| * /summit_xl/move_base/TebLocalPlannerROS/costmap_converter_rate: 5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/costmap_converter_spin_thread: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/costmap_obstacles_behind_robot_dist: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/dt_hysteresis: 0.05 | |
| * /summit_xl/move_base/TebLocalPlannerROS/dt_ref: 0.3 | |
| * /summit_xl/move_base/TebLocalPlannerROS/enable_homotopy_class_planning: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/enable_multithreading: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/exact_arc_length: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/feasibility_check_no_poses: 3 | |
| * /summit_xl/move_base/TebLocalPlannerROS/footprint_model/line_end: [0.16, 0.0] | |
| * /summit_xl/move_base/TebLocalPlannerROS/footprint_model/line_start: [-0.16, 0.0] | |
| * /summit_xl/move_base/TebLocalPlannerROS/footprint_model/type: line | |
| * /summit_xl/move_base/TebLocalPlannerROS/force_reinit_new_goal_dist: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/free_goal_vel: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/global_plan_overwrite_orientation: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/global_plan_viapoint_sep: 0.5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/h_signature_prescaler: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/h_signature_threshold: 0.1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/include_costmap_obstacles: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/inflation_dist: 0.37 | |
| * /summit_xl/move_base/TebLocalPlannerROS/legacy_obstacle_association: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/map_frame: summit_xl_map | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_global_plan_lookahead_dist: 4.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_number_classes: 4 | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_vel_theta: 3.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_vel_x: 2.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_vel_x_backwards: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/max_vel_y: 2.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/min_obstacle_dist: 0.33 | |
| * /summit_xl/move_base/TebLocalPlannerROS/min_samples: 3 | |
| * /summit_xl/move_base/TebLocalPlannerROS/min_turning_radius: 0.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/no_inner_iterations: 5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/no_outer_iterations: 4 | |
| * /summit_xl/move_base/TebLocalPlannerROS/obstacle_association_cutoff_factor: 5.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/obstacle_association_force_inclusion_factor: 1.5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/obstacle_heading_threshold: 0.45 | |
| * /summit_xl/move_base/TebLocalPlannerROS/obstacle_keypoint_offset: 0.1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/obstacle_poses_affected: 30 | |
| * /summit_xl/move_base/TebLocalPlannerROS/odom_topic: robotnik_base_con... | |
| * /summit_xl/move_base/TebLocalPlannerROS/optimization_activate: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/optimization_verbose: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/oscillation_recovery: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/penalty_epsilon: 0.09 | |
| * /summit_xl/move_base/TebLocalPlannerROS/publish_feedback: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/roadmap_graph_area_width: 5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/roadmap_graph_no_samples: 15 | |
| * /summit_xl/move_base/TebLocalPlannerROS/selection_alternative_time_cost: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/selection_cost_hysteresis: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/selection_obst_cost_scale: 4.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/selection_viapoint_cost_scale: 1.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/shrink_horizon_backup: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/shrink_horizon_min_duration: 10 | |
| * /summit_xl/move_base/TebLocalPlannerROS/simple_exploration: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/teb_autosize: True | |
| * /summit_xl/move_base/TebLocalPlannerROS/visualize_hc_graph: False | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_acc_lim_theta: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_acc_lim_x: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_acc_lim_y: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_adapt_factor: 2 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_inflation: 5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 80 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_kinematics_nh: 10 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_kinematics_turning_radius: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_max_vel_theta: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_max_vel_x: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_max_vel_y: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_obstacle: 100 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_optimaltime: 1 | |
| * /summit_xl/move_base/TebLocalPlannerROS/weight_viapoint: 20 | |
| * /summit_xl/move_base/TebLocalPlannerROS/wheelbase: 0.0 | |
| * /summit_xl/move_base/TebLocalPlannerROS/xy_goal_tolerance: 0.5 | |
| * /summit_xl/move_base/TebLocalPlannerROS/yaw_goal_tolerance: 0.5 | |
| * /summit_xl/move_base/aggressive_reset_1/layer_names: ['obstacle_3d_lay... | |
| * /summit_xl/move_base/aggressive_reset_1/reset_distance: 0.0 | |
| * /summit_xl/move_base/aggressive_reset_2/layer_names: ['obstacle_3d_lay... | |
| * /summit_xl/move_base/aggressive_reset_2/reset_distance: 0.0 | |
| * /summit_xl/move_base/aggressive_reset_3/layer_names: ['obstacle_3d_lay... | |
| * /summit_xl/move_base/aggressive_reset_3/reset_distance: 0.0 | |
| * /summit_xl/move_base/base_global_planner: global_planner/Gl... | |
| * /summit_xl/move_base/base_local_planner: teb_local_planner... | |
| * /summit_xl/move_base/clearing_rotation_allowed: False | |
| * /summit_xl/move_base/controller_frequency: 10.0 | |
| * /summit_xl/move_base/controller_patience: 15.0 | |
| * /summit_xl/move_base/global_costmap/footprint: [[0.35, -0.3], [0... | |
| * /summit_xl/move_base/global_costmap/footprint_padding: 0.0 | |
| * /summit_xl/move_base/global_costmap/global_frame: summit_xl_map | |
