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justagist / franka_ros_interface

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).
http://justagist.github.io/franka_ros_interface
Apache License 2.0
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REQUIRED process [franka_control-3] has died error when running driver node #39

Open williamsnider opened 2 years ago

williamsnider commented 2 years ago

I'm having trouble getting the franka_ros_interface to connect with my real robot.

What I've done so far

  1. updated the franka.sh file such that FRANKA_ROBOT_IP="172.16.0.2", your_ip="172.16.0.1", and ros_version="noetic" and moved it into the root of my catkin workspace (/home/oclab/code/panda_robot/franka.sh)
  2. confirmed that I can run libfranka examples. Entering /home/oclab/code/libfranka/build/examples/communication_test 172.16.0.2 moves the robot and returns the expected result
  3. confirmed that I can run franka_ros examples. Entering 
    source /home/oclab/code/panda_robot/devel/setup.bash
roslaunch franka_example_controllers joint_impedance_example_controller.launch \
robot_ip:=172.16.0.2 load_gripper:=true

    moves the robot. (panda_robot is my catkin workspace)

But when I go to launch the franka_ros_interface, I get the following errors:

(base) oclab@panda1:~/code/panda_robot$ source /home/oclab/code/panda_robot/devel/setup.bash
(base) oclab@panda1:~/code/panda_robot$ ./franka.sh master

ROBOT: 172.16.0.2

[franka <Master> - Robot@172.16.0.2] (base) oclab@panda1:~/code/panda_robot$ roslaunch franka_interface interface.launch
... logging to /home/oclab/.ros/log/04472a8a-52fb-11ec-8004-61c0d9261ce8/roslaunch-panda1-16578.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://172.16.0.1:42079/

