search

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
188 stars 58 forks source link

Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory #5

Closed M-A-Robson closed 4 years ago

M-A-Robson commented 4 years ago

timing out on the joint trajectory controller? see output below:

$ roslaunch panda_gazebo panda_world.launch 
... logging to /home/local/.ros/log/97cc4ace-9515-11ea-beed-3c6aa7cb24ab/roslaunch-PandaExpress-3151.log
Checking log directory for disk usage. This may take awhile.
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://PandaExpress:45809/

SUMMARY
========

PARAMETERS
 * /SIMULATOR_: True
 * /arm/gravity_tip_name: panda_hand
 * /arm/root_name: panda_link0
 * /arm/tip_name: panda_hand
 * /controllers_config/default_controller: panda_simulator/p...
 * /controllers_config/position_controller: panda_simulator/p...
 * /controllers_config/torque_controller: panda_simulator/e...
 * /controllers_config/velocity_controller: panda_simulator/v...
 * /franka_gripper/robot_ip: sim
 * /gazebo/enable_ros_network: True
 * /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...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'default': True...
 * /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: [{'point_subsampl...
 * /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
 * /panda_simulator/effort_joint_gravity_controller/command_topic: /panda_simulator/...
 * /panda_simulator/effort_joint_gravity_controller/disable_timeout: 0.2
 * /panda_simulator/effort_joint_gravity_controller/disable_topic: /panda_simulator/...
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_gravity_controller/type: panda_sim_control...
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/effort_joint_torque_controller/topic: /panda_simulator/...
 * /panda_simulator/effort_joint_torque_controller/type: panda_sim_control...
 * /panda_simulator/joint_state_controller/publish_rate: 100
 * /panda_simulator/joint_state_controller/type: joint_state_contr...
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/joint: panda_finger_joint1
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/joint: panda_finger_joint2
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/d: 0.5
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/i: 50
 * /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller/pid/p: 5000
 * /panda_simulator/panda_gripper_controller/pub_topic: /franka_gripper/j...
 * /panda_simulator/panda_gripper_controller/type: panda_sim_control...
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/d: 25.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/d: 30.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/d: 50.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/d: 8.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/d: 5.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/i: 1.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/d: 4.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/i: 10.0
 * /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller/pid/p: 3000
 * /panda_simulator/position_joint_position_controller/topic_joint_command: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/topic_set_speed_ratio: /panda_simulator/...
 * /panda_simulator/position_joint_position_controller/type: panda_sim_control...
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/joint: panda_joint1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller/pid/p: 10
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/joint: panda_joint2
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/i: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller/pid/p: 100
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/joint: panda_joint3
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/joint: panda_joint4
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/d: 0.1
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/i: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller/pid/p: 0.5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/joint: panda_joint5
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller/pid/p: 1.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/joint: panda_joint6
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/joint: panda_joint7
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/d: 0.01
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/i: 0.0
 * /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint7_controller/pid/p: 0.05
 * /panda_simulator/velocity_joint_velocity_controller/topic: /panda_simulator/...
 * /panda_simulator/velocity_joint_velocity_controller/type: panda_sim_control...
 * /robot_config/arm_id: panda
 * /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_names: ['panda_joint1', ...
 * /robot_config/neutral_pose/panda_joint1: -0.0177920602278
 * /robot_config/neutral_pose/panda_joint2: -0.760123541104
 * /robot_config/neutral_pose/panda_joint3: 0.0197826070234
 * /robot_config/neutral_pose/panda_joint4: -2.34205014054
 * /robot_config/neutral_pose/panda_joint5: 0.0298405313558
 * /robot_config/neutral_pose/panda_joint6: 1.54119352986
 * /robot_config/neutral_pose/panda_joint7: 0.753448658975
 * /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....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