| * /summit_xl/move_base/global_costmap/inflation_layer/cost_scaling_factor: 2.58 | |
| * /summit_xl/move_base/global_costmap/inflation_layer/enabled: True | |
| * /summit_xl/move_base/global_costmap/inflation_layer/inflation_radius: 1.5 | |
| * /summit_xl/move_base/global_costmap/max_obstacle_height: 1.5 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/combination_method: 1 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/enabled: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/observation_sources: scan_front scan_rear | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/obstacle_range: 2.5 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/raytrace_range: 6.1 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/clearing: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/data_type: LaserScan | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/expected_update_rate: 0.5 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/inf_is_valid: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/marking: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/sensor_frame: summit_xl_front_l... | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_front/topic: scan_front | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/clearing: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/data_type: LaserScan | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/expected_update_rate: 0.5 | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/inf_is_valid: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/marking: True | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/sensor_frame: summit_xl_rear_la... | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/scan_rear/topic: scan_rear | |
| * /summit_xl/move_base/global_costmap/obstacle_2d_layer/track_unknown_space: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/clearing: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/data_type: PointCloud2 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/decay_acceleration: 1.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/horizontal_fov_angle: 1.04 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/marking: False | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/max_z: 7.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/min_z: 0.1 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/model_type: 0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/topic: /summit_xl/front_... | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_clear/vertical_fov_angle: 0.7 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/clear_after_reading: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/clearing: False | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/data_type: PointCloud2 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/expected_update_rate: 1.5 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/inf_is_valid: False | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/marking: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/max_obstacle_height: 2.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/min_obstacle_height: 0.04 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/observation_persistence: 0.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/topic: /summit_xl/front_... | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/camera_front_mark/voxel_filter: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/combination_method: 1 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/decay_model: 0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/enabled: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/map_save_duration: 60 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/mapping_mode: False | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/mark_threshold: 0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/observation_persistence: 0.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/observation_sources: camera_front_mark... | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/obstacle_range: 3.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/origin_z: 0.0 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/publish_voxel_map: False | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/track_unknown_space: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/transform_tolerance: 0.2 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/unknown_threshold: 15 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/update_footprint_enabled: True | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/voxel_decay: 5 | |
| * /summit_xl/move_base/global_costmap/obstacle_3d_layer/voxel_size: 0.05 | |
| * /summit_xl/move_base/global_costmap/plugins: [{'type': 'costma... | |
| * /summit_xl/move_base/global_costmap/publish_frequency: 2.0 | |
| * /summit_xl/move_base/global_costmap/resolution: 0.05 | |
| * /summit_xl/move_base/global_costmap/robot_base_frame: summit_xl_base_fo... | |
| * /summit_xl/move_base/global_costmap/robot_radius: 0.0 | |
| * /summit_xl/move_base/global_costmap/static_layer/enabled: True | |
| * /summit_xl/move_base/global_costmap/static_map: True | |
| * /summit_xl/move_base/global_costmap/transform_tolerance: 0.5 | |
| * /summit_xl/move_base/global_costmap/update_frequency: 5.0 | |
| * /summit_xl/move_base/local_costmap/always_send_full_costmap: True | |
| * /summit_xl/move_base/local_costmap/footprint: [[0.35, -0.3], [0... | |
| * /summit_xl/move_base/local_costmap/footprint_padding: 0.0 | |
| * /summit_xl/move_base/local_costmap/global_frame: summit_xl_odom | |
| * /summit_xl/move_base/local_costmap/height: 5.0 | |
| * /summit_xl/move_base/local_costmap/inflation_layer/cost_scaling_factor: 2.58 | |
| * /summit_xl/move_base/local_costmap/inflation_layer/enabled: True | |
| * /summit_xl/move_base/local_costmap/inflation_layer/inflation_radius: 1.5 | |
