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ros-industrial-attic / bezier_examples

Example usage of the bezier library:
https://github.com/ros-industrial-consortium/bezier
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process has died #7

Open qcz01 opened 2 years ago

qcz01 commented 2 years ago

jet@jet-virtual-machine:~/catkin_workspace$ source ~/catkin_workspace/devel/setup.bash jet@jet-virtual-machine:~/catkin_workspace$ roslaunch bezier_examples fanuc_m10ia_surfacing.launch surfacing_mode:=true mesh_cad:=plane/plane_defect.ply ... logging to /home/jet/.ros/log/8f2dc294-0525-11ed-bad3-000c293061d1/roslaunch-jet-virtual-machine-9328.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://jet-virtual-machine:39207/

SUMMARY

PARAMETERS

NODES / bezier_examples_surfacing (bezier_examples/bezier_examples_surfacing) industrial_robot_simulator (industrial_robot_simulator/industrial_robot_simulator) joint_trajectory_action (industrial_robot_client/joint_trajectory_action) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [9345] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8f2dc294-0525-11ed-bad3-000c293061d1 process[rosout-1]: started with pid [9356] started core service [/rosout] process[industrial_robot_simulator-2]: started with pid [9363] process[joint_trajectory_action-3]: started with pid [9364] process[robot_state_publisher-4]: started with pid [9365] process[move_group-5]: started with pid [9366] process[bezier_examples_surfacing-6]: started with pid [9371] process[rviz-7]: started with pid [9380] [ INFO] [1657989440.329469672]: Loading robot model 'fanuc_m10ia'... [ INFO] [1657989440.330101023]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1657989440.366458224]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration. [ INFO] [1657989440.397086018]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1657989440.398608880]: MoveGroup debug mode is OFF Starting planning scene monitors... [ INFO] [1657989440.398712554]: Starting planning scene monitor [ INFO] [1657989440.399876425]: Listening to '/planning_scene' [ INFO] [1657989440.399950820]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1657989440.400885211]: Listening to '/collision_object' [ INFO] [1657989440.402189841]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1657989440.402675500]: No 3D sensor plugin(s) defined for octomap updates [ INFO] [1657989440.406707735]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1657989440.423965014]: Initializing OMPL interface using ROS parameters [ INFO] [1657989440.444463084]: Using planning interface 'OMPL' [ INFO] [1657989440.448895942]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1657989440.449991898]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1657989440.456447467]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1657989440.457124728]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1657989440.457361641]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1657989440.457768051]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1657989440.457800536]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1657989440.457806376]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1657989440.457810752]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1657989440.457814743]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1657989440.457818744]: Using planning request adapter 'Fix Start State Path Constraints' [ERROR] [1657989440.468616740]: name, joints, action_ns, and type must be specifed for each controller [ INFO] [1657989440.468694306]: Returned 0 controllers in list [ INFO] [1657989440.475188979]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1657989440.510533370]:

[ INFO] [1657989440.510566418]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1657989440.510573583]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1657989440.603282089]: CAD mesh file:plane/plane_defect.ply [ INFO] [1657989440.604136684]: Bezier::Bezier: RViz visualization tool is initialized in 'base' and the topic name is 'rviz_visual_tools' [ WARN] [1657989440.605837004]: Waiting for a subscriber on topic "/bezier_cad_mesh" [ INFO] [1657989441.610643933]: Topic '/rviz_visual_tools' waiting for subscriber... ================================================================================REQUIRED process [bezier_examples_surfacing-6] has died! process has died [pid 9371, exit code -11, cmd /home/jet/catkin_workspace/devel/lib/bezier_examples/bezier_examples_surfacing name:=bezier_examples_surfacing log:=/home/jet/.ros/log/8f2dc294-0525-11ed-bad3-000c293061d1/bezier_examples_surfacing-6.log]. log file: /home/jet/.ros/log/8f2dc294-0525-11ed-bad3-000c293061d1/bezier_examples_surfacing-6*.log Initiating shutdown!

[bezier_examples_surfacing-6] killing on exit [rviz-7] killing on exit [robot_state_publisher-4] killing on exit [move_group-5] killing on exit [joint_trajectory_action-3] killing on exit [industrial_robot_simulator-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

yl120064227 commented 1 year ago

how to solve this problem？

qcz01 commented 1 year ago

how to solve this problem？

You need to modify the robot configuration file, preferably on a model that is already running ok

1332873626 commented 7 months ago

how to solve this problem？

You need to modify the robot configuration file, preferably on a model that is already running ok

Hello, can you say a little more detailed