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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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Works for 20.04 noetic? Can not run the first demo #67

Closed mitsui29 closed 4 months ago

mitsui29 commented 4 months ago

Hello guys, I have this issue right now. My system: 20.04 noetic. I tried 2 ways below here to run the first demo. I ran this command: roslaunch panda_gazebo panda_world.launch start_moveit:=false， get following infos from this first terminator: 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) 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 [49345] process[gazebo_gui-2]: started with pid [49350] process[robot_description-3]: started with pid [49355] process[base_to_link0-4]: started with pid [49356] process[world_to_base-5]: started with pid [49357] process[controller_spawner-6]: started with pid [49359] process[controller_spawner_stopped-7]: started with pid [49365] process[panda_gripper_controller_spawner_stopped-8]: started with pid [49370] process[robot_state_publisher-9]: started with pid [49371] process[topic_remap-10]: started with pid [49372] process[joint_trajectory_server_emulator-11]: started with pid [49373] process[gripper_action_server_emulator-12]: started with pid [49386] process[startup_script-13]: started with pid [49392] Traceback (most recent call last): File "/home/wzihao/franka_ws/devel/lib/panda_sim_custom_action_server/start_gripper_action_server.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/wzihao/franka_ws/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py", line 31, in from panda_sim_custom_action_server import GripperActionServer File "/home/wzihao/franka_ws/devel/lib/python3/dist-packages/panda_sim_custom_action_server/init.py", line 34, in exec(fh.read()) File "", line 18, in File "/home/wzihao/franka_ws/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 56, in import franka_interface File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in from .arm import ArmInterface File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 39, in import quaternion File "/usr/local/lib/python3.8/dist-packages/quaternion/init.py", line 13, in from .quaternion_time_series import slerp, squad, integrate_angular_velocity, minimal_rotation, angular_velocity File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 185, in class appending_array(object): File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 186, in appending_array def init(self, shape, dtype=np.float, initial_array=None): File "/usr/local/lib/python3.8/dist-packages/numpy/init.py", line 305, in getattr raise AttributeError(__former_attrs[attr]) AttributeError: module 'numpy' has no attribute 'float'. np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations [ INFO] [1708603821.976485989]: Finished loading Gazebo ROS API Plugin. [ INFO] [1708603821.977613998]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1708603822.056242464]: Finished loading Gazebo ROS API Plugin. [ INFO] [1708603822.057288502]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [gripper_action_server_emulator-12] process has died [pid 49386, exit code 1, cmd /home/wzihao/franka_ws/devel/lib/panda_sim_custom_action_server/start_gripper_action_server.py name:=gripper_action_server_emulator __log:=/home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/gripper_action_server_emulator-12.log]. log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/gripper_action_server_emulator-12*.log Traceback (most recent call last): File "/home/wzihao/franka_ws/devel/lib/panda_sim_custom_action_server/start_joint_trajectory_server.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/wzihao/franka_ws/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/wzihao/franka_ws/devel/lib/python3/dist-packages/panda_sim_custom_action_server/init.py", line 34, in exec(fh.read()) File "", line 18, in File "/home/wzihao/franka_ws/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 56, in import franka_interface File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_interface/src/franka_interface/init.py", line 18, in from .arm import ArmInterface File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 39, in import quaternion File "/usr/local/lib/python3.8/dist-packages/quaternion/init.py", line 13, in from .quaternion_time_series import slerp, squad, integrate_angular_velocity, minimal_rotation, angular_velocity File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 185, in class appending_array(object): File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 186, in appending_array def init(self, shape, dtype=np.float, initial_array=None): File "/usr/local/lib/python3.8/dist-packages/numpy/init.py", line 305, in getattr raise AttributeError(former_attrs__[attr]) AttributeError: module 'numpy' has no attribute 'float'. np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations [joint_trajectory_server_emulator-11] process has died [pid 49373, exit code 1, cmd /home/wzihao/franka_ws/devel/lib/panda_sim_custom_action_server/start_joint_trajectory_server.py name:=joint_trajectory_server_emulator __log:=/home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/joint_trajectory_server_emulator-11.log]. log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/joint_trajectory_server_emulator-11.log [ INFO] [1708603822.855703358]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1708603822.875444692, 0.017000000]: Physics dynamic reconfigure ready. [ INFO] [1708603823.211323925, 0.160000000]: ft_sensor plugin reporting wrench values to the frame [panda_link7] [ INFO] [1708603823.211358684, 0.160000000]: imu plugin missing , defaults to 0.0 [ INFO] [1708603823.246430014, 0.160000000]: Loading gazebo_ros_control plugin [ INFO] [1708603823.248302083, 0.160000000]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1708603823.248615527, 0.160000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [ INFO] [1708603823.373591009, 0.160000000]: Loaded gazebo_ros_control. [ INFO] [1708603823.383172469, 0.160000000]: Unable to find Acceleration values for joint panda_finger_joint1... [ INFO] [1708603823.383287240, 0.160000000]: Unable to find Acceleration values for joint panda_finger_joint2... [ INFO] [1708603823.480956685, 0.248000000]: Initializing JointArrayController(type:/panda_simulator/position_joint_position_controller) with 7 joints. [ INFO] [1708603823.481152888, 0.248000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint1_controller [ INFO] [1708603823.502888084, 0.270000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint2_controller [ INFO] [1708603823.523033640, 0.291000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint3_controller [ INFO] [1708603823.541785443, 0.308000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint4_controller [ INFO] [1708603823.560326767, 0.327000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint5_controller [ INFO] [1708603823.578785306, 0.346000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/position_joint_position_controller/joints/panda_joint6_controller [ INFO] [1708603823.600914423, 0.364000000]: 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] [1708603823.634802931, 0.399000000]: Initializing JointArrayController(type:/panda_simulator/velocity_joint_velocity_controller) with 7 joints. [ INFO] [1708603823.634964666, 0.399000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint1_controller [ INFO] [1708603823.652620086, 0.417000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint2_controller [ INFO] [1708603823.668092970, 0.433000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint3_controller [ INFO] [1708603823.684132520, 0.449000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint4_controller [ INFO] [1708603823.699969817, 0.465000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint5_controller [ INFO] [1708603823.715132900, 0.480000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/velocity_joint_velocity_controller/joints/panda_joint6_controller [ INFO] [1708603823.731452418, 0.497000000]: 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] [1708603823.757035220, 0.523000000]: Initializing PandaGripperController with 2 joints. [ INFO] [1708603823.757450484, 0.523000000]: Loading sub-controller 'panda_finger_joint1_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint1_controller [ INFO] [1708603823.776679100, 0.542000000]: Loading sub-controller 'panda_finger_joint2_controller', Namespace: /panda_simulator/panda_gripper_controller/joints/panda_finger_joint2_controller Loaded 'panda_simulator/panda_gripper_controller' Loaded 'panda_simulator/joint_state_controller' [ INFO] [1708603823.833913999, 0.600000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_gravity_controller) with 7 joints. [ INFO] [1708603823.833978826, 0.600000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint1_controller [ INFO] [1708603823.835206313, 0.601000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint2_controller [ INFO] [1708603823.835644008, 0.601000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint3_controller [ INFO] [1708603823.835913754, 0.601000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint4_controller [ INFO] [1708603823.836230529, 0.602000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint5_controller [ INFO] [1708603823.836636461, 0.602000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_gravity_controller/joints/panda_joint6_controller [ INFO] [1708603823.837032093, 0.603000000]: 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/panda_gripper_controller'] successfully Started ['panda_simulator/position_joint_position_controller'] successfully [ INFO] [1708603823.848723304, 0.615000000]: Initializing JointArrayController(type:/panda_simulator/effort_joint_torque_controller) with 7 joints. [ INFO] [1708603823.848795456, 0.615000000]: Loading sub-controller 'panda_joint1_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint1_controller [ INFO] [1708603823.852924935, 0.619000000]: Loading sub-controller 'panda_joint2_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint2_controller [ INFO] [1708603823.855030291, 0.621000000]: Loading sub-controller 'panda_joint3_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint3_controller [ INFO] [1708603823.857119074, 0.623000000]: Loading sub-controller 'panda_joint4_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint4_controller [ INFO] [1708603823.859221833, 0.625000000]: Loading sub-controller 'panda_joint5_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint5_controller [ INFO] [1708603823.861553526, 0.627000000]: Loading sub-controller 'panda_joint6_controller', Namespace: /panda_simulator/effort_joint_torque_controller/joints/panda_joint6_controller [ INFO] [1708603823.863664229, 0.630000000]: 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-6] process has finished cleanly log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/controller_spawner-6.log [controller_spawner_stopped-7] process has finished cleanly log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/controller_spawner_stopped-7.log [panda_gripper_controller_spawner_stopped-8] process has finished cleanly log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/panda_gripper_controller_spawner_stopped-8.log [robot_description-3] process has finished cleanly log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/robot_description-3.log [ INFO] [1708603824.967747956, 1.730000000]: ArmControllerInterface: Controller panda_simulator/position_joint_position_controller started; Controllers panda_simulator/effort_joint_torque_controller, panda_simulator/velocity_joint_velocity_controller stopped. [startup_script-13] process has finished cleanly log file: /home/wzihao/.ros/log/1a947480-d177-11ee-91c8-29333c020c96/startup_script-13.log

