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April 23, 2019 15:41
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| 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://10.42.0.1:37181/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /move_group/allow_trajectory_execution: True | |
| * /move_group/allowed_execution_duration_scaling: 1.2 | |
| * /move_group/allowed_goal_duration_margin: 0.5 | |
| * /move_group/arm/longest_valid_segment_fraction: 0.05 | |
| * /move_group/arm/planner_configs: ['SBLkConfigDefau... | |
| * /move_group/arm/projection_evaluator: joints(shoulder_p... | |
| * /move_group/arm_with_torso/longest_valid_segment_fraction: 0.05 | |
| * /move_group/arm_with_torso/planner_configs: ['SBLkConfigDefau... | |
| * /move_group/arm_with_torso/projection_evaluator: joints(torso_lift... | |
| * /move_group/capabilities: move_group/MoveGr... | |
| * /move_group/controller_list: [{'default': True... | |
| * /move_group/gripper/planner_configs: ['SBLkConfigDefau... | |
| * /move_group/jiggle_fraction: 0.05 | |
| * /move_group/max_safe_path_cost: 1 | |
| * /move_group/moveit_controller_manager: moveit_simple_con... | |
| * /move_group/moveit_manage_controllers: True | |
| * /move_group/octomap_frame: base_link | |
| * /move_group/octomap_resolution: 0.01 | |
| * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE | |
| * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST | |
| * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE | |
| * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE | |
| * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM | |
| * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar | |
| * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... | |
| * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT | |
| * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar | |
| * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL | |
| * /move_group/planner_configs/TRRTkConfigDefault/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 | |
| * /moveit_sensor_manager: fetch | |
| * /robot_description_kinematics/arm/kinematics_solver: fetch_arm/IKFastK... | |
| * /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_kinematics/arm_with_torso/kinematics_solver: kdl_kinematics_pl... | |
| * /robot_description_kinematics/arm_with_torso/kinematics_solver_attempts: 3 | |
| * /robot_description_kinematics/arm_with_torso/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/arm_with_torso/kinematics_solver_timeout: 0.005 | |
| * /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.5 | |
| * /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.5 | |
| * /robot_description_planning/joint_limits/forearm_roll_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/forearm_roll_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/forearm_roll_joint/max_acceleration: 1.5 | |
| * /robot_description_planning/joint_limits/forearm_roll_joint/max_velocity: 1.57 | |
| * /robot_description_planning/joint_limits/left_gripper_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/left_gripper_joint/has_velocity_limits: False | |
| * /robot_description_planning/joint_limits/left_gripper_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/left_gripper_joint/max_velocity: 0 | |
| * /robot_description_planning/joint_limits/right_gripper_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/right_gripper_joint/has_velocity_limits: False | |
| * /robot_description_planning/joint_limits/right_gripper_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/right_gripper_joint/max_velocity: 0 | |
| * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 1.0 | |
| * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 1.0 | |
| * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 1.5 | |
| * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 1.256 | |
| * /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0.5 | |
| * /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.1 | |
| * /robot_description_planning/joint_limits/upperarm_roll_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/upperarm_roll_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/upperarm_roll_joint/max_acceleration: 1.5 | |
| * /robot_description_planning/joint_limits/upperarm_roll_joint/max_velocity: 1.57 | |
| * /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 2.5 | |
| * /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 2.26 | |
| * /robot_description_planning/joint_limits/wrist_roll_joint/has_acceleration_limits: True | |
| * /robot_description_planning/joint_limits/wrist_roll_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/wrist_roll_joint/max_acceleration: 2.5 | |
| * /robot_description_planning/joint_limits/wrist_roll_joint/max_velocity: 2.26 | |
| * /robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.3 | |
| NODES | |
| / | |
| move_group (moveit_ros_move_group/move_group) | |
| ROS_MASTER_URI=http://fetch1068:11311/ | |
| running rosparam delete /move_group/sensors | |
| process[move_group-1]: started with pid [10328] | |
| [ INFO] [ros.moveit_core.robot_model] [core::RobotModel::buildModel]: Loading robot model 'fetch'... | |
| [ INFO] [ros.moveit_core.robot_model] [core::JointModel* moveit::core::RobotModel::constructJointModel]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ WARN] [ros.moveit_ros_planning.kinematics_plugin_loader] [core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction]: Kinematics solver doesn't support #attempts anymore, but only a timeout. | |
| Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration. | |
| [ WARN] [ros.kdl_parser] [treeFromUrdfModel]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startPublishingPlanningScene]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [ INFO] [ros.moveit_ros_move_group] [main]: MoveGroup debug mode is OFF | |
