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moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt
https://moveit.github.io/moveit_tutorials/
BSD 3-Clause "New" or "Revised" License
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Collision problems from MoveIt Quickstart in RViz #728

Open whateverco opened 2 years ago

whateverco commented 2 years ago

Description

Collision problems from MoveIt Quickstart in RViz

Your environment

Steps to reproduce

When I do the steps in MoveIt Quickstart in RViz, after add "Motion Planning", the end of the arm is already in collision.

image

Console output
setting /run_id to 983acb68-3746-11ed-8d12-08beac2cacc8
process[rosout-1]: started with pid [19448]
started core service [/rosout]
process[virtual_joint_broadcaster_0-2]: started with pid [19455]
process[joint_state_publisher-3]: started with pid [19457]
process[robot_state_publisher-4]: started with pid [19462]
process[move_group-5]: started with pid [19467]
process[rviz_hzx_ubuntu_19418_3150144711929778151-6]: started with pid [19470]
[ WARN] [1663501192.671328876]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.671960624]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.671996397]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672004494]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672011192]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672020796]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672031607]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672055276]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672377067]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672503822]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672516338]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672547460]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672587904]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672609080]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672635845]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672662996]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672677229]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672691814]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672704520]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672716962]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672729279]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672742079]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672754345]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672766754]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672778978]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672815242]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672827941]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672855333]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672868237]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672907532]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672920753]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672945779]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672970405]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672982924]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.672995341]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673008038]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673026357]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673039074]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673051500]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673076178]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673102369]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673115166]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673140081]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673164585]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673177144]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673189643]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673202215]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673214849]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673238575]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673253196]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673290590]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673304647]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673318471]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673333709]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673346422]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673359283]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673373170]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673386675]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673399670]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673413019]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673426984]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673435291]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673443414]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673451337]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673459375]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673467504]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673475516]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673485426]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673494212]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673502268]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673509972]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673521497]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673529522]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673537516]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673545527]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673553598]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673561552]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673569482]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673577562]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673585490]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673593485]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673604741]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673612655]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673620560]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673628504]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673636466]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673644534]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673654284]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673662651]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673670728]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673691361]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673700118]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673708284]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673716304]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673724284]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673732093]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673741672]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673750016]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673757947]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673771270]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673784538]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673793836]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673802071]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673810125]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673818127]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673826166]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673834304]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673843015]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673851125]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673859275]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673867398]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673877028]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673885709]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673893882]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673902071]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673910109]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673918720]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673926851]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673934937]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673943150]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673951246]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673959391]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673967442]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673976944]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673985637]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.673993695]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.674001934]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.674009974]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.674017901]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ INFO] [1663501192.674100680]: Loading robot model 'panda'...
[ INFO] [1663501192.744873144]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1663501192.746242198]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1663501192.746275035]: Starting planning scene monitor
[ INFO] [1663501192.747326862]: Listening to '/planning_scene'
[ INFO] [1663501192.747357922]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1663501192.748372969]: Listening to '/collision_object'
[ INFO] [1663501192.749379801]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1663501192.749760439]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1663501192.753267230]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1663501192.756781101]: rviz version 1.13.29
[ INFO] [1663501192.756823919]: compiled against Qt version 5.9.5
[ INFO] [1663501192.756833550]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1663501192.759616298]: Forcing OpenGl version 0.
[ INFO] [1663501192.777930029]: Initializing OMPL interface using ROS parameters
[ INFO] [1663501192.801231093]: Using planning interface 'OMPL'
[ INFO] [1663501192.804376603]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1663501192.805141756]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1663501192.805342671]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1663501192.806094039]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1663501192.806334026]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1663501192.806649218]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1663501192.806689458]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1663501192.806705336]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1663501192.806724240]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1663501192.806740082]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1663501192.806755023]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1663501192.813311678]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813340142]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813377519]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813390420]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813417416]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813443251]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813455082]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813467931]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813493798]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813521984]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813536013]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813549263]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813562714]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813585704]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813600080]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813613680]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813627246]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813640309]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813653714]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813667133]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813680141]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813693797]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813706745]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813719819]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813732644]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813752655]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813766198]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813779246]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813792393]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813805644]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813819272]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813832114]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813845540]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813858399]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813871785]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813884631]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813903402]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813917354]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813930621]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813943766]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813957029]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813969890]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813983410]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.813996474]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814009461]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814022091]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814035174]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814048223]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814071090]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814085164]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814098706]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814111710]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814125017]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814137920]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814150984]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814163803]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814177303]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814190375]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814203365]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814216427]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814235093]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814248236]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814262041]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814275008]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814288086]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814301332]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814314291]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814327451]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814341047]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814353781]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814366674]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814385587]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814398615]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814412153]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814425215]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814438413]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814451341]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814464513]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814477852]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814490881]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814503920]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814522916]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814536126]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814549335]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814562364]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814575538]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814588889]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814601991]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814614823]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814627593]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814654972]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814668723]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814681448]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814694755]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814707583]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814720500]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814733389]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814746110]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814759117]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814782994]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814804343]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814819003]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814832339]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814845833]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814858892]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814872334]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814885698]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814898629]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814911617]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814924601]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814937975]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814951314]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814964419]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814977566]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.814990987]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815004061]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815017212]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815030374]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815043961]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815057209]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815070605]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815083673]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815097028]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815110040]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815123735]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815136643]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815149755]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815162425]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501192.815175500]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ INFO] [1663501192.815239402]: Loading robot model 'panda'...
[ INFO] [1663501192.840456266]: Set joints of group 'panda_arm' to pose 'ready'.
[ INFO] [1663501192.840507762]: Set joints of group 'panda_hand' to pose 'open'.
[ INFO] [1663501192.840818755]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ INFO] [1663501192.841057025]: Fake controller 'fake_panda_hand_controller' with joints [ panda_finger_joint1 ]
[ INFO] [1663501192.841297290]: Returned 2 controllers in list
[ INFO] [1663501192.848093746]: 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] [1663501192.883075680]: 

