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ros-industrial-consortium / godel

ROS-Industrial Focused Technical Project: Robotic Blending
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abb package build failed #255

Open qcz01 opened 2 years ago

qcz01 commented 2 years ago

jet@jet-virtual-machine:~/catkin_ws$ catkin build

Profile: default Extending: [env] /opt/ros/melodic Workspace: /home/jet/catkin_ws

Build Space: [exists] /home/jet/catkin_ws/build Devel Space: [exists] /home/jet/catkin_ws/devel Install Space: [unused] /home/jet/catkin_ws/install Log Space: [missing] /home/jet/catkin_ws/logs Source Space: [exists] /home/jet/catkin_ws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '58' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.3 seconds ] Starting >>> abb_file_suite
Starting >>> abb_irb1200_5_90_ikfast_manipulator_plugin
Starting >>> abb_irb1200_support
Starting >>> abb_irb2400_moveit_plugins
Finished <<< abb_irb1200_support [ 1.4 seconds ] Starting >>> abb_irb6600_support

Warnings << abb_file_suite:cmake /home/jet/catkin_ws/logs/abb_file_suite/build.cmake.000.log CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'curl' but neither 'curl_INCLUDE_DIRS' nor 'curl_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) CMakeLists.txt:20 (catkin_package)

cd /home/jet/catkin_ws/build/abb_file_suite; catkin build --get-env abb_file_suite | catkin env -si /usr/bin/cmake /home/jet/catkin_ws/src/godel/godel_robots/abb/abb_file_suite --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/jet/catkin_ws/devel/.private/abb_file_suite -DCMAKE_INSTALL_PREFIX=/home/jet/catkin_ws/install; cd - ............................................................................... Finished <<< abb_irb6600_support [ 2.2 seconds ] Starting >>> abb_irb6640_support

