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MAS Industrial Robotics
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[perception] Tensorflow deprecated warnings #171

Open DharminB opened 3 years ago

DharminB commented 3 years ago

Describe the bug

Upon launching planning bringup, tensorflow prints a large amount of warnings. It could be related to python2 vs python3 (but that is just a speculation).

Log is pasted in comment below.

Steps to Reproduce

  1. Start yb4 and make sure bringup runs without problems
  2. Launch planning_bringup

@mhwasil @deebuls @sthoduka

DharminB commented 3 years ago 
{robocup@youbot-brsu-4-pc2}[ ~ ]
$ planning_bringup
... logging to /home/robocup/.ros/log/5acba60a-833b-11eb-8592-94c691a631a8/roslaunch-youbot-brsu-4-pc2-20863.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://youbot-brsu-4-pc2:34209/

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_footprint
 * /amcl/first_map_only: True
 * /amcl/global_frame_id: map
 * /amcl/gui_publish_rate: -1
 * /amcl/kld_err: 0.01
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 1.0
 * /amcl/laser_max_beams: 30
 * /amcl/laser_max_range: 5.0
 * /amcl/laser_min_range: 0.04
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.95
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.05
 * /amcl/laser_z_short: 0.01
 * /amcl/max_particles: 2000
 * /amcl/min_particles: 100
 * /amcl/odom_alpha1: 7.0
 * /amcl/odom_alpha2: 5.0
 * /amcl/odom_alpha3: 5.0
 * /amcl/odom_alpha4: 5.0
 * /amcl/odom_alpha5: 7.0
 * /amcl/odom_frame_id: /odom
 * /amcl/odom_model_type: omni
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 2
 * /amcl/transform_tolerance: 0.1
 * /amcl/update_min_a: 0.01
 * /amcl/update_min_d: 0.05
 * /amcl/use_map_topic: True
 * /arm_moveit_client/arm: arm_1
 * /arm_moveit_client/end_effector_frame: gripper_static_gr...
 * /arm_moveit_client/goal_joint_tolerance: 0.005
 * /arm_moveit_client/goal_orientation_tolerance: 0.01
 * /arm_moveit_client/goal_position_tolerance: 0.01
 * /arm_moveit_client/loop_rate: 10.0
 * /arm_moveit_client/move_group: move_group
 * /gripper_controller/grasp_monitor/load_threshold: 0.16
 * /gripper_controller/grasp_monitor/position_error_threshold: 0.07
 * /gripper_moveit_client/arm: arm_1_gripper
 * /gripper_moveit_client/goal_joint_tolerance: 0.0001
 * /gripper_moveit_client/goal_orientation_tolerance: 0.0001
 * /gripper_moveit_client/goal_position_tolerance: 0.0001
 * /gripper_moveit_client/loop_rate: 10.0
 * /gripper_moveit_client/move_group: move_group
 * /mcr_common/dynamic_reconfigure_client/config_file: /home/robocup/mel...
 * /mcr_common/dynamic_reconfigure_client/loop_rate: 10.0
 * /mcr_navigation/direct_base_controller/coordinator/base_frame: base_link
 * /mcr_navigation/direct_base_controller/coordinator/idle_loop_rate: 1.0
 * /mcr_navigation/direct_base_controller/coordinator/loop_rate: 20.0
 * /mcr_perception/cavity_finder/target_frame: base_link_static
 * /mcr_perception/cavity_pose_selector/DISTANCE_TUBE: R20
 * /mcr_perception/cavity_pose_selector/F20_20_B: F20_20
 * /mcr_perception/cavity_pose_selector/F20_20_G: F20_20
 * /mcr_perception/cavity_pose_selector/M20: M20
 * /mcr_perception/cavity_pose_selector/M20_100: M20_100
 * /mcr_perception/cavity_pose_selector/M30: M30
 * /mcr_perception/cavity_pose_selector/R20: R20
 * /mcr_perception/cavity_pose_selector/S40_40_B: S40_40
 * /mcr_perception/cavity_pose_selector/S40_40_G: S40_40
 * /mcr_perception/cavity_pose_selector/loop_rate: 10.0
 * /mcr_perception/object_list_merger/combine_based_on_distance: True
 * /mcr_perception/object_list_merger/distance_threshold: 0.02
 * /mcr_perception/object_list_merger/pointcloud/confidence/AXIS: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/BEARING: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/BEARING_BOX: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/DISTANCE_TUBE: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/F20_20_B: 0.6
 * /mcr_perception/object_list_merger/pointcloud/confidence/F20_20_G: 0.4
 * /mcr_perception/object_list_merger/pointcloud/confidence/M20: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/M20_100: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/M30: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/MOTOR: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/R20: 0.5
 * /mcr_perception/object_list_merger/pointcloud/confidence/S40_40_B: 0.9
 * /mcr_perception/object_list_merger/pointcloud/confidence/S40_40_G: 0.8
 * /mcr_perception/object_list_merger/pointcloud/confusion_groups: [{'group': ['F20_...
 * /mcr_perception/object_list_merger/pointcloud/ignore_list: ['CONTAINER_BOX_B...
 * /mcr_perception/object_list_merger/rgb/confidence/AXIS: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/BEARING: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/BEARING_BOX: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/DISTANCE_TUBE: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/F20_20_B: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/F20_20_G: 0.6
 * /mcr_perception/object_list_merger/rgb/confidence/M20: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/M20_100: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/M30: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/MOTOR: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/R20: 0.4
 * /mcr_perception/object_list_merger/rgb/confidence/S40_40_B: 0.2
 * /mcr_perception/object_list_merger/rgb/confidence/S40_40_G: 0.2
 * /mcr_perception/object_list_merger/rgb/confusion_groups: [{'group': ['M20'...
 * /mcr_perception/object_list_merger/rgb/ignore_list: ['DECOY']
 * /mcr_perception/object_list_merger/target_frame_id: base_link_static
 * /mcr_perception/object_list_merger/use_pose_average: False
 * /mcr_perception/object_list_merger/verbose: True
 * /mcr_perception/object_selector/frame_rate: 5
 * /mcr_perception/object_selector/selection_type: 0
 * /mcr_perception/place_pose_selector/CB01: 10
 * /mcr_perception/place_pose_selector/PP01: 10
 * /mcr_perception/place_pose_selector/SH01: 50
 * /mcr_perception/place_pose_selector/SH02: 50
 * /mcr_perception/place_pose_selector/WS01: 0
 * /mcr_perception/place_pose_selector/WS02: 15
 * /mcr_perception/place_pose_selector/WS03: 5
 * /mcr_perception/place_pose_selector/WS04: 0
 * /mcr_perception/place_pose_selector/WS05: 10
 * /mcr_perception/place_pose_selector/WS06: 10
 * /mcr_perception/place_pose_selector/WS07: 10
 * /mcr_perception/place_pose_selector/WS08: 15
 * /mcr_perception/place_pose_selector/WS09: 15
 * /mcr_perception/place_pose_selector/WS10: 5
 * /mcr_perception/place_pose_selector/WS11: 10
 * /mcr_perception/place_pose_selector/list_of_platforms: ['WS01', 'WS02', ...
 * /mcr_perception/place_pose_selector/loop_rate: 10.0
 * /mcr_perception/place_pose_selector/max_poses_each_platform: 5
 * /mcr_perception/place_pose_selector/poses_0cm: ['0cm/pose5', '0c...
 * /mcr_perception/place_pose_selector/poses_10cm: ['10cm/pose5', '1...
 * /mcr_perception/place_pose_selector/poses_15cm: ['15cm/pose5', '1...
 * /mcr_perception/place_pose_selector/poses_5cm: ['5cm/pose5', '5c...
 * /mcr_perception/place_pose_selector/shelf_poses: ['50cm/shelf1', '...
 * /mir_perception/aruco_cube_perceiver/debug: False
 * /mir_perception/aruco_cube_perceiver/marker_length: 0.04
 * /mir_perception/aruco_cube_perceiver/retry_attempts: 3
 * /mir_perception/aruco_cube_perceiver/target_frame: base_link_static
 * /mir_perception/back_camera/barrier_tape_detection/color_thresh_min_h: 30
 * /mir_perception/back_camera/barrier_tape_detection/color_thresh_min_v: 28
 * /mir_perception/back_camera/barrier_tape_detection/loop_rate: 1
 * /mir_perception/back_camera/barrier_tape_detection/target_frame: map
 * /mir_perception/back_camera/pointcloud_to_laserscan/angle_increment: 0.0087
 * /mir_perception/back_camera/pointcloud_to_laserscan/angle_max: 1.5708
 * /mir_perception/back_camera/pointcloud_to_laserscan/angle_min: -1.5708
 * /mir_perception/back_camera/pointcloud_to_laserscan/concurrency_level: 1
 * /mir_perception/back_camera/pointcloud_to_laserscan/max_height: 5.0
 * /mir_perception/back_camera/pointcloud_to_laserscan/min_height: -1.0
 * /mir_perception/back_camera/pointcloud_to_laserscan/range_max: 5.0
 * /mir_perception/back_camera/pointcloud_to_laserscan/range_min: 0.001
 * /mir_perception/back_camera/pointcloud_to_laserscan/scan_time: 0.03333
 * /mir_perception/back_camera/pointcloud_to_laserscan/target_frame: base_laser_rear_link
 * /mir_perception/back_camera/pointcloud_to_laserscan/transform_tolerance: 0.01
 * /mir_perception/back_camera/pointcloud_to_laserscan/use_inf: True
 * /mir_perception/front_camera/barrier_tape_detection/loop_rate: 30
 * /mir_perception/front_camera/barrier_tape_detection/target_frame: map
 * /mir_perception/front_camera/pointcloud_to_laserscan/angle_increment: 0.0087
 * /mir_perception/front_camera/pointcloud_to_laserscan/angle_max: 1.5708
 * /mir_perception/front_camera/pointcloud_to_laserscan/angle_min: -1.5708
 * /mir_perception/front_camera/pointcloud_to_laserscan/concurrency_level: 1
 * /mir_perception/front_camera/pointcloud_to_laserscan/max_height: 5.0
 * /mir_perception/front_camera/pointcloud_to_laserscan/min_height: -1.0
 * /mir_perception/front_camera/pointcloud_to_laserscan/range_max: 5.0
 * /mir_perception/front_camera/pointcloud_to_laserscan/range_min: 0.001
 * /mir_perception/front_camera/pointcloud_to_laserscan/scan_time: 0.03333
 * /mir_perception/front_camera/pointcloud_to_laserscan/target_frame: base_laser_front_...
 * /mir_perception/front_camera/pointcloud_to_laserscan/transform_tolerance: 0.01
 * /mir_perception/front_camera/pointcloud_to_laserscan/use_inf: True
 * /mir_perception/multimodal_object_recognition/dataset_collection: True
 * /mir_perception/multimodal_object_recognition/debug_mode: True
 * /mir_perception/multimodal_object_recognition/logdir: /tmp/
 * /mir_perception/multimodal_object_recognition/object_info: /home/robocup/mel...
 * /mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node/dataset: asus
 * /mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node/model: feature_based
 * /mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node/model_id: fvrdd
 * /mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer/classifier: squeezeDet
 * /mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer/dataset_type: atwork_sydney
 * /mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer/net: detection
 * /mir_perception/multimodal_object_recognition/target_frame_id: base_link
 * /mir_perception/pc_object_segmentation/center_cluster: False
 * /mir_perception/pc_object_segmentation/cluster_max_height: 0.09
 * /mir_perception/pc_object_segmentation/cluster_max_length: 0.25
 * /mir_perception/pc_object_segmentation/cluster_max_size: 20000
 * /mir_perception/pc_object_segmentation/cluster_min_distance_to_polygon: 0.04
 * /mir_perception/pc_object_segmentation/cluster_min_height: 0.011
 * /mir_perception/pc_object_segmentation/cluster_min_size: 25
 * /mir_perception/pc_object_segmentation/cluster_tolerance: 0.02
 * /mir_perception/pc_object_segmentation/enable_passthrough_filter: False
 * /mir_perception/pc_object_segmentation/normal_radius_search: 0.03
 * /mir_perception/pc_object_segmentation/num_cores: 8
 * /mir_perception/pc_object_segmentation/object_height_above_workspace: 0.02
 * /mir_perception/pc_object_segmentation/octree_resolution: 0.0025
 * /mir_perception/pc_object_segmentation/outlier_min_neighbors: 20
 * /mir_perception/pc_object_segmentation/outlier_radius_search: 0.03
 * /mir_perception/pc_object_segmentation/pad_cluster: False
 * /mir_perception/pc_object_segmentation/padded_cluster_size: 2048
 * /mir_perception/pc_object_segmentation/passthrough_filter_field_name: x
 * /mir_perception/pc_object_segmentation/passthrough_filter_limit_max: 0.8
 * /mir_perception/pc_object_segmentation/passthrough_filter_limit_min: 0.0
 * /mir_perception/pc_object_segmentation/prism_max_height: 0.1
 * /mir_perception/pc_object_segmentation/prism_min_height: 0.01
 * /mir_perception/pc_object_segmentation/rgb_bbox_max_diag: 175
 * /mir_perception/pc_object_segmentation/rgb_bbox_min_diag: 21
 * /mir_perception/pc_object_segmentation/rgb_cluster_filter_limit_max: 0.35
 * /mir_perception/pc_object_segmentation/rgb_cluster_filter_limit_min: 0.006
 * /mir_perception/pc_object_segmentation/rgb_container_height: 0.0335
 * /mir_perception/pc_object_segmentation/rgb_roi_adjustment: 2
 * /mir_perception/pc_object_segmentation/roi_base_link_to_laser_distance: 0.35
 * /mir_perception/pc_object_segmentation/roi_max_object_pose_x_to_base_link: 0.65
 * /mir_perception/pc_object_segmentation/roi_min_bbox_z: 0.03
 * /mir_perception/pc_object_segmentation/sac_distance_threshold: 0.01
 * /mir_perception/pc_object_segmentation/sac_eps_angle: 0.09
 * /mir_perception/pc_object_segmentation/sac_max_iterations: 1000
 * /mir_perception/pc_object_segmentation/sac_normal_distance_weight: 0.05
 * /mir_perception/pc_object_segmentation/sac_optimize_coefficients: True
 * /mir_perception/pc_object_segmentation/sac_x_axis: 0.0
 * /mir_perception/pc_object_segmentation/sac_y_axis: 0.0
 * /mir_perception/pc_object_segmentation/sac_z_axis: 1.0
 * /mir_perception/pc_object_segmentation/use_omp: False
 * /mir_perception/pc_object_segmentation/voxel_filter_field_name: z
 * /mir_perception/pc_object_segmentation/voxel_filter_limit_max: 0.3
 * /mir_perception/pc_object_segmentation/voxel_filter_limit_min: -0.15
 * /mir_perception/pc_object_segmentation/voxel_leaf_size: 0.009
 * /mir_planning/pddl_problem_generator/knowledge_base: rosplan_knowledge...
 * /mir_planning/pddl_problem_generator/max_goals: 3
 * /mir_planning/pddl_problem_generator/points/axis: 20
 * /mir_planning/pddl_problem_generator/points/bearing: 10
 * /mir_planning/pddl_problem_generator/points/bearing_box: 20
 * /mir_planning/pddl_problem_generator/points/cb: 0
 * /mir_planning/pddl_problem_generator/points/co: 20
 * /mir_planning/pddl_problem_generator/points/distance_tube: 10
 * /mir_planning/pddl_problem_generator/points/f20_20_b: 20
 * /mir_planning/pddl_problem_generator/points/f20_20_g: 20
 * /mir_planning/pddl_problem_generator/points/m20: 10
 * /mir_planning/pddl_problem_generator/points/m20_100: 20
 * /mir_planning/pddl_problem_generator/points/m30: 20
 * /mir_planning/pddl_problem_generator/points/motor: 20
 * /mir_planning/pddl_problem_generator/points/pp: 10
 * /mir_planning/pddl_problem_generator/points/r20: 20
 * /mir_planning/pddl_problem_generator/points/s40_40_b: 20
 * /mir_planning/pddl_problem_generator/points/s40_40_g: 20
 * /mir_planning/pddl_problem_generator/points/sh: 50
 * /mir_planning/pddl_problem_generator/points/ws: 100
 * /mir_planning/pddl_problem_generator/prefer_goals_with_same_source_ws: True
 * /mir_planning/pddl_problem_generator/problem_path: /home/robocup/mel...
 * /mir_task_planning/task_planner_server/planner_commands/lama/command: EXECUTABLE --sear...
 * /mir_task_planning/task_planner_server/planner_commands/lama/executable_path: fast-downward/fas...
 * /mir_task_planning/task_planner_server/planner_commands/lama/rospkg_name: lama_planner
 * /mir_task_planning/task_planner_server/planner_commands/mercury/command: timeout TIMELIMIT...
 * /mir_task_planning/task_planner_server/planner_commands/mercury/executable_path: build/Mercury-fix...
 * /mir_task_planning/task_planner_server/planner_commands/mercury/rospkg_name: mercury_planner
 * /mir_task_planning/task_planner_server/time_limit: 10
 * /mir_task_planning/task_planner_server/verbose: True
 * /move_base/DWAPlannerROS/acc_lim_theta: 1.5
 * /move_base/DWAPlannerROS/acc_lim_x: 1.5
 * /move_base/DWAPlannerROS/acc_lim_y: 1.5
 * /move_base/DWAPlannerROS/acc_limit_trans: 0.1
 * /move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base/DWAPlannerROS/goal_distance_bias: 19.0
 * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: True
 * /move_base/DWAPlannerROS/max_rot_vel: 0.75
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_trans_vel: 0.4
 * /move_base/DWAPlannerROS/max_vel_x: 0.4
 * /move_base/DWAPlannerROS/max_vel_y: 0.1
 * /move_base/DWAPlannerROS/min_rot_vel: 0.2
 * /move_base/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: -0.4