SUMMARY
========

PARAMETERS
 * /controllers_config/command_timeout: 0.2
 * /controllers_config/default_controller: position_joint_tr...
 * /controllers_config/impedance_controller: franka_ros_interf...
 * /controllers_config/position_controller: franka_ros_interf...
 * /controllers_config/torque_controller: franka_ros_interf...
 * /controllers_config/trajectory_controller: position_joint_tr...
 * /controllers_config/velocity_controller: franka_ros_interf...
 * /franka_control/publish_frequency: 1000
 * /franka_gripper/default_grasp_epsilon/inner: 0.005
 * /franka_gripper/default_grasp_epsilon/outer: 0.005
 * /franka_gripper/default_speed: 0.1
 * /franka_gripper/joint_names: ['panda_finger_jo...
 * /franka_gripper/publish_rate: 30
 * /franka_gripper/robot_ip: 172.16.0.2
 * /franka_gripper/stop_at_shutdown: False
 * /franka_ros_interface/custom_franka_state_controller/arm_id: panda
 * /franka_ros_interface/custom_franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/custom_franka_state_controller/publish_rate: 1000
 * /franka_ros_interface/custom_franka_state_controller/type: franka_interface/...
 * /franka_ros_interface/effort_joint_impedance_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_impedance_controller/coriolis_factor: 1.0
 * /franka_ros_interface/effort_joint_impedance_controller/d_gains: [50.0, 50.0, 50.0...
 * /franka_ros_interface/effort_joint_impedance_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_impedance_controller/k_gains: [1200.0, 1000.0, ...
 * /franka_ros_interface/effort_joint_impedance_controller/publish_rate: 30.0
 * /franka_ros_interface/effort_joint_impedance_controller/type: franka_ros_contro...
 * /franka_ros_interface/effort_joint_position_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_position_controller/d_gains: [50.0, 50.0, 50.0...
 * /franka_ros_interface/effort_joint_position_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_position_controller/k_gains: [1200.0, 1000.0, ...
 * /franka_ros_interface/effort_joint_position_controller/publish_rate: 30.0
 * /franka_ros_interface/effort_joint_position_controller/type: franka_ros_contro...
 * /franka_ros_interface/effort_joint_torque_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_torque_controller/compensate_coriolis: False
 * /franka_ros_interface/effort_joint_torque_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_torque_controller/type: franka_ros_contro...
 * /franka_ros_interface/position_joint_position_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/position_joint_position_controller/type: franka_ros_contro...
 * /franka_ros_interface/velocity_joint_velocity_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/velocity_joint_velocity_controller/type: franka_ros_contro...
 * /gripper_config/default_grasp_epsilon/inner: 0.005
 * /gripper_config/default_grasp_epsilon/outer: 0.005
 * /gripper_config/default_speed: 0.1
 * /gripper_config/joint_names: ['panda_finger_jo...
 * /joint_state_desired_publisher/rate: 1000
 * /joint_state_desired_publisher/source_list: ['franka_ros_inte...
 * /joint_state_publisher/rate: 1000
 * /joint_state_publisher/source_list: ['franka_ros_inte...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'name': 'positi...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /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_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /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: [{'sensor_plugin'...
 * /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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_config/arm_id: panda
 * /robot_config/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /robot_config/cutoff_frequency: 100
 * /robot_config/internal_controller: joint_impedance
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
 * /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
 * /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
 * /robot_config/joint_limit_warning_threshold: 0.1
 * /robot_config/joint_names: ['panda_joint1', ...
 * /robot_config/neutral_pose/panda_joint1: -0.01779206022777...
 * /robot_config/neutral_pose/panda_joint2: -0.7601235411041661
 * /robot_config/neutral_pose/panda_joint3: 0.019782607023391807
 * /robot_config/neutral_pose/panda_joint4: -2.342050140544315
 * /robot_config/neutral_pose/panda_joint5: 0.029840531355804868
 * /robot_config/neutral_pose/panda_joint6: 1.5411935298621688
 * /robot_config/neutral_pose/panda_joint7: 0.7534486589746342
 * /robot_config/rate_limiting: True
 * /robot_config/realtime_config: enforce
 * /robot_config/robot_ip: 172.16.0.2
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 1000
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    base_to_link0 (tf/static_transform_publisher)
    controllers (controller_manager/spawner)
    demo_scene_loader (franka_moveit/create_demo_planning_scene.py)
    franka_control (franka_interface/custom_franka_control_node)
    franka_gripper (franka_gripper/franka_gripper_node)
    joint_state_desired_publisher (joint_state_publisher/joint_state_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    load_controllers (controller_manager/controller_manager)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)
    world_to_base (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [16636]
ROS_MASTER_URI=http://172.16.0.1:11311

setting /run_id to 04472a8a-52fb-11ec-8004-61c0d9261ce8
process[rosout-1]: started with pid [16646]
started core service [/rosout]
process[franka_gripper-2]: started with pid [16653]
process[franka_control-3]: started with pid [16654]
process[state_controller_spawner-4]: started with pid [16655]
/home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: Symbol `_ZTVN9franka_hw8FrankaHWE' has different size in shared object, consider re-linking
/home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: symbol lookup error: /home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: undefined symbol: _ZNK9franka_hw8FrankaHW7controlERKSt8functionIFbRKN3ros4TimeERKNS2_8DurationEEE
[ INFO] [1638399861.230149073]: franka_gripper_node: Found default_speed 0.1
process[robot_state_publisher-5]: started with pid [16658]
[ INFO] [1638399861.230586104]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
================================================================================REQUIRED process [franka_control-3] has died!
process has died [pid 16654, exit code 127, cmd /home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node __name:=franka_control __log:=/home/oclab/.ros/log/04472a8a-52fb-11ec-8004-61c0d9261ce8/franka_control-3.log].
log file: /home/oclab/.ros/log/04472a8a-52fb-11ec-8004-61c0d9261ce8/franka_control-3*.log
Initiating shutdown!
================================================================================
RLException: cannot add process [joint_state_publisher-6] after process monitor has been shut down
The traceback for the exception was written to the log file
[robot_state_publisher-5] killing on exit
[state_controller_spawner-4] killing on exit
[franka_control-3] killing on exit
[franka_gripper-2] killing on exit
[franka <Master> - Robot@172.16.0.2] (base) oclab@panda1:~/code/panda_robot$ [INFO] [1638399861.495801]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1638399891.671958]: Controller Spawner couldn't find the expected controller_manager ROS interface.

In case the output of /home/oclab/code/libfranka/build/examples/echo_robot_state 172.16.0.2 is helpful, here it is:

{"O_T_EE": [0.998995,-0.0438993,-0.00790835,0,-0.0436144,-0.998488,0.0331812,0,-0.0093532,-0.0328035,-0.999418,0,0.302331,0.173787,0.465025,1], "O_T_EE_d": [0.998995,-0.0438995,-0.00791904,0,-0.0436141,-0.998487,0.0331915,0,-0.00936433,-0.0328134,-0.999418,0,0.302335,0.173788,0.465021,1], "F_T_NE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1], "NE_T_EE": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1], "F_T_EE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1], "EE_T_K": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1], "m_ee": 0.73, "F_x_Cee": [-0.01,0,0.03], "I_ee": [0.001,0,0,0,0.0025,0,0,0,0.0017], "m_load": 0, "F_x_Cload": [0,0,0], "I_load": [0,0,0,0,0,0,0,0,0], "m_total": 0.73, "F_x_Ctotal": [-0.01,0,0.03], "I_total": [0.001,0,0,0,0.0025,0,0,0,0.0017], "elbow": [0.0118932,-1], "elbow_d": [0.011903,-1], "elbow_c": [0.011903,-1], "delbow_c": [0,0], "ddelbow_c": [0,0], "tau_J": [-0.0262443,-8.68335,-0.787238,22.7851,0.814284,2.13832,-0.0168133], "tau_J_d": [0,0,0,0,0,0,0], "dtau_J": [54.0963,-219.42,41.8383,13.3756,36.4945,-35.4212,5.58874], "q": [0.519095,-0.646616,0.0118932,-2.32042,-0.0164992,1.6492,1.35918], "dq": [-0.000521154,0.00229842,-0.00135589,-0.000156747,-0.000637353,0.000470845,-0.000805113], "q_d": [0.519081,-0.646593,0.011903,-2.32041,-0.0164965,1.6492,1.35917], "dq_d": [0,0,0,0,0,0,0], "ddq_d": [0,0,0,0,0,0,0], "joint_contact": [0,0,0,0,0,0,0], "cartesian_contact": [0,0,0,0,0,0], "joint_collision": [0,0,0,0,0,0,0], "cartesian_collision": [0,0,0,0,0,0], "tau_ext_hat_filtered": [-0.0416108,-0.224339,-0.0550402,0.539869,0.0756463,-0.0680105,-0.0123975], "O_F_ext_hat_K": [0.355217,0.153844,1.5997,0.136658,-0.0323647,-0.0210621], "K_F_ext_hat_K": [0.335462,-0.116026,-1.60714,-0.0822474,-0.282803,-0.00289346], "O_dP_EE_d": [0,0,0,0,0,0], "O_T_EE_c": [0.998995,-0.0438995,-0.00791904,0,-0.0436141,-0.998487,0.0331915,0,-0.00936433,-0.0328134,-0.999418,0,0.302335,0.173788,0.465021,1], "O_dP_EE_c": [0,0,0,0,0,0], "O_ddP_EE_c": [0,0,0,0,0,0], "theta": [0.519093,-0.647225,0.0118372,-2.31882,-0.0164088,1.64944,1.35917], "dtheta": [0,0,0,0,0,0,0], "current_errors": [], "last_motion_errors": [], "control_command_success_rate": 0, "robot_mode": "Idle", "time": 1229644}
Done.

Any ideas as to what might be causing this?

williamsnider commented 2 years ago

Additionally, running roscore seems to work (I think?)

(base) oclab@panda1:~$ cd /home/oclab/code/panda_robot
(base) oclab@panda1:~/code/panda_robot$ source /home/oclab/code/panda_robot/devel/setup.bash
(base) oclab@panda1:~/code/panda_robot$ ./franka.sh master

ROBOT: 172.16.0.2

[franka <Master> - Robot@172.16.0.2] (base) oclab@panda1:~/code/panda_robot$ roscore
... logging to /home/oclab/.ros/log/33ba5c80-52fe-11ec-8004-61c0d9261ce8/roslaunch-panda1-18263.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://172.16.0.1:39829/
ros_comm version 1.15.11

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES

auto-starting new master
process[master]: started with pid [18271]
ROS_MASTER_URI=http://172.16.0.1:11311/

setting /run_id to 33ba5c80-52fe-11ec-8004-61c0d9261ce8
process[rosout-1]: started with pid [18281]
started core service [/rosout]
williamsnider commented 2 years ago

This is the output after restarting the pc and robot (seems to have gotten a little further than above). 

(base) oclab@panda1:~/code/panda_robot$ cd /home/oclab/code/panda_robot
(base) oclab@panda1:~/code/panda_robot$ source /home/oclab/code/panda_robot/devel/setup.bash
(base) oclab@panda1:~/code/panda_robot$ ./franka.sh master

ROBOT: 172.16.0.2

[franka <Master> - Robot@172.16.0.2] (base) oclab@panda1:~/code/panda_robot$ roslaunch franka_interface interface.launch
... logging to /home/oclab/.ros/log/70944680-5393-11ec-88d6-cfaca2b630b9/roslaunch-panda1-6300.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://172.16.0.1:38563/

SUMMARY
========

PARAMETERS
 * /controllers_config/command_timeout: 0.2
 * /controllers_config/default_controller: position_joint_tr...
 * /controllers_config/impedance_controller: franka_ros_interf...
 * /controllers_config/position_controller: franka_ros_interf...
 * /controllers_config/torque_controller: franka_ros_interf...
 * /controllers_config/trajectory_controller: position_joint_tr...
 * /controllers_config/velocity_controller: franka_ros_interf...
 * /franka_control/publish_frequency: 1000
 * /franka_gripper/default_grasp_epsilon/inner: 0.005
 * /franka_gripper/default_grasp_epsilon/outer: 0.005
 * /franka_gripper/default_speed: 0.1
 * /franka_gripper/joint_names: ['panda_finger_jo...
 * /franka_gripper/publish_rate: 30
 * /franka_gripper/robot_ip: 172.16.0.2
 * /franka_gripper/stop_at_shutdown: False
 * /franka_ros_interface/custom_franka_state_controller/arm_id: panda
 * /franka_ros_interface/custom_franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/custom_franka_state_controller/publish_rate: 1000
 * /franka_ros_interface/custom_franka_state_controller/type: franka_interface/...
 * /franka_ros_interface/effort_joint_impedance_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_impedance_controller/coriolis_factor: 1.0
 * /franka_ros_interface/effort_joint_impedance_controller/d_gains: [50.0, 50.0, 50.0...
 * /franka_ros_interface/effort_joint_impedance_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_impedance_controller/k_gains: [1200.0, 1000.0, ...
 * /franka_ros_interface/effort_joint_impedance_controller/publish_rate: 30.0
 * /franka_ros_interface/effort_joint_impedance_controller/type: franka_ros_contro...
 * /franka_ros_interface/effort_joint_position_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_position_controller/d_gains: [50.0, 50.0, 50.0...
 * /franka_ros_interface/effort_joint_position_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_position_controller/k_gains: [1200.0, 1000.0, ...
 * /franka_ros_interface/effort_joint_position_controller/publish_rate: 30.0
 * /franka_ros_interface/effort_joint_position_controller/type: franka_ros_contro...
 * /franka_ros_interface/effort_joint_torque_controller/arm_id: panda
 * /franka_ros_interface/effort_joint_torque_controller/compensate_coriolis: False
 * /franka_ros_interface/effort_joint_torque_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/effort_joint_torque_controller/type: franka_ros_contro...
 * /franka_ros_interface/position_joint_position_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/position_joint_position_controller/type: franka_ros_contro...
 * /franka_ros_interface/velocity_joint_velocity_controller/joint_names: ['panda_joint1', ...
 * /franka_ros_interface/velocity_joint_velocity_controller/type: franka_ros_contro...
 * /gripper_config/default_grasp_epsilon/inner: 0.005
 * /gripper_config/default_grasp_epsilon/outer: 0.005
 * /gripper_config/default_speed: 0.1
 * /gripper_config/joint_names: ['panda_finger_jo...
 * /joint_state_desired_publisher/rate: 1000
 * /joint_state_desired_publisher/source_list: ['franka_ros_inte...
 * /joint_state_publisher/rate: 1000
 * /joint_state_publisher/source_list: ['franka_ros_inte...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'name': 'positi...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /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_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /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: [{'sensor_plugin'...
 * /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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_config/arm_id: panda
 * /robot_config/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /robot_config/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /robot_config/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /robot_config/cutoff_frequency: 100
 * /robot_config/internal_controller: joint_impedance
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint1: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint2: 7.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint3: 10.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint4: 12.5
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint5: 15.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint6: 20.0
 * /robot_config/joint_config/joint_acceleration_limit/panda_joint7: 20.0
 * /robot_config/joint_config/joint_effort_limit/panda_joint1: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint2: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint3: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint4: 87
 * /robot_config/joint_config/joint_effort_limit/panda_joint5: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint6: 12
 * /robot_config/joint_config/joint_effort_limit/panda_joint7: 12
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint1: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint2: -1.7628
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint3: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint4: -3.0718
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint5: -2.8973
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint6: -0.0175
 * /robot_config/joint_config/joint_position_limit/lower/panda_joint7: -2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint1: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint2: 1.7628
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint3: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint4: -0.0698
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint5: 2.8973
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint6: 3.7525
 * /robot_config/joint_config/joint_position_limit/upper/panda_joint7: 2.8973
 * /robot_config/joint_config/joint_velocity_limit/panda_joint1: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint2: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint3: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint4: 2.175
 * /robot_config/joint_config/joint_velocity_limit/panda_joint5: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint6: 2.61
 * /robot_config/joint_config/joint_velocity_limit/panda_joint7: 2.61
 * /robot_config/joint_limit_warning_threshold: 0.1
 * /robot_config/joint_names: ['panda_joint1', ...
 * /robot_config/neutral_pose/panda_joint1: -0.01779206022777...
 * /robot_config/neutral_pose/panda_joint2: -0.7601235411041661
 * /robot_config/neutral_pose/panda_joint3: 0.019782607023391807
 * /robot_config/neutral_pose/panda_joint4: -2.342050140544315
 * /robot_config/neutral_pose/panda_joint5: 0.029840531355804868
 * /robot_config/neutral_pose/panda_joint6: 1.5411935298621688
 * /robot_config/neutral_pose/panda_joint7: 0.7534486589746342
 * /robot_config/rate_limiting: True
 * /robot_config/realtime_config: enforce
 * /robot_config/robot_ip: 172.16.0.2
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 1000
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    base_to_link0 (tf/static_transform_publisher)
    controllers (controller_manager/spawner)
    demo_scene_loader (franka_moveit/create_demo_planning_scene.py)
    franka_control (franka_interface/custom_franka_control_node)
    franka_gripper (franka_gripper/franka_gripper_node)
    joint_state_desired_publisher (joint_state_publisher/joint_state_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    load_controllers (controller_manager/controller_manager)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)
    world_to_base (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [6373]
ROS_MASTER_URI=http://172.16.0.1:11311

setting /run_id to 70944680-5393-11ec-88d6-cfaca2b630b9
process[rosout-1]: started with pid [6384]
started core service [/rosout]
process[franka_gripper-2]: started with pid [6391]
process[franka_control-3]: started with pid [6392]
process[state_controller_spawner-4]: started with pid [6393]
process[robot_state_publisher-5]: started with pid [6394]
[ INFO] [1638465326.482597739]: franka_gripper_node: Found default_speed 0.1
process[joint_state_publisher-6]: started with pid [6399]
[ INFO] [1638465326.483102191]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
process[joint_state_desired_publisher-7]: started with pid [6406]
/home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: Symbol `_ZTVN9franka_hw8FrankaHWE' has different size in shared object, consider re-linking
/home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: symbol lookup error: /home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node: undefined symbol: _ZNK9franka_hw8FrankaHW7controlERKSt8functionIFbRKN3ros4TimeERKNS2_8DurationEEE
process[controllers-8]: started with pid [6408]
process[load_controllers-9]: started with pid [6410]
process[base_to_link0-10]: started with pid [6415]
process[world_to_base-11]: started with pid [6417]
process[move_group-12]: started with pid [6421]
process[demo_scene_loader-13]: started with pid [6423]
[ WARN] [1638465326.565270767]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1638465326.565926217]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1638465326.571024238]: Loading robot model 'panda'...
[ WARN] [1638465326.571049738]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1638465326.571065518]: No root/virtual joint specified in SRDF. Assuming fixed joint
================================================================================REQUIRED process [franka_control-3] has died!
process has died [pid 6392, exit code 127, cmd /home/oclab/code/panda_robot/devel/lib/franka_interface/custom_franka_control_node __name:=franka_control __log:=/home/oclab/.ros/log/70944680-5393-11ec-88d6-cfaca2b630b9/franka_control-3.log].
log file: /home/oclab/.ros/log/70944680-5393-11ec-88d6-cfaca2b630b9/franka_control-3*.log
Initiating shutdown!
================================================================================
[ INFO] [1638465326.632937374]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1638465326.634151265]: Listening to 'joint_states' for joint states
[ INFO] [1638465326.636260843]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1638465326.636283323]: Starting planning scene monitor
[ INFO] [1638465326.637286567]: Listening to '/planning_scene'
[ INFO] [1638465326.637306437]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1638465326.638096965]: Listening to '/collision_object'
[ INFO] [1638465326.638865393]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1638465326.650222450]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1638465326.650252209]: Loading planning pipeline ''
[demo_scene_loader-13] killing on exit
[move_group-12] killing on exit
[ INFO] [1638465326.682648857]: Using planning interface 'OMPL'
[world_to_base-11] killing on exit
Traceback (most recent call last):
  File "/home/oclab/code/panda_robot/devel/lib/franka_moveit/create_demo_planning_scene.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oclab/code/panda_robot/src/franka_ros_interface/franka_moveit/scripts/create_demo_planning_scene.py", line 30, in <module>
    import rospy
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
[base_to_link0-10] killing on exit
    from .client import spin, myargv, init_node, \
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 39, in <module>
    import logging
  File "/home/oclab/anaconda3/lib/python3.8/logging/__init__.py", line 441, in <module>
[load_controllers-9] killing on exit
    class StrFormatStyle(PercentStyle):
  File "/home/oclab/anaconda3/lib/python3.8/logging/__init__.py", line 446, in StrFormatStyle
    fmt_spec = re.compile(r'^(.?[<>=^])?[+ -]?#?0?(\d+|{\w+})?[,_]?(\.(\d+|{\w+}))?[bcdefgnosx%]?$', re.I)
  File "/home/oclab/anaconda3/lib/python3.8/re.py", line 252, in compile
[controllers-8] killing on exit
    return _compile(pattern, flags)
  File "/home/oclab/anaconda3/lib/python3.8/re.py", line 292, in _compile
