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pal-robotics / tiago_simulation

http://wiki.ros.org/Robots/TIAGo
Apache License 2.0
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Tiago doesn't move #13

Closed FCam1 closed 1 year ago

FCam1 commented 5 years ago

Hi, My config: ubuntu16.04 - ROS kinetic.

I try to follow the Tiago tutorials but I meet an issue when I launch gazebo with: roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium world:=simple_office_with_people The robot keeps his head and his arm 'soft' so I think to a problem of controllers. And also the robot doesn't move with the key_teleop command.

portfolio_view

Moreover I have a FATAL error maybe linked : 

[FATAL] [1554900139.882791288, 0.001000000]: Failed to create robot simulation
interface loader: Could not find library corresponding to plugin
pal_hardware_gazebo/PalHardwareGazebo.Make sure the plugin description XML 
file has the   correct name of the library and that the library actually exists.

Yet in my worksape I have the plugin .xml: tiago_public_ws/src/pal_hardware_gazeb/pal_hardware_gazebo_plugins.xml

Could you give me ideas to debug?

v-lopez commented 5 years ago

Hi @FCam1,

Sorry to hear that you are having issues with this.

Could you post the full logs of the tiago_gazebo.launch? Also, make sure that the full workspace was built properly, that you have sourced it, and that you can find the gazebo ros control plugins using rospack plugins --attrib=plugin gazebo_ros_control.

Finally, we've seen some interactions if people have ros control installed from ROS sources, you should only have our version usable from the workspace. As discussed here: https://answers.ros.org/question/292578/is-the-tutorial-to-compile-tiago-with-ros-kinetic-working/

It may manifest as an runtime issue, instead of a compilation problem.

FCam1 commented 5 years ago

Thanks for answering

tiago_gazebo.launch gives me this :

.. logging to /home/fcaminad/.ros/log/c5b87abe-5ba2-11e9-9582-f8b156bf986d/roslaunch-bandaisan-3134.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /local/fcaminad/devel/tiago_public_ws/src/hey5_description/urdf/deg_to_rad.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/hey5_description/urdf/hey5_hand.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/tiago_robot/tiago_description/urdf/end_effector/end_effector.urdf.xacro
included from: /local/fcaminad/devel/tiago_public_ws/src/tiago_robot/tiago_description/robots/tiago.urdf.xacro