Errors << abb_irb1200_5_90_ikfast_manipulator_plugin:make /home/jet/catkin_ws/logs/abb_irb1200_5_90_ikfast_manipulator_plugin/build.make.000.log /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’: /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:324:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations] setValues(robot_description, group_name, base_name, tip_name, search_discretization); ^ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name, ^~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: error: no matching function for call to ‘const_pointer_cast(urdf::LinkConstSharedPtr)’ urdf::LinkSharedPtr link = boost::const_pointer_cast(robot_model.getLink(getTipFrame())); ^ In file included from /usr/include/boost/shared_ptr.hpp:17:0, from /opt/ros/melodic/include/ros/forwards.h:37, from /opt/ros/melodic/include/ros/common.h:37, from /opt/ros/melodic/include/ros/ros.h:43, from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49: /usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note: candidate: template<class T, class U> boost::shared_ptr boost::const_pointer_cast(const boost::shared_ptr&) template<class T, class U> shared_ptr const_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT ^~~~~~ /usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note: template argument deduction/substitution failed: /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note: ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ is not derived from ‘const boost::shared_ptr’ urdf::LinkSharedPtr link = boost::const_pointer_cast(robot_model.getLink(getTipFrame())); ^ In file included from /usr/include/boost/shared_ptr.hpp:17:0, from /opt/ros/melodic/include/ros/forwards.h:37, from /opt/ros/melodic/include/ros/common.h:37, from /opt/ros/melodic/include/ros/ros.h:43, from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49: /usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note: candidate: template<class T, class U> boost::shared_ptr boost::const_pointer_cast(boost::shared_ptr&&) template<class T, class U> shared_ptr const_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT ^~~~~~ /usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note: template argument deduction/substitution failed: /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note: ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ is not derived from ‘boost::shared_ptr’ urdf::LinkSharedPtr link = boost::const_pointer_cast(robot_model.getLink(getTipFrame())); ^ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’: /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (int)((max_limit - initial_guess) / searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (int)((max_limit - initial_guess) / searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (int)((initial_guess - min_limit) / searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (int)((initial_guess - min_limit) / searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (joint_maxvector[freeparams[0]] - initial_guess) / searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (joint_maxvector[freeparams[0]] - initial_guess) / searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (initial_guess - joint_minvector[freeparams[0]]) / searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (initial_guess - joint_minvector[freeparams[0]]) / searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] vfree[0] = initial_guess + searchdiscretization counter; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] vfree[0] = initial_guess + searchdiscretization counter; ^~~~~~ In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ make[2]: [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp.o] Error 1 make[1]: [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/all] Error 2 make: *** [all] Error 2 cd /home/jet/catkin_ws/build/abb_irb1200_5_90_ikfast_manipulator_plugin; catkin build --get-env abb_irb1200_5_90_ikfast_manipulator_plugin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Failed << abb_irb1200_5_90_ikfast_manipulator_plugin:make [ Exited with code 2 ] Failed <<< abb_irb1200_5_90_ikfast_manipulator_plugin [ 4.9 seconds ] Abandoned <<< abb_resources [ Unrelated job failed ] Abandoned <<< descartes_core [ Unrelated job failed ] Abandoned <<< godel_irb2400_moveit_config [ Unrelated job failed ] Abandoned <<< godel_msgs [ Unrelated job failed ] Abandoned <<< godel_openvoronoi [ Unrelated job failed ] Abandoned <<< godel_param_helpers [ Unrelated job failed ] Abandoned <<< godel_scan_analysis [ Unrelated job failed ] Abandoned <<< industrial_deprecated [ Unrelated job failed ] Abandoned <<< industrial_msgs [ Unrelated job failed ] Abandoned <<< industrial_trajectory_filters [ Unrelated job failed ] Abandoned <<< industrial_utils [ Unrelated job failed ] Abandoned <<< irb2400_ikfast_manipulator_plugin [ Unrelated job failed ] Abandoned <<< libsocket [ Unrelated job failed ] Abandoned <<< meshing_plugins_base [ Unrelated job failed ] Abandoned <<< path_planning_plugins_base [ Unrelated job failed ] Abandoned <<< swri_profiler_msgs [ Unrelated job failed ] Abandoned <<< abb_irb2400_moveit_config [ Unrelated job failed ] Abandoned <<< abb_irb2400_support [ Unrelated job failed ] Abandoned <<< abb_irb4400_support [ Unrelated job failed ] Abandoned <<< abb_irb5400_support [ Unrelated job failed ] Abandoned <<< abb_irb6640_moveit_config [ Unrelated job failed ] Abandoned <<< blending_end_effector [ Unrelated job failed ] Abandoned <<< descartes_trajectory [ Unrelated job failed ] Abandoned <<< descartes_moveit [ Unrelated job failed ] Abandoned <<< descartes_planner [ Unrelated job failed ] Abandoned <<< descartes_utilities [ Unrelated job failed ] Abandoned <<< godel_irb1200_support [ Unrelated job failed ] Abandoned <<< godel_irb2400_support [ Unrelated job failed ] Abandoned <<< godel_plugins [ Unrelated job failed ] Abandoned <<< godel_process_path_generation [ Unrelated job failed ] Abandoned <<< godel_process_planning [ Unrelated job failed ] Abandoned <<< godel_simple_gui [ Unrelated job failed ] Abandoned <<< godel_utils [ Unrelated job failed ] Abandoned <<< industrial_robot_simulator [ Unrelated job failed ] Abandoned <<< abb_irb2400_descartes [ Unrelated job failed ] Abandoned <<< keyence_experimental [ Unrelated job failed ] Abandoned <<< meshing_plugins [ Unrelated job failed ] Abandoned <<< path_planning_plugins [ Unrelated job failed ] Abandoned <<< godel_polygon_offset [ Unrelated job failed ] Abandoned <<< simple_message [ Unrelated job failed ] Abandoned <<< industrial_robot_client [ Unrelated job failed ] Abandoned <<< industrial_robot_simulator_service [ Unrelated job failed ] Abandoned <<< godel_path_execution [ Unrelated job failed ] Abandoned <<< swri_profiler [ Unrelated job failed ] Abandoned <<< godel_process_execution [ Unrelated job failed ] Abandoned <<< godel_surface_detection [ Unrelated job failed ] Abandoned <<< godel_irb1200_moveit_config [ Unrelated job failed ] Abandoned <<< swri_profiler_tools [ Unrelated job failed ]

