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ROS-Industrial Training Material
https://industrial-training-master.readthedocs.io
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[Demo 1]roslaunch error ROS melodic #374

Closed t-nagato closed 2 years ago

t-nagato commented 2 years ago

ROS Melodic Ubuntu 18.04 On Jetson Nano

Followed steps from Demo 1 from ros industrial training. When I ran "ur5_pick_and_place.launch" in demo 1.5, I got an error. The modification of "move_to_wait_position.cpp" has been completed. What needs fixing?

（ERROR）

ict@ict-jetson:~/perception_driven_ws$ roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch 
... logging to /home/ict/.ros/log/0cdf4eae-78dd-11ec-ab46-7cc2c61672b3/roslaunch-ict-jetson-15304.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ict-jetson:41535/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['elbow_joint', '...
 * /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/kinematics_solver: kdl_kinematics_pl...
 * /move_group/manipulator/kinematics_solver_attempts: 40
 * /move_group/manipulator/kinematics_solver_search_resolution: 0.01
 * /move_group/manipulator/kinematics_solver_timeout: 0.5
 * /move_group/manipulator/longest_valid_segment_fraction: 0.02
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(shoulder_p...
 * /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_frame: world_frame
 * /move_group/octomap_resolution: 0.01
 * /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/range: 0.0
 * /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/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/vacuum_gripper/planner_configs: ['SBLkConfigDefau...
 * /pick_and_place_node/approach_distance: 0.05
 * /pick_and_place_node/ar_frame_id: ar_tag
 * /pick_and_place_node/arm_group_name: manipulator
 * /pick_and_place_node/attached_object_link: attached_object_link
 * /pick_and_place_node/box_height: 0.17
 * /pick_and_place_node/box_length: 0.17
 * /pick_and_place_node/box_place_x: -0.4
 * /pick_and_place_node/box_place_y: 0.6
 * /pick_and_place_node/box_place_z: 0.17
 * /pick_and_place_node/box_width: 0.17
 * /pick_and_place_node/home_pose_name: home
 * /pick_and_place_node/retreat_distance: 0.05
 * /pick_and_place_node/tcp_link_name: tcp_frame
 * /pick_and_place_node/touch_links: ['wrist_1_link', ...
 * /pick_and_place_node/wait_pose_name: wait
 * /pick_and_place_node/world_frame_id: world_frame
 * /pick_and_place_node/wrist_link_name: ee_link
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 6.0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 6.0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 6.0
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.0
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.0
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0.62831853
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.0
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    pick_and_place_node (collision_avoidance_pick_and_place/pick_and_place_node)

ROS_MASTER_URI=http://localhost:11311

process[pick_and_place_node-1]: started with pid [15344]
process[move_group-2]: started with pid [15352]
[ INFO] [1642565201.016921612]: Parameters successfully read
[ INFO] [1642565201.069672811]: Loading robot model 'ur5_collision_avoidance'...
[ INFO] [1642565201.105291575]: Loading robot model 'ur5_collision_avoidance'...
[ WARN] [1642565201.296558117]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/move_group/manipulator/kinematics_solver_attempts' from your configuration.
[ WARN] [1642565201.376008794]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ INFO] [1642565201.578928085]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1642565201.589038362]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1642565201.589165695]: Starting planning scene monitor
[ INFO] [1642565201.605542205]: Listening to '/planning_scene'
[ INFO] [1642565201.605669018]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1642565201.621006502]: Listening to '/collision_object'
[ INFO] [1642565201.635197002]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1642565201.757604146]: Listening to '/filtered_cloud' using message filter with target frame 'world_frame '
[ INFO] [1642565201.784585214]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1642565201.945519257]: Initializing OMPL interface using ROS parameters
[ INFO] [1642565202.067335922]: Using planning interface 'OMPL'
[ INFO] [1642565202.082297461]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1642565202.084893802]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1642565202.086713439]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1642565202.088569947]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1642565202.090223140]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1642565202.092002415]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1642565202.092350927]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1642565202.092444044]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1642565202.092507945]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1642565202.092558097]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1642565202.092604916]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1642565202.446117879]: Added FollowJointTrajectory controller for 
[ INFO] [1642565202.446510762]: Returned 1 controllers in list
[ INFO] [1642565202.508375336]: 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] [1642565202.845922575]: 

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

[ INFO] [1642565202.846120736]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1642565202.846211926]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1642565203.864512771]: Ready to take commands for planning group manipulator.
[ERROR] [1642565204.214512411]: move_to_wait_position is not implemented yet.  Aborting.
================================================================================REQUIRED process [pick_and_place_node-1] has died!
process has died [pid 15344, exit code 1, cmd /home/ict/perception_driven_ws/devel/lib/collision_avoidance_pick_and_place/pick_and_place_node __name:=pick_and_place_node __log:=/home/ict/.ros/log/0cdf4eae-78dd-11ec-ab46-7cc2c61672b3/pick_and_place_node-1.log].
log file: /home/ict/.ros/log/0cdf4eae-78dd-11ec-ab46-7cc2c61672b3/pick_and_place_node-1*.log
Initiating shutdown!
================================================================================
[move_group-2] killing on exit
[pick_and_place_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done