started roslaunch server http://bandaisan:42507/

SUMMARY
========

PARAMETERS
 * /arm_controller/constraints/arm_1_joint/goal: 0.02
 * /arm_controller/constraints/arm_2_joint/goal: 0.02
 * /arm_controller/constraints/arm_3_joint/goal: 0.02
 * /arm_controller/constraints/arm_4_joint/goal: 0.02
 * /arm_controller/constraints/arm_5_joint/goal: 0.02
 * /arm_controller/constraints/arm_6_joint/goal: 0.02
 * /arm_controller/constraints/arm_7_joint/goal: 0.02
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/stopped_velocity_tolerance: 5.0
 * /arm_controller/joints: ['arm_1_joint', '...
 * /arm_controller/type: position_controll...
 * /collision_model_parameters/blacklist/default: [{'second': 'tors...
 * /collision_model_parameters/links_with_padding: ['arm_4_link', 'a...
 * /collision_model_parameters/padding: 0.025
 * /force_torque/wrist_ft/frame: wrist_ft_link
 * /force_torque/wrist_ft/sensor_joint: arm_7_joint
 * /force_torque_sensor_controller/publish_rate: 50
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /gains/FFJ1/d: 0
 * /gains/FFJ1/i: 10
 * /gains/FFJ1/p: 100
 * /gains/FFJ2/d: 0
 * /gains/FFJ2/i: 10
 * /gains/FFJ2/p: 100
 * /gains/FFJ3/d: 0
 * /gains/FFJ3/i: 10
 * /gains/FFJ3/p: 100
 * /gains/FFJ4/d: 0
 * /gains/FFJ4/i: 10
 * /gains/FFJ4/p: 100
 * /gains/MFJ1/d: 0
 * /gains/MFJ1/i: 10
 * /gains/MFJ1/p: 100
 * /gains/MFJ2/d: 0
 * /gains/MFJ2/i: 10
 * /gains/MFJ2/p: 100
 * /gains/MFJ3/d: 0
 * /gains/MFJ3/i: 10
 * /gains/MFJ3/p: 100
 * /gains/MFJ4/d: 0
 * /gains/MFJ4/i: 10
 * /gains/MFJ4/p: 100
 * /gains/RFJ1/d: 0
 * /gains/RFJ1/i: 10
 * /gains/RFJ1/p: 100
 * /gains/RFJ2/d: 0
 * /gains/RFJ2/i: 10
 * /gains/RFJ2/p: 100
 * /gains/RFJ3/d: 0
 * /gains/RFJ3/i: 10
 * /gains/RFJ3/p: 100
 * /gains/RFJ4/d: 0
 * /gains/RFJ4/i: 10
 * /gains/RFJ4/p: 100
 * /gains/THJ1/d: 0
 * /gains/THJ1/i: 10
 * /gains/THJ1/p: 100
 * /gains/THJ2/d: 0
 * /gains/THJ2/i: 10
 * /gains/THJ2/p: 100
 * /gains/THJ4/d: 0
 * /gains/THJ4/i: 10
 * /gains/THJ4/p: 100
 * /gains/THJ5/d: 0
 * /gains/THJ5/i: 10
 * /gains/THJ5/p: 100
 * /gains/arm_1_joint/d: 5
 * /gains/arm_1_joint/i: 1
 * /gains/arm_1_joint/i_clamp: 3
 * /gains/arm_1_joint/p: 3000
 * /gains/arm_1_joint/torque_clamp: 60
 * /gains/arm_2_joint/d: 5
 * /gains/arm_2_joint/i: 1
 * /gains/arm_2_joint/i_clamp: 3
 * /gains/arm_2_joint/p: 3000
 * /gains/arm_2_joint/torque_clamp: 50
 * /gains/arm_3_joint/d: 5
 * /gains/arm_3_joint/i: 1
 * /gains/arm_3_joint/i_clamp: 3
 * /gains/arm_3_joint/p: 3000
 * /gains/arm_3_joint/torque_clamp: 50
 * /gains/arm_4_joint/d: 5
 * /gains/arm_4_joint/i: 1
 * /gains/arm_4_joint/i_clamp: 3
 * /gains/arm_4_joint/p: 3000
 * /gains/arm_4_joint/torque_clamp: 50
 * /gains/arm_5_joint/d: 1
 * /gains/arm_5_joint/i: 0.1
 * /gains/arm_5_joint/i_clamp: 3
 * /gains/arm_5_joint/p: 500
 * /gains/arm_5_joint/torque_clamp: 50
 * /gains/arm_6_joint/d: 1
 * /gains/arm_6_joint/i: 0.1
 * /gains/arm_6_joint/i_clamp: 3
 * /gains/arm_6_joint/p: 500
 * /gains/arm_6_joint/torque_clamp: 50
 * /gains/arm_7_joint/d: 1
 * /gains/arm_7_joint/i: 0.1
 * /gains/arm_7_joint/i_clamp: 3
 * /gains/arm_7_joint/p: 500
 * /gains/arm_7_joint/torque_clamp: 50
 * /gains/gripper_finger_joint/d: 0
 * /gains/gripper_finger_joint/i: 0
 * /gains/gripper_finger_joint/p: 2000
 * /gains/gripper_finger_joint/p_gain: 2000
 * /gains/gripper_left_finger_joint/d: 0
 * /gains/gripper_left_finger_joint/i: 0
 * /gains/gripper_left_finger_joint/p: 2000
 * /gains/gripper_left_finger_joint/p_gain: 2000
 * /gains/gripper_right_finger_joint/d: 0
 * /gains/gripper_right_finger_joint/i: 0
 * /gains/gripper_right_finger_joint/p: 2000
 * /gains/gripper_right_finger_joint/p_gain: 2000
 * /gains/hand_index_abd_joint/d: 0.1
 * /gains/hand_index_abd_joint/i: 0.1
 * /gains/hand_index_abd_joint/i_clamp: 1
 * /gains/hand_index_abd_joint/p: 50
 * /gains/hand_index_flex_1_joint/d: 0.1
 * /gains/hand_index_flex_1_joint/i: 0.1
 * /gains/hand_index_flex_1_joint/i_clamp: 1
 * /gains/hand_index_flex_1_joint/p: 50
 * /gains/hand_index_flex_2_joint/d: 0.1
 * /gains/hand_index_flex_2_joint/i: 0.1
 * /gains/hand_index_flex_2_joint/i_clamp: 1
 * /gains/hand_index_flex_2_joint/p: 50
 * /gains/hand_index_flex_3_joint/d: 0.1
 * /gains/hand_index_flex_3_joint/i: 0.1
 * /gains/hand_index_flex_3_joint/i_clamp: 1
 * /gains/hand_index_flex_3_joint/p: 50
 * /gains/hand_index_joint/d: 0.1
 * /gains/hand_index_joint/i: 0.1
 * /gains/hand_index_joint/i_clamp: 1
 * /gains/hand_index_joint/p: 50
 * /gains/hand_index_virtual_1_joint/d: 0.1
 * /gains/hand_index_virtual_1_joint/i: 0.1
 * /gains/hand_index_virtual_1_joint/i_clamp: 1
 * /gains/hand_index_virtual_1_joint/p: 50
 * /gains/hand_index_virtual_2_joint/d: 0.1
 * /gains/hand_index_virtual_2_joint/i: 0.1
 * /gains/hand_index_virtual_2_joint/i_clamp: 1
 * /gains/hand_index_virtual_2_joint/p: 50
 * /gains/hand_index_virtual_3_joint/d: 0.1
 * /gains/hand_index_virtual_3_joint/i: 0.1
 * /gains/hand_index_virtual_3_joint/i_clamp: 1
 * /gains/hand_index_virtual_3_joint/p: 50
 * /gains/hand_little_abd_joint/d: 0.1
 * /gains/hand_little_abd_joint/i: 0.1
 * /gains/hand_little_abd_joint/i_clamp: 1
 * /gains/hand_little_abd_joint/p: 50
 * /gains/hand_little_flex_1_joint/d: 0.1
 * /gains/hand_little_flex_1_joint/i: 0.1
 * /gains/hand_little_flex_1_joint/i_clamp: 1
 * /gains/hand_little_flex_1_joint/p: 50
 * /gains/hand_little_flex_2_joint/d: 0.1
 * /gains/hand_little_flex_2_joint/i: 0.1
 * /gains/hand_little_flex_2_joint/i_clamp: 1
 * /gains/hand_little_flex_2_joint/p: 50
 * /gains/hand_little_flex_3_joint/d: 0.1
 * /gains/hand_little_flex_3_joint/i: 0.1
 * /gains/hand_little_flex_3_joint/i_clamp: 1
 * /gains/hand_little_flex_3_joint/p: 50
 * /gains/hand_little_virtual_1_joint/d: 0.1
 * /gains/hand_little_virtual_1_joint/i: 0.1
 * /gains/hand_little_virtual_1_joint/i_clamp: 1
 * /gains/hand_little_virtual_1_joint/p: 50
 * /gains/hand_little_virtual_2_joint/d: 0.1
 * /gains/hand_little_virtual_2_joint/i: 0.1
 * /gains/hand_little_virtual_2_joint/i_clamp: 1
 * /gains/hand_little_virtual_2_joint/p: 50
 * /gains/hand_little_virtual_3_joint/d: 0.1
 * /gains/hand_little_virtual_3_joint/i: 0.1
 * /gains/hand_little_virtual_3_joint/i_clamp: 1
 * /gains/hand_little_virtual_3_joint/p: 50
 * /gains/hand_middle_abd_joint/d: 0.1
 * /gains/hand_middle_abd_joint/i: 0.1
 * /gains/hand_middle_abd_joint/i_clamp: 1
 * /gains/hand_middle_abd_joint/p: 50
 * /gains/hand_middle_flex_1_joint/d: 0.1
 * /gains/hand_middle_flex_1_joint/i: 0.1
 * /gains/hand_middle_flex_1_joint/i_clamp: 1
 * /gains/hand_middle_flex_1_joint/p: 50
 * /gains/hand_middle_flex_2_joint/d: 0.1
 * /gains/hand_middle_flex_2_joint/i: 0.1
 * /gains/hand_middle_flex_2_joint/i_clamp: 1
 * /gains/hand_middle_flex_2_joint/p: 50
 * /gains/hand_middle_flex_3_joint/d: 0.1
 * /gains/hand_middle_flex_3_joint/i: 0.1
 * /gains/hand_middle_flex_3_joint/i_clamp: 1
 * /gains/hand_middle_flex_3_joint/p: 50
 * /gains/hand_middle_virtual_1_joint/d: 0.1
 * /gains/hand_middle_virtual_1_joint/i: 0.1
 * /gains/hand_middle_virtual_1_joint/i_clamp: 1
 * /gains/hand_middle_virtual_1_joint/p: 50