| Starting planning scene monitors... | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startSceneMonitor]: Starting planning scene monitor | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startSceneMonitor]: Listening to '/planning_scene' | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Listening to '/collision_object' using message notifier with target frame 'base_link ' | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Listening to '/planning_scene_world' for planning scene world geometry | |
| [DEBUG] [ros.moveit_ros_perception] [OccupancyMapMonitor::initialize]: Using resolution = 0.010000 m for building octomap | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::ClassLoader]: Creating ClassLoader, base = occupancy_map_monitor::OccupancyMapUpdater, address = 0x55f7767e5d30 | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [map<std::__cxx11::basic_string<char>, pluginlib::ClassDesc> pluginlib::ClassLoader<T>::determineAvailableClasses]: Entering determineAvailableClasses()... | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: Processing xml file /opt/ros/melodic/share/moveit_ros_perception/pointcloud_octomap_updater_plugin_description.xml... | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: XML file specifies lookup name (i.e. magic name) = occupancy_map_monitor/PointCloudOctomapUpdater. | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: Processing xml file /opt/ros/melodic/share/moveit_ros_perception/depth_image_octomap_updater_plugin_description.xml... | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: XML file specifies lookup name (i.e. magic name) = occupancy_map_monitor/DepthImageOctomapUpdater. | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [map<std::__cxx11::basic_string<char>, pluginlib::ClassDesc> pluginlib::ClassLoader<T>::determineAvailableClasses]: Exiting determineAvailableClasses()... | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::ClassLoader]: Finished constructring ClassLoader, base = occupancy_map_monitor::OccupancyMapUpdater, address = 0x55f7767e5d30 | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: Attempting to create managed (unique) instance for class occupancy_map_monitor/PointCloudOctomapUpdater. | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Class occupancy_map_monitor/PointCloudOctomapUpdater maps to library libmoveit_pointcloud_octomap_updater in classes_available_. | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Iterating through all possible paths where libmoveit_pointcloud_octomap_updater could be located... | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /home/zhao/Dropbox/fetchit/catkin_ws/devel/lib/libmoveit_pointcloud_octomap_updater.so | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /home/zhao/Dropbox/fetchit/catkin_ws/devel/lib/libmoveit_pointcloud_octomap_updater.so | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /opt/ros/melodic/lib/libmoveit_pointcloud_octomap_updater.so | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Library libmoveit_pointcloud_octomap_updater found at explicit path /opt/ros/melodic/lib/libmoveit_pointcloud_octomap_updater.so. | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: occupancy_map_monitor/PointCloudOctomapUpdater maps to real class type occupancy_map_monitor::PointCloudOctomapUpdater | |
| [DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: std::unique_ptr to object of real type occupancy_map_monitor::PointCloudOctomapUpdater created. | |
| [ INFO] [ros.moveit_ros_perception] [PointCloudOctomapUpdater::start]: Listening to '/rh/points_for_moveit_octomap' using message filter with target frame 'base_link ' | |
| [ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startStateMonitor]: Listening to '/attached_collision_object' for attached collision objects | |
| Planning scene monitors started. | |
| [ INFO] [ros.moveit_planners_ompl] [OMPLInterface::OMPLInterface]: Initializing OMPL interface using ROS parameters | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning interface 'OMPL' | |
| [ INFO] [ros.moveit_ros_planning] [FixWorkspaceBounds::FixWorkspaceBounds]: Param 'default_workspace_bounds' was not set. Using default value: 10 | |
| [ INFO] [ros.moveit_ros_planning] [FixStartStateBounds::FixStartStateBounds]: Param 'start_state_max_bounds_error' was set to 0.1 | |
| [ INFO] [ros.moveit_ros_planning] [FixStartStateBounds::FixStartStateBounds]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'jiggle_fraction' was set to 0.05 | |
| [ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'max_sampling_attempts' was not set. Using default value: 100 | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Add Time Parameterization' | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Workspace Bounds' | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State Bounds' | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State In Collision' | |
| [ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added FollowJointTrajectory controller for arm_controller | |
| [ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added FollowJointTrajectory controller for arm_with_torso_controller | |
| [ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added GripperCommand controller for gripper_controller | |
| [ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::getControllersList]: Returned 3 controllers in list | |
| [ INFO] [ros.moveit_ros_planning.trajectory_execution_manager] [TrajectoryExecutionManager::initialize]: 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] [ros.moveit_ros_move_group] [MoveGroupExe::configureCapabilities]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [ INFO] [ros.moveit_ros_move_group] [MoveGroupContext::status]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [ INFO] [ros.moveit_ros_move_group] [MoveGroupContext::status]: MoveGroup context initialization complete | |
| You can start planning now! |
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