Open xman236 opened 2 years ago
Hi,
roslaunch panda_gazebo panda_world.launch gives me following error:
roslaunch panda_gazebo panda_world.launch
(my_env) usr@usr-Precision-7740:~$ roslaunch panda_gazebo panda_world.launch ... logging to /home/usr/.ros/log/0f5c8262-5b7f-11ec-860b-04ed335411c2/roslaunch-usr-Precision-7740-24186.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://192.168.2.101:34367/ 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... * /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.... * /rosdistro: melodic * /rosversion: 1.14.12 * /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) panda_gripper_controller_spawner_stopped (controller_manager/controller_manager) robot_description (gazebo_ros/spawn_model) robot_state_publisher (robot_state_publisher/robot_state_publisher) startup_script (panda_gazebo/force_neutral_pose.py) topic_remap (topic_tools/relay) world_to_base (tf/static_transform_publisher) ROS_MASTER_URI=http://localhost:11311 process[gazebo-1]: started with pid [24226] process[gazebo_gui-2]: started with pid [24231] process[robot_description-3]: started with pid [24236] process[base_to_link0-4]: started with pid [24237] process[world_to_base-5]: started with pid [24238] process[controller_spawner-6]: started with pid [24243] process[controller_spawner_stopped-7]: started with pid [24249] process[panda_gripper_controller_spawner_stopped-8]: started with pid [24251] process[robot_state_publisher-9]: started with pid [24252] process[topic_remap-10]: started with pid [24253] process[joint_trajectory_server_emulator-11]: started with pid [24255] process[gripper_action_server_emulator-12]: started with pid [24266] process[startup_script-13]: started with pid [24271] [ INFO] [1639336652.639072509]: Finished loading Gazebo ROS API Plugin. [ INFO] [1639336652.640634079]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1639336652.727772024]: Finished loading Gazebo ROS API Plugin. [ INFO] [1639336652.728850759]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1639336653.927362864, 0.006000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1639336653.968940305, 0.046000000]: Physics dynamic reconfigure ready. [ INFO] [1639336654.238104418, 0.173000000]: ft_sensor plugin reporting wrench values to the frame [panda_link7] [ INFO] [1639336654.238133807, 0.173000000]: imu plugin missing <gaussianNoise>, defaults to 0.0 [robot_description-3] process has finished cleanly log file: /home/usr/.ros/log/0f5c8262-5b7f-11ec-860b-04ed335411c2/robot_description-3*.log [startup_script-13] process has finished cleanly log file: /home/usr/.ros/log/0f5c8262-5b7f-11ec-860b-04ed335411c2/startup_script-13*.log Traceback (most recent call last): File "/home/usr/panda_ws_moveit/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 83, in <module> main() File "/home/usr/panda_ws_moveit/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 79, in main start_server(args.rate) File "/home/usr/panda_ws_moveit/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py", line 56, in start_server jtas.append(JointTrajectoryActionServer(dyn_cfg_srv, rate)) File "/home/usr/panda_ws_moveit/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 170, in __init__ self._arm = franka_interface.ArmInterface(synchronous_pub=True) File "/home/usr/panda_ws_moveit/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 214, in __init__ timeout_msg=err_msg, timeout=5.0) File "/home/usr/panda_ws_moveit/src/franka_ros_interface/franka_interface/src/franka_dataflow/wait_for.py", line 56, in wait_for raise OSError(errno.ETIMEDOUT, timeout_msg) OSError: [Errno 110] Panda arm init failed to get current joint_states from /panda_simulator/custom_franka_state_controller/joint_states
And running roslaunch panda_sim_moveit sim_move_group.launch in a separate terminal gives following error:
roslaunch panda_sim_moveit sim_move_group.launch
(my_env) usr@usr-Precision-7740:~/panda_ws_moveit/src/panda_simulator$ roslaunch panda_sim_moveit sim_move_group.launch ... logging to /home/usr/.ros/log/0f5c8262-5b7f-11ec-860b-04ed335411c2/roslaunch-usr-Precision-7740-24662.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.2.101:39247/ SUMMARY ======== PARAMETERS * /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 * /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: 1.14.12 NODES / move_group (moveit_ros_move_group/move_group) ROS_MASTER_URI=http://localhost:11311 process[move_group-1]: started with pid [24707] [ INFO] [1639336661.722669740]: Loading robot model 'panda'... [ WARN] [1639336661.723193547]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world' [ INFO] [1639336661.723208606]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1639336661.792941875]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1639336661.794307730]: MoveGroup debug mode is OFF Starting planning scene monitors... [ INFO] [1639336661.794329327]: Starting planning scene monitor [ INFO] [1639336661.795594958]: Listening to '/planning_scene' [ INFO] [1639336661.795611253]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1639336661.796827074]: Listening to '/collision_object' [ INFO] [1639336661.798191450]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1639336661.812007300]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1639336661.814709994]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1639336661.834285270]: Initializing OMPL interface using ROS parameters [ INFO] [1639336661.856712744]: Using planning interface 'OMPL' [ INFO] [1639336661.858624607]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1639336661.858897173]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1639336661.859087916]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1639336661.859319533]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1639336661.859650751]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1639336661.859897447]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ERROR] [1639336661.860011144]: 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] [1639336661.860059915]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1639336661.860075829]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1639336661.860088856]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1639336661.860102397]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1639336661.860115270]: Using planning request adapter 'Add Time Parameterization' [ WARN] [1639336666.975225268, 12.872000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1639336673.001382031, 18.872000000]: Waiting for position_joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1639336679.026824715, 24.873000000]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory [ INFO] [1639336679.378237921, 25.222000000]: Added GripperCommand controller for franka_gripper [ INFO] [1639336679.378424088, 25.222000000]: Returned 1 controllers in list [ INFO] [1639336679.411066354, 25.255000000]: 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] [1639336679.555536101, 25.399000000]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1639336679.555641741, 25.399000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1639336679.555686856, 25.399000000]: MoveGroup context initialization complete You can start planning now!
Hi,
roslaunch panda_gazebo panda_world.launchgives me following error:And running
roslaunch panda_sim_moveit sim_move_group.launchin a separate terminal gives following error: