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October 1, 2018 22:48
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| crasar@crasar-dell:~/WS/fotokite_ws$ roslaunch rrp_moveit demo.launch | |
| ... logging to /home/crasar/.ros/log/49176658-c5c2-11e8-91a1-d89ef3923760/roslaunch-crasar-dell-13923.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. | |
| started roslaunch server http://crasar-dell:36487/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /joint_state_publisher/source_list: ['move_group/fake... | |
| * /joint_state_publisher/use_gui: False | |
| * /move_group/allow_trajectory_execution: True | |
| * /move_group/arm/default_planner_config: NkConfigDefault | |
| * /move_group/arm/planner_configs: ['SBLkConfigDefau... | |
| * /move_group/controller_list: [{'joints': ['toe... | |
| * /move_group/jiggle_fraction: 0.05 | |
| * /move_group/max_range: 5.0 | |
| * /move_group/max_safe_path_cost: 1 | |
| * /move_group/moveit_controller_manager: moveit_fake_contr... | |
| * /move_group/moveit_manage_controllers: True | |
| * /move_group/octomap_resolution: 0.025 | |
| * /move_group/planner_configs/BFMT/balanced: 0 | |
| * /move_group/planner_configs/BFMT/cache_cc: 1 | |
| * /move_group/planner_configs/BFMT/extended_fmt: 1 | |
| * /move_group/planner_configs/BFMT/heuristics: 1 | |
| * /move_group/planner_configs/BFMT/nearest_k: 1 | |
| * /move_group/planner_configs/BFMT/num_samples: 1000 | |
| * /move_group/planner_configs/BFMT/optimality: 1 | |
| * /move_group/planner_configs/BFMT/radius_multiplier: 1.0 | |
| * /move_group/planner_configs/BFMT/type: geometric::BFMT | |
| * /move_group/planner_configs/BKPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5 | |
| * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/BKPIECE/range: 0.0 | |
| * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE | |
| * /move_group/planner_configs/BiEST/range: 0.0 | |
| * /move_group/planner_configs/BiEST/type: geometric::BiEST | |
| * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300 | |
| * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1 | |
| * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0 | |
| * /move_group/planner_configs/BiTRRT/init_temperature: 100 | |
| * /move_group/planner_configs/BiTRRT/range: 0.0 | |
| * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1 | |
| * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT | |
| * /move_group/planner_configs/EST/goal_bias: 0.05 | |
| * /move_group/planner_configs/EST/range: 0.0 | |
| * /move_group/planner_configs/EST/type: geometric::EST | |
| * /move_group/planner_configs/FMT/cache_cc: 1 | |
| * /move_group/planner_configs/FMT/extended_fmt: 1 | |
| * /move_group/planner_configs/FMT/heuristics: 0 | |
| * /move_group/planner_configs/FMT/nearest_k: 1 | |
| * /move_group/planner_configs/FMT/num_samples: 1000 | |
| * /move_group/planner_configs/FMT/radius_multiplier: 1.1 | |
| * /move_group/planner_configs/FMT/type: geometric::FMT | |
| * /move_group/planner_configs/KPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5 | |
| * /move_group/planner_configs/KPIECE/goal_bias: 0.05 | |
| * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/KPIECE/range: 0.0 | |
| * /move_group/planner_configs/KPIECE/type: geometric::KPIECE | |
| * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/LBKPIECE/range: 0.0 | |
| * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE | |
| * /move_group/planner_configs/LBTRRT/epsilon: 0.4 | |
| * /move_group/planner_configs/LBTRRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/LBTRRT/range: 0.0 | |
| * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT | |
| * /move_group/planner_configs/LazyPRM/range: 0.0 | |
| * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM | |
| * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR... | |
| * /move_group/planner_configs/PDST/type: geometric::PDST | |
| * /move_group/planner_configs/PRM/max_nearest_neighbors: 10 | |
| * /move_group/planner_configs/PRM/type: geometric::PRM | |
| * /move_group/planner_configs/PRMstar/type: geometric::PRMstar | |
| * /move_group/planner_configs/ProjEST/goal_bias: 0.05 | |
| * /move_group/planner_configs/ProjEST/range: 0.0 | |
| * /move_group/planner_configs/ProjEST/type: geometric::ProjEST | |
| * /move_group/planner_configs/RRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/RRT/range: 0.0 | |
| * /move_group/planner_configs/RRT/type: geometric::RRT | |
| * /move_group/planner_configs/RRTConnect/range: 0.0 | |
| * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon... | |
