Error when I use move_to_start

moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

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hello

Following the previous discussion on that issue: https://github.com/ros-planning/panda_moveit_config/issues/97

I work on Noetic on Ubuntu 20.04. I have trouble to use move_to_start.launch from franka_ros. I modified the move_to_start.launch file according to @rhaschke advice.

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/move_group.launch">
    <arg name="load_gripper" value="false" />
  </include>
  <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>

I get that log:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 debug:=true
... logging to /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/roslaunch-dac-19458.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://dac:42491/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/arm_id: panda
 * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: joint_impedance
 * /franka_control/joint_limit_warning_threshold: 1
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/realtime_config: enforce
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'effort...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities: 
 * /move_group/max_range: 5.0
 * /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: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/panda_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_arm/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/panda_hand/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_manipulator/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /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/sense_for_plan/max_safe_path_cost: 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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.05
 * /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/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    franka_control (franka_control/franka_control_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    move_to_start (franka_example_controllers/move_to_start.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)
  /panda/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [19532]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 601ef3f6-b66f-11ec-bcad-33cf265bcff1
process[rosout-1]: started with pid [19557]
started core service [/rosout]
process[franka_control-2]: started with pid [19564]
process[state_controller_spawner-3]: started with pid [19565]
process[robot_state_publisher-4]: started with pid [19566]
process[joint_state_publisher-5]: started with pid [19567]
process[panda/controller_spawner-6]: started with pid [19573]
process[move_group-7]: started with pid [19574]
process[move_to_start-8]: started with pid [19580]
[ WARN] [1649335002.618870000]: FrankaHW: 
    panda_joint2: 36.872732 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119249) 
    panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335002.653540769]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655220766]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655248969]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655261096]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655270429]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655282948]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655292166]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655302375]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655311302]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655342018]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655352429]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655362264]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655371960]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655383261]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655392779]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655402890]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655412873]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655423346]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655433047]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655443699]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655453343]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655464078]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655473379]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649335002.655680452]: Loading robot model 'panda'...
[ INFO] [1649335002.727216907]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649335002.728735527]: Listening to 'joint_states' for joint states
[ INFO] [1649335002.731041873]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649335002.731126872]: Starting planning scene monitor
[ INFO] [1649335002.732159932]: Listening to '/planning_scene'
[ INFO] [1649335002.732243296]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649335002.733327013]: Listening to '/collision_object'
[ INFO] [1649335002.734439911]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649335002.735021693]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649335002.735591586]: Loading planning pipeline 'chomp'
[ INFO] [1649335002.747575246]: Using planning interface 'CHOMP'
[ INFO] [1649335002.749993288]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649335002.750262831]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649335002.750550366]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.750790514]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.750986638]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649335002.751331053]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649335002.751390496]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649335002.751400542]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649335002.751449948]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649335002.751486652]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649335002.751522095]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649335002.751556498]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649335002.752236835]: Loading planning pipeline 'ompl'
[ INFO] [1649335002.796883743]: Using planning interface 'OMPL'
[ INFO] [1649335002.797835457]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649335002.798026619]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649335002.798194284]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.798363706]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.798520468]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649335002.798672883]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649335002.798695804]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649335002.798705081]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649335002.798713734]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649335002.798724866]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649335002.798733791]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649335002.798742716]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649335002.798772423]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1649335002.799708890]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1649335002.799746603]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1649335002.972501]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649335002.975731]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649335002.978577]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649335002.980432]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649335002.981693]: Loading controller: franka_state_controller
[INFO] [1649335002.987293]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649335002.992823]: Started controllers: franka_state_controller
[ WARN] [1649335007.619526998]: FrankaHW: 
    panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
    panda_joint6: 54.567382 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335007.809224793]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649335012.620404847]: FrankaHW: 
    panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
    panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335013.809377367]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649335017.621354393]: FrankaHW: 
    panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
    panda_joint6: 54.567422 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800119) 
[ERROR] [1649335019.809656907]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649335022.622148900]: FrankaHW: 
    panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
    panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335024.824275104]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649335027.623094338]: FrankaHW: 
    panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
    panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335030.824435241]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649335032.623922547]: FrankaHW: 
    panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
    panda_joint6: 54.567300 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800121) 
[WARN] [1649335033.180827]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly
log file: /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/panda-controller_spawner-6*.log
[ERROR] [1649335036.824595450]: Action client not connected: franka_gripper/gripper_action
[ INFO] [1649335036.835446355]: Returned 0 controllers in list
[ INFO] [1649335036.840764066]: Trajectory execution is managing controllers
[ INFO] [1649335036.840786235]: MoveGroup debug mode is OFF
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] [1649335036.870248189]: 

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

[ INFO] [1649335036.870333486]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649335036.870351545]: MoveGroup context initialization complete

You can start planning now!

[ WARN] [1649335036.926319662]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927240843]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927261158]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927270307]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927277050]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927283843]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927291515]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927298350]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927305067]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927313048]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927319887]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927325996]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927332367]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927338947]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927345315]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927351964]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927358451]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927364949]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927371325]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927377615]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927384225]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927391032]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927397397]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649335036.927483767]: Loading robot model 'panda'...
[ WARN] [1649335037.624869521]: FrankaHW: 
    panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
    panda_joint6: 54.567300 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800121) 
[ INFO] [1649335038.016295289]: Ready to take commands for planning group panda_arm.
[ INFO] [1649335038.044585380]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1649335038.044802327]: Planning attempt 1 of at most 1
[ INFO] [1649335038.045961950]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1649335038.046291058]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649335038.057683745]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649335038.057714371]: Solution found in 0.011511 seconds
[ INFO] [1649335038.070130055]: SimpleSetup: Path simplification took 0.012316 seconds and changed from 3 to 2 states
[ INFO] [1649335038.072428992]: Returned 0 controllers in list
[ERROR] [1649335038.072462523]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1649335038.072478020]: Known controllers and their joints:

[ERROR] [1649335038.072503930]: Apparently trajectory initialization failed
[ INFO] [1649335038.072742030]: ABORTED: Solution found but controller failed during execution
================================================================================REQUIRED process [move_to_start-8] has died!
process has finished cleanly
log file: /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/move_to_start-8*.log
Initiating shutdown!
================================================================================
[move_to_start-8] killing on exit
[move_group-7] killing on exit
[robot_state_publisher-4] killing on exit
[state_controller_spawner-3] killing on exit
[franka_control-2] killing on exit
[joint_state_publisher-5] killing on exit
[INFO] [1649335039.122425]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649335039.123570]: Stopping all controllers...
[WARN] [1649335039.240186]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

<?xml version="1.0" ?> <launch> <arg name="robot_ip" /> <include file="$(find franka_control)/launch/franka_control.launch"> <arg name="robot_ip" value="$(arg robot_ip)" /> <arg name="load_gripper" value="false" /> </include> <include file="$(find panda_moveit_config)/launch/move_group.launch"> <arg name="load_gripper" value="true" /> </include> </launch>