Warnings << abb_irb2400_moveit_plugins:make /home/jet/catkin_ws/logs/abb_irb2400_moveit_plugins/build.make.000.log /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’: /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:266:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations] setValues(robot_description, group_name, base_name, tip_name, search_discretization); ^ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name, ^~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’: /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:772:63: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (int)((max_limit-initial_guess)/searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:772:63: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (int)((max_limit-initial_guess)/searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:773:63: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (int)((initial_guess-min_limit)/searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:773:63: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (int)((initial_guess-min_limit)/searchdiscretization); ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:777:82: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (joint_maxvector[freeparams[0]]-initial_guess)/searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:777:82: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_positive_increments = (joint_maxvector[freeparams[0]]-initial_guess)/searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:778:82: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (initial_guess-joint_minvector[freeparams[0]])/searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:778:82: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] num_negative_increments = (initial_guess-joint_minvector[freeparams[0]])/searchdiscretization; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:840:30: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] vfree[0] = initial_guess+searchdiscretizationcounter; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:840:30: warning: ‘kinematics::KinematicsBase::searchdiscretization’ is deprecated [-Wdeprecated-declarations] vfree[0] = initial_guess+searchdiscretizationcounter; ^~~~~~ In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here [[deprecated]] double searchdiscretization; ^~~~~~ cd /home/jet/catkin_ws/build/abb_irb2400_moveit_plugins; catkin build --get-env abb_irb2400_moveit_plugins | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Finished <<< abb_irb2400_moveit_plugins [ 5.6 seconds ] Finished <<< abb_irb6640_support [ 1.9 seconds ] Finished <<< abb_file_suite [ 6.9 seconds ] [build] Summary: 6 of 55 packages succeeded.
[build] Ignored: 4 packages were skipped or are blacklisted.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: 48 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 8.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

qcz01 commented 2 years ago

jet@jet-virtual-machine:~/catkin_ws$ source ~/catkin_ws/devel/setup.bash jet@jet-virtual-machine:~/catkin_ws$ roslaunch snp_prbt_bringup application_bringup.launch RLException: [application_bringup.launch] is neither a launch file in package [snp_prbt_bringup] nor is [snp_prbt_bringup] a launch file name The traceback for the exception was written to the log file jet@jet-virtual-machine:~/catkin_ws$ roslaunch godel_irb2400_support irb2400_blending.launch ... logging to /home/jet/.ros/log/88628996-041b-11ed-a0b6-000c293061d1/roslaunch-jet-virtual-machine-13844.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:42541/

