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Tiryoh / mycobot_ros

🦾 unofficial myCobot ROS package
MIT License
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Falling back to using the move_group node's namespace (deprecated Melodic behavior) #10

Open Tiryoh opened 2 years ago

Tiryoh commented 2 years ago

Describe the bug

Warning shows on [ WARN] [1649604252.643147824]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).

Environments

To Reproduce

  1. Run 'roslaunch mycobot_move_it_config demo.launch'
  2. See warning

Expected behavior

No warning

Full log or Screenshots

$ roslaunch mycobot_move_it_config demo.launch 
... logging to /home/ubuntu/.ros/log/45de9c74-b8e2-11ec-8142-cd7cbf1e7522/roslaunch-T480s-62244.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://192.168.10.124:43927/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['move_group/fake...
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/default_planner_config: RRT
 * /move_group/arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'fake_a...
 * /move_group/disable_capabilities: 
 * /move_group/gripper/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/initial: [{'group': 'arm',...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{}]
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint1/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint1/max_velocity: 1
 * /robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint2/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint2/max_velocity: 1
 * /robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint3/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint3/max_velocity: 1
 * /robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint4/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint4/max_velocity: 1
 * /robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint5/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint5/max_velocity: 1
 * /robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint6/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint6/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14

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_T480s_62244_379974307926197610 (rviz/rviz)

auto-starting new master
process[master]: started with pid [62260]
ROS_MASTER_URI=http://192.168.10.124:11311

setting /run_id to 45de9c74-b8e2-11ec-8142-cd7cbf1e7522
process[rosout-1]: started with pid [62284]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [62291]
process[robot_state_publisher-3]: started with pid [62292]
process[move_group-4]: started with pid [62293]
process[rviz_T480s_62244_379974307926197610-5]: started with pid [62294]
[ WARN] [1649604252.643147824]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1649604252.651192684]: Loading robot model 'mycobot'...
[ INFO] [1649604252.804131044]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649604252.805882715]: rviz version 1.14.14
[ INFO] [1649604252.805951378]: compiled against Qt version 5.12.8
[ INFO] [1649604252.805971124]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1649604252.807070619]: Listening to 'joint_states' for joint states
[ INFO] [1649604252.811799203]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649604252.811880220]: Starting planning scene monitor
[ INFO] [1649604252.815017266]: Listening to '/planning_scene'
[ INFO] [1649604252.815053840]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649604252.818434939]: Forcing OpenGl version 0.
[ INFO] [1649604252.818443512]: Listening to '/collision_object'
[ INFO] [1649604252.821048871]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1649604252.821971442]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1649604252.832773031]: Loading planning pipeline ''
[ INFO] [1649604252.888618875]: Using planning interface 'OMPL'
[ INFO] [1649604252.892942359]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649604252.893433018]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649604252.893911690]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649604252.894291797]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649604252.894658274]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649604252.895075950]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649604252.895157079]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649604252.895185989]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649604252.895210924]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649604252.895229453]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649604252.895245324]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649604252.903227627]: Loading robot model 'mycobot'...
[ INFO] [1649604252.947675460]: Set joints of group 'arm' to pose 'Straight'.
[ INFO] [1649604252.948058162]: Fake controller 'fake_arm_controller' with joints [ joint1 joint2 joint3 joint4 joint5 joint6 ]
[ INFO] [1649604252.948484223]: Fake controller 'fake_gripper_controller' with joints [ joint6 ]
[ INFO] [1649604252.949144086]: Returned 2 controllers in list
[ INFO] [1649604252.959004765]: Trajectory execution is managing controllers
[ INFO] [1649604252.959041496]: MoveGroup debug mode is ON
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] [1649604253.019899861]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1649604253.019960506]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649604253.019979104]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1649604253.366120666]: Stereo is NOT SUPPORTED
[ INFO] [1649604253.366168550]: OpenGL device: NVIDIA GeForce MX150/PCIe/SSE2
[ INFO] [1649604253.366186061]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1649604256.657267149]: Loading robot model 'mycobot'...
[ INFO] [1649604256.803265848]: Starting planning scene monitor
[ INFO] [1649604256.805735804]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1649604256.982926125]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1649604258.287157674]: Ready to take commands for planning group arm.
^C[rviz_T480s_62244_379974307926197610-5] 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
done

Additional context

These PRs could be related. https://github.com/ros-planning/moveit/pull/2127, https://github.com/ros-planning/moveit/pull/3036

cywuuuu commented 1 year ago

do you solve this issue, i am meeting the same issue when i try to adapt my melodic code to noetic, and also got error when getting link from my urdf(but actually it's there)

Tiryoh commented 1 year ago

Unfortunately, there is no progress. Please let me know if you find some solutions.