 * /gains/hand_middle_virtual_2_joint/d: 0.1
 * /gains/hand_middle_virtual_2_joint/i: 0.1
 * /gains/hand_middle_virtual_2_joint/i_clamp: 1
 * /gains/hand_middle_virtual_2_joint/p: 50
 * /gains/hand_middle_virtual_3_joint/d: 0.1
 * /gains/hand_middle_virtual_3_joint/i: 0.1
 * /gains/hand_middle_virtual_3_joint/i_clamp: 1
 * /gains/hand_middle_virtual_3_joint/p: 50
 * /gains/hand_mrl_joint/d: 0.1
 * /gains/hand_mrl_joint/i: 0.1
 * /gains/hand_mrl_joint/i_clamp: 1
 * /gains/hand_mrl_joint/p: 50
 * /gains/hand_ring_abd_joint/d: 0.1
 * /gains/hand_ring_abd_joint/i: 0.1
 * /gains/hand_ring_abd_joint/i_clamp: 1
 * /gains/hand_ring_abd_joint/p: 50
 * /gains/hand_ring_flex_1_joint/d: 0.1
 * /gains/hand_ring_flex_1_joint/i: 0.1
 * /gains/hand_ring_flex_1_joint/i_clamp: 1
 * /gains/hand_ring_flex_1_joint/p: 50
 * /gains/hand_ring_flex_2_joint/d: 0.1
 * /gains/hand_ring_flex_2_joint/i: 0.1
 * /gains/hand_ring_flex_2_joint/i_clamp: 1
 * /gains/hand_ring_flex_2_joint/p: 50
 * /gains/hand_ring_flex_3_joint/d: 0.1
 * /gains/hand_ring_flex_3_joint/i: 0.1
 * /gains/hand_ring_flex_3_joint/i_clamp: 1
 * /gains/hand_ring_flex_3_joint/p: 50
 * /gains/hand_ring_virtual_1_joint/d: 0.1
 * /gains/hand_ring_virtual_1_joint/i: 0.1
 * /gains/hand_ring_virtual_1_joint/i_clamp: 1
 * /gains/hand_ring_virtual_1_joint/p: 50
 * /gains/hand_ring_virtual_2_joint/d: 0.1
 * /gains/hand_ring_virtual_2_joint/i: 0.1
 * /gains/hand_ring_virtual_2_joint/i_clamp: 1
 * /gains/hand_ring_virtual_2_joint/p: 50
 * /gains/hand_ring_virtual_3_joint/d: 0.1
 * /gains/hand_ring_virtual_3_joint/i: 0.1
 * /gains/hand_ring_virtual_3_joint/i_clamp: 1
 * /gains/hand_ring_virtual_3_joint/p: 50
 * /gains/hand_thumb_abd_joint/d: 0.1
 * /gains/hand_thumb_abd_joint/i: 0.1
 * /gains/hand_thumb_abd_joint/i_clamp: 1
 * /gains/hand_thumb_abd_joint/p: 50
 * /gains/hand_thumb_flex_1_joint/d: 0.1
 * /gains/hand_thumb_flex_1_joint/i: 0.1
 * /gains/hand_thumb_flex_1_joint/i_clamp: 1
 * /gains/hand_thumb_flex_1_joint/p: 50
 * /gains/hand_thumb_flex_2_joint/d: 0.1
 * /gains/hand_thumb_flex_2_joint/i: 0.1
 * /gains/hand_thumb_flex_2_joint/i_clamp: 1
 * /gains/hand_thumb_flex_2_joint/p: 50
 * /gains/hand_thumb_flex_3_joint/d: 0.1
 * /gains/hand_thumb_flex_3_joint/i: 0.1
 * /gains/hand_thumb_flex_3_joint/i_clamp: 1
 * /gains/hand_thumb_flex_3_joint/p: 50
 * /gains/hand_thumb_joint/d: 0.1
 * /gains/hand_thumb_joint/i: 0.1
 * /gains/hand_thumb_joint/i_clamp: 1
 * /gains/hand_thumb_joint/p: 50
 * /gains/hand_thumb_virtual_1_joint/d: 0.1
 * /gains/hand_thumb_virtual_1_joint/i: 0.1
 * /gains/hand_thumb_virtual_1_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_1_joint/p: 50
 * /gains/hand_thumb_virtual_2_joint/d: 0.1
 * /gains/hand_thumb_virtual_2_joint/i: 0.1
 * /gains/hand_thumb_virtual_2_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_2_joint/p: 50
 * /gains/hand_thumb_virtual_3_joint/d: 0.1
 * /gains/hand_thumb_virtual_3_joint/i: 0.1
 * /gains/hand_thumb_virtual_3_joint/i_clamp: 1
 * /gains/hand_thumb_virtual_3_joint/p: 50
 * /gains/head_1_joint/d: 0
 * /gains/head_1_joint/i: 10
 * /gains/head_1_joint/i_clamp: 1.5
 * /gains/head_1_joint/p: 100
 * /gains/head_2_joint/d: 0
 * /gains/head_2_joint/i: 10
 * /gains/head_2_joint/i_clamp: 1.5
 * /gains/head_2_joint/p: 100
 * /gains/suspension_left_joint/d: 250
 * /gains/suspension_left_joint/i: 0.1
 * /gains/suspension_left_joint/i_clamp: 1.5
 * /gains/suspension_left_joint/p: 30000
 * /gains/suspension_right_joint/d: 250
 * /gains/suspension_right_joint/i: 0.1
 * /gains/suspension_right_joint/i_clamp: 1.5
 * /gains/suspension_right_joint/p: 30000
 * /gains/torso_lift_joint/d: 250
 * /gains/torso_lift_joint/i: 0.1
 * /gains/torso_lift_joint/i_clamp: 1.5
 * /gains/torso_lift_joint/p: 30000
 * /gains/xtion_frame_joint/d: 0
 * /gains/xtion_frame_joint/i: 0
 * /gains/xtion_frame_joint/i_clamp: 1.5
 * /gains/xtion_frame_joint/p: 0.5
 * /hand_controller/constraints/goal_time: 0.6
 * /hand_controller/constraints/hand_index_joint/goal: 0.6
 * /hand_controller/constraints/hand_mrl_joint/goal: 0.3
 * /hand_controller/constraints/hand_thumb_joint/goal: 0.3
 * /hand_controller/constraints/stopped_velocity_tolerance: 0.75
 * /hand_controller/joints: ['hand_thumb_join...
 * /hand_controller/stop_trajectory_duration: 0.0
 * /hand_controller/type: position_controll...
 * /hand_grasping_action/target_controller: hand_controller
 * /head_controller/constraints/goal_time: 2.0
 * /head_controller/constraints/head_1_joint/goal: 0.5
 * /head_controller/constraints/head_2_joint/goal: 0.5
 * /head_controller/constraints/stopped_velocity_tolerance: 5.0
 * /head_controller/joints: ['head_1_joint', ...
 * /head_controller/point_head_action/pan_link: head_1_link
 * /head_controller/point_head_action/success_angle_threshold: 0.01
 * /head_controller/point_head_action/tilt_link: head_2_link
 * /head_controller/type: position_controll...
 * /imu/base_imu/frame: base_imu_link
 * /imu/base_imu/gazebo_sensor_name: imu_sensor
 * /imu_sensor_controller/publish_rate: 50
 * /imu_sensor_controller/type: imu_sensor_contro...
 * /joint_state_controller/extra_joints: [{'name': 'caster...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joystick/autorepeat_rate: 10
 * /joystick_relay/priority: False
 * /joystick_relay/turbo/angular_max: 1.3962634016
 * /joystick_relay/turbo/angular_min: 0.261799387799
 * /joystick_relay/turbo/linear_backward_max: 0.3
 * /joystick_relay/turbo/linear_backward_min: 0.1
 * /joystick_relay/turbo/linear_forward_max: 0.5
 * /joystick_relay/turbo/linear_forward_min: 0.1
 * /joystick_relay/turbo/steps: 6
 * /mobile_base_controller/angular/z/has_acceleration_limits: True
 * /mobile_base_controller/angular/z/has_velocity_limits: True
 * /mobile_base_controller/angular/z/max_acceleration: 2.09439510239
 * /mobile_base_controller/angular/z/max_velocity: 2.09439510239
 * /mobile_base_controller/base_frame_id: /base_footprint
 * /mobile_base_controller/cmd_vel_timeout: 0.25
 * /mobile_base_controller/left_wheel: wheel_left_joint
 * /mobile_base_controller/linear/x/has_acceleration_limits: True
 * /mobile_base_controller/linear/x/has_velocity_limits: True
 * /mobile_base_controller/linear/x/max_acceleration: 1.0
 * /mobile_base_controller/linear/x/max_velocity: 1.0
 * /mobile_base_controller/linear/x/min_velocity: -0.2
 * /mobile_base_controller/odom_frame_id: /odom
 * /mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/preserve_turning_radius: True
 * /mobile_base_controller/publish_rate: 50.0
 * /mobile_base_controller/publish_wheel_data: True
 * /mobile_base_controller/right_wheel: wheel_right_joint
 * /mobile_base_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
 * /mobile_base_controller/type: diff_drive_contro...
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.01
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(arm_1_join...
 * /move_group/arm_torso/longest_valid_segment_fraction: 0.01
 * /move_group/arm_torso/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm_torso/projection_evaluator: joints(torso_lift...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/use_controller_manager: True