and from another terminator: roslaunch panda_sim_moveit sim_move_group.launch ... logging to /home/wzihao/.ros/log/4fee4a7e-d17d-11ee-91c8-29333c020c96/roslaunch-WZiH-Ubuntu-52097.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.

RLException: while processing /home/wzihao/franka_ws/src/panda_moveit_config/launch/trajectory_execution.launch.xml: while processing /home/wzihao/franka_ws/src/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: '/home/wzihao/franka_ws/src/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml' The traceback for the exception was written to the log file

I also tried another way to run the demo: roslaunch panda_gazebo panda_world.launch, i think get same erros for gripper and joint also quaternion in following: But i am quite sure about the version of quaternion, because first i installed a latest quaternion, and then i found there is specific version in the requirements.txt, i installed again with that one. So under the limitation of characters, i will not put the infos of roslaunch panda_gazebo panda_world.launch.

in another terminator: roslaunch panda_simulator_examples demo_moveit.launch ... logging to /home/wzihao/.ros/log/e374a382-d183-11ee-91c8-29333c020c96/roslaunch-WZiH-Ubuntu-55487.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://WZiH-Ubuntu:36795/

SUMMARY

PARAMETERS

NODES / demo_boxes_scene_loader (franka_moveit/test_scene_interface.py) rviz_WZiH_Ubuntu_55487_8450121567870754147 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_WZiH_Ubuntu_55487_8450121567870754147-1]: started with pid [55519] process[demo_boxes_scene_loader-2]: started with pid [55520] [ INFO] [1708607665.662169320]: rviz version 1.14.19 [ INFO] [1708607665.662305284]: compiled against Qt version 5.12.8 [ INFO] [1708607665.662375493]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1708607665.674742879]: Forcing OpenGl version 0. Traceback (most recent call last): File "/home/wzihao/franka_ws/devel/lib/franka_moveit/test_scene_interface.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_moveit/tests/test_scene_interface.py", line 8, in from franka_moveit import ExtendedPlanningSceneInterface File "/home/wzihao/franka_ws/devel/lib/python3/dist-packages/franka_moveit/init.py", line 34, in exec(fh.read()) File "", line 18, in File "/home/wzihao/franka_ws/src/franka_ros_interface/franka_moveit/src/franka_moveit/utils.py", line 3, in import quaternion File "/usr/local/lib/python3.8/dist-packages/quaternion/init.py", line 13, in from .quaternion_time_series import slerp, squad, integrate_angular_velocity, minimal_rotation, angular_velocity File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 185, in class appending_array(object): File "/usr/local/lib/python3.8/dist-packages/quaternion/quaternion_time_series.py", line 186, in appending_array def init(self, shape, dtype=np.float, initial_array=None): File "/usr/local/lib/python3.8/dist-packages/numpy/init.py", line 305, in getattr raise AttributeError(former_attrs[attr]) AttributeError: module 'numpy' has no attribute 'float'. np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations [ INFO] [1708607666.221418619, 173.102000000]: Stereo is NOT SUPPORTED [ INFO] [1708607666.221494847, 173.102000000]: OpenGL device: NVIDIA GeForce GTX 1650/PCIe/SSE2 [ INFO] [1708607666.221527781, 173.102000000]: OpenGl version: 4.6 (GLSL 4.6). [demo_boxes_scene_loader-2] process has died [pid 55520, exit code 1, cmd /home/wzihao/franka_ws/devel/lib/franka_moveit/test_scene_interface.py __name:=demo_boxes_scene_loader log:=/home/wzihao/.ros/log/e374a382-d183-11ee-91c8-29333c020c96/demo_boxes_scene_loader-2.log]. log file: /home/wzihao/.ros/log/e374a382-d183-11ee-91c8-29333c020c96/demo_boxes_scene_loader-2*.log [ERROR] [1708607669.623915315, 176.490000000]: Link 'panda_hand_tcp' declared as part of a chain in group 'panda_manipulator' is not known to the URDF [ WARN] [1708607669.623992245, 176.490000000]: Group 'panda_manipulator' is empty. [ERROR] [1708607669.624515919, 176.490000000]: Link 'panda_hand_tcp' specified as parent for end effector 'panda_hand_tcp' is not known to the URDF [ WARN] [1708607669.624635383, 176.491000000]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624695015, 176.491000000]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624754586, 176.491000000]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624825585, 176.491000000]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624884145, 176.491000000]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624941942, 176.491000000]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.624993708, 176.491000000]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.625048563, 176.491000000]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.625104927, 176.491000000]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.625200127, 176.491000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.625261658, 176.491000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.625320941, 