[joint_state_desired_publisher-7] killing on exit
    flags = flags.value
  File "/home/oclab/anaconda3/lib/python3.8/types.py", line 178, in __get__
[joint_state_publisher-6] killing on exit
    return self.fget(instance)
  File "/home/oclab/anaconda3/lib/python3.8/enum.py", line 751, in value
[robot_state_publisher-5] killing on exit
[state_controller_spawner-4] killing on exit
[ INFO] [1638465326.684641216]: Param 'default_workspace_bounds' was not set. Using default value: 10
    return self._value_
KeyboardInterrupt
[ INFO] [1638465326.684829273]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1638465326.685014420]: Param 'start_state_max_dt' was not set. Using default value: 0.5
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/controller_manager/controller_manager", line 5, in <module>
    import rospy, sys
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
    from .client import spin, myargv, init_node, \
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 49, in <module>
[ INFO] [1638465326.685188947]: Param 'start_state_max_dt' was not set. Using default value: 0.5
    import rosgraph
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/__init__.py", line 36, in <module>
    from . masterapi import Master, MasterFailure, MasterError, MasterException
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/masterapi.py", line 45, in <module>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/controller_manager/spawner", line 38, in <module>
    from . names import make_caller_id
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/names.py", line 246, in <module>
    REMAP_PATTERN = re.compile(r'^([\~\/A-Za-z]|_|__)[\w\/]*' + REMAP + '.*')
  File "/home/oclab/anaconda3/lib/python3.8/re.py", line 252, in compile
    import rospy, sys
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/joint_state_publisher/joint_state_publisher", line 35, in <module>
[ INFO] [1638465326.685357254]: Param 'jiggle_fraction' was set to 0.05
    return _compile(pattern, flags)
  File "/home/oclab/anaconda3/lib/python3.8/re.py", line 304, in _compile
    from .client import spin, myargv, init_node, \
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 60, in <module>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/joint_state_publisher/joint_state_publisher", line 37, in <module>
    import rospy
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
    p = sre_compile.compile(pattern, flags)
    from .client import spin, myargv, init_node, \
  File "/home/oclab/anaconda3/lib/python3.8/sre_compile.py", line 764, in compile
    import rospy.impl.init
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 49, in <module>
    import joint_state_publisher
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/init.py", line 54, in <module>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/joint_state_publisher/__init__.py", line 38, in <module>
  File "/opt/ros/noetic/lib/controller_manager/spawner", line 38, in <module>
    import rosgraph
[ INFO] [1638465326.685516812]: Param 'max_sampling_attempts' was not set. Using default value: 100
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/__init__.py", line 36, in <module>
    import sensor_msgs.msg
  File "/opt/ros/noetic/lib/python3/dist-packages/sensor_msgs/msg/__init__.py", line 8, in <module>
    from .tcpros import init_tcpros
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
[ INFO] [1638465326.685562001]: Using planning request adapter 'Add Time Parameterization'
    from . masterapi import Master, MasterFailure, MasterError, MasterException
    from ._Imu import *
    import rospy, sys
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/masterapi.py", line 47, in <module>
[ INFO] [1638465326.685583861]: Using planning request adapter 'Resolve constraint frames to robot links'
  File "/opt/ros/noetic/lib/python3/dist-packages/sensor_msgs/msg/_Imu.py", line 9, in <module>
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 49, in <module>
[ INFO] [1638465326.685609140]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1638465326.685622040]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1638465326.685628820]: Using planning request adapter 'Fix Start State In Collision'
    from . network import parse_http_host_and_port
