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AuboRobot / aubo_ros_driver

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aubo_robot_driver_node 驱动节点启动失败！ #4

Closed gedsHuster closed 6 months ago

gedsHuster commented 6 months ago

补充信息（2024-03-11）： 我在调用下面的函数时候，返回-15，即SDK版本与server版本不兼容，请问这个SDK支持什么版本呢？：

    /**
     * 连接到RPC服务
     *
     * @param ip IP地址
     * @param port 端口号，RPC的端口号是30004
     * @retval 0 RPC连接成功
     * @retval -8 RPC连接失败，RPC连接被拒绝
     * @retval -15 RPC连接失败，SDK版本与Server版本不兼容f
     */
    int connect(const std::string &ip, int port);

下面是我的机器人示教器上显示的版本：

Teachpendant Version: V4.5.48_df14ea1
Server Version: V4.5.111.c984b91-Alpha
Joint hardware version：3
Joint software version：4.3.6

以下是原问题：

我准备利用aubo_ros_driver控制真实机器人aubo_i16运动，在root用户下运行了launch文件(我已在launch中将相关参数,例如robot_model, robot_ip等设置好了默认值)

roslaunch aubo_robot_driver aubo_bringup.launch

不用root的话，会报以下错误：

[ERROR] [1709863421.741505210]: Unsuccessful in setting main thread realtime priority. Error code: 1
[ERROR] [1709863421.742140779]: Main thread: Scheduling is NOT SCHED_FIFO!

在root模式下运行launch，上述错误消失，但是还会报以下错误：

[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [connector_asio.h:154] RPC Client login
terminate called after throwing an instance of 'arcs::common_interface::AuboException'
  what():  getRobotNames-RPC request timeout.

请问如何解决这个问题呢？

附上log信息

1. 终端log：

root@geds:/home/geds/ros_space/work_space_v2/aubo_ws# roslaunch aubo_robot_driver aubo_bringup.launch 
... logging to /root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/roslaunch-geds-472277.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://geds:34701/

SUMMARY
========

PARAMETERS
 * /aubo_hardware_interface/control_period: 0.01
 * /aubo_hardware_interface/headless_mode: False
 * /aubo_hardware_interface/joints: ['shoulder_joint'...
 * /aubo_hardware_interface/kinematics/forearm/pitch: 0
 * /aubo_hardware_interface/kinematics/forearm/roll: 0
 * /aubo_hardware_interface/kinematics/forearm/x: -0.425
 * /aubo_hardware_interface/kinematics/forearm/y: 0
 * /aubo_hardware_interface/kinematics/forearm/yaw: 0
 * /aubo_hardware_interface/kinematics/forearm/z: 0
 * /aubo_hardware_interface/kinematics/hash: calib_20954911754...
 * /aubo_hardware_interface/kinematics/shoulder/pitch: 0
 * /aubo_hardware_interface/kinematics/shoulder/roll: 0
 * /aubo_hardware_interface/kinematics/shoulder/x: 0
 * /aubo_hardware_interface/kinematics/shoulder/y: 0
 * /aubo_hardware_interface/kinematics/shoulder/yaw: 0
 * /aubo_hardware_interface/kinematics/shoulder/z: 0.089159
 * /aubo_hardware_interface/kinematics/upper_arm/pitch: 0
 * /aubo_hardware_interface/kinematics/upper_arm/roll: 1.570796327
 * /aubo_hardware_interface/kinematics/upper_arm/x: 0
 * /aubo_hardware_interface/kinematics/upper_arm/y: 0
 * /aubo_hardware_interface/kinematics/upper_arm/yaw: 0
 * /aubo_hardware_interface/kinematics/upper_arm/z: 0
 * /aubo_hardware_interface/kinematics/wrist_1/pitch: 0
 * /aubo_hardware_interface/kinematics/wrist_1/roll: 0
 * /aubo_hardware_interface/kinematics/wrist_1/x: -0.39225
 * /aubo_hardware_interface/kinematics/wrist_1/y: 0
 * /aubo_hardware_interface/kinematics/wrist_1/yaw: 0
 * /aubo_hardware_interface/kinematics/wrist_1/z: 0.10915
 * /aubo_hardware_interface/kinematics/wrist_2/pitch: 0
 * /aubo_hardware_interface/kinematics/wrist_2/roll: 1.570796327
 * /aubo_hardware_interface/kinematics/wrist_2/x: 0
 * /aubo_hardware_interface/kinematics/wrist_2/y: -0.09465
 * /aubo_hardware_interface/kinematics/wrist_2/yaw: 0
 * /aubo_hardware_interface/kinematics/wrist_2/z: -1.94130395089760...
 * /aubo_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /aubo_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793
 * /aubo_hardware_interface/kinematics/wrist_3/x: 0
 * /aubo_hardware_interface/kinematics/wrist_3/y: 0.0823
 * /aubo_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793
 * /aubo_hardware_interface/kinematics/wrist_3/z: -1.68800121668117...
 * /aubo_hardware_interface/robot_ip: 192.168.1.101
 * /aubo_hardware_interface/tf_prefix: 
 * /aubo_hardware_interface/tool_baud_rate: 115200
 * /aubo_hardware_interface/tool_parity: 0
 * /aubo_hardware_interface/tool_stop_bits: 1
 * /aubo_hardware_interface/tool_voltage: 0
 * /aubo_hardware_interface/use_tool_communication: False
 * /hardware_control_loop/loop_hz: 50
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 10
 * /pos_joint_traj_controller/constraints/foreArm_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/foreArm_joint/trajectory: 0.5
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_joint/trajectory: 0.5
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0
 * /pos_joint_traj_controller/constraints/upperArm_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/upperArm_joint/trajectory: 0.5
 * /pos_joint_traj_controller/constraints/wrist1_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/wrist1_joint/trajectory: 0.5
 * /pos_joint_traj_controller/constraints/wrist2_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/wrist2_joint/trajectory: 0.5
 * /pos_joint_traj_controller/constraints/wrist3_joint/goal: 0.6
 * /pos_joint_traj_controller/constraints/wrist3_joint/trajectory: 0.5
 * /pos_joint_traj_controller/joints: ['shoulder_joint'...
 * /pos_joint_traj_controller/state_publish_rate: 50
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    aubo_hardware_interface (aubo_robot_driver/aubo_robot_driver_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [472293]
process[aubo_hardware_interface-2]: started with pid [472294]
process[ros_control_controller_spawner-3]: started with pid [472295]
[ INFO] [1709864196.993540565]: Main thread: SCHED_FIFO OK
[ INFO] [1709864196.994359553]: Main thread priority is 99
[Info] [connector_asio.h:110] Connect to 192.168.1.101:8899
[INFO] [1709864197.302887]: Controller Spawner: Waiting for service controller_manager/load_controller
[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [rpc.cpp:75] SDK getInterfaceVersionCode error: getInterfaceVersionCode-RPC request timeout.
[Info] [connector_asio.h:154] RPC Client login
terminate called after throwing an instance of 'arcs::common_interface::AuboException'
  what():  getRobotNames-RPC request timeout.
================================================================================REQUIRED process [aubo_hardware_interface-2] has died!
process has died [pid 472294, exit code -6, cmd /home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/aubo_robot_driver/aubo_robot_driver_node __name:=aubo_hardware_interface __log:=/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/aubo_hardware_interface-2.log].
log file: /root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/aubo_hardware_interface-2*.log
Initiating shutdown!
================================================================================
[ros_control_controller_spawner-3] killing on exit
[aubo_hardware_interface-2] killing on exit
[robot_state_publisher-1] killing on exit
[WARN] [1709864201.904208]: Controller Spawner couldn't find the expected controller_manager ROS interface.
shutting down processing monitor...
... shutting down processing monitor complete
done

2. ros log

[roslaunch][INFO] 2024-03-08 10:16:36,445: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2024-03-08 10:16:36,447: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2024-03-08 10:16:36,447: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'aubo_robot_driver', 'aubo_bringup.launch']
[roslaunch][INFO] 2024-03-08 10:16:36,447: roslaunch env is environ({'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'COLORTERM': 'truecolor', 'SUDO_GID': '1000', 'PKG_CONFIG_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/pkgconfig:/home/geds/ros_space/phd_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh:en_US:en', 'LC_ADDRESS': 'zh_CN.UTF-8', 'LC_NAME': 'zh_CN.UTF-8', 'SUDO_COMMAND': '/usr/bin/su', 'LC_MONETARY': 'zh_CN.UTF-8', 'SUDO_USER': 'geds', 'ROS_PACKAGE_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/src:/home/geds/ros_space/phd_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/share/common-lisp:/home/geds/ros_space/phd_ws/devel/share/common-lisp', 'PWD': '/home/geds/ros_space/work_space_v2/aubo_ws', 'LOGNAME': 'root', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'HOME': '/root', 'LANG': 'zh_CN.UTF-8', 'LC_PAPER': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel:/home/geds/ros_space/phd_ws/devel:/opt/ros/noetic', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/python3/dist-packages:/home/geds/ros_space/phd_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'root', 'DISPLAY': ':0', 'SHLVL': '1', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LD_LIBRARY_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib:/home/geds/ros_space/phd_ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'LC_TIME': 'zh_CN.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '1000', 'MAIL': '/var/mail/root', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'zh_CN.UTF-8', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/roslaunch-geds-472277.log'})
[roslaunch][INFO] 2024-03-08 10:16:36,447: starting in server mode
[roslaunch.parent][INFO] 2024-03-08 10:16:36,447: starting roslaunch parent run
[roslaunch][INFO] 2024-03-08 10:16:36,447: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml
[roslaunch][INFO] 2024-03-08 10:16:36,586: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2024-03-08 10:16:36,586: loading config file /home/geds/ros_space/work_space_v2/aubo_ws/src/aubo_ros_driver/aubo_robot_driver/launch/aubo_bringup.launch
[roslaunch][INFO] 2024-03-08 10:16:36,864: Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/]
[roslaunch][INFO] 2024-03-08 10:16:36,871: Added node of type [aubo_robot_driver/aubo_robot_driver_node] in namespace [/]
[roslaunch][INFO] 2024-03-08 10:16:36,878: Added node of type [controller_manager/spawner] in namespace [/]
[roslaunch][INFO] 2024-03-08 10:16:36,879: ... selected machine [] for node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2024-03-08 10:16:36,879: ... selected machine [] for node of type [aubo_robot_driver/aubo_robot_driver_node]
[roslaunch][INFO] 2024-03-08 10:16:36,879: ... selected machine [] for node of type [controller_manager/spawner]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,879: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,879: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,880: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2024-03-08 10:16:36,880: starting parent XML-RPC server
[roslaunch.server][INFO] 2024-03-08 10:16:36,880: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2024-03-08 10:16:36,880: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2024-03-08 10:16:36,880: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2024-03-08 10:16:36,880: Started XML-RPC server [http://geds:34701/]
[xmlrpc][INFO] 2024-03-08 10:16:36,880: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2024-03-08 10:16:36,891: started roslaunch server http://geds:34701/
[roslaunch.parent][INFO] 2024-03-08 10:16:36,892: ... parent XML-RPC server started
[roslaunch][INFO] 2024-03-08 10:16:36,892: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-03-08 10:16:36,893: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2024-03-08 10:16:36,894: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2024-03-08 10:16:36,895: setting /roslaunch/uris/host_geds__34701' to http://geds:34701/
[roslaunch][INFO] 2024-03-08 10:16:36,895: load_parameters starting ...
[roslaunch][INFO] 2024-03-08 10:16:36,915: ... load_parameters complete
[roslaunch][INFO] 2024-03-08 10:16:36,915: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2024-03-08 10:16:36,915: ... preparing to launch node of type [robot_state_publisher/robot_state_publisher]
[roslaunch][INFO] 2024-03-08 10:16:36,916: create_node_process: package[robot_state_publisher] type[robot_state_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-03-08 10:16:36,916: process[robot_state_publisher-1]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'COLORTERM': 'truecolor', 'SUDO_GID': '1000', 'PKG_CONFIG_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/pkgconfig:/home/geds/ros_space/phd_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh:en_US:en', 'LC_ADDRESS': 'zh_CN.UTF-8', 'LC_NAME': 'zh_CN.UTF-8', 'SUDO_COMMAND': '/usr/bin/su', 'LC_MONETARY': 'zh_CN.UTF-8', 'SUDO_USER': 'geds', 'ROS_PACKAGE_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/src:/home/geds/ros_space/phd_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/share/common-lisp:/home/geds/ros_space/phd_ws/devel/share/common-lisp', 'PWD': '/home/geds/ros_space/work_space_v2/aubo_ws', 'LOGNAME': 'root', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'HOME': '/root', 'LANG': 'zh_CN.UTF-8', 'LC_PAPER': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel:/home/geds/ros_space/phd_ws/devel:/opt/ros/noetic', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/python3/dist-packages:/home/geds/ros_space/phd_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'root', 'DISPLAY': ':0', 'SHLVL': '1', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LD_LIBRARY_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib:/home/geds/ros_space/phd_ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'LC_TIME': 'zh_CN.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '1000', 'MAIL': '/var/mail/root', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'zh_CN.UTF-8', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/roslaunch-geds-472277.log'}]
[roslaunch][INFO] 2024-03-08 10:16:36,969: process[robot_state_publisher-1]: args[['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', '__name:=robot_state_publisher']]
[roslaunch][INFO] 2024-03-08 10:16:36,969: ... created process [robot_state_publisher-1]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,970: ProcessMonitor.register[robot_state_publisher-1]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,970: ProcessMonitor.register[robot_state_publisher-1] complete
[roslaunch][INFO] 2024-03-08 10:16:36,970: ... registered process [robot_state_publisher-1]
[roslaunch][INFO] 2024-03-08 10:16:36,970: process[robot_state_publisher-1]: starting os process
[roslaunch][INFO] 2024-03-08 10:16:36,970: process[robot_state_publisher-1]: start w/ args [['/opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher', '__name:=robot_state_publisher', '__log:=/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/robot_state_publisher-1.log']]
[roslaunch][INFO] 2024-03-08 10:16:36,970: process[robot_state_publisher-1]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-03-08 10:16:36,972: process[robot_state_publisher-1]: started with pid [472293]
[roslaunch][INFO] 2024-03-08 10:16:36,972: ... successfully launched [robot_state_publisher-1]
[roslaunch][INFO] 2024-03-08 10:16:36,972: ... preparing to launch node of type [aubo_robot_driver/aubo_robot_driver_node]
[roslaunch][INFO] 2024-03-08 10:16:36,972: create_node_process: package[aubo_robot_driver] type[aubo_robot_driver_node] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-03-08 10:16:36,973: process[aubo_hardware_interface-2]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'COLORTERM': 'truecolor', 'SUDO_GID': '1000', 'PKG_CONFIG_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/pkgconfig:/home/geds/ros_space/phd_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh:en_US:en', 'LC_ADDRESS': 'zh_CN.UTF-8', 'LC_NAME': 'zh_CN.UTF-8', 'SUDO_COMMAND': '/usr/bin/su', 'LC_MONETARY': 'zh_CN.UTF-8', 'SUDO_USER': 'geds', 'ROS_PACKAGE_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/src:/home/geds/ros_space/phd_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/share/common-lisp:/home/geds/ros_space/phd_ws/devel/share/common-lisp', 'PWD': '/home/geds/ros_space/work_space_v2/aubo_ws', 'LOGNAME': 'root', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'HOME': '/root', 'LANG': 'zh_CN.UTF-8', 'LC_PAPER': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel:/home/geds/ros_space/phd_ws/devel:/opt/ros/noetic', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/python3/dist-packages:/home/geds/ros_space/phd_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'root', 'DISPLAY': ':0', 'SHLVL': '1', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LD_LIBRARY_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib:/home/geds/ros_space/phd_ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'LC_TIME': 'zh_CN.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '1000', 'MAIL': '/var/mail/root', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'zh_CN.UTF-8', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/roslaunch-geds-472277.log'}]
[roslaunch][INFO] 2024-03-08 10:16:36,975: process[aubo_hardware_interface-2]: args[['/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/aubo_robot_driver/aubo_robot_driver_node', '__name:=aubo_hardware_interface']]