| * /move_group/planner_configs/RRTstar/delay_collision_checking: 1 | |
| * /move_group/planner_configs/RRTstar/goal_bias: 0.05 | |
| * /move_group/planner_configs/RRTstar/range: 0.0 | |
| * /move_group/planner_configs/RRTstar/type: geometric::RRTstar | |
| * /move_group/planner_configs/SBL/range: 0.0 | |
| * /move_group/planner_configs/SBL/type: geometric::SBL | |
| * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001 | |
| * /move_group/planner_configs/SPARS/max_failures: 1000 | |
| * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25 | |
| * /move_group/planner_configs/SPARS/stretch_factor: 3.0 | |
| * /move_group/planner_configs/SPARS/type: geometric::SPARS | |
| * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001 | |
| * /move_group/planner_configs/SPARStwo/max_failures: 5000 | |
| * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25 | |
| * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0 | |
| * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo | |
| * /move_group/planner_configs/STRIDE/degree: 16 | |
| * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0 | |
| * /move_group/planner_configs/STRIDE/goal_bias: 0.05 | |
| * /move_group/planner_configs/STRIDE/max_degree: 18 | |
| * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6 | |
| * /move_group/planner_configs/STRIDE/min_degree: 12 | |
| * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2 | |
| * /move_group/planner_configs/STRIDE/range: 0.0 | |
| * /move_group/planner_configs/STRIDE/type: geometric::STRIDE | |
| * /move_group/planner_configs/STRIDE/use_projected_distance: 0 | |
| * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1 | |
| * /move_group/planner_configs/TRRT/frountier_threshold: 0.0 | |
| * /move_group/planner_configs/TRRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/TRRT/init_temperature: 10e-6 | |
| * /move_group/planner_configs/TRRT/k_constant: 0.0 | |
| * /move_group/planner_configs/TRRT/max_states_failed: 10 | |
| * /move_group/planner_configs/TRRT/min_temperature: 10e-10 | |
| * /move_group/planner_configs/TRRT/range: 0.0 | |
| * /move_group/planner_configs/TRRT/temp_change_factor: 2.0 | |
| * /move_group/planner_configs/TRRT/type: geometric::TRRT | |
| * /move_group/planning_plugin: ompl_interface/OM... | |
| * /move_group/planning_scene_monitor/publish_geometry_updates: True | |
| * /move_group/planning_scene_monitor/publish_planning_scene: True | |
| * /move_group/planning_scene_monitor/publish_state_updates: True | |
| * /move_group/planning_scene_monitor/publish_transforms_updates: True | |
| * /move_group/request_adapters: default_planner_r... | |
| * /move_group/start_state_max_bounds_error: 0.1 | |
| * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 | |
| * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 | |
| * /move_group/trajectory_execution/allowed_start_tolerance: 0.01 | |
| * /robot_description: <?xml version="1.... | |
| * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/arm/kinematics_solver_attempts: 3 | |
| * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005 | |
| * /robot_description_planning/joint_limits/foot_leg_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/foot_leg_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/foot_leg_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/foot_leg_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/leg_arm_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/leg_arm_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/leg_arm_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/leg_arm_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/toe_foot_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/toe_foot_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/toe_foot_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/toe_foot_joint/max_velocity: 1 | |
| * /robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: kinetic | |
| * /rosversion: 1.12.14 | |
| * /rviz_crasar_dell_13923_4369401079170375123/arm/kinematics_solver: kdl_kinematics_pl... | |
| * /rviz_crasar_dell_13923_4369401079170375123/arm/kinematics_solver_attempts: 3 | |
| * /rviz_crasar_dell_13923_4369401079170375123/arm/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_crasar_dell_13923_4369401079170375123/arm/kinematics_solver_timeout: 0.005 | |
| NODES | |
| / | |
| joint_state_publisher (joint_state_publisher/joint_state_publisher) | |
| move_group (moveit_ros_move_group/move_group) | |
| robot_state_publisher (robot_state_publisher/robot_state_publisher) | |
| rviz_crasar_dell_13923_4369401079170375123 (rviz/rviz) | |
| auto-starting new master | |
| process[master]: started with pid [13936] | |
| ROS_MASTER_URI=http://localhost:11311 | |
| setting /run_id to 49176658-c5c2-11e8-91a1-d89ef3923760 | |
| process[rosout-1]: started with pid [13949] | |
| started core service [/rosout] | |
| process[joint_state_publisher-2]: started with pid [13966] | |
| process[robot_state_publisher-3]: started with pid [13967] | |
| process[move_group-4]: started with pid [13968] | |
| process[rviz_crasar_dell_13923_4369401079170375123-5]: started with pid [13973] | |
| [ WARN] [1538429888.313881742]: The root link toe has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| [ INFO] [1538429888.359324934]: Loading robot model 'arm'... | |
| [ INFO] [1538429888.375533915]: Loading robot model 'arm'... | |
| [ WARN] [1538429888.375686562]: The root link toe has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| [ INFO] [1538429888.392517118]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [ INFO] [1538429888.395252378]: MoveGroup debug mode is ON | |
| Starting context monitors... | |
| [ INFO] [1538429888.395317910]: Starting scene monitor | |
| [ INFO] [1538429888.397910418]: Listening to '/planning_scene' | |
| [ INFO] [1538429888.397940550]: Starting world geometry monitor | |
| [ INFO] [1538429888.400686388]: Listening to '/collision_object' using message notifier with target frame '/toe ' | |
| [ INFO] [1538429888.400747233]: rviz version 1.12.16 | |
| [ INFO] [1538429888.400778933]: compiled against Qt version 5.5.1 | |
| [ INFO] [1538429888.400801648]: compiled against OGRE version 1.9.0 (Ghadamon) | |
| [ INFO] [1538429888.407234700]: Listening to '/planning_scene_world' for planning scene world geometry | |
| [ INFO] [1538429888.416406893]: Listening to '/attached_collision_object' for attached collision objects | |
| Context monitors started. | |
| [ INFO] [1538429888.439376711]: Initializing OMPL interface using ROS parameters | |
| [ERROR] [1538429888.442477520]: Could not find the planner configuration 'NkConfigDefault' on the param server | |
| [ERROR] [1538429888.443227384]: Could not find the planner configuration 'SBLkConfigDefault' on the param server | |
| [ERROR] [1538429888.443616367]: Could not find the planner configuration 'ESTkConfigDefault' on the param server | |
| [ERROR] [1538429888.443985369]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server | |
| [ERROR] [1538429888.444320640]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server | |
| [ERROR] [1538429888.444649456]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server | |
| [ERROR] [1538429888.445831091]: Could not find the planner configuration 'RRTkConfigDefault' on the param server | |
| [ERROR] [1538429888.446175244]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server | |
| [ERROR] [1538429888.446494758]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server | |
| [ERROR] [1538429888.446814583]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server | |
| [ERROR] [1538429888.447115992]: Could not find the planner configuration 'PRMkConfigDefault' on the param server | |
| [ERROR] [1538429888.447433320]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server | |
| [ERROR] [1538429888.447801508]: Could not find the planner configuration 'FMTkConfigDefault' on the param server | |
| [ERROR] [1538429888.448089528]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server | |
| [ERROR] [1538429888.448375953]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server | |
| [ERROR] [1538429888.448658383]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server | |
| [ERROR] [1538429888.448942090]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server | |
| [ERROR] [1538429888.449227439]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server | |
| [ERROR] [1538429888.449515341]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server | |
| [ERROR] [1538429888.449982691]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server | |
| [ERROR] [1538429888.450410265]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server | |
| [ERROR] [1538429888.450735577]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server | |
| [ERROR] [1538429888.451025810]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server | |
| [ERROR] [1538429888.451432118]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server | |
| [ INFO] [1538429888.458745763]: Using planning interface 'OMPL' | |
| [ INFO] [1538429888.462509338]: Param 'default_workspace_bounds' was not set. Using default value: 10 | |
| [ INFO] [1538429888.463092348]: Param 'start_state_max_bounds_error' was set to 0.1 | |
| [ INFO] [1538429888.463540735]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1538429888.463991213]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1538429888.464406170]: Param 'jiggle_fraction' was set to 0.05 | |
| [ INFO] [1538429888.464818654]: Param 'max_sampling_attempts' was not set. Using default value: 100 | |
| [ INFO] [1538429888.464860220]: Using planning request adapter 'Add Time Parameterization' | |
| [ INFO] [1538429888.464871327]: Using planning request adapter 'Fix Workspace Bounds' | |
| [ INFO] [1538429888.464880877]: Using planning request adapter 'Fix Start State Bounds' | |
| [ INFO] [1538429888.464893520]: Using planning request adapter 'Fix Start State In Collision' | |
| [ INFO] [1538429888.464905713]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [ INFO] [1538429888.470317665]: Fake controller 'fake_arm_controller' with joints [ toe_foot_joint foot_leg_joint leg_arm_joint ] | |
| [ INFO] [1538429888.470729989]: Returned 1 controllers in list | |
| [ INFO] [1538429888.478683357]: Trajectory execution is managing controllers | |
| Loading 'move_group/ApplyPlanningSceneService'... | |
| Loading 'move_group/ClearOctomapService'... | |
| Loading 'move_group/MoveGroupCartesianPathService'... | |
| Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| Loading 'move_group/MoveGroupKinematicsService'... | |
| Loading 'move_group/MoveGroupMoveAction'... | |
| Loading 'move_group/MoveGroupPickPlaceAction'... | |
| Loading 'move_group/MoveGroupPlanService'... | |
| Loading 'move_group/MoveGroupQueryPlannersService'... | |
| Loading 'move_group/MoveGroupStateValidationService'... | |
| [ INFO] [1538429888.539898481]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [ INFO] [1538429888.539985696]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [ INFO] [1538429888.540016644]: MoveGroup context initialization complete | |
| You can start planning now! | |
| [ INFO] [1538429888.544706261]: Stereo is NOT SUPPORTED | |
| [ INFO] [1538429888.544780017]: OpenGl version: 3 (GLSL 1.3). | |
| [ INFO] [1538429891.862805204]: Loading robot model 'arm'... | |
| [ INFO] [1538429891.878105658]: Loading robot model 'arm'... | |
| [ WARN] [1538429891.878258794]: The root link toe has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| [ INFO] [1538429891.955814028]: Starting scene monitor | |
| [ INFO] [1538429891.959020029]: Listening to '/move_group/monitored_planning_scene' | |
| [ WARN] [1538429891.984731821]: The root link toe has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| [ INFO] [1538429891.987702688]: Constructing new MoveGroup connection for group 'arm' in namespace '' | |
| [ INFO] [1538429893.136714964]: Ready to take commands for planning group arm. | |
| [ INFO] [1538429893.136799508]: Looking around: no | |
| [ INFO] [1538429893.136828258]: Replanning: no | |
| [ WARN] [1538429893.159235236]: Interactive marker 'EE:goal_arm' 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. | |
| [ INFO] [1538429899.945704975]: Stopping scene monitor | |
| [ INFO] [1538429899.946446769]: Starting scene monitor | |
| [ INFO] [1538429899.950268762]: Listening to '/planning_scene' | |
| [ INFO] [1538429927.911120149]: Planning request received for MoveGroup action. Forwarding to planning pipeline. | |
| [ INFO] [1538429927.912007797]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [ INFO] [1538429927.912615502]: RRTConnect: Starting planning with 1 states already in datastructure | |
| [ INFO] [1538429927.912692124]: RRTConnect: Starting planning with 1 states already in datastructure | |
| [ INFO] [1538429927.912718136]: RRTConnect: Starting planning with 1 states already in datastructure | |
| [ INFO] [1538429927.912789158]: RRTConnect: Starting planning with 1 states already in datastructure | |
| [ INFO] [1538429927.923357425]: RRTConnect: Created 4 states (2 start + 2 goal) | |
| [ INFO] [1538429927.923563660]: RRTConnect: Created 5 states (2 start + 3 goal) | |
| [ INFO] [1538429927.923604520]: RRTConnect: Created 5 states (2 start + 3 goal) | |
| [ INFO] [1538429927.923700501]: RRTConnect: Created 5 states (2 start + 3 goal) | |
| [ INFO] [1538429927.923901952]: ParallelPlan::solve(): Solution found by one or more threads in 0.011525 seconds |
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