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 debug:=true ... logging to /home/arnaud/.ros/log/cd8188ba-b678-11ec-bcad-33cf265bcff1/roslaunch-arnaud-25310.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://arnaud:39745/ SUMMARY ======== PARAMETERS * /effort_joint_trajectory_controller/constraints/goal_time: 0.5 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ... * /effort_joint_trajectory_controller/type: effort_controller... * /franka_control/arm_id: panda * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0... * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0... * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0... * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0... * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0... * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0... * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0... * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0... * /franka_control/cutoff_frequency: 100 * /franka_control/internal_controller: joint_impedance * /franka_control/joint_limit_warning_threshold: 1 * /franka_control/joint_names: ['panda_joint1', ... * /franka_control/rate_limiting: True * /franka_control/realtime_config: enforce * /franka_control/robot_ip: 172.16.0.2 * /franka_state_controller/arm_id: panda * /franka_state_controller/joint_names: ['panda_joint1', ... * /franka_state_controller/publish_rate: 30 * /franka_state_controller/type: franka_control/Fr... * /joint_state_publisher/rate: 30 * /joint_state_publisher/source_list: ['franka_state_co... * /move_group/allow_trajectory_execution: True * /move_group/capabilities: * /move_group/controller_list: [{'name': 'effort... * /move_group/default_planning_pipeline: ompl * /move_group/disable_capabilities: * /move_group/max_range: 5.0 * /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: 0.025 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1 * /move_group/planning_pipelines/chomp/learning_rate: 0.01 * /move_group/planning_pipelines/chomp/max_iterations: 200 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C... * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r... * /move_group/planning_pipelines/chomp/ridge_factor: 0.0 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False * /move_group/planning_pipelines/chomp/use_stochastic_descent: True * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05 * /move_group/planning_pipelines/ompl/panda_arm/longest_valid_segment_fraction: 0.005 * /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor... * /move_group/planning_pipelines/ompl/panda_arm/projection_evaluator: joints(panda_join... * /move_group/planning_pipelines/ompl/panda_hand/planner_configs: ['AnytimePathShor... * /move_group/planning_pipelines/ompl/panda_manipulator/longest_valid_segment_fraction: 0.005 * /move_group/planning_pipelines/ompl/panda_manipulator/planner_configs: ['AnytimePathShor... * /move_group/planning_pipelines/ompl/panda_manipulator/projection_evaluator: joints(panda_join... * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim... * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR... * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon... * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM... * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r... * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1 * /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/sense_for_plan/max_safe_path_cost: 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 * /position_joint_trajectory_controller/constraints/goal_time: 0.5 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05 * /position_joint_trajectory_controller/joints: ['panda_joint1', ... * /position_joint_trajectory_controller/type: position_controll... * /robot_description: <?xml version="1.... * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.05 * /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/cartesian_limits/max_rot_vel: 1.57 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25 * /robot_description_planning/cartesian_limits/max_trans_dec: -5 * /robot_description_planning/cartesian_limits/max_trans_vel: 1 * /robot_description_planning/default_acceleration_scaling_factor: 0.1 * /robot_description_planning/default_velocity_scaling_factor: 0.1 * /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: noetic * /rosversion: 1.15.14 NODES / franka_control (franka_control/franka_control_node) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) state_controller_spawner (controller_manager/spawner) /panda/ controller_spawner (controller_manager/spawner) auto-starting new master process[master]: started with pid [25384] ROS_MASTER_URI=http://localhost:11311 setting /run_id to cd8188ba-b678-11ec-bcad-33cf265bcff1 process[rosout-1]: started with pid [25409] started core service [/rosout] process[franka_control-2]: started with pid [25416] process[state_controller_spawner-3]: started with pid [25417] process[robot_state_publisher-4]: started with pid [25418] process[joint_state_publisher-5]: started with pid [25419] process[panda/controller_spawner-6]: started with pid [25425] process[move_group-7]: started with pid [25427] [ WARN] [1649339051.452743554]: FrankaHW: panda_joint4: 44.948125 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287307) [ WARN] [1649339051.484291784]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485071913]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485140850]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485170171]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485199566]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485240101]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485268636]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485295624]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485332133]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485361581]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339051.485396234]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485434084]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485470782]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485498732]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485538766]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485573466]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485613872]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485645361]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485676163]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485686400]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485695582]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485704606]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485713868]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485722582]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485733010]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485742305]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485751129]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339051.485759768]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ INFO] [1649339051.485971860]: Loading robot model 'panda'... [ WARN] [1649339051.486147592]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1649339051.486207585]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ INFO] [1649339051.563289329]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1649339051.567462739]: Listening to 'joint_states' for joint states [ INFO] [1649339051.577409675]: Listening to '/attached_collision_object' for attached collision objects [ INFO] [1649339051.577449112]: Starting planning scene monitor [ INFO] [1649339051.581139078]: Listening to '/planning_scene' [ INFO] [1649339051.581270517]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1649339051.585297078]: Listening to '/collision_object' [ INFO] [1649339051.589412546]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1649339051.592943046]: No 3D sensor plugin(s) defined for octomap updates [ INFO] [1649339051.595527766]: Loading planning pipeline 'chomp' [ INFO] [1649339051.646567007]: Using planning interface 'CHOMP' [ INFO] [1649339051.650414341]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1649339051.651219075]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1649339051.651596893]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1649339051.651889764]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1649339051.652134309]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1649339051.652406182]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1649339051.652452682]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1649339051.652468103]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1649339051.652478683]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1649339051.652489258]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1649339051.652499140]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1649339051.652509579]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1649339051.653473848]: Loading planning pipeline 'ompl' [ INFO] [1649339051.706058892]: Using planning interface 'OMPL' [ INFO] [1649339051.706838522]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1649339051.707018879]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1649339051.707165814]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1649339051.707313646]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1649339051.707453407]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1649339051.707596060]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1649339051.707616002]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1649339051.707628898]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1649339051.707638892]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1649339051.707645857]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1649339051.707653375]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1649339051.707661239]: Using planning request adapter 'Fix Start State Path Constraints' [INFO] [1649339051.800712]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1649339051.810473]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1649339051.811759]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1649339051.812881]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1649339051.813884]: Loading controller: franka_state_controller [INFO] [1649339051.821151]: Controller Spawner: Loaded controllers: franka_state_controller [INFO] [1649339051.824491]: Started controllers: franka_state_controller [ WARN] [1649339056.453268062]: FrankaHW: panda_joint4: 44.947618 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287316) [ WARN] [1649339056.722648749]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1649339061.454086202]: FrankaHW: panda_joint4: 44.948262 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287305) [ WARN] [1649339062.722804008]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up [ WARN] [1649339066.454788088]: FrankaHW: panda_joint4: 44.947752 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287314) [ERROR] [1649339068.722980713]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory [ WARN] [1649339071.454896627]: FrankaHW: panda_joint4: 44.947824 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312) [ WARN] [1649339073.730004154]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1649339076.455780978]: FrankaHW: panda_joint4: 44.948016 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287309) [ WARN] [1649339079.730204210]: Waiting for franka_gripper/gripper_action to come up [ WARN] [1649339081.456534767]: FrankaHW: panda_joint4: 44.947920 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287311) [WARN] [1649339082.011617]: Controller Spawner couldn't find the expected controller_manager ROS interface. [panda/controller_spawner-6] process has finished cleanly log file: /home/arnaud/.ros/log/cd8188ba-b678-11ec-bcad-33cf265bcff1/panda-controller_spawner-6*.log [ERROR] [1649339085.730378659]: Action client not connected: franka_gripper/gripper_action [ INFO] [1649339085.741640338]: Returned 0 controllers in list [ INFO] [1649339085.746451971]: Trajectory execution is managing controllers [ INFO] [1649339085.746480904]: MoveGroup debug mode is OFF 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] [1649339085.776876349]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1649339085.777014472]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1649339085.777058339]: MoveGroup context initialization complete You can start planning now! [ WARN] [1649339086.457482321]: FrankaHW: panda_joint4: 44.948224 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287305) [ WARN] [1649339091.458294908]: FrankaHW: panda_joint4: 44.947826 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312) [ WARN] [1649339096.459222658]: FrankaHW: panda_joint4: 44.947826 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312)