[roslaunch][INFO] 2024-03-08 10:16:36,975: ... created process [aubo_hardware_interface-2]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,975: ProcessMonitor.register[aubo_hardware_interface-2]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,975: ProcessMonitor.register[aubo_hardware_interface-2] complete
[roslaunch][INFO] 2024-03-08 10:16:36,975: ... registered process [aubo_hardware_interface-2]
[roslaunch][INFO] 2024-03-08 10:16:36,975: process[aubo_hardware_interface-2]: starting os process
[roslaunch][INFO] 2024-03-08 10:16:36,975: process[aubo_hardware_interface-2]: start w/ args [['/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/aubo_robot_driver/aubo_robot_driver_node', '__name:=aubo_hardware_interface', '__log:=/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/aubo_hardware_interface-2.log']]
[roslaunch][INFO] 2024-03-08 10:16:36,975: process[aubo_hardware_interface-2]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-03-08 10:16:36,977: process[aubo_hardware_interface-2]: started with pid [472294]
[roslaunch][INFO] 2024-03-08 10:16:36,977: ... successfully launched [aubo_hardware_interface-2]
[roslaunch][INFO] 2024-03-08 10:16:36,978: ... preparing to launch node of type [controller_manager/spawner]
[roslaunch][INFO] 2024-03-08 10:16:36,978: create_node_process: package[controller_manager] type[spawner] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2024-03-08 10:16:36,978: process[ros_control_controller_spawner-3]: env[{'SHELL': '/bin/bash', 'ROS_VERSION': '1', 'COLORTERM': 'truecolor', 'SUDO_GID': '1000', 'PKG_CONFIG_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/pkgconfig:/home/geds/ros_space/phd_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/x86_64-linux-gnu/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'LANGUAGE': 'zh_CN:zh:en_US:en', 'LC_ADDRESS': 'zh_CN.UTF-8', 'LC_NAME': 'zh_CN.UTF-8', 'SUDO_COMMAND': '/usr/bin/su', 'LC_MONETARY': 'zh_CN.UTF-8', 'SUDO_USER': 'geds', 'ROS_PACKAGE_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/src:/home/geds/ros_space/phd_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/share/common-lisp:/home/geds/ros_space/phd_ws/devel/share/common-lisp', 'PWD': '/home/geds/ros_space/work_space_v2/aubo_ws', 'LOGNAME': 'root', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'HOME': '/root', 'LANG': 'zh_CN.UTF-8', 'LC_PAPER': 'zh_CN.UTF-8', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'CMAKE_PREFIX_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel:/home/geds/ros_space/phd_ws/devel:/opt/ros/noetic', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/python3/dist-packages:/home/geds/ros_space/phd_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', 'TERM': 'xterm-256color', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'root', 'DISPLAY': ':0', 'SHLVL': '1', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'ROS_MASTER_URI': 'http://localhost:11311', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'LD_LIBRARY_PATH': '/home/geds/ros_space/work_space_v2/aubo_ws/devel/lib:/home/geds/ros_space/phd_ws/devel/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu', 'LC_TIME': 'zh_CN.UTF-8', 'PATH': '/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'SUDO_UID': '1000', 'MAIL': '/var/mail/root', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROS_DISTRO': 'noetic', 'LC_NUMERIC': 'zh_CN.UTF-8', '_': '/opt/ros/noetic/bin/roslaunch', 'ROS_LOG_FILENAME': '/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/roslaunch-geds-472277.log'}]
[roslaunch][INFO] 2024-03-08 10:16:36,978: process[ros_control_controller_spawner-3]: args[['/opt/ros/noetic/lib/controller_manager/spawner', 'joint_state_controller', 'pos_joint_traj_controller', '__name:=ros_control_controller_spawner']]
[roslaunch][INFO] 2024-03-08 10:16:36,978: ... created process [ros_control_controller_spawner-3]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,978: ProcessMonitor.register[ros_control_controller_spawner-3]
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,979: ProcessMonitor.register[ros_control_controller_spawner-3] complete
[roslaunch][INFO] 2024-03-08 10:16:36,979: ... registered process [ros_control_controller_spawner-3]
[roslaunch][INFO] 2024-03-08 10:16:36,979: process[ros_control_controller_spawner-3]: starting os process
[roslaunch][INFO] 2024-03-08 10:16:36,979: process[ros_control_controller_spawner-3]: start w/ args [['/opt/ros/noetic/lib/controller_manager/spawner', 'joint_state_controller', 'pos_joint_traj_controller', '__name:=ros_control_controller_spawner', '__log:=/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/ros_control_controller_spawner-3.log']]
[roslaunch][INFO] 2024-03-08 10:16:36,979: process[ros_control_controller_spawner-3]: cwd will be [/root/.ros]