| * /summit_xl/move_base/local_costmap/max_obstacle_height: 1.5 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/combination_method: 1 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/enabled: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/observation_sources: scan_front scan_rear | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/obstacle_range: 2.5 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/raytrace_range: 6.1 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/clearing: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/data_type: LaserScan | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/expected_update_rate: 0.5 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/inf_is_valid: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/marking: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/sensor_frame: summit_xl_front_l... | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_front/topic: scan_front | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/clearing: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/data_type: LaserScan | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/expected_update_rate: 0.5 | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/inf_is_valid: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/marking: True | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/sensor_frame: summit_xl_rear_la... | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/scan_rear/topic: scan_rear | |
| * /summit_xl/move_base/local_costmap/obstacle_2d_layer/track_unknown_space: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/clearing: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/data_type: PointCloud2 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/decay_acceleration: 1.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/horizontal_fov_angle: 1.04 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/marking: False | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/max_z: 7.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/min_z: 0.1 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/model_type: 0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/topic: /summit_xl/front_... | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_clear/vertical_fov_angle: 0.7 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/clear_after_reading: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/clearing: False | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/data_type: PointCloud2 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/expected_update_rate: 1.5 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/inf_is_valid: False | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/marking: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/max_obstacle_height: 2.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/min_obstacle_height: 0.04 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/observation_persistence: 0.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/topic: /summit_xl/front_... | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/camera_front_mark/voxel_filter: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/combination_method: 1 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/decay_model: 0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/enabled: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/map_save_duration: 60 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/mapping_mode: False | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/mark_threshold: 0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/observation_persistence: 0.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/observation_sources: camera_front_mark... | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/obstacle_range: 3.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/origin_z: 0.0 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/publish_voxel_map: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/track_unknown_space: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/transform_tolerance: 0.2 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/unknown_threshold: 15 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/update_footprint_enabled: True | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/voxel_decay: 5 | |
| * /summit_xl/move_base/local_costmap/obstacle_3d_layer/voxel_size: 0.05 | |
| * /summit_xl/move_base/local_costmap/plugins: [{'type': 'spatio... | |
| * /summit_xl/move_base/local_costmap/publish_frequency: 3.0 | |
| * /summit_xl/move_base/local_costmap/resolution: 0.02 | |
| * /summit_xl/move_base/local_costmap/robot_base_frame: summit_xl_base_fo... | |
| * /summit_xl/move_base/local_costmap/robot_radius: 0.0 | |
| * /summit_xl/move_base/local_costmap/rolling_window: True | |
| * /summit_xl/move_base/local_costmap/static_layer/enabled: False | |
| * /summit_xl/move_base/local_costmap/static_map: False | |
| * /summit_xl/move_base/local_costmap/transform_tolerance: 0.5 | |
| * /summit_xl/move_base/local_costmap/update_frequency: 5.0 | |
| * /summit_xl/move_base/local_costmap/width: 5.0 | |
| * /summit_xl/move_base/max_planning_retries: 20 | |
| * /summit_xl/move_base/oscillation_distance: 0.5 | |
| * /summit_xl/move_base/oscillation_timeout: 0.0 | |
| * /summit_xl/move_base/planner_frequency: 0.5 | |
| * /summit_xl/move_base/planner_patience: 30.0 | |
| * /summit_xl/move_base/recovery_behavior_enabled: True | |
| * /summit_xl/move_base/recovery_behaviors: [{'type': 'clear_... | |
| * /summit_xl/move_base/shutdown_costmaps: False | |
| * /summit_xl/move_group/allow_trajectory_execution: True | |
| * /summit_xl/move_group/capabilities: move_group/MoveGr... | |
| * /summit_xl/move_group/controller_list: [{'action_ns': 'f... | |
| * /summit_xl/move_group/endeffector/default_planner_config: | |
| * /summit_xl/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L... | |
| * /summit_xl/move_group/jiggle_fraction: 0.05 | |
| * /summit_xl/move_group/manipulator/default_planner_config: RRTConnect | |
| * /summit_xl/move_group/manipulator/longest_valid_segment_fraction: 0.005 | |
| * /summit_xl/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L... | |
| * /summit_xl/move_group/manipulator/projection_evaluator: joints(arm_should... | |
| * /summit_xl/move_group/max_range: 5.0 | |
| * /summit_xl/move_group/max_safe_path_cost: 1 | |
| * /summit_xl/move_group/moveit_controller_manager: moveit_simple_con... | |
| * /summit_xl/move_group/moveit_manage_controllers: True | |
| * /summit_xl/move_group/octomap_frame: base_link | |
| * /summit_xl/move_group/octomap_resolution: 0.02 | |
| * /summit_xl/move_group/planner_configs/BFMT/balanced: 0 | |
| * /summit_xl/move_group/planner_configs/BFMT/cache_cc: 1 | |
| * /summit_xl/move_group/planner_configs/BFMT/extended_fmt: 1 | |
| * /summit_xl/move_group/planner_configs/BFMT/heuristics: 1 | |