 * /pal_robot_info/type: tiago
 * /play_motion/approach_planner/exclude_from_planning_joints: ['head_1_joint', ...
 * /play_motion/approach_planner/joint_tolerance: 0.01
 * /play_motion/approach_planner/planning_groups: ['arm_torso', 'arm']
 * /play_motion/approach_planner/skip_planning_approach_min_dur: 0.5
 * /play_motion/approach_planner/skip_planning_approach_vel: 0.5
 * /play_motion/controllers: ['arm_controller'...
 * /play_motion/disable_motion_planning: False
 * /play_motion/motions/close/joints: ['hand_thumb_join...
 * /play_motion/motions/close/meta/description: Closes hand
 * /play_motion/motions/close/meta/name: Close Hand
 * /play_motion/motions/close/meta/usage: demo
 * /play_motion/motions/close/points: [{'positions': [2...
 * /play_motion/motions/close_half/joints: ['hand_thumb_join...
 * /play_motion/motions/close_half/meta/description: Closes hand halfway
 * /play_motion/motions/close_half/meta/name: Close Hand Half
 * /play_motion/motions/close_half/meta/usage: demo
 * /play_motion/motions/close_half/points: [{'positions': [3...
 * /play_motion/motions/close_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/close_hand/points: [{'positions': [2...
 * /play_motion/motions/do_weights/joints: ['arm_1_joint', '...
 * /play_motion/motions/do_weights/meta/description: Do weights
 * /play_motion/motions/do_weights/meta/name: Do Weights
 * /play_motion/motions/do_weights/meta/usage: demo
 * /play_motion/motions/do_weights/points: [{'positions': [1...
 * /play_motion/motions/gun_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/gun_hand/meta/description: gun_hand
 * /play_motion/motions/gun_hand/meta/name: Gun Hand
 * /play_motion/motions/gun_hand/meta/usage: demo
 * /play_motion/motions/gun_hand/points: [{'positions': [-...
 * /play_motion/motions/head_tour/joints: ['head_1_joint', ...
 * /play_motion/motions/head_tour/meta/description: head_tour
 * /play_motion/motions/head_tour/meta/name: Head Tour
 * /play_motion/motions/head_tour/meta/usage: demo
 * /play_motion/motions/head_tour/points: [{'positions': [0...
 * /play_motion/motions/home/joints: ['torso_lift_join...
 * /play_motion/motions/home/meta/description: Go home
 * /play_motion/motions/home/meta/name: Home
 * /play_motion/motions/home/meta/usage: demo
 * /play_motion/motions/home/points: [{'positions': [0...
 * /play_motion/motions/inspect_surroundings/joints: ['head_1_joint', ...
 * /play_motion/motions/inspect_surroundings/meta/description: Inspect surroundi...
 * /play_motion/motions/inspect_surroundings/meta/name: Inspect Surroundings
 * /play_motion/motions/inspect_surroundings/meta/usage: demo
 * /play_motion/motions/inspect_surroundings/points: [{'positions': [-...
 * /play_motion/motions/offer/joints: ['torso_lift_join...
 * /play_motion/motions/offer/meta/description: Offer hand
 * /play_motion/motions/offer/meta/name: Offer Hand
 * /play_motion/motions/offer/meta/usage: demo
 * /play_motion/motions/offer/points: [{'positions': [0...
 * /play_motion/motions/offer_hand/joints: ['torso_lift_join...
 * /play_motion/motions/offer_hand/points: [{'positions': [0...
 * /play_motion/motions/open/joints: ['hand_thumb_join...
 * /play_motion/motions/open/meta/description: Opens hand
 * /play_motion/motions/open/meta/name: Open Hand
 * /play_motion/motions/open/meta/usage: demo
 * /play_motion/motions/open/points: [{'positions': [-...
 * /play_motion/motions/open_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/open_hand/points: [{'positions': [-...
 * /play_motion/motions/pick_from_floor/joints: ['torso_lift_join...
 * /play_motion/motions/pick_from_floor/meta/description: Pick a shirt-like...
 * /play_motion/motions/pick_from_floor/meta/name: Pick from floor
 * /play_motion/motions/pick_from_floor/meta/usage: demo
 * /play_motion/motions/pick_from_floor/points: [{'positions': [0...
 * /play_motion/motions/pinch_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/pinch_hand/meta/description: pinch_hand
 * /play_motion/motions/pinch_hand/meta/name: Pinch Hand
 * /play_motion/motions/pinch_hand/meta/usage: demo
 * /play_motion/motions/pinch_hand/points: [{'positions': [0...
 * /play_motion/motions/point/joints: ['hand_thumb_join...
 * /play_motion/motions/point/meta/description: Pointing Hand
 * /play_motion/motions/point/meta/name: Pointing Hand
 * /play_motion/motions/point/meta/usage: demo
 * /play_motion/motions/point/points: [{'positions': [2...
 * /play_motion/motions/pointing_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/pointing_hand/points: [{'positions': [2...
 * /play_motion/motions/pregrasp_weight/joints: ['torso_lift_join...
 * /play_motion/motions/pregrasp_weight/meta/description: Pregrasp weight
 * /play_motion/motions/pregrasp_weight/meta/name: Pregrasp Weight
 * /play_motion/motions/pregrasp_weight/meta/usage: demo
 * /play_motion/motions/pregrasp_weight/points: [{'positions': [0...
 * /play_motion/motions/prepare_grasp/joints: ['torso_lift_join...
 * /play_motion/motions/prepare_grasp/meta/description: Prepare grasp pos...
 * /play_motion/motions/prepare_grasp/meta/name: Prepare Grasp
 * /play_motion/motions/prepare_grasp/meta/usage: demo
 * /play_motion/motions/prepare_grasp/points: [{'positions': [0...
 * /play_motion/motions/reach_floor/joints: ['torso_lift_join...
 * /play_motion/motions/reach_floor/meta/description: Reach floor
 * /play_motion/motions/reach_floor/meta/name: Reach Floor
 * /play_motion/motions/reach_floor/meta/usage: demo
 * /play_motion/motions/reach_floor/points: [{'positions': [0...
 * /play_motion/motions/reach_max/joints: ['torso_lift_join...
 * /play_motion/motions/reach_max/meta/description: Reach max
 * /play_motion/motions/reach_max/meta/name: Reach Max
 * /play_motion/motions/reach_max/meta/usage: demo
 * /play_motion/motions/reach_max/points: [{'positions': [0...
 * /play_motion/motions/shake_hands/joints: ['hand_thumb_join...
 * /play_motion/motions/shake_hands/meta/description: shake_hands
 * /play_motion/motions/shake_hands/meta/name: Shake hands
 * /play_motion/motions/shake_hands/meta/usage: demo
 * /play_motion/motions/shake_hands/points: [{'positions': [0...
 * /play_motion/motions/thumb_up_hand/joints: ['hand_thumb_join...
 * /play_motion/motions/thumb_up_hand/meta/description: thumb_up_hand
 * /play_motion/motions/thumb_up_hand/meta/name: Thumb Up Hand
 * /play_motion/motions/thumb_up_hand/meta/usage: demo
 * /play_motion/motions/thumb_up_hand/points: [{'positions': [-...
 * /play_motion/motions/unfold_arm/joints: ['torso_lift_join...
 * /play_motion/motions/unfold_arm/meta/description: unfold_arm
 * /play_motion/motions/unfold_arm/meta/name: Unfold arm
 * /play_motion/motions/unfold_arm/meta/usage: demo
 * /play_motion/motions/unfold_arm/points: [{'positions': [0...
 * /play_motion/motions/wave/joints: ['arm_1_joint', '...
 * /play_motion/motions/wave/meta/description: wave
 * /play_motion/motions/wave/meta/name: Wave
 * /play_motion/motions/wave/meta/usage: demo
