Created
October 16, 2019 14:56
-
-
Save rickstaa/0b51642e68a40aa6d1d30e88f67524a4 to your computer and use it in GitHub Desktop.
Console log - moveit issue #1694
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| ... logging to /home/ricks/.ros/log/9cfdbd0c-f024-11e9-bbdf-e4a471cb9413/roslaunch-ricks-HP-3655.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. | |
| ]2;/home/ricks/Desktop/catkin_ws/src/panda_moveit_config/launch/demo.launch | |
| [1mstarted roslaunch server http://ricks-HP:43745/[0m | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /joint_state_publisher/source_list: ['move_group/fake... | |
| * /joint_state_publisher/use_gui: False | |
| * /move_group/allow_trajectory_execution: True | |
| * /move_group/capabilities: | |
| * /move_group/controller_list: [{'joints': ['pan... | |
| * /move_group/disable_capabilities: | |
| * /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/panda_arm/default_planner_config: None | |
| * /move_group/panda_arm/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_arm/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_arm/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_arm_hand/default_planner_config: None | |
| * /move_group/panda_arm_hand/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_arm_hand/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_arm_hand/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_full/default_planner_config: | |
| * /move_group/panda_full/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_full/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_full/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_hand/default_planner_config: | |
| * /move_group/panda_hand/planner_configs: ['SBL', 'EST', 'L... | |
| * /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/sensors: [{'point_subsampl... | |
| * /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/panda_arm/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.005 | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver_timeout: 0.005 | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.2 | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.2 | |
| * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61 | |
| * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61 | |
| * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61 | |
| * /robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.3 | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm/kinematics_solver: kdl_kinematics_pl... | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm/kinematics_solver_timeout: 0.005 | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm_hand/kinematics_solver: kdl_kinematics_pl... | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm_hand/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_ricks_HP_3655_5983020974628339073/panda_arm_hand/kinematics_solver_t[0m[ INFO] [1571237566.720614852]: Loading robot model 'panda'...[0m | |
| [0m[ INFO] [1571237566.815536909]: Publishing maintained planning scene on 'monitored_planning_scene'[0m | |
| [0m[ INFO] [1571237566.818117475]: MoveGroup debug mode is ON[0m | |
| [96mStarting planning scene monitors... | |
| [0m[0m[ INFO] [1571237566.818140871]: Starting planning scene monitor[0m | |
| [0m[ INFO] [1571237566.819672793]: Listening to '/planning_scene'[0m | |
| [0m[ INFO] [1571237566.819690371]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.[0m | |
| [0m[ INFO] [1571237566.821095945]: Listening to '/collision_object'[0m | |
| [0m[ INFO] [1571237566.822629718]: Listening to '/planning_scene_world' for planning scene world geometry[0m | |
| [0m[ INFO] [1571237566.839378505]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'world '[0m | |
| [0m[ INFO] [1571237566.842267795]: Listening to '/attached_collision_object' for attached collision objects[0m | |
| [96mPlanning scene monitors started. | |
| [0m[0m[ INFO] [1571237566.863639558]: Initializing OMPL interface using ROS parameters[0m | |
| [0m[ INFO] [1571237566.919590077]: Using planning interface 'OMPL'[0m | |