[roslaunch][INFO] 2024-03-08 10:16:36,981: process[ros_control_controller_spawner-3]: started with pid [472295]
[roslaunch][INFO] 2024-03-08 10:16:36,981: ... successfully launched [ros_control_controller_spawner-3]
[roslaunch][INFO] 2024-03-08 10:16:36,981: ... launch_nodes complete
[roslaunch.pmon][INFO] 2024-03-08 10:16:36,981: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140114717554432)>
[roslaunch.parent][INFO] 2024-03-08 10:16:36,981: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2024-03-08 10:16:36,981: spin
[roslaunch][ERROR] 2024-03-08 10:16:41,196: ================================================================================REQUIRED process [aubo_hardware_interface-2] has died!
process has died [pid 472294, exit code -6, cmd /home/geds/ros_space/work_space_v2/aubo_ws/devel/lib/aubo_robot_driver/aubo_robot_driver_node __name:=aubo_hardware_interface __log:=/root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/aubo_hardware_interface-2.log].
log file: /root/.ros/log/89aeabaa-dcef-11ee-8d9a-37ae9285802f/aubo_hardware_interface-2*.log
Initiating shutdown!
================================================================================
[roslaunch.pmon][INFO] 2024-03-08 10:16:41,297: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140114717554432)>
[roslaunch.pmon][INFO] 2024-03-08 10:16:41,297: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140114717554432)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7f6f0018e100>, <roslaunch.nodeprocess.LocalProcess object at 0x7f6f00002dc0>, <roslaunch.nodeprocess.LocalProcess object at 0x7f6f00002e50>]
[roslaunch.pmon][INFO] 2024-03-08 10:16:41,298: ProcessMonitor exit: killing ros_control_controller_spawner-3
[roslaunch][INFO] 2024-03-08 10:16:41,298: [ros_control_controller_spawner-3] killing on exit
[roslaunch][INFO] 2024-03-08 10:16:41,299: process[ros_control_controller_spawner-3]: killing os process with pid[472295] pgid[472295]
[roslaunch.pmon][INFO] 2024-03-08 10:16:41,299: ProcessMonitor exit: killing aubo_hardware_interface-2
[roslaunch][INFO] 2024-03-08 10:16:41,300: [ros_control_controller_spawner-3] sending SIGINT to pgid [472295]
[roslaunch.pmon][INFO] 2024-03-08 10:16:41,300: ProcessMonitor exit: killing robot_state_publisher-1
[roslaunch][INFO] 2024-03-08 10:16:41,300: [aubo_hardware_interface-2] killing on exit
[roslaunch][INFO] 2024-03-08 10:16:41,301: [ros_control_controller_spawner-3] sent SIGINT to pgid [472295]
[roslaunch][INFO] 2024-03-08 10:16:41,302: [robot_state_publisher-1] killing on exit
[roslaunch][INFO] 2024-03-08 10:16:41,305: process[robot_state_publisher-1]: killing os process with pid[472293] pgid[472293]
[roslaunch][INFO] 2024-03-08 10:16:41,305: [robot_state_publisher-1] sending SIGINT to pgid [472293]
[roslaunch][INFO] 2024-03-08 10:16:41,305: [robot_state_publisher-1] sent SIGINT to pgid [472293]
[roslaunch][INFO] 2024-03-08 10:16:41,505: process[robot_state_publisher-1]: SIGINT killed with return value 0
[roslaunch][INFO] 2024-03-08 10:16:42,005: process[ros_control_controller_spawner-3]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2024-03-08 10:16:42,006: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2024-03-08 10:16:42,006: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2024-03-08 10:16:42,098: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2024-03-08 10:16:42,098: runner.stop()
[roslaunch][INFO] 2024-03-08 10:16:42,098: shutting down processing monitor...
[roslaunch][INFO] 2024-03-08 10:16:42,098: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140114717554432)>
[roslaunch.pmon][INFO] 2024-03-08 10:16:42,099: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140114717554432)>
[roslaunch][INFO] 2024-03-08 10:16:42,099: ... shutting down processing monitor complete
[roslaunch][INFO] 2024-03-08 10:16:42,099: done
[roslaunch.pmon][INFO] 2024-03-08 10:16:42,099: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140114717554432)>
[rospy.core][INFO] 2024-03-08 10:16:42,100: signal_shutdown [atexit]
oPiZiL commented 6 months ago

AUBOPE请使用 https://github.com/AuboRobot/aubo_robot

gedsHuster commented 6 months ago

AUBOPE请使用 https://github.com/AuboRobot/aubo_robot

感谢回复，我使用了aubo_robot，且

但我希望绕过moveit, 通过action client对机器人进行实时控制。 我定义了名为aubo_i16_controller/follow_joint_trajectory的action client, 并sendGoal, 机器人确实运动了起来，但是，偶尔会跑飞，十分危险。我目前还没有找到一个稳定的实时控制方案。

oPiZiL commented 6 months ago

AUBOPE请使用 https://github.com/AuboRobot/aubo_robot

感谢回复，我使用了aubo_robot，且

  • 编译正常。
  • 成功运行roslaunch <robot_name>_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<192.168.***.***>
  • 可以拖动rviz中的机械臂末端，然后点击plan&execute，控制真实机器人运动

但我希望绕过moveit, 通过action client对机器人进行实时控制。 我定义了名为aubo_i16_controller/follow_joint_trajectory的action client, 并sendGoal, 机器人确实运动了起来，但是，偶尔会跑飞，十分危险。我目前还没有找到一个稳定的实时控制方案。

问题可以反馈给遨博售后