 * /play_motion/motions/wave/points: [{'positions': [0...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm_torso/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm_torso/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm_torso/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_1_joint/max_velocity: 2.7
 * /robot_description_planning/joint_limits/arm_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_2_joint/max_velocity: 3.66
 * /robot_description_planning/joint_limits/arm_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_3_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_4_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_4_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_4_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_4_joint/max_velocity: 4.58
 * /robot_description_planning/joint_limits/arm_5_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_5_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_5_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_5_joint/max_velocity: 1.95
 * /robot_description_planning/joint_limits/arm_6_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_6_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_6_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_6_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/arm_7_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_7_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_7_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_7_joint/max_velocity: 1.76
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_left_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/gripper_right_finger_joint/max_velocity: 0.01
 * /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.07
 * /robot_description_semantic: <!-- Autogenerate...
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /teleop/close_hand/action_goal/motion_name: close_hand
 * /teleop/close_hand/action_goal/skip_planning: True
 * /teleop/close_hand/action_name: /play_motion
 * /teleop/close_hand/buttons: [7]
 * /teleop/close_hand/type: action
 * /teleop/head_down/action_goal/increment_by: [-0.1, 0]
 * /teleop/head_down/action_name: /head_controller/...
 * /teleop/head_down/buttons: [2]
 * /teleop/head_down/type: action
 * /teleop/head_left/action_goal/increment_by: [0, 0.1]
 * /teleop/head_left/action_name: /head_controller/...
 * /teleop/head_left/buttons: [3]
 * /teleop/head_left/type: action
 * /teleop/head_right/action_goal/increment_by: [0, -0.1]
 * /teleop/head_right/action_name: /head_controller/...
 * /teleop/head_right/buttons: [1]
 * /teleop/head_right/type: action
 * /teleop/head_up/action_goal/increment_by: [0.1, 0]
 * /teleop/head_up/action_name: /head_controller/...
 * /teleop/head_up/buttons: [0]
 * /teleop/head_up/type: action
 * /teleop/joy_priority/action_name: joy_priority_action
 * /teleop/joy_priority/buttons: [9]
 * /teleop/joy_priority/type: action
 * /teleop/joy_turbo_angular_decrease/action_name: joy_turbo_angular...
 * /teleop/joy_turbo_angular_decrease/buttons: [8, 2]
 * /teleop/joy_turbo_angular_decrease/type: action
 * /teleop/joy_turbo_angular_increase/action_name: joy_turbo_angular...
 * /teleop/joy_turbo_angular_increase/buttons: [8, 0]
 * /teleop/joy_turbo_angular_increase/type: action
 * /teleop/joy_turbo_decrease/action_name: joy_turbo_decrease
 * /teleop/joy_turbo_decrease/buttons: [8, 1]
 * /teleop/joy_turbo_decrease/type: action
 * /teleop/joy_turbo_increase/action_name: joy_turbo_increase
 * /teleop/joy_turbo_increase/buttons: [8, 3]
 * /teleop/joy_turbo_increase/type: action
 * /teleop/joy_turbo_reset/action_name: joy_turbo_reset
 * /teleop/joy_turbo_reset/buttons: [10, 11]
 * /teleop/joy_turbo_reset/type: action
 * /teleop/move/axis_mappings: [{'scale': 1.0, '...
 * /teleop/move/message_type: geometry_msgs/Twist
 * /teleop/move/topic_name: cmd_vel
 * /teleop/move/type: topic
 * /teleop/open_hand/action_goal/motion_name: open_hand
 * /teleop/open_hand/action_goal/skip_planning: True
 * /teleop/open_hand/action_name: /play_motion
 * /teleop/open_hand/buttons: [5]
 * /teleop/open_hand/type: action
 * /teleop/torso_down/action_goal/increment_by: [-0.05]
 * /teleop/torso_down/action_name: /torso_controller...
 * /teleop/torso_down/buttons: [6]
 * /teleop/torso_down/type: action
 * /teleop/torso_up/action_goal/increment_by: [0.05]
 * /teleop/torso_up/action_name: /torso_controller...
 * /teleop/torso_up/buttons: [4]
 * /teleop/torso_up/type: action
 * /torso_controller/constraints/goal_time: 0.6
 * /torso_controller/constraints/stopped_velocity_tolerance: 5.0
 * /torso_controller/constraints/torso_1_joint/goal: 0.02
 * /torso_controller/constraints/torso_2_joint/goal: 0.02
 * /torso_controller/joints: ['torso_lift_joint']
 * /torso_controller/type: position_controll...
 * /twist_mux/locks: [{'topic': 'pause...
 * /twist_mux/topics: [{'topic': 'nav_v...
 * /use_sim_time: True
 * /velocity/pid_gains/caster_back_left_1_joint/d: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i: 0
 * /velocity/pid_gains/caster_back_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_1_joint/p: 0
 * /velocity/pid_gains/caster_back_left_2_joint/d: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i: 0
 * /velocity/pid_gains/caster_back_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_left_2_joint/p: 0
 * /velocity/pid_gains/caster_back_right_1_joint/d: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i: 0
 * /velocity/pid_gains/caster_back_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_1_joint/p: 0
 * /velocity/pid_gains/caster_back_right_2_joint/d: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i: 0
 * /velocity/pid_gains/caster_back_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_back_right_2_joint/p: 0
 * /velocity/pid_gains/caster_front_left_1_joint/d: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i: 0
 * /velocity/pid_gains/caster_front_left_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_1_joint/p: 0
 * /velocity/pid_gains/caster_front_left_2_joint/d: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i: 0
 * /velocity/pid_gains/caster_front_left_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_left_2_joint/p: 0
 * /velocity/pid_gains/caster_front_right_1_joint/d: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i: 0
 * /velocity/pid_gains/caster_front_right_1_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_1_joint/p: 0
 * /velocity/pid_gains/caster_front_right_2_joint/d: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i: 0
 * /velocity/pid_gains/caster_front_right_2_joint/i_clamp: 0
 * /velocity/pid_gains/caster_front_right_2_joint/p: 0
 * /velocity/pid_gains/wheel_left_joint/d: 0
 * /velocity/pid_gains/wheel_left_joint/i: 0
 * /velocity/pid_gains/wheel_left_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_left_joint/p: 30
 * /velocity/pid_gains/wheel_right_joint/d: 0
 * /velocity/pid_gains/wheel_right_joint/i: 0
 * /velocity/pid_gains/wheel_right_joint/i_clamp: 1.0
 * /velocity/pid_gains/wheel_right_joint/p: 30