[ INFO] [1649339252.799235817]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1649339252.799424808]: Planning attempt 1 of at most 1 [ INFO] [1649339252.800601760]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1649339252.801001656]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure [ INFO] [1649339252.813537674]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal) [ INFO] [1649339252.813627354]: Solution found in 0.012729 seconds [ INFO] [1649339252.824490827]: SimpleSetup: Path simplification took 0.010698 seconds and changed from 3 to 2 states [ INFO] [1649339252.825572234]: Returned 0 controllers in list [ERROR] [1649339252.825597232]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ERROR] [1649339252.825608387]: Known controllers and their joints: [ERROR] [1649339252.825627239]: Apparently trajectory initialization failed

python3 ./franka_example_controllers/scripts/move_to_start.py [ WARN] [1649339251.738701104]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739064645]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739073971]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739079963]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739085777]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739091581]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739096446]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739102196]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739108989]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739114987]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default. [ WARN] [1649339251.739121864]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739128870]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739135359]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739141608]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739148231]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739154697]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739161370]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739167612]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739174273]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739180786]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739187176]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739193205]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739199643]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739206205]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739213296]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739219697]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739225923]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ WARN] [1649339251.739232452]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons. [ INFO] [1649339251.739336531]: Loading robot model 'panda'... [ WARN] [1649339251.739398368]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1649339251.739411965]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ INFO] [1649339252.782120718]: Ready to take commands for planning group panda_arm. [ INFO] [1649339252.825843862]: ABORTED: Solution found but controller failed during execution

diff --git a/franka_example_controllers/launch/move_to_start.launch b/franka_example_controllers/launch/move_to_start.launch index 636dafd..3045afe 100644 --- a/franka_example_controllers/launch/move_to_start.launch +++ b/franka_example_controllers/launch/move_to_start.launch @@ -2,12 +2,8 @@ <launch> <arg name="robot_ip" /> - <include file="$(find franka_control)/launch/franka_control.launch"> + <include file="$(find panda_moveit_config)/launch/franka_control.launch"> <arg name="robot_ip" value="$(arg robot_ip)" /> - <arg name="load_gripper" value="false" /> </include> - <include file="$(find panda_moveit_config)/launch/move_group.launch"> - <arg name="load_gripper" value="true" /> - </include> - + </launch>

diff --git a/launch/franka_control.launch b/launch/franka_control.launch index de71abb..a3e7be3 100644 --- a/launch/franka_control.launch +++ b/launch/franka_control.launch @@ -1,7 +1,11 @@ <?xml version="1.0"?> <launch> + <arg name="robot_ip" /> +  - <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" /> + <include file="$(find franka_control)/launch/franka_control.launch"> + <arg name="robot_ip" value="$(arg robot_ip)" /> + </include>  <arg name="transmission" default="position" /> diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch index 47806e5..0362601 100644 --- a/launch/ros_controllers.launch +++ b/launch/ros_controllers.launch @@ -2,8 +2,10 @@ <launch>  - <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load" subst_value="true"/> + + <rosparam file="$(find franka_control)/config/default_controllers.yaml" command="load" subst_value="true"/>  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg transmission)_joint_trajectory_controller" />

moveit / panda_moveit_config

Error when I use move_to_start #107