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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
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[gripper_action_server_emulator-12] process has died #12

Closed Sission closed 3 years ago

Sission commented 3 years ago

Hey, I tried to run: $ roslaunch panda_gazebo panda_world.launch start_moveit:=false

It can generate the robot in the gazebo successfully, however, with these errors: [gripper_action_server_emulator-12] process has died [pid 12790, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py __name:=gripper_action_server_emulator __log:=/home/sission/.ros/log/5c634612-1e05-11eb-801a-049226c26561/gripper_action_server_emulator-12.log]. log file: /home/sission/.ros/log/5c634612-1e05-11eb-801a-049226c26561/gripper_action_server_emulator-12*.log

[joint_trajectory_server_emulator-11] process has died [pid 12782, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py __name:=joint_trajectory_server_emulator __log:=/home/sission/.ros/log/5c634612-1e05-11eb-801a-049226c26561/joint_trajectory_server_emulator-11.log]. log file: /home/sission/.ros/log/5c634612-1e05-11eb-801a-049226c26561/joint_trajectory_server_emulator-11*.log

Also, the generated robot seems to have uncorrect gravity (not the pose you shown in the gif)

Sission commented 3 years ago

[ WARN] [1604431878.750975787, 5.182000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1604431884.756394904, 11.182000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1604431890.760980570, 17.182000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1604431895.780569657, 22.197000000]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1604431901.785184544, 28.197000000]: Waiting for franka_gripper/gripper_action to come up [ERROR] [1604431907.789568332, 34.197000000]: Action client not connected: franka_gripper/gripper_action [ INFO] [1604431907.886445766, 34.294000000]: Returned 0 controllers in list [ INFO] [1604431907.891737918, 34.299000000]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1604431907.920488882, 34.328000000]:

[ INFO] [1604431907.920518562, 34.328000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1604431907.920534836, 34.328000000]: MoveGroup context initialization complete

justagist commented 3 years ago

Hi, Please make sure you are using the right command: roslaunch panda_gazebo panda_world.launch start_moveit:=false. From the error message you shared, it looks like moveit server is still starting which it shouldn't. If you are doing this correctly and you still have issue, please share the full error log. Also include the log files if available.

The pose shown in the gif may not necessarily match how it starts in your case; it may be different depending on how gazebo reads the urdf. This is not because of gravity necessarily. Also the gravity in the simulator is disabled by default.

Sission commented 3 years ago

Yes, I do use the right command, there is just one error now. Here is the details:

sission@Ros:~/workspace$ roslaunch panda_gazebo panda_world.launch start_moveit:=false ... logging to /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/roslaunch-Ros-11227.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://Ros:44451/

SUMMARY

PARAMETERS

NODES / base_to_link0 (tf/static_transform_publisher) controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py) joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [11241] ROS_MASTER_URI=http://localhost:11311

setting /run_id to fd8643a6-1e1d-11eb-b53e-049226c26561 process[rosout-1]: started with pid [11252] started core service [/rosout] process[gazebo-2]: started with pid [11255] process[gazebo_gui-3]: started with pid [11260] process[robot_description-4]: started with pid [11265] process[base_to_link0-5]: started with pid [11268] process[world_to_base-6]: started with pid [11272] process[controller_spawner-7]: started with pid [11273] process[controller_spawner_stopped-8]: started with pid [11277] process[panda_gripper_controller_spawner_stopped-9]: started with pid [11278] process[robot_state_publisher-10]: started with pid [11332] INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/sission/.ros/log/latest' INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/sission/.ros/log/latest' process[topic_remap-11]: started with pid [11339] process[joint_trajectory_server_emulator-12]: started with pid [11346] process[gripper_action_server_emulator-13]: started with pid [11347] Traceback (most recent call last): Traceback (most recent call last): File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py", line 33, in File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 40, in from panda_sim_custom_action_server import GripperActionServer File "/home/sission/workspace/devel/lib/python2.7/dist-packages/panda_sim_custom_action_server/init.py", line 34, in from panda_sim_custom_action_server import ( File "/home/sission/workspace/devel/lib/python2.7/dist-packages/panda_sim_custom_action_server/init.py", line 34, in exec(fh.read()) File "", line 18, in exec(fh.read()) File "", line 18, in File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 60, in File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 60, in import franka_interface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in import franka_interface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in from .arm import ArmInterface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 37, in from .arm import ArmInterface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 37, in import quaternion ImportError: No module named quaternionimport quaternion