| * /summit_xl/move_group/planner_configs/BFMT/nearest_k: 1 | |
| * /summit_xl/move_group/planner_configs/BFMT/num_samples: 1000 | |
| * /summit_xl/move_group/planner_configs/BFMT/optimality: 1 | |
| * /summit_xl/move_group/planner_configs/BFMT/radius_multiplier: 1.15 | |
| * /summit_xl/move_group/planner_configs/BFMT/type: geometric::BFMT | |
| * /summit_xl/move_group/planner_configs/BKPIECE/border_fraction: 0.9 | |
| * /summit_xl/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.7 | |
| * /summit_xl/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5 | |
| * /summit_xl/move_group/planner_configs/BKPIECE/range: 0.525 | |
| * /summit_xl/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE | |
| * /summit_xl/move_group/planner_configs/BiEST/range: 0.6 | |
| * /summit_xl/move_group/planner_configs/BiEST/type: geometric::BiEST | |
| * /summit_xl/move_group/planner_configs/BiTRRT/cost_threshold: 1000 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/frountier_threshold: 1 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/init_temperature: 75 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/range: 0.6 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/temp_change_factor: 0.3 | |
| * /summit_xl/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT | |
| * /summit_xl/move_group/planner_configs/EST/goal_bias: 0.05 | |
| * /summit_xl/move_group/planner_configs/EST/range: 0.6 | |
| * /summit_xl/move_group/planner_configs/EST/type: geometric::EST | |
| * /summit_xl/move_group/planner_configs/FMT/cache_cc: 1 | |
| * /summit_xl/move_group/planner_configs/FMT/extended_fmt: 1 | |
| * /summit_xl/move_group/planner_configs/FMT/heuristics: 1 | |
| * /summit_xl/move_group/planner_configs/FMT/nearest_k: 1 | |
| * /summit_xl/move_group/planner_configs/FMT/num_samples: 1000 | |
| * /summit_xl/move_group/planner_configs/FMT/radius_multiplier: 1.15 | |
| * /summit_xl/move_group/planner_configs/FMT/type: geometric::FMT | |
| * /summit_xl/move_group/planner_configs/KPIECE/border_fraction: 0.9 | |
| * /summit_xl/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.7 | |
| * /summit_xl/move_group/planner_configs/KPIECE/goal_bias: 0.075 | |
| * /summit_xl/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5 | |
| * /summit_xl/move_group/planner_configs/KPIECE/range: 0.525 | |
| * /summit_xl/move_group/planner_configs/KPIECE/type: geometric::KPIECE | |
| * /summit_xl/move_group/planner_configs/LBKPIECE/border_fraction: 0.9 | |
| * /summit_xl/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5 | |
| * /summit_xl/move_group/planner_configs/LBKPIECE/range: 0.6 | |
| * /summit_xl/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE | |
| * /summit_xl/move_group/planner_configs/LBTRRT/epsilon: 0.4 | |
| * /summit_xl/move_group/planner_configs/LBTRRT/goal_bias: 0.05 | |
| * /summit_xl/move_group/planner_configs/LBTRRT/range: 0.0 | |
| * /summit_xl/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT | |
| * /summit_xl/move_group/planner_configs/LazyPRM/range: 0.525 | |
| * /summit_xl/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM | |
| * /summit_xl/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR... | |
| * /summit_xl/move_group/planner_configs/PDST/type: geometric::PDST | |
| * /summit_xl/move_group/planner_configs/PRM/max_nearest_neighbors: 10 | |
| * /summit_xl/move_group/planner_configs/PRM/type: geometric::PRM | |
| * /summit_xl/move_group/planner_configs/PRMstar/type: geometric::PRMstar | |
| * /summit_xl/move_group/planner_configs/ProjEST/goal_bias: 0.075 | |
| * /summit_xl/move_group/planner_configs/ProjEST/range: 0.45 | |
| * /summit_xl/move_group/planner_configs/ProjEST/type: geometric::ProjEST | |
| * /summit_xl/move_group/planner_configs/RRT/goal_bias: 0.075 | |
| * /summit_xl/move_group/planner_configs/RRT/range: 0.75 | |
| * /summit_xl/move_group/planner_configs/RRT/type: geometric::RRT | |
| * /summit_xl/move_group/planner_configs/RRTConnect/range: 0.2 | |
| * /summit_xl/move_group/planner_configs/RRTConnect/type: geometric::RRTCon... | |
| * /summit_xl/move_group/planner_configs/RRTstar/delay_collision_checking: 1 | |
| * /summit_xl/move_group/planner_configs/RRTstar/goal_bias: 0.075 | |
| * /summit_xl/move_group/planner_configs/RRTstar/range: 0.75 | |
| * /summit_xl/move_group/planner_configs/RRTstar/type: geometric::RRTstar | |
| * /summit_xl/move_group/planner_configs/SBL/range: 0.525 | |
| * /summit_xl/move_group/planner_configs/SBL/type: geometric::SBL | |
| * /summit_xl/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001 | |
| * /summit_xl/move_group/planner_configs/SPARS/max_failures: 1000 | |
| * /summit_xl/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25 | |
| * /summit_xl/move_group/planner_configs/SPARS/stretch_factor: 3.0 | |
| * /summit_xl/move_group/planner_configs/SPARS/type: geometric::SPARS | |
| * /summit_xl/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001 | |
| * /summit_xl/move_group/planner_configs/SPARStwo/max_failures: 5000 | |
| * /summit_xl/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25 | |
| * /summit_xl/move_group/planner_configs/SPARStwo/stretch_factor: 3.0 | |
| * /summit_xl/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo | |
| * /summit_xl/move_group/planner_configs/STRIDE/degree: 24 | |
| * /summit_xl/move_group/planner_configs/STRIDE/estimated_dimension: 0.0 | |
| * /summit_xl/move_group/planner_configs/STRIDE/goal_bias: 0.05 | |
| * /summit_xl/move_group/planner_configs/STRIDE/max_degree: 28 | |
| * /summit_xl/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6 | |
| * /summit_xl/move_group/planner_configs/STRIDE/min_degree: 12 | |
| * /summit_xl/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.1 | |
| * /summit_xl/move_group/planner_configs/STRIDE/range: 0.6 | |
| * /summit_xl/move_group/planner_configs/STRIDE/type: geometric::STRIDE | |
| * /summit_xl/move_group/planner_configs/STRIDE/use_projected_distance: 0 | |
| * /summit_xl/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1 | |
| * /summit_xl/move_group/planner_configs/TRRT/frountier_threshold: 2.25 | |
| * /summit_xl/move_group/planner_configs/TRRT/goal_bias: 0.075 | |
| * /summit_xl/move_group/planner_configs/TRRT/init_temperature: 125 | |
| * /summit_xl/move_group/planner_configs/TRRT/k_constant: 0.0 | |
| * /summit_xl/move_group/planner_configs/TRRT/max_states_failed: 5 | |
| * /summit_xl/move_group/planner_configs/TRRT/min_temperature: 10e-10 | |
| * /summit_xl/move_group/planner_configs/TRRT/range: 1.35 | |
| * /summit_xl/move_group/planner_configs/TRRT/temp_change_factor: 2.5 | |
| * /summit_xl/move_group/planner_configs/TRRT/type: geometric::TRRT | |
| * /summit_xl/move_group/planning_plugin: ompl_interface/OM... | |
| * /summit_xl/move_group/planning_scene_monitor/publish_geometry_updates: True | |
| * /summit_xl/move_group/planning_scene_monitor/publish_planning_scene: True | |
| * /summit_xl/move_group/planning_scene_monitor/publish_state_updates: True | |
| * /summit_xl/move_group/planning_scene_monitor/publish_transforms_updates: True | |
| * /summit_xl/move_group/request_adapters: default_planner_r... | |
| * /summit_xl/move_group/sensors: [{'point_subsampl... | |
| * /summit_xl/move_group/start_state_max_bounds_error: 0.1 | |
| * /summit_xl/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 | |
| * /summit_xl/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 | |
| * /summit_xl/move_group/trajectory_execution/allowed_start_tolerance: 0.01 | |
| * /summit_xl/move_group/trajectory_execution/execution_duration_monitoring: False | |
| * /summit_xl/move_group/use_controller_manager: False | |
| * /summit_xl/robot_description: <?xml version="1.... | |
| * /summit_xl/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl... | |
| * /summit_xl/robot_description_kinematics/manipulator/kinematics_solver_attempts: 3 | |
| * /summit_xl/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005 | |
| * /summit_xl/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_elbow_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_elbow_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_elbow_joint/max_acceleration: 3.15/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_elbow_joint/max_velocity: 3.15 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_acceleration: 3.15/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_velocity: 3.15 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_acceleration: 3.15/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_velocity: 3.15 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_1_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_1_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_1_joint/max_acceleration: 3.2/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_1_joint/max_velocity: 3.2 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_2_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_2_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_2_joint/max_acceleration: 3.2/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_2_joint/max_velocity: 3.2 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_3_joint/has_acceleration_limits: False | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_3_joint/has_velocity_limits: True | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_3_joint/max_acceleration: 3.2/1.5 | |
| * /summit_xl/robot_description_planning/joint_limits/arm_wrist_3_joint/max_velocity: 3.2 | |
| * /summit_xl/robot_description_semantic: <?xml version="1.... | |
| * /summit_xl/robotnik_base_control/angular/z/has_acceleration_limits: True | |
| * /summit_xl/robotnik_base_control/angular/z/has_velocity_limits: True | |
| * /summit_xl/robotnik_base_control/angular/z/max_acceleration: 6.0 | |
| * /summit_xl/robotnik_base_control/angular/z/max_velocity: 6.0 | |
| * /summit_xl/robotnik_base_control/base_frame_id: summit_xl_base_fo... | |
| * /summit_xl/robotnik_base_control/cmd_vel_timeout: 0.25 | |
| * /summit_xl/robotnik_base_control/enable_odom_tf: True | |
| * /summit_xl/robotnik_base_control/left_wheel: ['summit_xl_front... | |
| * /summit_xl/robotnik_base_control/linear/x/has_acceleration_limits: True | |
| * /summit_xl/robotnik_base_control/linear/x/has_velocity_limits: True | |
| * /summit_xl/robotnik_base_control/linear/x/max_acceleration: 6.0 | |
| * /summit_xl/robotnik_base_control/linear/x/max_velocity: 3.0 | |
| * /summit_xl/robotnik_base_control/linear/x/min_acceleration: -6.0 | |
| * /summit_xl/robotnik_base_control/linear/x/min_velocity: -3.0 | |
| * /summit_xl/robotnik_base_control/odom_frame_id: summit_xl_odom | |
| * /summit_xl/robotnik_base_control/pose_covariance_diagonal: [0.001, 0.001, 10... | |
| * /summit_xl/robotnik_base_control/publish_rate: 50.0 | |
| * /summit_xl/robotnik_base_control/right_wheel: ['summit_xl_front... | |
| * /summit_xl/robotnik_base_control/twist_covariance_diagonal: [0.001, 0.001, 10... | |
| * /summit_xl/robotnik_base_control/type: diff_drive_contro... | |
| * /summit_xl/robotnik_base_control/wheel_radius: 0.11 | |
| * /summit_xl/robotnik_base_control/wheel_radius_multiplier: 1.0 | |
| * /summit_xl/robotnik_base_control/wheel_separation: 0.543 | |
| * /summit_xl/robotnik_base_control/wheel_separation_multiplier: 1.0 | |
| * /summit_xl/rviz_grasping/manipulator/kinematics_solver: kdl_kinematics_pl... | |
| * /summit_xl/rviz_grasping/manipulator/kinematics_solver_attempts: 3 | |
| * /summit_xl/rviz_grasping/manipulator/kinematics_solver_search_resolution: 0.005 | |
| * /summit_xl/rviz_grasping/manipulator/kinematics_solver_timeout: 0.005 | |
| * /summit_xl/twist_mux/locks: [{'topic': 'summi... | |
| * /summit_xl/twist_mux/topics: [{'topic': 'pad_t... | |
| * /use_sim_time: True | |
| NODES | |
| / | |
| detect_grasps (gpd/detect_grasps) | |
| gazebo (gazebo_ros/gzserver) | |
| rviz (rviz/rviz) | |
| /summit_xl/ | |
| amcl (amcl/amcl) | |
| arm_controller_spawner (controller_manager/spawner) | |
| controller_spawner (controller_manager/spawner) | |
| depthimage_to_laserscan (depthimage_to_laserscan/depthimage_to_laserscan) | |
| fake_joint_calibration (rostopic/rostopic) | |
| foo_throttler_arm (topic_tools/throttle) | |
| foo_throttler_front (topic_tools/throttle) | |
| joint_state_controller_spawner (controller_manager/controller_manager) | |
| map_server (map_server/map_server) | |
| move_base (move_base/move_base) | |
| move_group (moveit_ros_move_group/move_group) | |
| pointcloud_filtering (irlab_point_cloud_filtering/point_cloud_filtering_server) | |
| robot_state_publisher (robot_state_publisher/robot_state_publisher) | |
| rviz_grasping (rviz/rviz) | |
| summit_xl_gripper_controller_spawner (controller_manager/spawner) | |
| timed_roslaunch_5_icclab_summit_xl (timed_roslaunch/timed_roslaunch.sh) | |