176.491000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.625393038, 176.491000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.625461778, 176.491000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ERROR] [1708607669.625525160, 176.491000000]: Link 'panda_hand_tcp' declared as part of a chain in group 'panda_manipulator' is not known to the URDF [ WARN] [1708607669.625638748, 176.491000000]: Group 'panda_manipulator' is empty. [ERROR] [1708607669.625870272, 176.492000000]: Link 'panda_hand_tcp' specified as parent for end effector 'panda_hand_tcp' is not known to the URDF [ WARN] [1708607669.625939498, 176.492000000]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.625977993, 176.492000000]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626012594, 176.492000000]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626044860, 176.492000000]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626085501, 176.492000000]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626121724, 176.492000000]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626163696, 176.492000000]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626195188, 176.492000000]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626227051, 176.492000000]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1708607669.626310661, 176.492000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626368749, 176.492000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626410457, 176.492000000]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626462156, 176.492000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626502292, 176.493000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626535766, 176.493000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626569015, 176.493000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626602790, 176.493000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626639312, 176.493000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626674601, 176.493000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626709694, 176.493000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626751515, 176.493000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626792435, 176.493000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.626823086, 176.493000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ INFO] [1708607669.627285490, 176.493000000]: Loading robot model 'panda'... [ WARN] [1708607669.632693415, 176.499000000]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.632768495, 176.499000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.632824797, 176.499000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.632881394, 176.499000000]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.632930066, 176.499000000]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.632981844, 176.499000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.633025401, 176.499000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.633076772, 176.499000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1708607669.633127886, 176.499000000]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ INFO] [1708607669.633482820, 176.499000000]: Loading robot model 'panda'... [ WARN] [1708607669.645205161, 176.511000000]: Group 'panda_manipulator' must have at least one valid joint [ WARN] [1708607669.645271902, 176.511000000]: Failed to add group 'panda_manipulator' [ERROR] [1708607669.645682047, 176.511000000]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist [ERROR] [1708607669.645738887, 176.511000000]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist [ WARN] [1708607669.648494439, 176.514000000]: Group 'panda_manipulator' must have at least one valid joint [ WARN] [1708607669.648608817, 176.515000000]: Failed to add group 'panda_manipulator' [ERROR] [1708607669.648894397, 176.515000000]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist [ERROR] [1708607669.648964162, 176.515000000]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist [ INFO] [1708607669.755187634, 176.622000000]: Starting planning scene monitor [ INFO] [1708607669.758536625, 176.625000000]: Listening to '/planning_scene' [ INFO] [1708607670.118040833, 176.984000000]: Starting planning scene monitor [ INFO] [1708607670.118772753, 176.985000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1708607670.120188573, 176.987000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1708607670.123315995, 176.990000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1708607675.134905304, 181.979000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [ INFO] [1708607675.135101958, 181.979000000]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' [ INFO] [1708607675.135992467, 181.980000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()? [ERROR] [1708607705.149675713, 211.841000000]: Unable to connect to move_group action server 'move_group' within allotted time (30s)

If you know why is that, plz let me know, thanks a lot in advance!

mitsui29 commented 4 months ago

Solved!