ImportError: No module named quaternion [joint_trajectory_server_emulator-12] process has died [pid 11346, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py name:=joint_trajectory_server_emulator __log:=/home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/joint_trajectory_server_emulator-12.log]. log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/joint_trajectory_server_emulator-12*.log [gripper_action_server_emulator-13] process has died [pid 11347, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py name:=gripper_action_server_emulator __log:=/home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/gripper_action_server_emulator-13.log]. log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/gripper_action_server_emulator-13*.log [ INFO] [1604439982.033692805]: Finished loading Gazebo ROS API Plugin. [ INFO] [1604439982.033992672]: Finished loading Gazebo ROS API Plugin. [ INFO] [1604439982.035325470]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1604439982.035337565]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1604439983.539770235]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1604439983.550876418, 0.009000000]: Physics dynamic reconfigure ready. [ INFO] [1604439983.914074522, 0.199000000]: Loading gazebo_ros_control plugin [ INFO] [1604439983.915822963, 0.199000000]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1604439983.916081767, 0.199000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ INFO] [1604439984.251596170, 0.199000000]: Loaded gazebo_ros_control. [ INFO] [1604439984.291534655, 0.199000000]: Initializing PandaGripperController with 2 joints. [ INFO] [1604439984.291823043, 0.199000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller [ INFO] [1604439984.302997922, 0.199000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller [ INFO] [1604439984.304798477, 0.199000000]: Unable to find Acceleration values for joint panda_finger_joint1... [ INFO] [1604439984.304875863, 0.199000000]: Unable to find Acceleration values for joint panda_finger_joint2... Loaded 'panda_simulator/panda_gripper_controller' [ INFO] [1604439984.336806149, 0.224000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints. [ INFO] [1604439984.336894551, 0.224000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller [ INFO] [1604439984.346749229, 0.234000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller [ INFO] [1604439984.356444783, 0.243000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller [ INFO] [1604439984.364683185, 0.252000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller [ INFO] [1604439984.373589835, 0.261000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller [ INFO] [1604439984.382111528, 0.269000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller [ INFO] [1604439984.390347344, 0.277000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller Loaded 'panda_simulator/velocity_joint_velocity_controller' [ INFO] [1604439984.404498310, 0.291000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints. [ INFO] [1604439984.404533711, 0.291000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller [ INFO] [1604439984.414979043, 0.302000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller [ INFO] [1604439984.424628633, 0.312000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller [ INFO] [1604439984.434631206, 0.322000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller [ INFO] [1604439984.444472941, 0.332000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller [ INFO] [1604439984.454115963, 0.341000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller [ INFO] [1604439984.463863546, 0.351000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller Loaded 'panda_simulator/position_joint_position_controller' Started ['panda_simulator/panda_gripper_controller'] successfully [ INFO] [1604439984.482345495, 0.370000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints. [ INFO] [1604439984.482383717, 0.370000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller [ INFO] [1604439984.483032121, 0.370000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller [ INFO] [1604439984.483316123, 0.371000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller [ INFO] [1604439984.483557791, 0.371000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller [ INFO] [1604439984.483783310, 0.371000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller [ INFO] [1604439984.483981847, 0.371000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller [ INFO] [1604439984.484201589, 0.372000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller Loaded 'panda_simulator/effort_joint_gravity_controller' Loaded 'panda_simulator/joint_state_controller' [ INFO] [1604439984.501030580, 0.389000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints. [ INFO] [1604439984.501075411, 0.389000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller [ INFO] [1604439984.502704720, 0.390000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller [ INFO] [1604439984.504039594, 0.392000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller [ INFO] [1604439984.505267150, 0.393000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller [ INFO] [1604439984.506482602, 0.394000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller [ INFO] [1604439984.507649245, 0.395000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller [ INFO] [1604439984.508725969, 0.396000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller Loaded 'panda_simulator/effort_joint_torque_controller' Started ['panda_simulator/position_joint_position_controller'] successfully Started ['panda_simulator/joint_state_controller'] successfully [panda_gripper_controller_spawner_stopped-9] process has finished cleanly log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/panda_gripper_controller_spawner_stopped-9.log [controller_spawner-7] process has finished cleanly log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/controller_spawner-7.log [controller_spawner_stopped-8] process has finished cleanly log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/controller_spawner_stopped-8.log [robot_description-4] process has finished cleanly log file: /home/sission/.ros/log/fd8643a6-1e1d-11eb-b53e-049226c26561/robot_description-4.log