 * /move_base/DWAPlannerROS/min_vel_y: -0.1
 * /move_base/DWAPlannerROS/occdist_scale: 0.01
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 33.0
 * /move_base/DWAPlannerROS/penalize_negative_x: False
 * /move_base/DWAPlannerROS/rot_stopped_vel: 0.01
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_granularity: 0.025
 * /move_base/DWAPlannerROS/sim_period: 0.2
 * /move_base/DWAPlannerROS/sim_time: 0.8
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.01
 * /move_base/DWAPlannerROS/vtheta_samples: 15
 * /move_base/DWAPlannerROS/vx_samples: 6
 * /move_base/DWAPlannerROS/vy_samples: 3
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/GlobalPlannerWithOrientations/allow_unknown: False
 * /move_base/GlobalPlannerWithOrientations/default_tolerance: 0.0
 * /move_base/GlobalPlannerWithOrientations/max_omni_poses: 20
 * /move_base/GlobalPlannerWithOrientations/min_pose_distance: 0.05
 * /move_base/GlobalPlannerWithOrientations/old_navfn_behavior: False
 * /move_base/GlobalPlannerWithOrientations/use_dijkstra: True
 * /move_base/GlobalPlannerWithOrientations/use_grid_path: False
 * /move_base/GlobalPlannerWithOrientations/use_quadratic: True
 * /move_base/GlobalPlannerWithOrientations/visualize_potential: True
 * /move_base/base_global_planner: mcr_global_planne...
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/clear_costmap_recovery/layer_names: ['obstacle_layer']
 * /move_base/clear_costmap_recovery/reset_distance: 0.6
 * /move_base/clearing_radius: 0.6
 * /move_base/clearing_rotation_allowed: False
 * /move_base/controller_frequency: 10.0
 * /move_base/controller_patience: 2.0
 * /move_base/footprint: [[-0.272, -0.1869...
 * /move_base/force_field_recovery/allowed_oscillations: 0
 * /move_base/force_field_recovery/max_velocity: 0.1
 * /move_base/force_field_recovery/obstacle_neighborhood: 0.4
 * /move_base/force_field_recovery/oscillation_angular_tolerance: 1.4
 * /move_base/force_field_recovery/timeout: 5.0
 * /move_base/force_field_recovery/update_frequency: 10.0
 * /move_base/force_field_recovery/velocity_scale_factor: 0.3
 * /move_base/global_costmap/footprint: [[-0.272, -0.1869...
 * /move_base/global_costmap/footprint_padding: 0.01
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_radius: 0.46
 * /move_base/global_costmap/laser_scanner_barrier_front/clearing: True
 * /move_base/global_costmap/laser_scanner_barrier_front/data_type: LaserScan
 * /move_base/global_costmap/laser_scanner_barrier_front/marking: True
 * /move_base/global_costmap/laser_scanner_barrier_front/max_obstacle_height: 2.0
 * /move_base/global_costmap/laser_scanner_barrier_front/min_obstacle_height: -0.5
 * /move_base/global_costmap/laser_scanner_barrier_front/observation_persistence: 600.0
 * /move_base/global_costmap/laser_scanner_barrier_front/sensor_frame: base_laser_front_...
 * /move_base/global_costmap/laser_scanner_barrier_front/topic: /barrier_tape/sca...
 * /move_base/global_costmap/laser_scanner_barrier_rear/clearing: True
 * /move_base/global_costmap/laser_scanner_barrier_rear/data_type: LaserScan
 * /move_base/global_costmap/laser_scanner_barrier_rear/marking: True
 * /move_base/global_costmap/laser_scanner_barrier_rear/max_obstacle_height: 2.0
 * /move_base/global_costmap/laser_scanner_barrier_rear/min_obstacle_height: -0.5
 * /move_base/global_costmap/laser_scanner_barrier_rear/observation_persistence: 600.0
 * /move_base/global_costmap/laser_scanner_barrier_rear/sensor_frame: base_laser_rear_link
 * /move_base/global_costmap/laser_scanner_barrier_rear/topic: /barrier_tape/sca...
 * /move_base/global_costmap/laser_scanner_front/clearing: True
 * /move_base/global_costmap/laser_scanner_front/data_type: LaserScan
 * /move_base/global_costmap/laser_scanner_front/expected_update_rate: 1.2
 * /move_base/global_costmap/laser_scanner_front/marking: True
 * /move_base/global_costmap/laser_scanner_front/max_obstacle_height: 2.0
 * /move_base/global_costmap/laser_scanner_front/min_obstacle_height: -0.1
 * /move_base/global_costmap/laser_scanner_front/observation_persistence: 0.0
 * /move_base/global_costmap/laser_scanner_front/sensor_frame: base_laser_front_...
 * /move_base/global_costmap/laser_scanner_front/topic: /scan_front
 * /move_base/global_costmap/laser_scanner_rear/clearing: True
 * /move_base/global_costmap/laser_scanner_rear/data_type: LaserScan
 * /move_base/global_costmap/laser_scanner_rear/expected_update_rate: 1.2
 * /move_base/global_costmap/laser_scanner_rear/marking: True
 * /move_base/global_costmap/laser_scanner_rear/max_obstacle_height: 2.0
 * /move_base/global_costmap/laser_scanner_rear/min_obstacle_height: -0.1
 * /move_base/global_costmap/laser_scanner_rear/observation_persistence: 0.0
 * /move_base/global_costmap/laser_scanner_rear/sensor_frame: base_laser_rear_link
 * /move_base/global_costmap/laser_scanner_rear/topic: /scan_rear
 * /move_base/global_costmap/map_type: costmap
 * /move_base/global_costmap/observation_sources: laser_scanner_fro...
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap/publish_frequency: 0.3
 * /move_base/global_costmap/raytrace_range: 3.0
 * /move_base/global_costmap/robot_base_frame: base_footprint
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/update_frequency: 0.3
 * /move_base/local_costmap/footprint: [[-0.272, -0.1869...
 * /move_base/local_costmap/footprint_padding: 0.02
 * /move_base/local_costmap/global_frame: map
 * /move_base/local_costmap/height: 2.5
 * /move_base/local_costmap/inflation_radius: 0.46
 * /move_base/local_costmap/laser_scanner_barrier_front/clearing: True
 * /move_base/local_costmap/laser_scanner_barrier_front/data_type: LaserScan
 * /move_base/local_costmap/laser_scanner_barrier_front/marking: True
 * /move_base/local_costmap/laser_scanner_barrier_front/max_obstacle_height: 2.0
 * /move_base/local_costmap/laser_scanner_barrier_front/min_obstacle_height: -0.5
 * /move_base/local_costmap/laser_scanner_barrier_front/observation_persistence: 600.0
 * /move_base/local_costmap/laser_scanner_barrier_front/sensor_frame: base_laser_front_...
 * /move_base/local_costmap/laser_scanner_barrier_front/topic: /barrier_tape/sca...
 * /move_base/local_costmap/laser_scanner_barrier_rear/clearing: True
 * /move_base/local_costmap/laser_scanner_barrier_rear/data_type: LaserScan
 * /move_base/local_costmap/laser_scanner_barrier_rear/marking: True
 * /move_base/local_costmap/laser_scanner_barrier_rear/max_obstacle_height: 2.0
 * /move_base/local_costmap/laser_scanner_barrier_rear/min_obstacle_height: -0.5
 * /move_base/local_costmap/laser_scanner_barrier_rear/observation_persistence: 600.0
 * /move_base/local_costmap/laser_scanner_barrier_rear/sensor_frame: base_laser_rear_link
 * /move_base/local_costmap/laser_scanner_barrier_rear/topic: /barrier_tape/sca...
 * /move_base/local_costmap/laser_scanner_front/clearing: True
 * /move_base/local_costmap/laser_scanner_front/data_type: LaserScan
 * /move_base/local_costmap/laser_scanner_front/expected_update_rate: 1.2
 * /move_base/local_costmap/laser_scanner_front/marking: True
 * /move_base/local_costmap/laser_scanner_front/max_obstacle_height: 2.0
 * /move_base/local_costmap/laser_scanner_front/min_obstacle_height: -0.1
 * /move_base/local_costmap/laser_scanner_front/observation_persistence: 0.0
 * /move_base/local_costmap/laser_scanner_front/sensor_frame: base_laser_front_...
 * /move_base/local_costmap/laser_scanner_front/topic: /scan_front
 * /move_base/local_costmap/laser_scanner_rear/clearing: True
 * /move_base/local_costmap/laser_scanner_rear/data_type: LaserScan
 * /move_base/local_costmap/laser_scanner_rear/expected_update_rate: 1.2
 * /move_base/local_costmap/laser_scanner_rear/marking: True
 * /move_base/local_costmap/laser_scanner_rear/max_obstacle_height: 2.0
 * /move_base/local_costmap/laser_scanner_rear/min_obstacle_height: -0.1
 * /move_base/local_costmap/laser_scanner_rear/observation_persistence: 0.0
 * /move_base/local_costmap/laser_scanner_rear/sensor_frame: base_laser_rear_link
 * /move_base/local_costmap/laser_scanner_rear/topic: /scan_rear
 * /move_base/local_costmap/map_type: costmap