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)

auto-starting new master
process[master]: started with pid [3232]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 97cc4ace-9515-11ea-beed-3c6aa7cb24ab
process[rosout-1]: started with pid [3243]
started core service [/rosout]
process[gazebo-2]: started with pid [3250]
process[gazebo_gui-3]: started with pid [3255]
process[robot_description-4]: started with pid [3260]
process[base_to_link0-5]: started with pid [3261]
process[controller_spawner-6]: started with pid [3267]
process[controller_spawner_stopped-7]: started with pid [3269]
process[panda_gripper_controller_spawner_stopped-8]: started with pid [3270]
process[robot_state_publisher-9]: started with pid [3271]
process[topic_remap-10]: started with pid [3276]
process[joint_trajectory_server_emulator-11]: started with pid [3278]
process[gripper_action_server_emulator-12]: started with pid [3291]
process[move_group-13]: started with pid [3308]
[ INFO] [1589373057.835693149]: Loading robot model 'panda'...
[ WARN] [1589373057.836225552]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1589373057.836257130]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1589373057.916479979]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1589373057.918309252]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1589373057.918588453]: Starting planning scene monitor
[ INFO] [1589373057.920086982]: Listening to '/planning_scene'
[ INFO] [1589373057.920164291]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1589373057.921831800]: Listening to '/collision_object'
[ INFO] [1589373057.923409862]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1589373057.953119555]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1589373057.956600516]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1589373058.016202738]: Using planning interface 'OMPL'
[ INFO] [1589373058.019455125]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1589373058.019776815]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1589373058.020042527]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1589373058.020371616]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1589373058.020638865]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1589373058.020888400]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1589373058.020983532]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1589373058.021106182]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1589373058.021156041]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1589373058.021208457]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1589373058.021265144]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1589373058.021306946]: Using planning request adapter 'Add Time Parameterization'
/home/local/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning: 

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly.  You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

  warnings.warn(warning_text)
[ INFO] [1589373058.375042809]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1589373058.376349786]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1589373058.377905593]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1589373058.378806980]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
/home/local/.local/lib/python2.7/site-packages/quaternion/numba_wrapper.py:21: UserWarning: 

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Could not import from numba, which means that some
parts of this code may run MUCH more slowly.  You
may wish to install numba.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