| twist_marker (twist_mux/twist_marker) | |
| twist_mux (twist_mux/twist_mux) | |
| urdf_spawner_summit_model (gazebo_ros/spawn_model) | |
| auto-starting new master | |
| process[master]: started with pid [4570] | |
| ROS_MASTER_URI=http://localhost:11311 | |
| setting /run_id to 87b1b1ae-ce4d-11e9-9bbf-000c29e563e7 | |
| process[rosout-1]: started with pid [4583] | |
| started core service [/rosout] | |
| process[summit_xl/robot_state_publisher-2]: started with pid [4600] | |
| process[summit_xl/urdf_spawner_summit_model-3]: started with pid [4601] | |
| process[summit_xl/arm_controller_spawner-4]: started with pid [4634] | |
| [WARN] [1567516804.148836, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. | |
| [INFO] [1567516804.149184, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller | |
| process[summit_xl/fake_joint_calibration-5]: started with pid [4637] | |
| SpawnModel script started | |
| [INFO] [1567516804.557848, 0.000000]: Loading model XML from ros parameter | |
| [INFO] [1567516804.567700, 0.000000]: Waiting for service /gazebo/spawn_urdf_model | |
| process[summit_xl/joint_state_controller_spawner-6]: started with pid [4651] | |
| process[summit_xl/summit_xl_gripper_controller_spawner-7]: started with pid [4671] | |
| [WARN] [1567516805.319929, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect. | |
| [INFO] [1567516805.320373, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller | |
| process[summit_xl/controller_spawner-8]: started with pid [4682] | |
| [INFO] [1567516805.697998, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller | |
| process[summit_xl/twist_mux-9]: started with pid [4701] | |
| process[summit_xl/twist_marker-10]: started with pid [4721] | |
| process[summit_xl/depthimage_to_laserscan-11]: started with pid [4783] | |
| process[summit_xl/move_base-12]: started with pid [4813] | |
| process[summit_xl/timed_roslaunch_5_icclab_summit_xl-13]: started with pid [4857] | |
| process[summit_xl/map_server-14]: started with pid [4942] | |
| process[summit_xl/amcl-15]: started with pid [4948] | |
| [ INFO] [1567516808.209347772]: Subscribed to map topic. | |
| process[gazebo-16]: started with pid [4973] | |
| process[rviz-17]: started with pid [5237] | |
| process[summit_xl/move_group-18]: started with pid [5281] | |
| [ INFO] [1567516809.473829865]: Finished loading Gazebo ROS API Plugin. | |
| [ INFO] [1567516809.485977244]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... | |
| [ INFO] [1567516809.519915288]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516809.520255957]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516809.520348433]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1567516810.044772616]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516810.044859163]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516810.045042846]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [INFO] [1567516810.057557, 0.000000]: Calling service /gazebo/spawn_urdf_model | |
| process[summit_xl/pointcloud_filtering-19]: started with pid [5310] | |
| [ INFO] [1567516810.340769458]: Will register to pointcloud2 topic: /summit_xl/arm_camera/depth_registered/points | |
| [ INFO] [1567516810.340864356]: Will register to pointcloud2 topic: /summit_xl/front_rgbd_camera/depth/points_throttled | |
| [ INFO] [1567516810.498674391]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [ INFO] [1567516810.542521410]: MoveGroup debug mode is ON | |
| Starting context monitors... | |
| [ INFO] [1567516810.542808730]: Starting scene monitor | |
| Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false]. | |
| Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false]. | |
| [ INFO] [1567516810.627080660, 0.001000000]: Listening to '/summit_xl/planning_scene' | |
| [ INFO] [1567516810.627117650, 0.001000000]: Starting world geometry monitor | |
| [ INFO] [1567516810.699972663, 0.001000000]: Listening to '/summit_xl/collision_object' using message notifier with target frame '/summit_xl_base_footprint ' | |
| [ INFO] [1567516810.755907218, 0.001000000]: Listening to '/summit_xl/planning_scene_world' for planning scene world geometry | |
| [ INFO] [1567516810.813995692, 0.001000000]: Received a 2432 X 2272 map @ 0.050 m/pix | |
| [ INFO] [1567516810.857823491]: Ready to filter point clouds. | |
| process[summit_xl/rviz_grasping-20]: started with pid [5566] | |
| [ INFO] [1567516810.923694407, 0.001000000]: Listening to '/summit_xl/arm_camera/depth_registered/points_throttled' using message filter with target frame '/summit_xl_base_footprint ' | |
| [ INFO] [1567516811.020049444]: rviz version 1.12.17 | |
| [ INFO] [1567516811.021477973]: compiled against Qt version 5.5.1 | |
| [ INFO] [1567516811.021830748]: compiled against OGRE version 1.9.0 (Ghadamon) | |
| [ INFO] [1567516811.097896186, 0.001000000]: Listening to '/summit_xl/attached_collision_object' for attached collision objects | |
| Context monitors started. | |
| [ INFO] [1567516811.198079324, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/summit_xl/' | |
| [ INFO] [1567516811.202253046, 0.001000000]: Starting Laser Plugin (ns = /summit_xl/) | |
| [ INFO] [1567516811.245269975, 0.001000000]: Initializing OMPL interface using ROS parameters | |
| [ INFO] [1567516811.248363389, 0.001000000]: Laser Plugin (ns = /summit_xl/) <tf_prefix_>, set to "/summit_xl" | |
| [ INFO] [1567516811.388280142, 0.001000000]: Initializing likelihood field model; this can take some time on large maps... | |
| [ INFO] [1567516811.615823624, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/summit_xl/' | |
| [ INFO] [1567516811.629162638, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/summit_xl/' | |
| [ INFO] [1567516811.629223592, 0.001000000]: Starting Laser Plugin (ns = /summit_xl/) | |
| [ INFO] [1567516811.637585232, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/summit_xl/' | |
| [ INFO] [1567516811.658872836, 0.001000000]: Laser Plugin (ns = /summit_xl/) <tf_prefix_>, set to "/summit_xl" | |
| [INFO] [1567516811.668985, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity | |
| [ INFO] [1567516811.740892091, 0.001000000]: Camera Plugin (ns = /summit_xl/) <tf_prefix_>, set to "/summit_xl" | |
| [ INFO] [1567516811.766112237, 0.001000000]: Camera Plugin (ns = /summit_xl/) <tf_prefix_>, set to "/summit_xl" | |
| [ INFO] [1567516811.821127827, 0.001000000]: Loading gazebo_ros_control plugin | |