Sission commented 3 years ago

Here is the log file by using: roslaunch panda_gazebo panda_world.launch

sission@Ros:~/workspace/src$ roslaunch panda_gazebo panda_world.launch ... logging to /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/roslaunch-Ros-12369.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://Ros:41215/

SUMMARY

PARAMETERS

NODES / base_to_link0 (tf/static_transform_publisher) controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) gripper_action_server_emulator (panda_sim_custom_action_server/start_gripper_action_server.py) joint_trajectory_server_emulator (panda_sim_custom_action_server/start_joint_trajectory_server.py) move_group (moveit_ros_move_group/move_group) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [12394] ROS_MASTER_URI=http://localhost:11311

setting /run_id to d9d006f8-1e1e-11eb-b53e-049226c26561 process[rosout-1]: started with pid [12405] started core service [/rosout] process[gazebo-2]: started with pid [12412] process[gazebo_gui-3]: started with pid [12417] process[robot_description-4]: started with pid [12422] process[base_to_link0-5]: started with pid [12423] process[world_to_base-6]: started with pid [12424] process[controller_spawner-7]: started with pid [12429] process[controller_spawner_stopped-8]: started with pid [12435] process[panda_gripper_controller_spawner_stopped-9]: started with pid [12437] process[robot_state_publisher-10]: started with pid [12438] process[topic_remap-11]: started with pid [12439] process[joint_trajectory_server_emulator-12]: started with pid [12440] process[gripper_action_server_emulator-13]: started with pid [12449] process[move_group-14]: started with pid [12453] Traceback (most recent call last): File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py", line 33, in from panda_sim_custom_action_server import GripperActionServer File "/home/sission/workspace/devel/lib/python2.7/dist-packages/panda_sim_custom_action_server/init.py", line 34, in exec(fh.read()) File "", line 18, in File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 60, in import franka_interface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in from .arm import ArmInterface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 37, in import quaternion ImportError: No module named quaternion [ INFO] [1604440343.096597124]: Finished loading Gazebo ROS API Plugin. [ INFO] [1604440343.097334419]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1604440343.126434014]: Finished loading Gazebo ROS API Plugin. [ INFO] [1604440343.127724347]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... **[gripper_action_server_emulator-13] process has died [pid 12449, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py __name:=gripper_action_server_emulator log:=/home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/gripper_action_server_emulator-13.log]. log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/gripper_action_server_emulator-13.log Traceback (most recent call last): File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 40, in from panda_sim_custom_action_server import ( File "/home/sission/workspace/devel/lib/python2.7/dist-packages/panda_sim_custom_action_server/init.py", line 34, in exec(__fh.read()) File "", line 18, in File "/home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 60, in import franka_interface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in from .arm import ArmInterface File "/home/sission/workspace/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 37, in import quaternion ImportError: No module named quaternion [ INFO] [1604440343.360670790]: Loading robot model 'panda'... [ WARN] [1604440343.361657327]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world' [ INFO] [1604440343.361675231]: No root/virtual joint specified in SRDF. Assuming fixed joint [joint_trajectory_server_emulator-12] process has died [pid 12440, exit code 1, cmd /home/sission/workspace/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py __name:=joint_trajectory_server_emulator __log:=/home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/joint_trajectory_server_emulator-12.log]. log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/joint_trajectory_server_emulator-12.log** [ INFO] [1604440343.643573543]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1604440343.644773602]: MoveGroup debug mode is ON Starting planning scene monitors... [ INFO] [1604440343.644788954]: Starting planning scene monitor [ INFO] [1604440343.645701851]: Listening to '/planning_scene' [ INFO] [1604440343.645713391]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1604440343.646709671]: Listening to '/collision_object' [ INFO] [1604440343.647621890]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1604440343.770029999]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1604440343.772518254]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1604440344.096378730]: Initializing OMPL interface using ROS parameters [ INFO] [1604440344.124075330]: Using planning interface 'OMPL' [ INFO] [1604440344.145948560]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1604440344.146211424]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1604440344.146495688]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1604440344.146727909]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1604440344.146981770]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1604440344.147240713]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ERROR] [1604440344.147311064]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds industrial_trajectory_filters/AddSmoothingFilter industrial_trajectory_filters/NPointFilter industrial_trajectory_filters/UniformSampleFilter [ INFO] [1604440344.147336252]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1604440344.147343743]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1604440344.147371868]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1604440344.147379673]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1604440344.147388368]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1604440344.287893766, 0.014000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1604440344.491373937, 0.162000000]: Physics dynamic reconfigure ready. [ INFO] [1604440344.507246211, 0.162000000]: Loading gazebo_ros_control plugin [ INFO] [1604440344.508534310, 0.162000000]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1604440344.508736515, 0.162000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ INFO] [1604440344.625255449, 0.162000000]: Loaded gazebo_ros_control. [ INFO] [1604440344.631270261, 0.162000000]: Unable to find Acceleration values for joint panda_finger_joint1... [ INFO] [1604440344.631313206, 0.162000000]: Unable to find Acceleration values for joint panda_finger_joint2... [ INFO] [1604440344.880031849, 0.378000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints. [ INFO] [1604440344.880154303, 0.378000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller [ INFO] [1604440344.893657522, 0.391000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller [ INFO] [1604440344.904360562, 0.402000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller [ INFO] [1604440344.913881849, 0.412000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller [ INFO] [1604440344.924126853, 0.422000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller [ INFO] [1604440344.933803668, 0.432000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller [ INFO] [1604440344.944222660, 0.442000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller Loaded 'panda_simulator/position_joint_position_controller' [ INFO] [1604440344.965638775, 0.463000000]: Initializing PandaGripperController with 2 joints. [ INFO] [1604440344.965919573, 0.464000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller [ INFO] [1604440344.976774555, 0.475000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller Loaded 'panda_simulator/panda_gripper_controller' [ INFO] [1604440345.006525831, 0.504000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints. [ INFO] [1604440345.006558222, 0.504000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller [ INFO] [1604440345.016132730, 0.514000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller [ INFO] [1604440345.025432637, 0.523000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller [ INFO] [1604440345.034287522, 0.532000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller [ INFO] [1604440345.042955492, 0.541000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller [ INFO] [1604440345.051291123, 0.549000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller [ INFO] [1604440345.060020963, 0.558000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller Loaded 'panda_simulator/velocity_joint_velocity_controller' Loaded 'panda_simulator/joint_state_controller' Started ['panda_simulator/panda_gripper_controller'] successfully [ INFO] [1604440345.077910145, 0.576000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints. [ INFO] [1604440345.077958327, 0.576000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller [ INFO] [1604440345.078632042, 0.576000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller [ INFO] [1604440345.078900381, 0.577000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller [ INFO] [1604440345.079096474, 0.577000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller [ INFO] [1604440345.079274395, 0.577000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller [ INFO] [1604440345.079476145, 0.577000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller [ INFO] [1604440345.079735153, 0.577000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller Loaded 'panda_simulator/effort_joint_gravity_controller' Started ['panda_simulator/position_joint_position_controller'] successfully [ INFO] [1604440345.084118019, 0.582000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints. [ INFO] [1604440345.084148377, 0.582000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller [ INFO] [1604440345.085977980, 0.584000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller [ INFO] [1604440345.087121557, 0.585000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller [ INFO] [1604440345.088268117, 0.586000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller [ INFO] [1604440345.089356357, 0.587000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller [ INFO] [1604440345.090452386, 0.588000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller [ INFO] [1604440345.091737980, 0.590000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller Loaded 'panda_simulator/effort_joint_torque_controller' Started ['panda_simulator/joint_state_controller'] successfully [controller_spawner-7] process has finished cleanly log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/controller_spawner-7.log [controller_spawner_stopped-8] process has finished cleanly log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/controller_spawner_stopped-8.log [panda_gripper_controller_spawner_stopped-9] process has finished cleanly log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/panda_gripper_controller_spawner_stopped-9.log [robot_description-4] process has finished cleanly log file: /home/sission/.ros/log/d9d006f8-1e1e-11eb-b53e-049226c26561/robot_description-4.log [ WARN] [1604440349.677800275, 5.170000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1604440355.682981045, 11.170000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1604440361.687950373, 17.170000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1604440366.787188957, 22.266000000]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1604440372.792995868, 28.266000000]: Waiting for franka_gripper/gripper_action to come up [ERROR] [1604440378.796179760, 34.266000000]: Action client not connected: franka_gripper/gripper_action [ INFO] [1604440378.894086849, 34.364000000]: Returned 0 controllers in list [ INFO] [1604440378.899578552, 34.369000000]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1604440379.036871833, 34.507000000]:

[ INFO] [1604440379.036905074, 34.507000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1604440379.036916532, 34.507000000]: MoveGroup context initialization complete

You can start planning now!

justagist commented 3 years ago

As it says in the error message, quaternion module is not installed. This could be installed by following the instructions in the readme. You can run pip install numpy-quaternion to fix this. Everything else looks fine. If you want to use moveit server with the simulator, follow the instructions given in the readme's "Known Issues" section.

Sission commented 3 years ago

Thank you so much! I know it is not this repo's issue, but can I ask this question here? I am sorry I am not very good at Ros and Linux.

I tried sission@Ros:~/workspace/devel$ pip install numpy-quaternion Defaulting to user installation because normal site-packages is not writeable Requirement already satisfied: numpy-quaternion in /home/sission/.local/lib/python3.6/site-packages (2020.11.2.17.0.49) Requirement already satisfied: numpy>=1.13 in /usr/local/lib/python3.6/dist-packages (from numpy-quaternion) (1.19.2)

And I checked my $PYTHONPATH sission@Ros:~/workspace/devel$ echo $PYTHONPATH /home/sission/workspace/devel/lib/python2.7/dist-packages:/home/sission/workspace/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages

Could you help me how to make that install in my current pythonpath so the program can run? I failed after googling it. Thank you!

Also, I failed this sission@Ros:~/workspace/devel$ pip install -r requirements.txt Defaulting to user installation because normal site-packages is not writeable ERROR: Could not open requirements file: [Errno 2] No such file or directory: 'requirements.txt'

justagist commented 3 years ago
  1. Run the install command with sudo (sudo pip install numpy-quaternion) or install it for your user. Check if this works.
  2. If it still installs for python 3, make sure you have installed pip for python 2 (sudo apt install python-pip). Then try step 1 again.
  3. If there is still no difference, force use python 2 pip (sudo pip2 install...).
Sission commented 3 years ago

THANK YOU SOOOOOOOOOOOOO MUCH! YOU ARE MY LIFE SAVER!!!!