 * /move_base/local_costmap/observation_sources: laser_scanner_fro...
 * /move_base/local_costmap/obstacle_range: 2.5
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/raytrace_range: 3.0
 * /move_base/local_costmap/resolution: 0.02
 * /move_base/local_costmap/robot_base_frame: base_footprint
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/update_frequency: 2.0
 * /move_base/local_costmap/width: 2.5
 * /move_base/oscillation_distance: 2.0
 * /move_base/planner_frequency: 0.2
 * /move_base/planner_patience: 2.0
 * /move_base/recovery_behavior_enabled: True
 * /move_base/recovery_behaviors: [{'type': 'force_...
 * /move_base/shutdown_costmaps: False
 * /move_base_safe_server/align: False
 * /move_base_wrapper/loop_rate: 10.0
 * /move_base_wrapper/move_base_action_name: move_base
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm_1/planner_configs: ['Interpolation']
 * /move_group/arm_1/planner_minimum_sample_time: 0.1
 * /move_group/arm_1_gripper/planner_configs: ['Interpolation']
 * /move_group/arm_1_gripper/planner_minimum_sample_time: 0.1
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /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_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/Interpolation/type_1: Trapezoidal
 * /move_group/planning_plugin: interpolation_pla...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.5
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.0
 * /perceive_aruco_server/base_motion_enabled: False
 * /perceive_location_server/base_motion_enabled: False
 * /pick_from_shelf_server/arm_link_0_offset_x: 0.223
 * /pick_from_shelf_server/arm_link_0_offset_y: 0.0
 * /pick_from_shelf_server/frame_id: base_link_static
 * /pick_from_shelf_server/intermediate_perc: 0.8
 * /pick_from_shelf_server/pitch: 2.0
 * /pick_from_shelf_server/retract_base_pose_x: -0.2
 * /pick_from_shelf_server/start_base_pose_offset: -0.7
 * /pick_from_shelf_server/y_pos_movement_threshold: 0.15
 * /pose_visualiser/pose_description_file: /home/robocup/mel...
 * /pose_visualiser/pose_frame: map
 * /pregrasp_planner_node/angular_step: 0.5
 * /pregrasp_planner_node/angular_tolerance: 10.0
 * /pregrasp_planner_node/arm: arm_1
 * /pregrasp_planner_node/generate_pregrasp_waypoint: True
 * /pregrasp_planner_node/gripper_config_matrix: youbot_dynamixel_...
 * /pregrasp_planner_node/height_tolerance: 0.24
 * /pregrasp_planner_node/joint_1_offset: 0.0
 * /pregrasp_planner_node/joint_1_offset_side_grasp: 0.0
 * /pregrasp_planner_node/joint_2_offset: -0.6
 * /pregrasp_planner_node/joint_2_offset_side_grasp: 0.0
 * /pregrasp_planner_node/joint_3_offset: 0.3
 * /pregrasp_planner_node/joint_3_offset_side_grasp: 0.453
 * /pregrasp_planner_node/joint_4_offset: 0.0
 * /pregrasp_planner_node/joint_4_offset_side_grasp: -0.367
 * /pregrasp_planner_node/joint_5_offset: 0.0
 * /pregrasp_planner_node/joint_5_offset_side_grasp: 0.0
 * /pregrasp_planner_node/linear_offset_x: 0.0
 * /pregrasp_planner_node/linear_offset_y: 0.0
 * /pregrasp_planner_node/linear_offset_z: 0.0
 * /pregrasp_planner_node/linear_step: 0.01
 * /pregrasp_planner_node/loop_rate: 10.0
 * /pregrasp_planner_node/max_azimuth: 0.0
 * /pregrasp_planner_node/max_distance_to_object: -0.03
 * /pregrasp_planner_node/max_height: 0.0
 * /pregrasp_planner_node/max_roll: 0.0
 * /pregrasp_planner_node/max_samples: 20
 * /pregrasp_planner_node/max_zenith: 0.0
 * /pregrasp_planner_node/min_azimuth: 0.0
 * /pregrasp_planner_node/min_distance_to_object: -0.03
 * /pregrasp_planner_node/min_height: 0.0
 * /pregrasp_planner_node/min_roll: 0.0
 * /pregrasp_planner_node/min_zenith: 0.0
 * /pregrasp_planner_node/move_group: move_group
 * /pregrasp_planner_node/reference_axis: z
 * /pregrasp_planner_node/rotation_offset: 0.0
 * /pregrasp_planner_node/rotation_range_max: 90.0
 * /pregrasp_planner_node/rotation_range_min: 270.0
 * /pregrasp_planner_node/target_frame: base_link
 * /pregrasp_planner_node/youbot_dynamixel_gripper: [[-1.0, 0.0, 0.0,...
 * /refbox_parser/bnt: False
 * /refbox_parser/cycle_time: 0.1
 * /robot_description_kinematics/arm_1/kinematics_solver: youbot_arm_kinema...
 * /robot_description_kinematics/arm_1/kinematics_solver_attempts: 1
 * /robot_description_kinematics/arm_1/kinematics_solver_search_resolution: 0.01
 * /robot_description_kinematics/arm_1/kinematics_solver_timeout: 0.1
 * /robot_description_planning/joint_limits/arm_joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/arm_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_joint_1/max_acceleration: 1.5707
 * /robot_description_planning/joint_limits/arm_joint_1/max_velocity: 1.5707
 * /robot_description_planning/joint_limits/arm_joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/arm_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_joint_2/max_acceleration: 2
 * /robot_description_planning/joint_limits/arm_joint_2/max_velocity: 2.1
 * /robot_description_planning/joint_limits/arm_joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/arm_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_joint_3/max_acceleration: 2.0
 * /robot_description_planning/joint_limits/arm_joint_3/max_velocity: 2.5
 * /robot_description_planning/joint_limits/arm_joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/arm_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_joint_4/max_acceleration: 3.0
 * /robot_description_planning/joint_limits/arm_joint_4/max_velocity: 4.0
 * /robot_description_planning/joint_limits/arm_joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/arm_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_joint_5/max_acceleration: 2
 * /robot_description_planning/joint_limits/arm_joint_5/max_velocity: 3
 * /robot_description_planning/joint_limits/gripper_motor_left_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/gripper_motor_left_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_motor_left_joint/max_acceleration: 1.5
 * /robot_description_planning/joint_limits/gripper_motor_left_joint/max_velocity: 6.178465545
 * /robot_description_planning/joint_limits/gripper_motor_right_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/gripper_motor_right_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_motor_right_joint/max_acceleration: 1.5
 * /robot_description_planning/joint_limits/gripper_motor_right_joint/max_velocity: 6.178465545
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosplan_knowledge_base/domain_path: /home/robocup/mel...
 * /rosplan_knowledge_base/problem_path: /home/robocup/mel...
 * /rosversion: 1.14.10
 * /script_server/base/CB01: [0.311, 1.456, 1....
 * /script_server/base/CB02: [0.359432, 1.3782...
 * /script_server/base/EXIT: [-3.765, -1.177, ...
 * /script_server/base/PP01: [-3.032184, -1.51...
 * /script_server/base/SH01: [0.397, 0.97, -0....
 * /script_server/base/SH02: [-0.596, -0.712, ...
 * /script_server/base/START: [-3.765, -1.177, ...
 * /script_server/base/WS01: [-1.561, -0.455, ...
 * /script_server/base/WS02: [-1.107, -2.765, ...
 * /script_server/base/WS03: [-0.257, 1.855, -...
 * /script_server/base/WS04: [-2.832, -2.527, ...
 * /script_server/base/WS05: [-1.18, -2.916, -...
 * /script_server/base/WS06: [-0.058, 0.111, -...
 * /script_server/base/WS07: [-0.909, -0.807, ...
 * /script_server/base/WS08: [-0.921, 0.742, -...
 * /script_server/base/WS09: [-0.175, 2.681, 2...
 * /script_server/base/WS10: [-1.18, -2.916, -...
 * /script_server/base/WS11: [-0.865, 0.789, 1...
 * /static_transform_publisher_node/idle_loop_rate: 5.0
 * /static_transform_publisher_node/loop_rate: 30.0
 * /static_transform_publisher_node/reference_frame: odom
 * /static_transform_publisher_node/static_transform_frame: /base_link_static
 * /static_transform_publisher_node/target_frame: base_link
 * /static_transform_publisher_node/trigger_mode: False
 * /upload_knowledge/problem_file: /home/robocup/mel...
 * /waypoint_trajectory_generation/arm: arm_1
 * /waypoint_trajectory_generation/loop_rate: 10.0
 * /waypoint_trajectory_generation/move_group: /move_group
 * /wbc/base_motion_only: False
 * /wbc/loop_rate: 50.0
 * /wbc/reference_frame: odom
 * /wbc/static_transform_frame: base_link_static
 * /wbc/target_frame: base_link

NODES
  /
    amcl (amcl/amcl)
    arm_moveit_client (mcr_moveit_client/moveit_client_node)
    front_laser_scanner_repub (topic_tools/relay)
    gripper_moveit_client (mcr_moveit_client/moveit_client_node)
    insert_cavity_server (mir_insert_cavity/insert_cavity_server.py)
    insert_object_server (mir_insert_object/insert_object_server.py)
    knowledge_base_analyzer (mir_knowledge_base_analyzer/knowledge_base_analyzer)
    map_server (map_server/map_server)
    mir_cartesian_velocity_insert (mir_insert_object/mir_cartesian_velocity_insert.py)
    move_base (move_base/move_base)
    move_base_safe_server (mir_move_base_safe/move_base_safe_server.py)
    move_base_wrapper (mir_move_base/move_base_node)
    move_group (moveit_ros_move_group/move_group)
    perceive_aruco_server (mir_perceive_mock/perceive_aruco_server)
    perceive_cavity_server (mir_perceive_cavity/perceive_cavity_server.py)
    perceive_location_server (mir_perceive_location/perceive_location_server.py)
    pick_from_shelf_server (mir_pick_from_shelf/pick_from_shelf_server)
    place_object_server (mir_place_object/place_object_server.py)
    pose_visualiser (mcr_navigation_tools/pose_visualiser)
    pregrasp_planner_node (mir_pregrasp_planning/pregrasp_planner_node)
    rear_laser_scanner_repub (topic_tools/relay)
    refbox_parser (mir_refbox_parser/refbox_parser_node)
    rosplan_knowledge_base (rosplan_knowledge_base/knowledgeBase)
    stage_object_server (mir_stage_object/stage_object_server.py)
    static_transform_publisher_node (mcr_common_converters/static_transform_publisher_node)
    unstage_object_server (mir_unstage_object/unstage_object_server.py)
    upload_knowledge (mir_knowledge/upload_knowledge)
    waypoint_trajectory_generation (mcr_waypoint_trajectory_generation/waypoint_trajectory_generation_node)
    wbc (mir_whole_body_motion_calculator/whole_body_motion_calculator_pipeline_class)
    wbc_pick_object_server (mir_pick_object/pick_object_server.py)
  /gripper_controller/
    grasp_monitor (mir_grasp_monitors/dynamixel_gripper_grasp_monitor_node)
  /mcr_common/
    dynamic_reconfigure_client (mcr_dynamic_reconfigure_client/dynamic_reconfigure_client_node)
  /mcr_navigation/direct_base_controller/
    coordinator (mcr_direct_base_controller/direct_base_controller_coordinator_node)
  /mcr_perception/
    cavity_classifier (mcr_cavity_detector/cavity_classifier_node.py)
    cavity_finder (mcr_cavity_detector/cavity_finder)
    cavity_pose_selector (mcr_perception_selectors/cavity_pose_selector_node)
    object_list_merger (mcr_object_list_merger/object_list_merger_new)
    object_selector (mcr_perception_selectors/object_selector)
    place_pose_selector (mir_place_pose_selector/place_pose_selector_node)
  /mir_knowledge_base_analyzer/
    knowledge_base_queries (mir_knowledge_base_analyzer/knowledge_base_queries)
  /mir_perception/
    aruco_cube_perceiver (mir_perceive_aruco_cube/perceive_aruco_cube)
    multimodal_object_recognition (mir_object_recognition/multimodal_object_recognition)
  /mir_perception/back_camera/
    barrier_tape_detection (mir_barrier_tape_detection/barrier_tape_detection_node)
    pointcloud_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
  /mir_perception/front_camera/
    barrier_tape_detection (mir_barrier_tape_detection/barrier_tape_detection_node)
    pointcloud_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
  /mir_perception/multimodal_object_recognition/recognizer/pc/
    pc_object_recognizer_node (mir_object_recognition/pc_object_recognizer_node)
  /mir_perception/multimodal_object_recognition/recognizer/rgb/
    rgb_object_recognizer (mir_object_recognition/rgb_object_recognizer_node)
  /mir_planning/
    pddl_problem_generator (mir_pddl_problem_generator/pddl_problem_generator_node)
  /mir_task_planning/
    task_planner_server (mir_task_planning/task_planner_server)
  /task_planning/
    planner_executor (mir_planner_executor/planner_executor)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [20878]
process[arm_moveit_client-2]: started with pid [20879]
process[gripper_moveit_client-3]: started with pid [20880]
process[pose_visualiser-4]: started with pid [20881]
[ INFO] [/move_group]: Loading robot model 'youbot'...
process[map_server-5]: started with pid [20889]
process[front_laser_scanner_repub-6]: started with pid [20890]
process[rear_laser_scanner_repub-7]: started with pid [20900]
process[amcl-8]: started with pid [20903]
process[move_base-9]: started with pid [20908]
process[move_base_wrapper-10]: started with pid [20916]
process[gripper_controller/grasp_monitor-11]: started with pid [20924]
process[static_transform_publisher_node-12]: started with pid [20932]
process[wbc-13]: started with pid [20934]
[ WARN] [/move_group]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
process[pregrasp_planner_node-14]: started with pid [20935]
[ WARN] [/move_group]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
process[waypoint_trajectory_generation-15]: started with pid [20938]
process[mcr_navigation/direct_base_controller/coordinator-16]: started with pid [20942]
process[mcr_common/dynamic_reconfigure_client-17]: started with pid [20946]
process[mir_perception/front_camera/barrier_tape_detection-18]: started with pid [20948]
process[mir_perception/front_camera/pointcloud_to_laserscan-19]: started with pid [20952]
process[mir_perception/back_camera/barrier_tape_detection-20]: started with pid [20953]
process[mir_perception/back_camera/pointcloud_to_laserscan-21]: started with pid [20964]
process[mcr_perception/object_list_merger-22]: started with pid [20971]
[ INFO] [/mir_perception/front_camera/barrier_tape_detection]: Barrier Tape Detection Node Initialised
[ INFO] [/move_group]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [/move_group]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [/move_group]: Starting planning scene monitor
[ INFO] [/move_group]: Listening to '/planning_scene'
[ INFO] [/move_group]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [/move_group]: Listening to '/collision_object'
[ INFO] [/move_group]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [/move_group]: Failed to find 3D sensor plugin parameters for octomap generation
process[mcr_perception/object_selector-23]: started with pid [20985]
process[mcr_perception/place_pose_selector-24]: started with pid [20994]
[ INFO] [/mir_perception/back_camera/barrier_tape_detection]: Barrier Tape Detection Node Initialised
process[mcr_perception/cavity_pose_selector-25]: started with pid [20996]
[INFO] [/move_base_wrapper]: Waiting for 'move_base' server
process[mcr_perception/cavity_finder-26]: started with pid [21009]
[ INFO] [/mcr_perception/object_selector]: Selection type: 0
process[mcr_perception/cavity_classifier-27]: started with pid [21020]
[ WARN] [/move_base]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [/move_base]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [/move_base]: global_costmap: Using plugin "static_layer"
process[mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer-28]: started with pid [21021]
[ INFO] [/mcr_perception/object_selector]: node started
[ INFO] [/move_base]: Requesting the map...
process[mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node-29]: started with pid [21024]
[ INFO] [/move_group]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [/move_group]: Initializing Interpolation planner interface using ROS parameters
[ INFO] [/move_group]: Using planning interface 'Interpolation'
process[mir_perception/multimodal_object_recognition-30]: started with pid [21035]
[ INFO] [/move_group]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [/move_group]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [/move_group]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [/move_group]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [/move_group]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [/move_group]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [/move_group]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [/move_group]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [/move_group]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [/move_group]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [/move_group]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [/move_group]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are
process[mir_perception/aruco_cube_perceiver-31]: started with pid [21040]
process[perceive_aruco_server-32]: started with pid [21051]
[ INFO] [/move_base]: Resizing costmap to 992 X 1024 at 0.020000 m/pix
process[rosplan_knowledge_base-33]: started with pid [21054]
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Starting a PDDL Knowledge Base
[ INFO] [/move_group]: Trajectory execution is managing controllers
[ INFO] [/move_base]: Received a 992 X 1024 map at 0.020000 m/pix
process[upload_knowledge-34]: started with pid [21061]
[ INFO] [/move_base]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [/move_base]:     Subscribed to Topics: laser_scanner_front laser_scanner_rear laser_scanner_barrier_front laser_scanner_barrier_rear
process[knowledge_base_analyzer-35]: started with pid [21062]
process[mir_knowledge_base_analyzer/knowledge_base_queries-36]: started with pid [21065]
Loading 'move_group/ApplyPlanningSceneService'...
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Parsing domain
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Parsing domain: /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/common/pddl/general_domain/domain.pddl.
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Parsing initial state
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Parsing Problem File: /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/common/pddl/general_domain/minimum_required_facts.pddl.
[ INFO] [/rosplan_knowledge_base]: KCL: (/rosplan_knowledge_base) Ready to receive
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[ INFO] [/mir_planning/pddl_problem_generator]: Node is going to initialize...
process[mir_planning/pddl_problem_generator-37]: started with pid [21075]
process[mir_task_planning/task_planner_server-38]: started with pid [21083]
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
[ INFO] [/mir_planning/pddl_problem_generator]: PDDL problem path : /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/common/pddl/general_domain/problems/p1.pddl
process[task_planning/planner_executor-39]: started with pid [21085]
[ INFO] [/mir_planning/pddl_problem_generator]: [mir_pddl_problem_generator] Initialised
[ INFO] [/mir_planning/pddl_problem_generator]: Node will run at : 10.000000 [hz]
[ INFO] [/mir_planning/pddl_problem_generator]: Node initialized.
Loading 'move_group/MoveGroupPickPlaceAction'...
process[move_base_safe_server-40]: started with pid [21111]
process[stage_object_server-41]: started with pid [21119]
process[unstage_object_server-42]: started with pid [21128]
process[perceive_location_server-43]: started with pid [21133]
/wbc_pick_object_server
process[wbc_pick_object_server-44]: started with pid [21146]
Traceback (most recent call last):
  File "/home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/ros/scripts/upload_knowledge", line 4, in <module>
    from mir_knowledge_ros.problem_uploader import ProblemUploader
  File "/home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/ros/src/mir_knowledge_ros/problem_uploader.py", line 36, in <module>
    import mercury_planner.pddl as pddl  # for parsing pddl file
ImportError: No module named pddl
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
process[pick_from_shelf_server-45]: started with pid [21148]
[ INFO] [/move_base]: global_costmap: Using plugin "inflation_layer"
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [/move_group]:

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

[ INFO] [/move_group]: MoveGroup context using planning plugin interpolation_planner_interface/InterpolationPlannerManager
[ INFO] [/move_group]: MoveGroup context initialization complete

You can start planning now!

/pick_from_shelf_server
[ INFO] [/mcr_perception/cavity_finder]: [cavity_finder] node started
process[place_object_server-46]: started with pid [21169]
process[insert_object_server-47]: started with pid [21170]
[INFO] [/mcr_perception/object_list_merger]: Started object_list_merger node
process[perceive_cavity_server-48]: started with pid [21176]
[INFO] [/mcr_perception/object_list_merger]: {'rgb': [{'group': ['M20', 'M30'], 'probability': 1.0}, {'group': ['M20_100', 'AXIS'], 'probability': 0.75}, {'group': ['F20_20_G', 'S40_40_G'], 'probability': 1.0}, {'group': ['F20_20_B', 'S40_40_B'], 'probability': 1.0}], 'pcl': [{'group': ['F20_20_G', 'AXIS'], 'probability': 8.0}, {'group': ['S40_40_B', 'MOTOR'], 'probability': 8.0}, {'group': ['F20_20_B', 'M20_100'], 'probability': 6.0}, {'group': ['S40_40_B', 'S40_40_G'], 'probability': 1.0}, {'group': ['BEARING_BOX', 'M30', 'MOTOR'], 'probability': 6.0}, {'group': ['BEARING', 'M20', 'DISTANCE_TUBE'], 'probability': 4.0}, {'group': ['MOTOR', 'R20'], 'probability': 5.0}, {'group': ['CONTAINER_BOX_BLUE', 'CONTAINER_BOX_RED'], 'probability': 1.0}]}
[upload_knowledge-34] process has died [pid 21061, exit code 1, cmd /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge/ros/scripts/upload_knowledge __name:=upload_knowledge __log:=/home/robocup/.ros/log/5acba60a-833b-11eb-8592-94c691a631a8/upload_knowledge-34.log].
log file: /home/robocup/.ros/log/5acba60a-833b-11eb-8592-94c691a631a8/upload_knowledge-34*.log
[INFO] [/mcr_perception/object_list_merger]: {'rgb': {'S40_40_G': 0.2, 'BEARING': 0.4, 'F20_20_B': 0.4, 'S40_40_B': 0.2, 'F20_20_G': 0.6, 'M20': 0.4, 'M30': 0.4, 'BEARING_BOX': 0.4, 'MOTOR': 0.4, 'DISTANCE_TUBE': 0.4, 'M20_100': 0.4, 'AXIS': 0.4, 'R20': 0.4}, 'pcl': {'S40_40_G': 0.8, 'BEARING': 0.5, 'F20_20_B': 0.6, 'S40_40_B': 0.9, 'F20_20_G': 0.4, 'M20': 0.5, 'M30': 0.5, 'BEARING_BOX': 0.5, 'MOTOR': 0.5, 'DISTANCE_TUBE': 0.5, 'M20_100': 0.5, 'AXIS': 0.5, 'R20': 0.5}}
[INFO] [/mcr_perception/object_list_merger]: {'rgb': ['DECOY'], 'pcl': ['CONTAINER_BOX_BLUE', 'CONTAINER_BOX_RED', 'DECOY']}
process[insert_cavity_server-49]: started with pid [21186]
process[refbox_parser-50]: started with pid [21199]
process[mir_cartesian_velocity_insert-51]: started with pid [21210]
/home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_knowledge_base_analyzer/ros/src/mir_knowledge_base_analyzer_ros/knowledge_base_analyzer.py:30: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  "~pending_goals/event_out", String
[INFO] [/knowledge_base_analyzer]: Pending_goals_analyzer node initilized...
[INFO] [/mcr_perception/cavity_pose_selector]: Ready to start...
[INFO] [/mcr_perception/place_pose_selector]: Ready to start...
[INFO] [/mir_task_planning/task_planner_server]: [task_planner_server] {'mercury': {'command': 'timeout TIMELIMIT EXECUTABLE DOMAIN PROBLEM FILENAME', 'executable_path': 'build/Mercury-fixed/seq-sat-mercury/plan', 'rospkg_name': 'mercury_planner'}, 'lama': {'command': 'EXECUTABLE --search-time-limit TIMELIMIT --alias seq-sat-lama-2011 --plan-file FILENAME DOMAIN PROBLEM', 'executable_path': 'fast-downward/fast-downward.py', 'rospkg_name': 'lama_planner'}}
Traceback (most recent call last):
  File "/home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_refbox_parser/ros/scripts/refbox_parser_node", line 3, in <module>
    import mir_refbox_parser_ros.refbox_parser
  File "/home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_refbox_parser/ros/src/mir_refbox_parser_ros/refbox_parser.py", line 11, in <module>
    import atwork_ros_msgs.msg
ImportError: No module named atwork_ros_msgs.msg
[ WARN] [/move_base]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [/move_base]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [/move_base]: local_costmap: Using plugin "obstacle_layer"
[refbox_parser-50] process has died [pid 21199, exit code 1, cmd /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_planning/mir_refbox_parser/ros/scripts/refbox_parser_node ~refbox:=/robot_example_ros/inventory ~refbox_task:=/robot_example_ros/task_info ~event_out:=/refbox_parser/event_out ~event_in:=/refbox_parser/event_in __name:=refbox_parser __log:=/home/robocup/.ros/log/5acba60a-833b-11eb-8592-94c691a631a8/refbox_parser-50.log].
log file: /home/robocup/.ros/log/5acba60a-833b-11eb-8592-94c691a631a8/refbox_parser-50*.log
/perceive_location_server
[ INFO] [/move_base]:     Subscribed to Topics: laser_scanner_front laser_scanner_rear laser_scanner_barrier_front laser_scanner_barrier_rear
/perceive_cavity_server
[ INFO] [/task_planning/planner_executor]: Node initialized. PlannerExecutor is available!!!
[ WARN] [/mir_perception/multimodal_object_recognition]: [multimodal_object_recognition] Debug mode: 1
[ WARN] [/mir_perception/multimodal_object_recognition]: [multimodal_object_recognition] target frame: base_link
[ INFO] [/mir_perception/multimodal_object_recognition]: Object info is loaded!
[ INFO] [/mir_perception/multimodal_object_recognition]:  [multimodal_object_recognition] node started with rate 30

[ INFO] [/move_base]: local_costmap: Using plugin "inflation_layer"
[INFO] [/mcr_common/dynamic_reconfigure_client]: Ready to start...
[ INFO] [/move_base]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [/move_base]: Sim period is set to 0.10
[ WARN] [/move_base]: Parameter max_trans_vel is deprecated (and will not load properly). Use max_vel_trans instead.
[ WARN] [/move_base]: Parameter min_trans_vel is deprecated (and will not load properly). Use min_vel_trans instead.
[ WARN] [/move_base]: Parameter max_rot_vel is deprecated (and will not load properly). Use max_vel_theta instead.
[ WARN] [/move_base]: Parameter min_rot_vel is deprecated (and will not load properly). Use min_vel_theta instead.
[ WARN] [/move_base]: Parameter acc_limit_trans is deprecated (and will not load properly). Use acc_lim_trans instead.
[ WARN] [/move_base]: Parameter rot_stopped_vel is deprecated (and will not load properly). Use theta_stopped_vel instead.
[INFO] [/static_transform_publisher_node]: Ready to start...
[INFO] [/wbc]: Ready to start...
[INFO] [/mir_task_planning/task_planner_server]: [task_planner_server] Initialised server
[INFO] [/perceive_aruco_server]: Started SMACH action server wrapper, adversiting as 'perceive_aruco_server'
[INFO] [/move_base_safe_server]: Started SMACH action server wrapper, adversiting as 'move_base_safe_server'
[ WARN] [/move_base]: The /scan_front observation buffer has not been updated for 4.53 seconds, and it should be updated every 1.20 seconds.
[ WARN] [/move_base]: The /scan_rear observation buffer has not been updated for 4.43 seconds, and it should be updated every 1.20 seconds.
[INFO] [/stage_object_server]: Started SMACH action server wrapper, adversiting as 'stage_object_server'
[ WARN] [/move_base]: The /scan_front observation buffer has not been updated for 2.84 seconds, and it should be updated every 1.20 seconds.
[ WARN] [/move_base]: The /scan_rear observation buffer has not been updated for 2.72 seconds, and it should be updated every 1.20 seconds.
[INFO] [/perceive_location_server]: Started SMACH action server wrapper, adversiting as 'perceive_location_server'
Node initiated.........
[ INFO] [/move_base]: Initializing Force field recovery behavior...
[INFO] [/mir_perception/aruco_cube_perceiver]: Initialised ArucoCubePerceiver
[ INFO] [/move_base]: Force field recovery behavior parameters :
[ INFO] [/move_base]: Velocity_scale parameter : 0.300000
[ INFO] [/move_base]: Obstacle_neighborhood parameter : 0.400000
[ INFO] [/move_base]: Max_velocity parameter : 0.100000
[ INFO] [/move_base]: Timeout parameter : 5.000000
[ INFO] [/move_base]: Recovery_behavior_update_frequency_ parameter : 10.000000
[ INFO] [/move_base]: Oscillation_angular_tolerance parameter : 1.400000
[ INFO] [/move_base]: Allowed_oscillations parameter : 0
[ INFO] [/move_base]: Robot base reference frame : base_footprint
[ INFO] [/move_base]: Robot global reference frame : map
[INFO] [/perceive_cavity_server]: Started SMACH action server wrapper, adversiting as 'perceive_cavity_server'
[INFO] [/mcr_perception/cavity_classifier]: Started Cavity Classification Node
[INFO] [/place_object_server]: Started SMACH action server wrapper, adversiting as 'place_object_server'
[ INFO] [/move_base]: Recovery behavior will clear layer 'obstacle_layer'
[INFO] [/mir_cartesian_velocity_insert]: Ready to start now...
[INFO] [/wbc_pick_object_server]: Started SMACH action server wrapper, adversiting as 'wbc_pick_object_server'
[INFO] [/unstage_object_server]: Started SMACH action server wrapper, adversiting as 'unstage_object_server'
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/unmerged_packages_for_testing/perception/mcr_cavity_detector/common/src/mcr_cavity_detector/mobileNet_classification.py:46: The name tf.GraphDef is deprecated. Please use tf.compat.v1.GraphDef instead.

[ INFO] [/move_base]: odom received!
[INFO] [/insert_object_server]: Started SMACH action server wrapper, adversiting as 'insert_object_server'
[INFO] [/move_base_wrapper]: Found server 'move_base'
[INFO] [/move_base_wrapper]: Ready to start...
[INFO] [/mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer]: Started object recognition node.
[INFO] [/mcr_perception/cavity_classifier]: RGB Recognizer is ready using [output_graph.pb]
[INFO] [/pick_from_shelf_server]: Started SMACH action server wrapper, adversiting as 'pick_from_shelf_server'
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:76: The name tf.placeholder is deprecated. Please use tf.compat.v1.placeholder instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:100: The name tf.FIFOQueue is deprecated. Please use tf.queue.FIFOQueue instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:119: batch (from tensorflow.python.training.input) is deprecated and will be removed in a future version.
Instructions for updating:
Queue-based input pipelines have been replaced by `tf.data`. Use `tf.data.Dataset.batch(batch_size)` (or `padded_batch(...)` if `dynamic_pad=True`).
WARNING:tensorflow:From /usr/local/lib/python2.7/dist-packages/tensorflow/python/training/input.py:753: __init__ (from tensorflow.python.training.queue_runner_impl) is deprecated and will be removed in a future version.
Instructions for updating:
To construct input pipelines, use the `tf.data` module.
WARNING:tensorflow:From /usr/local/lib/python2.7/dist-packages/tensorflow/python/training/input.py:753: add_queue_runner (from tensorflow.python.training.queue_runner_impl) is deprecated and will be removed in a future version.
Instructions for updating:
To construct input pipelines, use the `tf.data` module.
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:506: The name tf.variable_scope is deprecated. Please use tf.compat.v1.variable_scope instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:521: calling __init__ (from tensorflow.python.ops.init_ops) with dtype is deprecated and will be removed in a future version.
Instructions for updating:
Call initializer instance with the dtype argument instead of passing it to the constructor
[INFO] [/arm_moveit_client]: Waiting for 'move_group' server
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:45: The name tf.get_variable is deprecated. Please use tf.compat.v1.get_variable instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:572: The name tf.nn.max_pool is deprecated. Please use tf.nn.max_pool2d instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:64: The name tf.add_to_collection is deprecated. Please use tf.compat.v1.add_to_collection instead.

/usr/local/lib/python2.7/dist-packages/sklearn/base.py:253: UserWarning: Trying to unpickle estimator DecisionTreeClassifier from version 0.20.3 when using version 0.20.4. This might lead to breaking code or invalid results. Use at your own risk.
  UserWarning)
/usr/local/lib/python2.7/dist-packages/sklearn/base.py:253: UserWarning: Trying to unpickle estimator RandomForestClassifier from version 0.20.3 when using version 0.20.4. This might lead to breaking code or invalid results. Use at your own risk.
  UserWarning)
/usr/local/lib/python2.7/dist-packages/sklearn/base.py:253: UserWarning: Trying to unpickle estimator LabelEncoder from version 0.20.3 when using version 0.20.4. This might lead to breaking code or invalid results. Use at your own risk.
  UserWarning)
Feature based 3D object classifier model is loaded
[INFO] [/mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node]: PCL Recognizer is ready using: feature_based , model: fvrdd
[INFO] [/mcr_navigation/direct_base_controller/coordinator]: Ready to start...
[INFO] [/arm_moveit_client]: Found server 'move_group'
[ INFO] [/moveit_python_wrappers_1615561952880494946]: Loading robot model 'youbot'...
[INFO] [/waypoint_trajectory_generation]: Waiting for '/move_group' server
[ WARN] [/moveit_python_wrappers_1615561952880494946]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
[ WARN] [/moveit_python_wrappers_1615561952880494946]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
[INFO] [/pregrasp_planner_node]: Waiting for 'move_group' server
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/squeezeDet.py:74: calling dropout (from tensorflow.python.ops.nn_ops) with keep_prob is deprecated and will be removed in a future version.
Instructions for updating:
Please use `rate` instead of `keep_prob`. Rate should be set to `rate = 1 - keep_prob`.
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/util.py:268: to_float (from tensorflow.python.ops.math_ops) is deprecated and will be removed in a future version.
Instructions for updating:
Use `tf.cast` instead.
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/utils/util.py:271: where (from tensorflow.python.ops.array_ops) is deprecated and will be removed in a future version.
Instructions for updating:
Use tf.where in 2.0, which has the same broadcast rule as np.where
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:735: The name tf.summary.histogram is deprecated. Please use tf.compat.v1.summary.histogram instead.

[INFO] [/gripper_moveit_client]: Waiting for 'move_group' server
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:737: The name tf.summary.scalar is deprecated. Please use tf.compat.v1.summary.scalar instead.

[INFO] [/pregrasp_planner_node]: Found server 'move_group'
[INFO] [/waypoint_trajectory_generation]: Found server '/move_group'
[ INFO] [/moveit_python_wrappers_1615561953295351172]: Loading robot model 'youbot'...
[ INFO] [/moveit_python_wrappers_1615561953295958897]: Loading robot model 'youbot'...
INFO:tensorflow:Summary name mean iou is illegal; using mean_iou instead.
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:329: The name tf.train.exponential_decay is deprecated. Please use tf.compat.v1.train.exponential_decay instead.

[ INFO] [/moveit_python_wrappers_1615561953424246804]: Loading robot model 'youbot'...
[ WARN] [/moveit_python_wrappers_1615561953295351172]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
[ WARN] [/moveit_python_wrappers_1615561953295351172]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:339: The name tf.train.MomentumOptimizer is deprecated. Please use tf.compat.v1.train.MomentumOptimizer instead.

[ WARN] [/moveit_python_wrappers_1615561953295958897]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
[INFO] [/gripper_moveit_client]: Found server 'move_group'
[ WARN] [/moveit_python_wrappers_1615561953295958897]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [/moveit_python_wrappers_1615561953502841947]: Loading robot model 'youbot'...
[ WARN] [/moveit_python_wrappers_1615561953424246804]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
[ WARN] [/moveit_python_wrappers_1615561953424246804]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ WARN] [/moveit_python_wrappers_1615561953502841947]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_1/kinematics_solver_attempts' from your configuration.
[ WARN] [/moveit_python_wrappers_1615561953502841947]: IK plugin for group 'arm_1' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [/moveit_python_wrappers_1615561952880494946]: Ready to take commands for planning group arm_1.
[INFO] [/arm_moveit_client]: Waiting for 'move_group' server
[INFO] [/arm_moveit_client]: Found server 'move_group'
[ INFO] [/moveit_python_wrappers_1615561953295351172]: Ready to take commands for planning group arm_1.
[INFO] [/pregrasp_planner_node]: Waiting for 'move_group' server
[INFO] [/pregrasp_planner_node]: Found server 'move_group'
[ INFO] [/moveit_python_wrappers_1615561952880494946]: Ready to take commands for planning group arm_1.
[INFO] [/arm_moveit_client]: Waiting for 'compute_ik' service
[INFO] [/arm_moveit_client]: Found service 'compute_ik'
[INFO] [/arm_moveit_client]: Waiting for 'compute_fk' service
[INFO] [/arm_moveit_client]: Found service 'compute_fk'
[ INFO] [/moveit_python_wrappers_1615561953424246804]: Ready to take commands for planning group arm_1.
[ INFO] [/moveit_python_wrappers_1615561953295958897]: Ready to take commands for planning group arm_1.
[ INFO] [/moveit_python_wrappers_1615561953502841947]: Ready to take commands for planning group arm_1_gripper.
[INFO] [/waypoint_trajectory_generation]: Ready to start now...
[INFO] [/gripper_moveit_client]: Ready to start...
WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/nets/nn_skeleton.py:365: The name tf.summary.image is deprecated. Please use tf.compat.v1.summary.image instead.

WARNING:tensorflow:From /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/src/rgb_object_recognition/squeezedet_classifier.py:39: The name tf.train.Saver is deprecated. Please use tf.compat.v1.train.Saver instead.

2021-03-12 16:12:34.700732: I tensorflow/core/platform/cpu_feature_guard.cc:142] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
2021-03-12 16:12:34.728735: I tensorflow/core/platform/profile_utils/cpu_utils.cc:94] CPU Frequency: 2699905000 Hz
2021-03-12 16:12:34.729107: I tensorflow/compiler/xla/service/service.cc:168] XLA service 0x563796461c50 executing computations on platform Host. Devices:
2021-03-12 16:12:34.729123: I tensorflow/compiler/xla/service/service.cc:175]   StreamExecutor device (0): <undefined>, <undefined>
WARNING:tensorflow:From /usr/local/lib/python2.7/dist-packages/tensorflow/python/training/saver.py:1276: checkpoint_exists (from tensorflow.python.training.checkpoint_management) is deprecated and will be removed in a future version.
Instructions for updating:
Use standard file APIs to check for files with this prefix.
INFO:tensorflow:Restoring parameters from /home/robocup/melodic/robocup/src/mas_industrial_robotics/mir_perception/mir_object_recognition/common/config/squeezeDet/atwork_sydney/model.ckpt
[ INFO] [/moveit_python_wrappers_1615561953295351172]: Ready to take commands for planning group arm_1.
[INFO] [/pregrasp_planner_node]: Waiting for 'compute_ik' service
[INFO] [/pregrasp_planner_node]: Found service 'compute_ik'
[INFO] [/pregrasp_planner_node]: Waiting for 'compute_fk' service
[INFO] [/pregrasp_planner_node]: Found service 'compute_fk'
2021-03-12 16:12:34.853314: W tensorflow/compiler/jit/mark_for_compilation_pass.cc:1412] (One-time warning): Not using XLA:CPU for cluster because envvar TF_XLA_FLAGS=--tf_xla_cpu_global_jit was not set.  If you want XLA:CPU, either set that envvar, or use experimental_jit_scope to enable XLA:CPU.  To confirm that XLA is active, pass --vmodule=xla_compilation_cache=1 (as a proper command-line flag, not via TF_XLA_FLAGS) or set the envvar XLA_FLAGS=--xla_hlo_profile.
SqueezeDet model is loaded
[INFO] [/mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer]: RGB Recognizer is ready using detection : squeezeDet , dataset: atwork_sydney
[INFO] [/pregrasp_planner_node]: Ready to start...
[INFO] [/insert_cavity_server]: Started SMACH action server wrapper, adversiting as 'insert_cavity_server'
[INFO] [/arm_moveit_client]: Ready to start...
[ INFO] [/move_group]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [/move_group]: Planning attempt 1 of at most 1
[ INFO] [/move_group]: Starting state is just outside bounds (joint 'arm_joint_2'). Assuming within bounds.
[ INFO] [/move_group]: Starting state is just outside bounds (joint 'arm_joint_3'). Assuming within bounds.
[ INFO] [/move_group]: Starting state is just outside bounds (joint 'arm_joint_4'). Assuming within bounds.
[ INFO] [/move_group]: Starting state is just outside bounds (joint 'arm_joint_5'). Assuming within bounds.
[ WARN] [/move_group]: No planner is specified in request. Using default planner Trapezoidal
[ INFO] [/move_group]: selected_planner_id_: Trapezoidal
[ INFO] [/move_group]: Total trajectory time: 2.421053
[ INFO] [/move_group]: Interpolated trajectory contains 26 points.
[ INFO] [/move_group]: planning problem solved
[ INFO] [/move_group]: Planning adapters have added states at index positions: [ 0 ]
[ERROR] [/move_group]: Unable to identify any set of controllers that can actuate the specified joints: [ arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 ]
[ERROR] [/move_group]: Known controllers and their joints:

[ERROR] [/move_group]: Apparently trajectory initialization failed
^C[mir_cartesian_velocity_insert-51] killing on exit
[insert_cavity_server-49] killing on exit
[perceive_cavity_server-48] killing on exit
[insert_object_server-47] killing on exit
[place_object_server-46] killing on exit
[pick_from_shelf_server-45] killing on exit
[wbc_pick_object_server-44] killing on exit
[perceive_location_server-43] killing on exit
[unstage_object_server-42] killing on exit
[stage_object_server-41] killing on exit
[WARN] [/pregrasp_planner_node]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[move_base_safe_server-40] killing on exit
[WARN] [/mcr_perception/object_list_merger]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[task_planning/planner_executor-39] killing on exit
[mir_task_planning/task_planner_server-38] killing on exit
[WARN] [/arm_moveit_client]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[WARN] [/gripper_moveit_client]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[mir_planning/pddl_problem_generator-37] killing on exit
[mir_knowledge_base_analyzer/knowledge_base_queries-36] killing on exit
[knowledge_base_analyzer-35] killing on exit
[rosplan_knowledge_base-33] killing on exit
[perceive_aruco_server-32] killing on exit
[WARN] [/move_base_wrapper]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[mir_perception/aruco_cube_perceiver-31] killing on exit
[mir_perception/multimodal_object_recognition-30] killing on exit
[mir_perception/multimodal_object_recognition/recognizer/pc/pc_object_recognizer_node-29] killing on exit
Exiting.
[mir_perception/multimodal_object_recognition/recognizer/rgb/rgb_object_recognizer-28] killing on exit
[mcr_perception/cavity_classifier-27] killing on exit
[mcr_perception/cavity_finder-26] killing on exit
[mcr_perception/cavity_pose_selector-25] killing on exit
[mcr_perception/place_pose_selector-24] killing on exit
[WARN] [/arm_moveit_client]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[mcr_perception/object_selector-23] killing on exit
[mcr_perception/object_list_merger-22] killing on exit
[mir_perception/back_camera/pointcloud_to_laserscan-21] killing on exit
[mir_perception/back_camera/barrier_tape_detection-20] killing on exit
[mir_perception/front_camera/pointcloud_to_laserscan-19] killing on exit
[mir_perception/front_camera/barrier_tape_detection-18] killing on exit
[mcr_common/dynamic_reconfigure_client-17] killing on exit
[mcr_navigation/direct_base_controller/coordinator-16] killing on exit
[waypoint_trajectory_generation-15] killing on exit
[pregrasp_planner_node-14] killing on exit
[wbc-13] killing on exit
[static_transform_publisher_node-12] killing on exit
[gripper_controller/grasp_monitor-11] killing on exit
[move_base_wrapper-10] killing on exit
[move_base-9] killing on exit
[amcl-8] killing on exit
[rear_laser_scanner_repub-7] killing on exit
[front_laser_scanner_repub-6] killing on exit
[map_server-5] killing on exit
[pose_visualiser-4] killing on exit
[gripper_moveit_client-3] killing on exit
[arm_moveit_client-2] killing on exit
[move_group-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
mhwasil commented 3 years ago

@DharminB some codes are deprecated in the version we use. The codes have to be updated to tf2.0 and retrain it