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

[ INFO] [1663501192.883129560]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1663501192.883148567]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1663501193.406775381]: Stereo is NOT SUPPORTED
[ INFO] [1663501193.406847445]: OpenGL device: NVIDIA GeForce GTX 1660 SUPER/PCIe/SSE2
[ INFO] [1663501193.406890718]: OpenGl version: 4.6 (GLSL 4.6).
[ WARN] [1663501201.930645373]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930673913]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930686381]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930699868]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930707348]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930714196]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930731193]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930747598]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930763638]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930779656]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930795160]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930810989]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930826146]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930854879]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930869963]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930886030]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930901197]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930917459]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930932902]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930948473]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930963522]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930979010]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.930993874]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931009291]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931024159]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931046046]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931060181]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931075622]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931090937]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931106396]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931121569]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931137939]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931152716]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931168075]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931182967]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931198186]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931218868]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931233005]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931248404]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931263995]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931279033]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931294412]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931309638]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931324945]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931339867]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931355121]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931370461]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931385565]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931412942]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931427780]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931443297]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931458883]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931474088]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931489504]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931504643]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931520173]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931535218]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931550401]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931565486]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931580615]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931601440]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931615778]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931631085]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931646456]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931661440]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931685477]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931702205]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931717805]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931732909]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931748450]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931763695]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931784704]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931799279]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931814974]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931830285]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931845597]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931860897]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931876278]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931891452]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931906663]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931921895]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931942669]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931956938]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931972454]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.931988359]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932003799]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932019038]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932035141]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932050211]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932065611]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932093626]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932108776]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932124487]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932139788]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932155099]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932170193]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932185468]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932200642]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932216935]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932238725]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932259391]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932274510]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932287289]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932300564]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932313368]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932326246]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932339902]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932354423]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932364385]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932376298]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932389433]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932403002]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932413195]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932424489]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932438430]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932451839]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932465019]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932477449]: Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932490166]: Link 'panda_link1_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932502298]: Link 'panda_link2_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932515678]: Link 'panda_link3_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932528659]: Link 'panda_link4_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932541706]: Link 'panda_link5_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932553984]: Link 'panda_link6_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932565610]: Link 'panda_link7_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932576673]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932586959]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932596623]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ WARN] [1663501201.932606232]: Link 'panda_hand_sc' is not known to URDF. Cannot disable collisons.
[ INFO] [1663501201.932708002]: Loading robot model 'panda'...
[ INFO] [1663501201.975331416]: Starting planning scene monitor
[ INFO] [1663501201.976783941]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1663501202.220816310]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[ INFO] [1663501203.239499026]: Ready to take commands for planning group panda_arm.
[ INFO] [1663501203.239609327]: Looking around: no
[ INFO] [1663501203.239708415]: Replanning: no
welcome[bot] commented 2 years ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

rhaschke commented 2 years ago

The warning Link 'panda_link0_sc' is not known to URDF. Cannot disable collisons. indicates that you are using a too old version of franka_description. Please update, either using the ros-testing repository or building from source.