| [0m[ INFO] [1571237566.922966397]: Param 'default_workspace_bounds' was not set. Using default value: 10[0m | |
| [0m[ INFO] [1571237566.923298642]: Param 'start_state_max_bounds_error' was set to 0.1[0m | |
| [0m[ INFO] [1571237566.923557537]: Param 'start_state_max_dt' was not set. Using default value: 0.5[0m | |
| [0m[ INFO] [1571237566.923837648]: Param 'start_state_max_dt' was not set. Using default value: 0.5[0m | |
| [0m[ INFO] [1571237566.924143492]: Param 'jiggle_fraction' was set to 0.05[0m | |
| [0m[ INFO] [1571237566.924477210]: Param 'max_sampling_attempts' was not set. Using default value: 100[0m | |
| [0m[ INFO] [1571237566.924535401]: Using planning request adapter 'Add Time Parameterization'[0m | |
| [0m[ INFO] [1571237566.924551220]: Using planning request adapter 'Fix Workspace Bounds'[0m | |
| [0m[ INFO] [1571237566.924565847]: Using planning request adapter 'Fix Start State Bounds'[0m | |
| [0m[ INFO] [1571237566.924579031]: Using planning request adapter 'Fix Start State In Collision'[0m | |
| [0m[ INFO] [1571237566.924591999]: Using planning request adapter 'Fix Start State Path Constraints'[0m | |
| [0m[ INFO] [1571237566.931240267]: Fake controller 'fake_panda_arm_hand_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ][0m | |
| [0m[ INFO] [1571237566.931646974]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ][0m | |
| [0m[ INFO] [1571237566.931965595]: Fake controller 'fake_panda_hand_controller' with joints [ panda_finger_joint1 ][0m | |
| [0m[ INFO] [1571237566.932244133]: Fake controller 'fake_panda_full_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 panda_finger_joint1 ][0m | |
| [0m[ INFO] [1571237566.932546808]: Returned 4 controllers in list[0m | |
| [0m[ INFO] [1571237566.942846593]: Trajectory execution is managing controllers[0m | |
| [96mLoading 'move_group/ApplyPlanningSceneService'... | |
| [0m[96mLoading 'move_group/ClearOctomapService'... | |
| [0m[96mLoading 'move_group/MoveGroupCartesianPathService'... | |
| [0m[96mLoading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [0m[96mLoading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [0m[96mLoading 'move_group/MoveGroupKinematicsService'... | |
| [0m[96mLoading 'move_group/MoveGroupMoveAction'... | |
| [0m[96mLoading 'move_group/MoveGroupPickPlaceAction'... | |
| [0m[96mLoading 'move_group/MoveGroupPlanService'... | |
| [0m[96mLoading 'move_group/MoveGroupQueryPlannersService'... | |
| [0m[96mLoading 'move_group/MoveGroupStateValidationService'... | |
| [0m[0m[ INFO] [1571237567.002261888]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [0m | |
| [0m[ INFO] [1571237567.002346814]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner[0m | |
| [0m[ INFO] [1571237567.002386817]: MoveGroup context initialization complete[0m | |
| [92m | |
| You can start planning now! | |
| [0m[0m[ INFO] [1571237566.797736447]: rviz version 1.13.4[0m | |
| [0m[ INFO] [1571237566.797807580]: compiled against Qt version 5.9.5[0m | |
| [0m[ INFO] [1571237566.797817243]: compiled against OGRE version 1.9.0 (Ghadamon)[0m | |
| [0m[ INFO] [1571237566.802353095]: Forcing OpenGl version 0.[0m | |
| [0m[ INFO] [1571237567.582146581]: Stereo is NOT SUPPORTED[0m | |
| [0m[ INFO] [1571237567.582215253]: OpenGl version: 4.6 (GLSL 4.6).[0m | |
| [0m[ INFO] [1571237570.892017879]: Loading robot model 'panda'...[0m | |
| [33m[ WARN] [1571237570.915081271]: Kinematics solver doesn't support #attempts anymore, but only a timeout. | |
| Please remove the parameter '/rviz_ricks_HP_3655_5983020974628339073/panda_arm_hand/kinematics_solver_attempts' from your configuration.[0m | |
| [0m[ INFO] [1571237570.980468879]: Starting planning scene monitor[0m | |
| [0m[ INFO] [1571237570.982646629]: Listening to '/move_group/monitored_planning_scene'[0m | |
| [0m[ INFO] [1571237571.370015780]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''[0m | |
| [0m[ INFO] [1571237572.576056632]: Ready to take commands for planning group panda_arm.[0m | |
| [0m[ INFO] [1571237572.576101774]: Looking around: no[0m | |
| [0m[ INFO] [1571237572.576119090]: Replanning: no[0m | |