NODES
  /torso_controller/
    incrementer (joy_teleop/incrementer_server)
  /xtion/rgb/
    image_proc (image_proc/image_proc)
  /head_controller/
    incrementer (joy_teleop/incrementer_server)
    point_head_action (head_action/head_action)
  /
    bringup_controllers_spawner_ft (controller_manager/spawner)
    bringup_controllers_spawner_imu (controller_manager/spawner)
    default_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    hand_controller_spawner (controller_manager/spawner)
    hand_grasping_action (simple_grasping_action/simple_grasping_action)
    image_raw_to_rect_color_relay (topic_tools/relay)
    is_already_there (play_motion/is_already_there.py)
    joy_teleop (joy_teleop/joy_teleop.py)
    joystick (joy/joy_node)
    joystick_relay (twist_mux/joystick_relay.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    tf_lookup (tf_lookup/tf_lookup)
    tuck_arm (tiago_gazebo/tuck_arm.py)
    twist_marker (twist_mux/twist_marker)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [30267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d
process[rosout-1]: started with pid [30280]
started core service [/rosout]
process[gazebo-2]: started with pid [30299]
process[gazebo_gui-3]: started with pid [30304]
process[spawn_model-4]: started with pid [30312]
process[default_controllers_spawner-5]: started with pid [30351]
ERROR: cannot launch node of type [head_action/head_action]: can't locate node [head_action] in package [head_action]
process[bringup_controllers_spawner_imu-7]: started with pid [30370]
process[bringup_controllers_spawner_ft-8]: started with pid [30373]
process[hand_controller_spawner-9]: started with pid [30378]
process[hand_grasping_action-10]: started with pid [30381]
Traceback (most recent call last):
  File "/local/fcaminad/devel/tiago_public_ws/src/simple_grasping_action/scripts/simple_grasping_action", line 3, in <module>
    from simple_grasping_action.simple_grasping_action import SimpleGraspingAction
ImportError: No module named simple_grasping_action.simple_grasping_action
process[play_motion-11]: started with pid [30384]
[hand_grasping_action-10] process has died [pid 30381, exit code 1, cmd /local/fcaminad/devel/tiago_public_ws/src/simple_grasping_action/scripts/simple_grasping_action __name:=hand_grasping_action __log:=/home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_grasping_action-10.log].
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_grasping_action-10*.log
process[is_already_there-12]: started with pid [30391]
[ INFO] [1554908640.035806317]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554908640.043509658]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[move_group-13]: started with pid [30444]
[ INFO] [1554908640.066940127]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554908640.069522642]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[robot_state_publisher-14]: started with pid [30503]
ERROR: cannot launch node of type [tf_lookup/tf_lookup]: can't locate node [tf_lookup] in package [tf_lookup]
[INFO] [1554908640.137941, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[twist_mux-16]: started with pid [30555]
[INFO] [1554908640.174068, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[twist_marker-17]: started with pid [30587]
[ INFO] [1554908640.188805876]: Loading robot model 'tiago'...
[ INFO] [1554908640.188897577]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908640.202772296]: Topic handler 'navigation' subscribed to topic 'nav_vel': timeout = 0.500000s, priority = 10
[ INFO] [1554908640.217412861]: Topic handler 'joystick' subscribed to topic 'joy_vel': timeout = 0.500000s, priority = 100
[INFO] [1554908640.223055, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[joystick_relay-18]: started with pid [30646]
[ INFO] [1554908640.229215746]: Topic handler 'keyboard' subscribed to topic 'key_vel': timeout = 0.500000s, priority = 90
[ INFO] [1554908640.245464407]: Topic handler 'tablet' subscribed to topic 'tab_vel': timeout = 0.500000s, priority = 100
[ INFO] [1554908640.259044252]: Topic handler 'marker' subscribed to topic 'marker_vel': timeout = 0.500000s, priority = 99
process[joy_teleop-19]: started with pid [30706]
[INFO] [1554908640.280987, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1554908640.286312606]: Topic handler 'phone' subscribed to topic 'phone_vel': timeout = 0.500000s, priority = 98
[ INFO] [1554908640.294538615]: Topic handler 'rviz_joy' subscribed to topic 'rviz_joy_vel': timeout = 0.500000s, priority = 95
process[joystick-20]: started with pid [30754]
[ INFO] [1554908640.312931884]: Topic handler 'servoing_cmd_vel' subscribed to topic 'servoing_cmd_vel': timeout = 0.500000s, priority = 20
ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]
ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]
[ INFO] [1554908640.332062962]: Topic handler 'pause' subscribed to topic 'pause_navigation': timeout = None, priority = 100
[ INFO] [1554908640.354894020]: Topic handler 'loop_closure' subscribed to topic 'stop_closing_loop': timeout = None, priority = 200
process[image_raw_to_rect_color_relay-23]: started with pid [30865]
[ INFO] [1554908640.373952670]: Topic handler 'joystick' subscribed to topic 'joy_priority': timeout = None, priority = 100
[ERROR] [1554908640.393812243]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[tuck_arm-24]: started with pid [30929]
process[xtion/rgb/image_proc-25]: started with pid [30992]
[INFO] [1554908640.757398, 0.000000]: Waiting for play_motion...
[ INFO] [1554908640.819038431]: Loading robot model 'tiago'...
[ INFO] [1554908640.819072536]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908640.876886298]: Loading robot model 'tiago'...
[ INFO] [1554908640.876914224]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1554908641.009799946]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1554908641.035804518]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1554908641.035864082]: Starting scene monitor
[ INFO] [1554908641.045272992]: Listening to '/planning_scene'
[ INFO] [1554908641.045298038]: Starting world geometry monitor
[ INFO] [1554908641.050589552]: Listening to '/collision_object' using message notifier with target frame '/base_footprint '
[ INFO] [1554908641.058728509]: Listening to '/planning_scene_world' for planning scene world geometry
[ WARN] [1554908641.059263033]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ INFO] [1554908641.087715476]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1554908641.114881252]: Initializing OMPL interface using ROS parameters
[ INFO] [1554908641.196156331]: Using planning interface 'OMPL'
[ INFO] [1554908641.201600855]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1554908641.202461299]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1554908641.203252328]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1554908641.204029163]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1554908641.204413415]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1554908641.204814260]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1554908641.204854274]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1554908641.204868194]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1554908641.204886182]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1554908641.204902356]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1554908641.204919154]: Using planning request adapter 'Fix Start State Path Constraints'
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: dining_chair. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: kitchen_table. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: wardrobe. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: closet. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: bench. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: sofa. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: floor_lamp. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: floor_lamp. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_male_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_02. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_female_02. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
Warning [parser.cc:527] Can not find the XML attribute 'version' in sdf XML tag for model: citizen_extras_male_03. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
[ INFO] [1554908642.595616693, 0.001000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1554908642.595691679, 0.001000000]: Starting Laser Plugin (ns = /)
[ INFO] [1554908642.598577177, 0.001000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_model-4] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/spawn_model-4*.log
[ INFO] [1554908642.972783763, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1554908642.978791539, 0.001000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1554908642.985660111, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1554908642.985798733, 0.001000000]: Starting gazebo_ros_control plugin in namespace: 
[ INFO] [1554908642.986415024, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[FATAL] [1554908643.093328161, 0.001000000]: Failed to create robot simulation interface loader: Could not find library corresponding to plugin pal_hardware_gazebo/PalHardwareGazebo. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ INFO] [1554908643.093365643, 0.001000000]: Loaded gazebo_ros_control.
[ INFO] [1554908643.125383771, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554908643.125683805, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554908643.297308487, 0.148000000]: Physics dynamic reconfigure ready.
[ INFO] [1554908643.302152620, 0.152000000]: Physics dynamic reconfigure ready.
[ WARN] [1554908648.826317101, 5.002000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ WARN] [1554908654.976134326, 11.002000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1554908661.131156088, 17.002000000]: Action client not connected: arm_controller/follow_joint_trajectory
[ WARN] [1554908666.372238798, 22.135000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[WARN] [1554908670.336388, 26.007000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1554908670.374070, 26.045000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[bringup_controllers_spawner_imu-7] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/bringup_controllers_spawner_imu-7*.log
[bringup_controllers_spawner_ft-8] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/bringup_controllers_spawner_ft-8*.log
[ WARN] [1554908672.523182313, 28.135000000]: Waiting for torso_controller/follow_joint_trajectory to come up
[ERROR] [1554908678.679852006, 34.135000000]: Action client not connected: torso_controller/follow_joint_trajectory
[ WARN] [1554908683.935897915, 39.246000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ WARN] [1554908690.093623676, 45.246000000]: Waiting for head_controller/follow_joint_trajectory to come up
[ERROR] [1554908696.268743827, 51.246000000]: Action client not connected: head_controller/follow_joint_trajectory
[ WARN] [1554908701.460605809, 56.293000000]: Waiting for hand_controller/follow_joint_trajectory to come up
[ WARN] [1554908707.638973280, 62.293000000]: Waiting for hand_controller/follow_joint_trajectory to come up
[ERROR] [1554908713.809651823, 68.293000000]: Action client not connected: hand_controller/follow_joint_trajectory
[ INFO] [1554908713.916695227, 68.397000000]: Returned 0 controllers in list
[ INFO] [1554908713.967477734, 68.444000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
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] [1554908714.166848243, 68.637000000]: 

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

[ INFO] [1554908714.166913494, 68.637000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1554908714.166928311, 68.637000000]: MoveGroup context initialization complete

You can start planning now!

[INFO] [1554908715.173190, 69.614000]: ...connected.
[WARN] [1554908760.407726, 113.745000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1554908760.531721, 113.867000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[default_controllers_spawner-5] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/default_controllers_spawner-5*.log
[hand_controller_spawner-9] process has finished cleanly
log file: /home/fcaminad/.ros/log/d3e17b5a-5ba1-11e9-a6ae-f8b156bf986d/hand_controller_spawner-9*.log

I source with source /local/fcaminad/devel/tiago_public_ws/src/setup.bash

The result of the rospack plugins --attrib=plugin gazebo_ros_control seems OK: 

pal_hardware_gazebo /local/fcaminad/devel/tiago_public_ws/src/pal_hardware_gazebo/pal_hardware_gazebo_plugins.xml
gazebo_ros_control /local/fcaminad/devel/tiago_public_ws/src/gazebo_ros_pkgs/gazebo_ros_control/robot_hw_sim_plugins.xml

The result of the catkin build -DCATKIN_ENABLE_TESTING=0 seems OK:

[build] Summary: All 121 packages succeeded!                                   
[build]   Ignored:   11 packages were skipped or are blacklisted.              
[build]   Warnings:  22 packages succeeded with warnings.                      
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 4 minutes and 23.7 seconds total.
v-lopez commented 5 years ago

It's weird, there are nodes not being found:

ERROR: cannot launch node of type [head_action/head_action]: can't locate node [head_action] ERROR: cannot launch node of type [joy_teleop/incrementer_server]: can't locate node [incrementer_server] in package [joy_teleop]

But are on the kinetic rosinstall file: https://github.com/pal-robotics/tiago_tutorials/blob/kinetic-devel/tiago_public.rosinstall

Please make sure you have the latest rosinstall file, that all your repositories are up to date, and run catkin build with -s so we can see a summary of what's being compiled and what's being ignored.