| [ERROR] [1567516811.821518641, 0.001000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true. | |
| This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead. | |
| If you do not want to fix this issue in an old package just set <legacyModeNS> to true. | |
| [ INFO] [1567516811.821780775, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /summit_xl/ | |
| [ INFO] [1567516811.849964514, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/summit_xl/robot_description] on the ROS param server. | |
| [ INFO] [1567516811.943486420]: Stereo is NOT SUPPORTED | |
| [ INFO] [1567516811.943838149]: OpenGl version: 3 (GLSL 1.3). | |
| [summit_xl/urdf_spawner_summit_model-3] process has finished cleanly | |
| log file: /home/ros/.ros/log/87b1b1ae-ce4d-11e9-9bbf-000c29e563e7/summit_xl-urdf_spawner_summit_model-3*.log | |
| process[summit_xl/foo_throttler_front-21]: started with pid [5725] | |
| [ERROR] [1567516812.200392968, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/summit_xl_front_right_wheel_joint | |
| [ERROR] [1567516812.296112043, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/summit_xl_front_left_wheel_joint | |
| [ERROR] [1567516812.379458899, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/summit_xl_back_left_wheel_joint | |
| [ERROR] [1567516812.472154301, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/summit_xl_back_right_wheel_joint | |
| [ INFO] [1567516812.532653485, 0.001000000]: Done initializing likelihood field model. | |
| [ERROR] [1567516812.560282097, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_shoulder_pan_joint | |
| [ERROR] [1567516812.620938025, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_shoulder_lift_joint | |
| [ERROR] [1567516812.689559765, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_elbow_joint | |
| [ERROR] [1567516812.756891161, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_wrist_1_joint | |
| [ERROR] [1567516812.836157913, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_wrist_2_joint | |
| [ERROR] [1567516812.912033443, 0.001000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/arm_wrist_3_joint | |
| process[summit_xl/foo_throttler_arm-22]: started with pid [5927] | |
| [ INFO] [1567516813.144104026, 0.001000000]: Loaded gazebo_ros_control. | |
| [INFO] [1567516813.148694, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller | |
| [ INFO] [1567516813.149958729, 0.001000000]: PlanarMovePlugin missing <enableYAxis>, defaults to "1" | |
| [INFO] [1567516813.168066, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller | |
| [INFO] [1567516813.193262, 0.001000]: Loading controller: gripper_left_controller | |
| [INFO] [1567516813.237152, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller | |
| [INFO] [1567516813.276127, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller | |
| [INFO] [1567516813.282674, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller | |
| [INFO] [1567516813.328218, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller | |
| [INFO] [1567516813.331820, 0.001000]: Loading controller: arm_joint_state_controller | |
| [INFO] [1567516813.402395, 0.001000]: Loading controller: joint_read_state_controller | |
| [ INFO] [1567516813.470263762, 0.001000000]: Using planning interface 'OMPL' | |
| [ INFO] [1567516813.536159762, 0.001000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 | |
| [ INFO] [1567516813.541804445, 0.001000000]: Param 'start_state_max_bounds_error' was set to 0.1 | |
| [ INFO] [1567516813.572995783, 0.001000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1567516813.592245231, 0.001000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1567516813.628189611, 0.001000000]: Param 'jiggle_fraction' was set to 0.05 | |
| [INFO] [1567516813.647260, 0.001000]: Loading controller: gripper_right_controller | |
| [ INFO] [1567516813.651608666, 0.001000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 | |
| [ INFO] [1567516813.651987967, 0.001000000]: Using planning request adapter 'Add Time Parameterization' | |
| [ INFO] [1567516813.652251462, 0.001000000]: Using planning request adapter 'Fix Workspace Bounds' | |
| [ INFO] [1567516813.652295608, 0.001000000]: Using planning request adapter 'Fix Start State Bounds' | |
| [ INFO] [1567516813.652627780, 0.001000000]: Using planning request adapter 'Fix Start State In Collision' | |
| [ INFO] [1567516813.652911741, 0.001000000]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [INFO] [1567516813.764070, 0.001000]: Loading controller: arm_pos_based_pos_traj_controller | |
| [INFO] [1567516813.841113, 0.001000]: Controller Spawner: Loaded controllers: joint_read_state_controller | |
| [INFO] [1567516814.003303, 0.001000]: Controller Spawner: Loaded controllers: gripper_left_controller, gripper_right_controller | |
| process[detect_grasps-23]: started with pid [6111] | |
| [ INFO] [1567516814.603641583, 0.001000000]: ft_sensor plugin reporting wrench values to the frame [gripper_left_finger_base_link] | |
| [ INFO] [1567516814.604259011, 0.001000000]: imu plugin missing <gaussianNoise>, defaults to 0.0 | |
| [INFO] [1567516814.613227, 0.001000]: Controller Spawner: Loaded controllers: arm_joint_state_controller, arm_pos_based_pos_traj_controller | |
| [ INFO] [1567516814.615448652, 0.001000000]: ft_sensor plugin reporting wrench values to the frame [gripper_right_finger_base_link] | |
| [ INFO] [1567516814.615755642, 0.001000000]: imu plugin missing <gaussianNoise>, defaults to 0.0 | |
| Loaded joint_state_controller | |
| Loading grasp-fix plugin | |
| GazeboGraspFix: Using disable_collisions_on_attach 0 | |
| GazeboGraspFix: Using update rate 4 | |
| GazeboGraspFix: Using max_grip_count 8 | |
| GazeboGraspFix: Using grip_count_threshold 4 | |
| GazeboGraspFix: Using release_tolerance 0.005 | |
| GazeboGraspFix: Adding collision scoped name summit_xl::gripper_left_finger_base_link::gripper_left_finger_base_link_collision | |
| GazeboGraspFix: Adding collision scoped name summit_xl::gripper_left_finger_base_link::gripper_left_finger_base_link_fixed_joint_lump__gripper_left_finger_link_collision_1 | |
| GazeboGraspFix: Adding collision scoped name summit_xl::gripper_right_finger_base_link::gripper_right_finger_base_link_collision | |
| GazeboGraspFix: Adding collision scoped name summit_xl::gripper_right_finger_base_link::gripper_right_finger_base_link_fixed_joint_lump__gripper_right_finger_link_collision_1 | |