  warnings.warn(warning_text)
[ INFO] [1589373059.456889456, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1589373059.689381188, 0.163000000]: Physics dynamic reconfigure ready.
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[ INFO] [1589373059.714598464, 0.163000000]: Loading gazebo_ros_control plugin
[ INFO] [1589373059.716456408, 0.163000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1589373059.716737617, 0.163000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1589373059.838942084, 0.163000000]: Loaded gazebo_ros_control.
[ INFO] [1589373059.845616394, 0.163000000]: Unable to find Acceleration values for joint panda_finger_joint1...
[ INFO] [1589373059.845651205, 0.163000000]: Unable to find Acceleration values for joint panda_finger_joint2...
[ INFO] [1589373059.859726789, 0.174000000]: Initializing PandaGripperController with 2 joints.
[ INFO] [1589373059.859871125, 0.174000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller
[ INFO] [1589373059.879632307, 0.193000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller
Loaded 'panda_simulator/panda_gripper_controller'
Started ['panda_simulator/panda_gripper_controller'] successfully
[ INFO] [1589373059.972005265, 0.285000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints.
[ INFO] [1589373059.972070195, 0.285000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller
[ INFO] [1589373059.984995640, 0.298000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller
[ INFO] [1589373059.997939286, 0.311000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller
[ INFO] [1589373060.009299215, 0.323000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller
[ INFO] [1589373060.020799963, 0.334000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller
[ INFO] [1589373060.043275684, 0.357000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller
[ INFO] [1589373060.060730804, 0.374000000]: 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] [1589373060.109434536, 0.423000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints.
[ INFO] [1589373060.109472776, 0.423000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller
[ INFO] [1589373060.111231189, 0.425000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller
[ INFO] [1589373060.113255559, 0.427000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller
[ INFO] [1589373060.115402469, 0.429000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller
[ INFO] [1589373060.118159965, 0.432000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller
[ INFO] [1589373060.121295095, 0.434000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller
[ INFO] [1589373060.123932673, 0.435000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_torque_controller'
[ INFO] [1589373060.128818274, 0.440000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints.
[ INFO] [1589373060.128857629, 0.440000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller
[ INFO] [1589373060.129384631, 0.441000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller
[ INFO] [1589373060.129845600, 0.441000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller
[ INFO] [1589373060.130413756, 0.442000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller
[ INFO] [1589373060.130641145, 0.442000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller
[ INFO] [1589373060.130864990, 0.442000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller
[ INFO] [1589373060.131261754, 0.443000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/effort_joint_gravity_controller'
[ INFO] [1589373060.137300799, 0.449000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints.
[ INFO] [1589373060.137339656, 0.449000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller
[ INFO] [1589373060.150615997, 0.462000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller
[ INFO] [1589373060.164725590, 0.477000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller
[ INFO] [1589373060.180456829, 0.493000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller
[ INFO] [1589373060.193732702, 0.506000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller
[panda_gripper_controller_spawner_stopped-8] process has finished cleanly
log file: /home/local/.ros/log/97cc4ace-9515-11ea-beed-3c6aa7cb24ab/panda_gripper_controller_spawner_stopped-8*.log
[ INFO] [1589373060.206985540, 0.519000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller
[ INFO] [1589373060.220716225, 0.533000000]: Loading sub-controller 'panda_joint7_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint7_controller
Loaded 'panda_simulator/position_joint_position_controller'
Loaded 'panda_simulator/joint_state_controller'
Started ['panda_simulator/effort_joint_gravity_controller'] successfully
Started ['panda_simulator/position_joint_position_controller'] successfully
Started ['panda_simulator/joint_state_controller'] successfully
[controller_spawner_stopped-7] process has finished cleanly
log file: /home/local/.ros/log/97cc4ace-9515-11ea-beed-3c6aa7cb24ab/controller_spawner_stopped-7*.log
[controller_spawner-6] process has finished cleanly
log file: /home/local/.ros/log/97cc4ace-9515-11ea-beed-3c6aa7cb24ab/controller_spawner-6*.log
[ WARN] [1589373060.583040896]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[robot_description-4] process has finished cleanly
log file: /home/local/.ros/log/97cc4ace-9515-11ea-beed-3c6aa7cb24ab/robot_description-4*.log
[ WARN] [1589373064.710131230, 5.018000000]: service '/get_planning_scene' not advertised yet. Continue waiting...
[ WARN] [1589373064.881109415, 5.188000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1589373070.893925611, 11.188000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1589373076.917137581, 17.188000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory
[ INFO] [1589373077.152854482, 17.424000000]: Added GripperCommand controller for franka_gripper
[ INFO] [1589373077.152991742, 17.424000000]: Returned 1 controllers in list
[ INFO] [1589373077.172422093, 17.443000000]: 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] [1589373077.263285832, 17.535000000]: 

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

[ INFO] [1589373077.263325353, 17.535000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1589373077.263339266, 17.535000000]: MoveGroup context initialization complete

You can start planning now!

^C[move_group-13] killing on exit
[gripper_action_server_emulator-12] killing on exit
[joint_trajectory_server_emulator-11] killing on exit
[topic_remap-10] killing on exit
[base_to_link0-5] killing on exit
[gazebo_gui-3] killing on exit
[robot_state_publisher-9] killing on exit
[gazebo-2] killing on exit
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/core.py", line 572, in signal_shutdown
    h()
  File "/home/local/ROS_packages/ws_moveit/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 61, in cleanup
    j.clean_shutdown()
  File "/home/local/ROS_packages/ws_moveit/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 105, in clean_shutdown
    self._arm.exit_control_mode()
  File "/home/local/ROS_packages/ws_moveit/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 502, in exit_control_mode
    self.set_command_timeout(timeout)
  File "/home/local/ROS_packages/ws_moveit/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 537, in set_command_timeout
    self._pub_joint_cmd_timeout.publish(Float64(timeout))
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 876, in publish
    raise ROSException("publish() to an unregistered() handle")
ROSException: publish() to an unregistered() handle
[gazebo_gui-3] escalating to SIGTERM
[gazebo-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
justagist commented 4 years ago

The trajectory action server does not seem to be starting before the moveit request times out. Try running moveit_server seperately after the simulator is fully loaded.

$ roslaunch panda_gazebo panda_world.launch start_moveit:=false
$ roslaunch panda_sim_moveit sim_move_group.launch
M-A-Robson commented 4 years ago

this works thanks