FCam1 commented 5 years ago

In a first time I started over from scratch: I checked my install and dependencies, cleaned my catkin workspace, made a new rosinstall and a catkin build -DCATKIN_ENABLE_TESTING=0 -s but I still had errors. Logs during build:

[build] Successful packages:                                                   

 [Successful] aruco                                                            
 [Successful] aruco_msgs                                                       
 [Successful] aruco_ros                                                        
 [Successful] backward_ros                                                     
 [Successful] combined_robot_hw                                                
 [Successful] combined_robot_hw_tests                                          
 [Successful] controller_interface                                             
 [Successful] controller_manager                                               
 [Successful] controller_manager_msgs                                          
 [Successful] controller_manager_tests                                         
 [Successful] ddynamic_reconfigure_python                                      
 [Successful] demo_motions                                                     
 [Successful] diff_drive_controller                                            
 [Successful] dynamic_introspection                                            
 [Successful] effort_controllers                                               
 [Successful] force_torque_sensor_controller                                   
 [Successful] forward_command_controller                                       
 [Successful] four_wheel_steering_controller                                   
 [Successful] gazebo_dev                                                       
 [Successful] gazebo_msgs                                                      
 [Successful] gazebo_plugins                                                   
 [Successful] gazebo_ros                                                       
 [Successful] gazebo_ros_control                                               
 [   Ignored] gazebo_ros_pkgs                                                  
 [Successful] gripper_action_controller                                        
 [Successful] hardware_interface                                               
 [Successful] head_action                                                      
 [Successful] hey5_description                                                 
 [Successful] imu_sensor_controller                                            
 [Successful] joint_limits_interface                                           
 [Successful] joint_state_controller                                           
 [Successful] joint_torque_sensor_state_controller                             
 [Successful] joint_trajectory_controller                                      
 [Successful] joy_teleop                                                       
 [Successful] key_teleop                                                       
 [Successful] look_hand                                                        
 [Successful] look_to_point                                                    
 [Successful] mode_state_controller                                            
 [Successful] mouse_teleop                                                     
 [Successful] pal_behaviour_msgs                                               
 [Successful] pal_carbon_collector                                             
 [Successful] pal_common_msgs                                                  
 [Successful] pal_control_msgs                                                 
 [Successful] pal_detection_msgs                                               
 [Successful] pal_device_msgs                                                  
 [Successful] pal_gazebo_plugins                                               
 [Successful] pal_gazebo_worlds                                                
 [Successful] pal_gripper                                                      
 [Successful] pal_gripper_controller_configuration                             
 [Successful] pal_gripper_controller_configuration_gazebo                      
 [Successful] pal_gripper_description                                          
 [Successful] pal_gripper_gazebo                                               
 [Successful] pal_hardware_gazebo                                              
 [Successful] pal_hardware_interfaces                                          
 [Successful] pal_interaction_msgs                                             
 [Successful] pal_motion_model_msgs                                            
 [   Ignored] pal_msgs                                                         
 [Successful] pal_multirobot_msgs                                              
 [Successful] pal_navigation_msgs                                              
 [Successful] pal_navigation_sm                                                
 [Successful] pal_parallel_gripper_wrapper                                     
 [Successful] pal_python                                                       
 [Successful] pal_simulation_msgs                                              
 [Successful] pal_statistics                                                   
 [Successful] pal_statistics_msgs                                              
 [Successful] pal_tablet_msgs                                                  
 [Successful] pal_video_recording_msgs                                         
 [Successful] pal_vision_msgs                                                  
 [Successful] pal_visual_localization_msgs                                     
 [Successful] pal_walking_msgs                                                 
 [Successful] pal_web_msgs                                                     
 [Successful] pal_wifi_localization_msgs                                       
 [Successful] pal_wsg_gripper                                                  
 [Successful] pal_wsg_gripper_controller_configuration                         
 [Successful] pal_wsg_gripper_controller_configuration_gazebo                  
 [Successful] pal_wsg_gripper_description                                      
 [Successful] pal_wsg_gripper_gazebo                                           
 [Successful] play_motion                                                      
 [Successful] play_motion_msgs                                                 
 [Successful] play_with_sensors                                                
 [Successful] pmb2_2dnav                                                       
 [Successful] pmb2_2dnav_gazebo                                                
 [Successful] pmb2_bringup                                                     
 [Successful] pmb2_controller_configuration                                    
 [Successful] pmb2_controller_configuration_gazebo                             
 [Successful] pmb2_description                                                 
 [Successful] pmb2_gazebo                                                      
 [Successful] pmb2_laser_sensors                                               
 [Successful] pmb2_maps                                                        
 [   Ignored] pmb2_navigation                                                  
 [Successful] pmb2_rgbd_sensors                                                
 [   Ignored] pmb2_robot                                                       
 [   Ignored] pmb2_simulation                                                  
 [Successful] position_controllers                                             
 [Successful] robot_pose                                                       
 [Successful] roboticsgroup_gazebo_plugins                                     
 [   Ignored] ros_control                                                      
 [   Ignored] ros_controllers                                                  
 [Successful] rqt_controller_manager                                           
 [Successful] rqt_joint_trajectory_controller                                  
 [Successful] rviz_plugin_covariance                                           
 [Successful] say_something                                                    
 [Successful] simple_grasping_action                                           
 [   Ignored] teleop_tools                                                     
 [Successful] teleop_tools_msgs                                                
 [Successful] temperature_sensor_controller                                    
 [Successful] tf_lookup                                                        
 [Successful] tiago_2dnav                                                      
 [Successful] tiago_2dnav_gazebo                                               
 [Successful] tiago_aruco_demo                                                 
 [Successful] tiago_bringup                                                    
 [Successful] tiago_controller_configuration                                   
 [Successful] tiago_controller_configuration_gazebo                            
 [Successful] tiago_description                                                
 [Successful] tiago_description_calibration                                    
 [Successful] tiago_gazebo                                                     
 [Successful] tiago_laser_sensors                                              
 [Successful] tiago_maps                                                       
 [Successful] tiago_moveit_config                                              
 [Successful] tiago_moveit_tutorial                                            
 [Successful] tiago_multi                                                      
 [   Ignored] tiago_navigation                                                 
 [Successful] tiago_opencv_tutorial                                            
 [Successful] tiago_pcl_tutorial                                               
 [Successful] tiago_pick_demo                                                  
 [   Ignored] tiago_robot                                                      
 [   Ignored] tiago_simulation                                                 
 [Successful] tiago_trajectory_controller                                      
 [Successful] transmission_interface                                           
 [Successful] tts                                                              
 [Successful] velocity_controllers                                             

[build] Summary: All 120 packages succeeded!                                   
[build]   Ignored:   11 packages were skipped or are blacklisted.              
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.

After that I decided to use Robotpkg. Thanks to @olivier-stasse. So I installed via apt: sudo apt install robotpkg-tiago-simulation The basic simulation works, I can control Tiago with joystick. Now I am going to continue follow the tutorials. Thanks @v-lopez for your help

saikishor commented 1 year ago

Hello,

Closing the issue due to inactivity.

Best Regards, PAL Robotics Team.