    import geometry_msgs.msg
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/network.py", line 51, in <module>
[ INFO] [1638465326.685635480]: Using planning request adapter 'Fix Start State Path Constraints'
  File "/opt/ros/noetic/lib/python3/dist-packages/geometry_msgs/msg/__init__.py", line 2, in <module>
    from .client import spin, myargv, init_node, \
  File "<frozen importlib._bootstrap>", line 971, in _find_and_load_unlocked
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 68, in <module>
    from ._AccelStamped import *
    from cStringIO import StringIO #Python 2.x
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
    p = sre_parse.parse(p, flags)
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 948, in parse
    from roscpp.srv import GetLoggers, GetLoggersResponse, SetLoggerLevel, SetLoggerLevelResponse
  File "<frozen importlib._bootstrap>", line 914, in _find_spec
  File "/opt/ros/noetic/lib/python3/dist-packages/roscpp/srv/__init__.py", line 3, in <module>
  File "<frozen importlib._bootstrap>", line 971, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 971, in _find_and_load_unlocked
    from ._SetLoggerLevel import *
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 914, in _find_spec
  File "<frozen importlib._bootstrap>", line 914, in _find_spec
  File "<frozen importlib._bootstrap_external>", line 1342, in find_spec
  File "<frozen importlib._bootstrap_external>", line 1342, in find_spec
  File "<frozen importlib._bootstrap_external>", line 1342, in find_spec
  File "<frozen importlib._bootstrap>", line 971, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 914, in _find_spec
  File "<frozen importlib._bootstrap_external>", line 1314, in _get_spec
  File "<frozen importlib._bootstrap_external>", line 1328, in _get_spec
  File "<frozen importlib._bootstrap_external>", line 1314, in _get_spec
  File "<frozen importlib._bootstrap_external>", line 1470, in find_spec
  File "<frozen importlib._bootstrap_external>", line 1342, in find_spec
KeyboardInterrupt
  File "<frozen importlib._bootstrap_external>", line 1428, in _get_spec
  File "<frozen importlib._bootstrap_external>", line 1453, in find_spec
  File "<frozen importlib._bootstrap_external>", line 1314, in _get_spec
  File "<frozen importlib._bootstrap_external>", line 661, in spec_from_file_location
    p = _parse_sub(source, state, flags & SRE_FLAG_VERBOSE, 0)
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 443, in _parse_sub
  File "<frozen importlib._bootstrap>", line 342, in __init__
  File "<frozen importlib._bootstrap_external>", line 1470, in find_spec
KeyboardInterrupt
KeyboardInterrupt
  File "<frozen importlib._bootstrap_external>", line 1428, in _get_spec
    itemsappend(_parse(source, state, verbose, nested + 1,
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 839, in _parse
  File "<frozen importlib._bootstrap_external>", line 661, in spec_from_file_location
KeyboardInterrupt
    state.closegroup(group, p)
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 97, in closegroup
    self.groupwidths[gid] = p.getwidth()
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 184, in getwidth
    l, h = av.getwidth()
  File "/home/oclab/anaconda3/lib/python3.8/sre_parse.py", line 221, in getwidth
    return self.width
KeyboardInterrupt
[franka_control-3] killing on exit
[franka_gripper-2] killing on exit
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'...

You can start planning now!

[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
williamsnider commented 2 years ago

Okay, I got to the bottom of this and as anticipated it's not something to do with this package, but I will list my solution regardless in case it helps someone else who is struggling.

I did a fresh install of linux / realtime patch / ros melodic / all dependencies. When running roslaunch franka_interface interface.launch, I got two exceptions: missing 'moveit_simple_controller_manager/MoveItSimpleControllerManager' and 'position_controllers/JointTrajectoryController'. I installed these by running sudo aptitude install ros-melodic-moveit-simple-controller-manager and sudo aptitude install ros-melodic-joint-trajectory-controller. I'm able to plan/execute movements with the robot in RVIZ now.