| imeout: 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_ricks_HP_3655_5983020974628339073 (rviz/rviz) | |
| auto-starting new master | |
| [1mprocess[master]: started with pid [3676][0m | |
| [1mROS_MASTER_URI=http://localhost:11311[0m | |
| ]2;/home/ricks/Desktop/catkin_ws/src/panda_moveit_config/launch/demo.launch http://localhost:11311 | |
| [1msetting /run_id to 9cfdbd0c-f024-11e9-bbdf-e4a471cb9413[0m | |
| [1mprocess[rosout-1]: started with pid [3687][0m | |
| started core service [/rosout] | |
| [1mprocess[joint_state_publisher-2]: started with pid [3695][0m | |
| [1mprocess[robot_state_publisher-3]: started with pid [3696][0m | |
| [1mprocess[move_group-4]: started with pid [3697][0m | |
| [1mprocess[rviz_ricks_HP_3655_5983020974628339073-5]: started with pid [3702][0m | |
| [rviz_ricks_HP_3655_5983020974628339073-5] killing on exit | |
| [move_group-4] killing on exit | |
| [robot_state_publisher-3] killing on exit | |
| [joint_state_publisher-2] killing on exit | |
| [rosout-1] killing on exit | |
| [master] killing on exit | |
| shutting down processing monitor... | |
| ... shutting down processing monitor complete | |
| [1mdone[0m | |
| ... logging to /home/ricks/.ros/log/bcfa7190-f024-11e9-bbdf-e4a471cb9413/roslaunch-ricks-HP-5449.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. | |
| ]2;/home/ricks/Desktop/catkin_ws/src/panda_moveit_config/launch/demo.launch | |
| [1mstarted roslaunch server http://ricks-HP:44527/[0m | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /joint_state_publisher/source_list: ['move_group/fake... | |
| * /joint_state_publisher/use_gui: False | |
| * /move_group/allow_trajectory_execution: True | |
| * /move_group/capabilities: | |
| * /move_group/controller_list: [{'joints': ['pan... | |
| * /move_group/disable_capabilities: | |
| * /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/panda_arm/default_planner_config: None | |
| * /move_group/panda_arm/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_arm/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_arm/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_arm_hand/default_planner_config: None | |
| * /move_group/panda_arm_hand/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_arm_hand/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_arm_hand/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_full/default_planner_config: | |
| * /move_group/panda_full/longest_valid_segment_fraction: 0.005 | |
| * /move_group/panda_full/planner_configs: ['SBL', 'EST', 'L... | |
| * /move_group/panda_full/projection_evaluator: joints(panda_join... | |
| * /move_group/panda_hand/default_planner_config: | |
| * /move_group/panda_hand/planner_configs: ['SBL', 'EST', 'L... | |
| * /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/sensors: [{'point_subsampl... | |
| * /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/panda_arm/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.005 | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/panda_arm_hand/kinematics_solver_timeout: 0.005 | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.2 | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.2 | |
| * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175 | |
| * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61 | |
| * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61 | |
| * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61 | |
| * /robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.3 | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm/kinematics_solver: kdl_kinematics_pl... | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm/kinematics_solver_timeout: 0.005 | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm_hand/kinematics_solver: kdl_kinematics_pl... | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm_hand/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_ricks_HP_5449_6789830020977402669/panda_arm_hand/kinematics_solver_t[31m[ERROR] [1571237620.563786054]: Could not find the planner configuration 'None' on the param server[0m | |
| [31m[ERROR] [1571237620.574836537]: Could not find the planner configuration 'None' on the param server[0m | |