| Subscribing contact manager to topic ~/summit_xl/contacts | |
| [INFO] [1567516814.683484, 0.001000]: Started controllers: gripper_left_controller, gripper_right_controller | |
| [ WARN] [1567516814.684864167, 0.002000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity. | |
| [ WARN] [1567516814.685969159, 0.002000000]: As a result, gravity will not be simulated correctly for your model. | |
| [ WARN] [1567516814.686325746, 0.002000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9. | |
| [ WARN] [1567516814.687280609, 0.002000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 | |
| [INFO] [1567516814.719955, 0.003000]: Started controllers: arm_joint_state_controller, arm_pos_based_pos_traj_controller | |
| Started ['joint_state_controller'] successfully | |
| [INFO] [1567516814.761579, 0.004000]: Started controllers: joint_read_state_controller | |
| [ INFO] [1567516814.779437831, 0.005000000]: Added FollowJointTrajectory controller for arm_pos_based_pos_traj_controller | |
| [ INFO] [1567516814.779679094, 0.005000000]: Returned 1 controllers in list | |
| [Wrn] [msgs.cc:1808] Conversion of sensor type[depth] not suppported. | |
| [Wrn] [msgs.cc:1808] Conversion of sensor type[depth] not suppported. | |
| [ INFO] [1567516814.896579868, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. | |
| [summit_xl/joint_state_controller_spawner-6] process has finished cleanly | |
| log file: /home/ros/.ros/log/87b1b1ae-ce4d-11e9-9bbf-000c29e563e7/summit_xl-joint_state_controller_spawner-6*.log | |
| [ INFO] [1567516815.242012110, 0.121000000]: Trajectory execution is managing controllers | |
| Loading 'move_group/ApplyPlanningSceneService'... | |
| Loading 'move_group/ClearOctomapService'... | |
| Loading 'move_group/MoveGroupCartesianPathService'... | |
| Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [ INFO] [1567516815.842363866, 0.208000000]: Physics dynamic reconfigure ready. | |
| NET SETUP runtime: 0.544268 | |
| Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| Loading 'move_group/MoveGroupKinematicsService'... | |
| Loading 'move_group/MoveGroupMoveAction'... | |
| Loading 'move_group/MoveGroupPickPlaceAction'... | |
| [ INFO] [1567516816.550981534, 0.378000000]: Waiting for point cloud to arrive ... | |
| Loading 'move_group/MoveGroupPlanService'... | |
| Loading 'move_group/MoveGroupQueryPlannersService'... | |
| Loading 'move_group/MoveGroupStateValidationService'... | |
| [ INFO] [1567516816.995979213, 0.485000000]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [ INFO] [1567516816.996355339, 0.485000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [ INFO] [1567516816.996380348, 0.485000000]: MoveGroup context initialization complete | |
| You can start planning now! | |
| [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once. | |
| [ INFO] [1567516819.748757834, 1.284000000]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516819.749416260, 1.284000000]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516819.749635224, 1.284000000]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1567516820.275201160, 1.360000000]: Using plugin "static_layer" | |
| [ INFO] [1567516820.424647088, 1.379000000]: Requesting the map... | |
| [ INFO] [1567516820.857912946, 1.490000000]: Resizing costmap to 2432 X 2272 at 0.050000 m/pix | |
| [ INFO] [1567516820.879496736, 1.503000000]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516820.879592062, 1.503000000]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516820.879735372, 1.503000000]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1567516821.142250372, 1.590000000]: Received a 2432 X 2272 map at 0.050000 m/pix | |
| [ INFO] [1567516821.248810393, 1.617000000]: Using plugin "obstacle_3d_layer" | |
| terminate called after throwing an instance of 'pluginlib::LibraryLoadException' | |
| what(): According to the loaded plugin descriptions the class spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer with base class type costmap_2d::Layer does not exist. Declared types are costmap_2d::InflationLayer costmap_2d::ObstacleLayer costmap_2d::StaticLayer costmap_2d::VoxelLayer costmap_prohibition_layer_namespace::CostmapProhibitionLayer | |
| [summit_xl/move_base-12] process has died [pid 4813, exit code -6, cmd /opt/ros/kinetic/lib/move_base/move_base cmd_vel:=move_base/cmd_vel odom:=robotnik_base_control/odom __name:=move_base __log:=/home/ros/.ros/log/87b1b1ae-ce4d-11e9-9bbf-000c29e563e7/summit_xl-move_base-12.log]. | |
| log file: /home/ros/.ros/log/87b1b1ae-ce4d-11e9-9bbf-000c29e563e7/summit_xl-move_base-12*.log | |
| [ INFO] [1567516821.512054163, 1.685000000]: Starting scene monitor | |
| [ INFO] [1567516821.616930087, 1.708000000]: Listening to '/summit_xl/move_group/monitored_planning_scene' | |
| [ INFO] [1567516823.513068927, 2.174000000]: Stopping scene monitor | |
| [ WARN] [1567516823.536719163, 2.178000000]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. | |
| [ INFO] [1567516823.613521189, 2.195000000]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516823.614304189, 2.195000000]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516823.614688501, 2.195000000]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1567516824.207931791, 2.394000000]: Loading robot model 'summit_xl'... | |
| [ WARN] [1567516824.208278051, 2.394000000]: Skipping virtual joint 'arm_base_virtual_joint' because its child frame 'arm_base_link' does not match the URDF frame 'summit_xl_base_footprint' | |
| [ INFO] [1567516824.208307162, 2.394000000]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1567516824.512033185, 2.460000000]: Starting scene monitor | |
| [ INFO] [1567516824.594673746, 2.479000000]: Listening to '/summit_xl/move_group/monitored_planning_scene' | |
| [ INFO] [1567516839.139728568, 6.205000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' | |
| [ INFO] [1567516841.231993877, 6.617000000]: Ready to take commands for planning group manipulator. | |
| [ INFO] [1567516841.233351006, 6.617000000]: Looking around: no | |
| [ INFO] [1567516841.234066537, 6.617000000]: Replanning: no | |
| [ WARN] [1567516883.714139863, 16.939000000]: Interactive marker 'EE:goal_arm_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. |
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