SUMMARY

PARAMETERS

  • /controller_joint_names: ['joint_1', 'join...
  • /godel_process_planning/blend_group: manipulator_tcp
  • /godel_process_planning/blend_tcp: tcp_frame
  • /godel_process_planning/keyence_group: manipulator_keyence
  • /godel_process_planning/keyence_tcp: keyence_tcp_frame
  • /godel_process_planning/robot_model_plugin: abb_irb2400_desca...
  • /godel_process_planning/world_frame: world_frame
  • /move_group/allow_trajectory_execution: True
  • /move_group/capabilities: move_group/MoveGr...
  • /move_group/controller_list: [{'action_ns': 'j...
  • /move_group/jiggle_fraction: 0.05
  • /move_group/manipulator/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_asus/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_asus/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_asus/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_keyence/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_keyence/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_keyence/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_tcp/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_tcp/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_tcp/projection_evaluator: joints(joint_1,jo...
  • /move_group/max_range: 5.0
  • /move_group/max_safe_path_cost: 1
  • /move_group/moveit_controller_manager: moveit_simple_con...
  • /move_group/moveit_manage_controllers: True
  • /move_group/octomap_resolution: 0.025
  • /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  • /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/ESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  • /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  • /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  • /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
  • /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
  • /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
  • /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.1
  • /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  • /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  • /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
  • /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
  • /move_group/planner_configs/SBLkConfigDefault/range: 0.0
  • /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  • /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
  • /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
  • /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
  • /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
  • /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
  • /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
  • /path_planning_params/discretization: 0.0025
  • /path_planning_params/margin: 0.001
  • /path_planning_params/overlap: 0.0
  • /path_planning_params/safe_traverse_height: 0.05
  • /path_planning_params/scan_width: 0.01
  • /path_planning_params/tool_radius: 0.0125
  • /point_cloud_generator_node/frame_id: world_frame
  • /point_cloud_generator_node/point_cloud_descriptions: [{'h': 0.0, 'rx':...
  • /process_planning_params/blend_params/approach_speed: 0.005
  • /process_planning_params/blend_params/blending_speed: 0.3
  • /process_planning_params/blend_params/retract_speed: 0.02
  • /process_planning_params/blend_params/spindle_speed: 0.0
  • /process_planning_params/blend_params/traverse_speed: 0.05
  • /process_planning_params/blend_params/z_adjust: 0.01
  • /process_planning_params/scan_params/approach_distance: 0.15
  • /process_planning_params/scan_params/max_qa_value: 0.05
  • /process_planning_params/scan_params/min_qa_value: 0.05
  • /process_planning_params/scan_params/quality_metric: 0
  • /process_planning_params/scan_params/traverse_speed: 0.05
  • /process_planning_params/scan_params/window_width: 0.02
  • /robot_description: <?xml version="1....
  • /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_asus/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_timeout: 0.005
  • /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_1/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_2/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_3/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_4/max_velocity: 6.2832
  • /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_5/max_velocity: 6.2832
  • /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_6/max_velocity: 7.854
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /simulation/robot_state_publisher/tf_prefix: simulation
  • /simulation/simulator_service/action_name: jointtrajectory...
  • /simulation/simulator_service/scale_factor: 0.2
  • /simulation/simulator_service/service_name: simulate_trajectory
  • /surface_blending_service/blend_tool_planning_plugin_name: path_planning_plu...
  • /surface_blending_service/blending_plan/approach_spd: 0.005
  • /surface_blending_service/blending_plan/blending_spd: 0.3
  • /surface_blending_service/blending_plan/discretization: 0.0025
  • /surface_blending_service/blending_plan/margin: 0.001
  • /surface_blending_service/blending_plan/min_boundary_length: 0.03
  • /surface_blending_service/blending_plan/overlap: 0.0
  • /surface_blending_service/blending_plan/retract_spd: 0.02
  • /surface_blending_service/blending_plan/safe_traverse_height: 0.05
  • /surface_blending_service/blending_plan/spindle_speed: 0.0
  • /surface_blending_service/blending_plan/tool_force: 0.0
  • /surface_blending_service/blending_plan/tool_radius: 0.0125
  • /surface_blending_service/blending_plan/traverse_spd: 0.3
  • /surface_blending_service/meshing_plugin_name: concave_hull_mesh...
  • /surface_blending_service/publish_region_point_cloud: True
  • /surface_blending_service/robot_scan/cam_tilt_angle: 1.57
  • /surface_blending_service/robot_scan/cam_to_obj_xoffset: 0.5
  • /surface_blending_service/robot_scan/cam_to_obj_zoffset: 0.6
  • /surface_blending_service/robot_scan/group_name: manipulator_asus
  • /surface_blending_service/robot_scan/home_position: home_asus
  • /surface_blending_service/robot_scan/num_scan_points: 3
  • /surface_blending_service/robot_scan/reachable_scan_points_ratio: 1.0
  • /surface_blending_service/robot_scan/scan_target_frame: world_frame
  • /surface_blending_service/robot_scan/scan_topic: sensor_point_cloud
  • /surface_blending_service/robot_scan/stop_on_planning_error: True
  • /surface_blending_service/robot_scan/sweep_angle_end: 0.25
  • /surface_blending_service/robot_scan/sweep_angle_start: 0
  • /surface_blending_service/robot_scan/tcp_frame: kinect2_move_frame
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/w: 1
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/x: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/y: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/z: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/x: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/y: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/z: 0
  • /surface_blending_service/robot_scan/world_frame: world_frame
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/w: 1
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/x: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/y: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/z: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/x: 0.5
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/y: 0.0
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/z: 0.5
  • /surface_blending_service/save_data: False
  • /surface_blending_service/save_location: /home/jet/.ros/
  • /surface_blending_service/scan_plan/approach_distance: 0.15
  • /surface_blending_service/scan_plan/margin: 0
  • /surface_blending_service/scan_plan/max_qa_value: 0.05
  • /surface_blending_service/scan_plan/min_qa_value: 0.05
  • /surface_blending_service/scan_plan/overlap: 0.001
  • /surface_blending_service/scan_plan/quality_metric: rms
  • /surface_blending_service/scan_plan/scan_width: 0.01
  • /surface_blending_service/scan_plan/traverse_speed: 0.2
  • /surface_blending_service/scan_plan/window_width: 0.02
  • /surface_blending_service/scan_tool_planning_plugin_name: path_planning_plu...
  • /surface_blending_service/surface_detection/frame_id: world_frame
  • /surface_blending_service/surface_detection/ignore_largest_cluster: False
  • /surface_blending_service/surface_detection/k_search: 20
  • /surface_blending_service/surface_detection/marker_alpha: 1
  • /surface_blending_service/surface_detection/meanK: 10
  • /surface_blending_service/surface_detection/mls_point_density: 100
  • /surface_blending_service/surface_detection/mls_search_radius: 0.04
  • /surface_blending_service/surface_detection/mls_upsampling_radius: 0.01
  • /surface_blending_service/surface_detection/occupancy_threshold: 0.5
  • /surface_blending_service/surface_detection/pa_enabled: True
  • /surface_blending_service/surface_detection/pa_kdtree_radius: 0.01
  • /surface_blending_service/surface_detection/pa_sac_plane_distance: 0.01
  • /surface_blending_service/surface_detection/pa_seg_dist_threshold: 0.01
  • /surface_blending_service/surface_detection/pa_seg_max_iterations: 200
  • /surface_blending_service/surface_detection/rg_curvature_threshold: 2.0
  • /surface_blending_service/surface_detection/rg_max_cluster_size: 10000
  • /surface_blending_service/surface_detection/rg_min_cluster_size: 100
  • /surface_blending_service/surface_detection/rg_neighbors: 20
  • /surface_blending_service/surface_detection/rg_smoothness_threshold: 0.0785398163397
  • /surface_blending_service/surface_detection/stdv_threshold: 4
  • /surface_blending_service/surface_detection/stout_mean: 1.0
  • /surface_blending_service/surface_detection/stout_stdev_threshold: 3.0
  • /surface_blending_service/surface_detection/tabletop_seg_distance_thresh: 0.005
  • /surface_blending_service/surface_detection/use_octomap: False
  • /surface_blending_service/surface_detection/use_tabletop_segmentation: False
  • /surface_blending_service/surface_detection/voxel_leaf: 0.005

NODES / blend_process_execution (godel_process_execution/blend_process_service_node) ensenso_static_tf (tf/static_transform_publisher) godel_process_planning (godel_process_planning/godel_process_planning_node) 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) path_execution_service (godel_path_execution/path_execution_service_node) point_cloud_generator_node (godel_surface_detection/point_cloud_generator_node) polygon_offset_node (godel_polygon_offset/godel_polygon_offset_node) process_path_generator_node (godel_process_path_generation/process_path_generator_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) scan_process_execution (godel_process_execution/keyence_process_service_node) surface_blending_service (godel_surface_detection/surface_blending_service) /simulation/ industrial_robot_simulator (industrial_robot_simulator/industrial_robot_simulator) joint_trajectory_action (industrial_robot_client/joint_trajectory_action) robot_state_publisher (robot_state_publisher/robot_state_publisher) simulator_service (industrial_robot_simulator_service/simulator_service_node) world_to_sim_publisher (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [13858] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 88628996-041b-11ed-a0b6-000c293061d1 process[rosout-1]: started with pid [13869] started core service [/rosout] ERROR: cannot launch node of type [godel_path_execution/path_execution_service_node]: Cannot locate node of type [path_execution_service_node] in package [godel_path_execution]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_process_planning/godel_process_planning_node]: Cannot locate node of type [godel_process_planning_node] in package [godel_process_planning]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_process_execution/blend_process_service_node]: Cannot locate node of type [blend_process_service_node] in package [godel_process_execution]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_process_execution/keyence_process_service_node]: Cannot locate node of type [keyence_process_service_node] in package [godel_process_execution]. Make sure file exists in package path and permission is set to executable (chmod +x) process[simulation/robot_state_publisher-6]: started with pid [13876] process[simulation/world_to_sim_publisher-7]: started with pid [13877] process[simulation/industrial_robot_simulator-8]: started with pid [13878] ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: Cannot locate node of type [joint_trajectory_action] in package [industrial_robot_client]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [industrial_robot_simulator_service/simulator_service_node]: Cannot locate node of type [simulator_service_node] in package [industrial_robot_simulator_service]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_surface_detection/surface_blending_service]: Cannot locate node of type [surface_blending_service] in package [godel_surface_detection]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_process_path_generation/process_path_generator_node]: Cannot locate node of type [process_path_generator_node] in package [godel_process_path_generation]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_polygon_offset/godel_polygon_offset_node]: Cannot locate node of type [godel_polygon_offset_node] in package [godel_polygon_offset]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [godel_surface_detection/point_cloud_generator_node]: Cannot locate node of type [point_cloud_generator_node] in package [godel_surface_detection]. Make sure file exists in package path and permission is set to executable (chmod +x) process[rviz-15]: started with pid [13890] process[industrial_robot_simulator-16]: started with pid [13891] ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: Cannot locate node of type [joint_trajectory_action] in package [industrial_robot_client]. Make sure file exists in package path and permission is set to executable (chmod +x) process[robot_state_publisher-18]: started with pid [13892] process[move_group-19]: started with pid [13897] process[ensenso_static_tf-20]: started with pid [13900] [ INFO] [1657875182.897417374]: Loading robot model 'irb2400_workspace'... [ WARN] [1657875182.989689031]: 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] [1657875182.999580908]: rviz version 1.13.25 [ INFO] [1657875182.999625264]: compiled against Qt version 5.9.5 [ INFO] [1657875182.999630651]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1657875183.004714447]: Forcing OpenGl version 0. [ INFO] [1657875183.137928124]: Stereo is NOT SUPPORTED [ INFO] [1657875183.138007927]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits) [ INFO] [1657875183.138021941]: OpenGl version: 3.1 (GLSL 1.4). [ INFO] [1657875183.251499398]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1657875183.253104040]: MoveGroup debug mode is OFF Starting planning scene monitors... [ INFO] [1657875183.253201753]: Starting planning scene monitor [ INFO] [1657875183.254416447]: Listening to '/planning_scene' [ INFO] [1657875183.254480351]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1657875183.255482811]: Listening to '/collision_object' [ INFO] [1657875183.256700420]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1657875183.257169630]: No 3D sensor plugin(s) defined for octomap updates [ERROR] [1657875183.337456975]: PluginlibFactory: The plugin for class 'godel_simple_gui/BlendingPanel' failed to load. Error: Could not find library corresponding to plugin godel_simple_gui/BlendingPanel. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ERROR] [1657875183.349719509]: PluginlibFactory: The plugin for class 'godel_plugins/RobotBlendingPanel' failed to load. Error: Could not find library corresponding to plugin godel_plugins/RobotBlendingPanel. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [ INFO] [1657875183.519712566]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1657875183.537181488]: Initializing OMPL interface using ROS parameters [ INFO] [1657875183.558957336]: Using planning interface 'OMPL' [ INFO] [1657875183.560846574]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1657875183.561490197]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1657875183.561712847]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1657875183.562192570]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1657875183.562452009]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1657875183.562702144]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1657875183.562725976]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1657875183.562733192]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1657875183.562737614]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1657875183.562741827]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1657875183.562745872]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1657875188.573561094]: Waiting for /joint_trajectory_action to come up [ WARN] [1657875194.580518900]: Waiting for /joint_trajectory_action to come up [ERROR] [1657875200.582258793]: Action client not connected: /joint_trajectory_action [ INFO] [1657875200.683699864]: Returned 0 controllers in list [ INFO] [1657875200.691845407]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... [ERROR] [1657875200.704733036]: Exception while loading move_group capability 'move_group/MoveGroupExecuteService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupExecuteService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() 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] [1657875200.727544111]:

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

[ INFO] [1657875200.727598803]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1657875200.727606616]: MoveGroup context initialization complete

You can start planning now!

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