| [0m[ INFO] [1571237620.423144133]: Loading robot model 'panda'...[0m | |
| [0m[ INFO] [1571237620.512558117]: Publishing maintained planning scene on 'monitored_planning_scene'[0m | |
| [0m[ INFO] [1571237620.514489565]: MoveGroup debug mode is ON[0m | |
| [96mStarting planning scene monitors... | |
| [0m[0m[ INFO] [1571237620.514523899]: Starting planning scene monitor[0m | |
| [0m[ INFO] [1571237620.516107432]: Listening to '/planning_scene'[0m | |
| [0m[ INFO] [1571237620.516139315]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.[0m | |
| [0m[ INFO] [1571237620.517590975]: Listening to '/collision_object'[0m | |
| [0m[ INFO] [1571237620.519539578]: Listening to '/planning_scene_world' for planning scene world geometry[0m | |
| [0m[ INFO] [1571237620.536484154]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'world '[0m | |
| [0m[ INFO] [1571237620.539803281]: Listening to '/attached_collision_object' for attached collision objects[0m | |
| [96mPlanning scene monitors started. | |
| [0m[0m[ INFO] [1571237620.561561285]: Initializing OMPL interface using ROS parameters[0m | |
| [0m[ INFO] [1571237620.609036133]: Using planning interface 'OMPL'[0m | |
| [0m[ INFO] [1571237620.612626035]: Param 'default_workspace_bounds' was not set. Using default value: 10[0m | |
| [0m[ INFO] [1571237620.612959904]: Param 'start_state_max_bounds_error' was set to 0.1[0m | |
| [0m[ INFO] [1571237620.613261139]: Param 'start_state_max_dt' was not set. Using default value: 0.5[0m | |
| [0m[ INFO] [1571237620.613585482]: Param 'start_state_max_dt' was not set. Using default value: 0.5[0m | |
| [0m[ INFO] [1571237620.613876721]: Param 'jiggle_fraction' was set to 0.05[0m | |
| [0m[ INFO] [1571237620.614178974]: Param 'max_sampling_attempts' was not set. Using default value: 100[0m | |
| [0m[ INFO] [1571237620.614228480]: Using planning request adapter 'Add Time Parameterization'[0m | |
| [0m[ INFO] [1571237620.614243529]: Using planning request adapter 'Fix Workspace Bounds'[0m | |
| [0m[ INFO] [1571237620.614258427]: Using planning request adapter 'Fix Start State Bounds'[0m | |
| [0m[ INFO] [1571237620.614269759]: Using planning request adapter 'Fix Start State In Collision'[0m | |
| [0m[ INFO] [1571237620.614286652]: Using planning request adapter 'Fix Start State Path Constraints'[0m | |
| [0m[ INFO] [1571237620.620865380]: Fake controller 'fake_panda_arm_hand_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ][0m | |
| [0m[ INFO] [1571237620.621233387]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ][0m | |
| [0m[ INFO] [1571237620.621498710]: Fake controller 'fake_panda_hand_controller' with joints [ panda_finger_joint1 ][0m | |
| [0m[ INFO] [1571237620.621813553]: Fake controller 'fake_panda_full_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 panda_finger_joint1 ][0m | |
| [0m[ INFO] [1571237620.622140801]: Returned 4 controllers in list[0m | |
| [0m[ INFO] [1571237620.629515610]: Trajectory execution is managing controllers[0m | |
| [96mLoading 'move_group/ApplyPlanningSceneService'... | |
| [0m[96mLoading 'move_group/ClearOctomapService'... | |
| [0m[96mLoading 'move_group/MoveGroupCartesianPathService'... | |
| [0m[96mLoading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [0m[96mLoading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [0m[96mLoading 'move_group/MoveGroupKinematicsService'... | |
| [0m[96mLoading 'move_group/MoveGroupMoveAction'... | |
| [0m[96mLoading 'move_group/MoveGroupPickPlaceAction'... | |
| [0m[96mLoading 'move_group/MoveGroupPlanService'... | |
| [0m[96mLoading 'move_group/MoveGroupQueryPlannersService'... | |
| [0m[96mLoading 'move_group/MoveGroupStateValidationService'... | |
| [0m[0m[ INFO] [1571237620.677744869]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [0m | |
| [0m[ INFO] [1571237620.677864890]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner[0m | |
| [0m[ INFO] [1571237620.677879048]: MoveGroup context initialization complete[0m | |
| [92m | |
| You can start planning now! | |
| [0m |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment