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ur5_arm_should_pan_joint could not find #17

Closed k-okada closed 8 years ago

k-okada commented 8 years ago 
[ERROR] [1452653867.328798537, 1.573000000]: Could not find joint 'ur5_arm_shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1452653867.328956419, 1.573000000]: Failed to initialize the controller
[ERROR] [1452653867.328991291, 1.573000000]: Initializing controller 'arm_controller' failed
[ INFO] [1452653867.411139864, 1.646000000]: Controller state will be published at 50Hz.
[ INFO] [1452653867.413150075, 1.648000000]: Wheel separation will be multiplied by 1.875.
[ INFO] [1452653867.414365974, 1.649000000]: Wheel radius will be multiplied by 1.
[ INFO] [1452653867.415614569, 1.651000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1452653867.417001662, 1.652000000]: Base frame_id set to base_link
[ INFO] [1452653867.418274011, 1.654000000]: Publishing to tf is disabled
[ INFO] [1452653867.438580633, 1.672000000]: left wheel to origin: 0.256,0.2854, 0.03282
[ INFO] [1452653867.438631038, 1.672000000]: right wheel to origin: 0.256,-0.2854, 0.03282
[ INFO] [1452653867.438712912, 1.672000000]: Odometry params : wheel separation 1.07025, wheel radius 0.17775
[ INFO] [1452653867.443431740, 1.677000000]: Adding left wheel with joint name: front_left_wheel and right wheel with joint name: front_right_wheel
[ INFO] [1452653867.443506519, 1.678000000]: Adding left wheel with joint name: rear_left_wheel and right wheel with joint name: rear_right_wheel
[ERROR] [WallTime: 1452653868.330195] [2.565000] Failed to load arm_controller

Are you sure that you can move arms without loading arm_controlelr?

k-okada commented 8 years ago

this happens for deb configuration 

source /opt/ros/indigo/setup.bash
roslaunch husky_gazebo husky_empty_world.launch ur5_enabled:=true
tongtybj commented 8 years ago

this should work as follows:

bakui@bakui-ThinkPad-W510:~$ `ROBOT_INITIAL_POSE="-y 65 -x 25 -Y -1.57" roslaunch jsk_mbzirc_ugv_sim husky_mbzirc.launch`

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for masterMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
Msg Waiting for masterMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
[ERROR] [1452654882.825482959]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1452654884.820987912, 170.904000000]: Semantic description is not specified for the same robot as the URDF
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
[ERROR] [1452654887.806552497, 172.216000000]: No type element found in transmission 'r_gripper_trans'.
[ERROR] [1452654889.140837681, 172.509000000]: Can't accept new action goals. Controller is not running.
[ERROR] [1452654891.214495505, 173.687000000]: MoveitSimpleControllerManager: No type specified for controller r_gripper_controller
[ERROR] [1452654893.640424731, 175.223000000]: Semantic description is not specified for the same robot as the URDF
[ERROR] [1452654895.367573852, 176.121000000]: Semantic description is not specified for the same robot as the URDF
tongtybj commented 8 years ago 
src/aerial_robot
  indigo
* indigo-dev
  indigo-dev2
  master
src/husky
* gripper-addition
  indigo-devel
diff --git a/husky_control/config/control_ur5.yaml b/husky_control/config/contro
index faacf92..cdbfa81 100644
--- a/husky_control/config/control_ur5.yaml
+++ b/husky_control/config/control_ur5.yaml
@@ -1,5 +1,5 @@
 arm_controller:
-  type: effort_controllers/JointTrajectoryController
+  type: position_controllers/JointTrajectoryController
   topic: "test"
   joints:
      - ur5_arm_shoulder_pan_joint
src/husky_customization
* indigo-devel
src/husky_desktop
* indigo-devel
src/husky_robot
* indigo-devel
src/husky_simulator
* gripper-and-roscontrol-fix
  indigo-devel
src/mbzirc
  drone-simulation
* husky-simulation
  indigo-devel
  ls
  master
src/sensor_interface
* indigo-devel
  master
src/universal_robot
* indigo-devel
tongtybj commented 8 years ago 
$ ROBOT_INITIAL_POSE="-y 65 -x 25 -Y -1.57" roslaunch jsk_mbzirc_ugv_sim husky_mbzirc.launch
... logging to /home/bakui/.ros/log/6d606e28-b9aa-11e5-833f-f0def108e351/roslaunch-bakui-ThinkPad-W510-28788.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.

started roslaunch server http://bakui-ThinkPad-W510:44558/

SUMMARY
========

PARAMETERS
 * /arm_controller/action_monitor_rate: 10
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/stopped_velocity_tolerance: 0.5
 * /arm_controller/constraints/ur5_arm_elbow_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_elbow_joint/trajectory: 0.1
 * /arm_controller/constraints/ur5_arm_shoulder_lift_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_shoulder_lift_joint/trajectory: 0.1
 * /arm_controller/constraints/ur5_arm_shoulder_pan_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_shoulder_pan_joint/trajectory: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_1_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_1_joint/trajectory: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_2_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_2_joint/trajectory: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_3_joint/goal: 0.1
 * /arm_controller/constraints/ur5_arm_wrist_3_joint/trajectory: 0.1
 * /arm_controller/gains/ur5_arm_elbow_joint/d: 100.0
 * /arm_controller/gains/ur5_arm_elbow_joint/i: 500.0
 * /arm_controller/gains/ur5_arm_elbow_joint/i_clamp: 100.0
 * /arm_controller/gains/ur5_arm_elbow_joint/p: 10000
 * /arm_controller/gains/ur5_arm_shoulder_lift_joint/d: 100.0
 * /arm_controller/gains/ur5_arm_shoulder_lift_joint/i: 500.0
 * /arm_controller/gains/ur5_arm_shoulder_lift_joint/i_clamp: 100.0
 * /arm_controller/gains/ur5_arm_shoulder_lift_joint/p: 10000
 * /arm_controller/gains/ur5_arm_shoulder_pan_joint/d: 100.0
 * /arm_controller/gains/ur5_arm_shoulder_pan_joint/i: 500.0
 * /arm_controller/gains/ur5_arm_shoulder_pan_joint/i_clamp: 100.0
 * /arm_controller/gains/ur5_arm_shoulder_pan_joint/p: 10000
 * /arm_controller/gains/ur5_arm_wrist_1_joint/d: 0.0
 * /arm_controller/gains/ur5_arm_wrist_1_joint/i: 0.0
 * /arm_controller/gains/ur5_arm_wrist_1_joint/i_clamp: 0.0
 * /arm_controller/gains/ur5_arm_wrist_1_joint/p: 10000.0
 * /arm_controller/gains/ur5_arm_wrist_2_joint/d: 0.0
 * /arm_controller/gains/ur5_arm_wrist_2_joint/i: 0.0
 * /arm_controller/gains/ur5_arm_wrist_2_joint/i_clamp: 0.0
 * /arm_controller/gains/ur5_arm_wrist_2_joint/p: 10000.0
 * /arm_controller/gains/ur5_arm_wrist_3_joint/d: 0.0
 * /arm_controller/gains/ur5_arm_wrist_3_joint/i: 0.0
 * /arm_controller/gains/ur5_arm_wrist_3_joint/i_clamp: 0.0
 * /arm_controller/gains/ur5_arm_wrist_3_joint/p: 10000.0
 * /arm_controller/joints: ['ur5_arm_shoulde...
 * /arm_controller/state_publish_rate: 25
 * /arm_controller/stop_trajectory_duration: 0.5
 * /arm_controller/topic: test
 * /arm_controller/type: position_controll...
 * /ekf_localization/base_link_frame: base_link
 * /ekf_localization/frequency: 50
 * /ekf_localization/imu0: imu/data
 * /ekf_localization/imu0_config: [False, False, Fa...
 * /ekf_localization/imu0_differential: True
 * /ekf_localization/imu0_remove_gravitational_acceleration: True
 * /ekf_localization/odom0: husky_velocity_co...
 * /ekf_localization/odom0_config: [True, True, True...
 * /ekf_localization/odom0_differential: True
 * /ekf_localization/odom_frame: odom
 * /ekf_localization/two_d_mode: True
 * /ekf_localization/world_frame: odom
 * /husky_joint_publisher/publish_rate: 50
 * /husky_joint_publisher/type: joint_state_contr...
 * /husky_velocity_controller/angular/z/has_acceleration_limits: True
 * /husky_velocity_controller/angular/z/has_velocity_limits: True
 * /husky_velocity_controller/angular/z/max_acceleration: 6.0
 * /husky_velocity_controller/angular/z/max_velocity: 2.0
 * /husky_velocity_controller/base_frame_id: base_link
 * /husky_velocity_controller/cmd_vel_timeout: 0.25
 * /husky_velocity_controller/enable_odom_tf: False
 * /husky_velocity_controller/estimate_velocity_from_position: False
 * /husky_velocity_controller/left_wheel: ['front_left_whee...
 * /husky_velocity_controller/linear/x/has_acceleration_limits: True
 * /husky_velocity_controller/linear/x/has_velocity_limits: True
 * /husky_velocity_controller/linear/x/max_acceleration: 3.0
 * /husky_velocity_controller/linear/x/max_velocity: 1.0
 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/publish_rate: 50
 * /husky_velocity_controller/right_wheel: ['front_right_whe...
 * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/type: diff_drive_contro...
 * /husky_velocity_controller/wheel_radius_multiplier: 1.0
 * /husky_velocity_controller/wheel_separation_multiplier: 1.875
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm_prefix: ur5_arm_
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /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: base_footprint
 * /move_group/octomap_resolution: 0.05
 * /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: 0.0
 * /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/sensors: [{'far_clipping_p...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/ur5_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/use_controller_manager: False
 * /r_gripper_controller/joint: r_gripper_joint
 * /r_gripper_controller/pid/p: 1000.0
 * /r_gripper_controller/type: pr2_mechanism_con...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/ur5_arm/kinematics_solver: ur_kinematics/UR5...
 * /robot_description_kinematics/ur5_arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/ur5_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/ur5_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/ur5_arm_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/ur5_arm_wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/ur5_arm_wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/ur5_arm_wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/ur5_arm_wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/ur5_arm_wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/ur5_arm_wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /rviz_bakui_ThinkPad_W510_28788_12725039173300956/arm_prefix: ur5_arm_
 * /rviz_bakui_ThinkPad_W510_28788_12725039173300956/ur5_arm/kinematics_solver: ur_kinematics/UR5...
 * /rviz_bakui_ThinkPad_W510_28788_12725039173300956/ur5_arm/kinematics_solver_attempts: 3
 * /rviz_bakui_ThinkPad_W510_28788_12725039173300956/ur5_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_bakui_ThinkPad_W510_28788_12725039173300956/ur5_arm/kinematics_solver_timeout: 0.005
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'joy_t...
 * /use_sim_time: True

NODES
  /
    arm_controller_spawner (controller_manager/spawner)
    base_controller_spawner (controller_manager/spawner)
    ekf_localization (robot_localization/ekf_localization_node)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_group (moveit_ros_move_group/move_group)
    r_gripper_controller_spawner (pr2_controller_manager/spawner)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_bakui_ThinkPad_W510_28788_12725039173300956 (rviz/rviz)
    spawn_husky_model (gazebo_ros/spawn_model)
    stow_ur5 (husky_control/stow_ur5)
    twist_mux (twist_mux/twist_mux)

auto-starting new master
process[master]: started with pid [28803]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6d606e28-b9aa-11e5-833f-f0def108e351
process[rosout-1]: started with pid [28817]
started core service [/rosout]
process[gazebo-2]: started with pid [28841]
process[gazebo_gui-3]: started with pid [28848]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[robot_state_publisher-4]: started with pid [28858]
[ INFO] [1452657740.676245014]: Finished loading Gazebo ROS API Plugin.
[1;[ INFO] [1452657740.677242567]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
32mMsg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.97.220
process[base_controller_spawner-5]: started with pid [28987]
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
process[ekf_localization-6]: started with pid [29024]
process[twist_mux-7]: started with pid [29131]
process[arm_controller_spawner-8]: started with pid [29194]
process[fake_joint_calibration-9]: started with pid [29220]
process[stow_ur5-10]: started with pid [29228]
process[r_gripper_controller_spawner-11]: started with pid [29268]
process[spawn_husky_model-12]: started with pid [29294]
process[move_group-13]: started with pid [29315]
[ERROR] [1452657748.426210524]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1452657748.426809148]: Loading robot model 'husky_robot_gazebo'...
[ INFO] [1452657748.426880097]: No root joint specified. Assuming fixed joint
process[rviz_bakui_ThinkPad_W510_28788_12725039173300956-14]: started with pid [29376]
[ INFO] [1452657749.412355347]: rviz version 1.11.8
[ INFO] [1452657749.412433975]: compiled against OGRE version 1.8.1 (Byatis)
[ERROR] [1452657749.992870382]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1452657749.993283922]: Loading robot model 'husky_robot_gazebo'...
[ INFO] [1452657749.993333333]: No root joint specified. Assuming fixed joint
[ INFO] [1452657750.352060635]: Stereo is NOT SUPPORTED
[ INFO] [1452657750.352226990]: OpenGl version: 3.3 (GLSL 3.3).
[ INFO] [1452657751.644781384]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1452657751.649422891]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1452657751.649463651]: Starting scene monitor
[ INFO] [1452657751.653832428]: Listening to '/planning_scene'
[ INFO] [1452657751.653868366]: Starting world geometry monitor
[ INFO] [1452657751.659102511]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1452657751.663499215]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1452657754.357751378]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1452657754.590944437]: Initializing OMPL interface using ROS parameters
[ INFO] [1452657754.648716468]: Using planning interface 'OMPL'
[ INFO] [1452657754.816372490]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1452657754.817617870]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1452657754.818794265]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1452657754.820125108]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1452657754.821402819]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1452657754.822792343]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1452657754.822898201]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1452657754.822948240]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1452657754.822988743]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1452657754.823031161]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1452657754.823069875]: Using planning request adapter 'Fix Start State Path Constraints'
[WARN] [WallTime: 1452657772.647200] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[base_controller_spawner-5] process has finished cleanly
log file: /home/bakui/.ros/log/6d606e28-b9aa-11e5-833f-f0def108e351/base_controller_spawner-5*.log
[WARN] [WallTime: 1452657775.596162] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[arm_controller_spawner-8] process has finished cleanly
log file: /home/bakui/.ros/log/6d606e28-b9aa-11e5-833f-f0def108e351/arm_controller_spawner-8*.log
Error [ModelDatabase.cc:407] Unable to download model[model://arena_old/meshes/100x60.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://eight/meshes/eight.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://start/meshes/start.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://panel/meshes/panel.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://stem/meshes/stem.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [MeshShape.cc:64] No mesh specified
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1010] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1010] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Msg Waiting for model database update to complete...
[spawn_husky_model-12] process has finished cleanly
log file: /home/bakui/.ros/log/6d606e28-b9aa-11e5-833f-f0def108e351/spawn_husky_model-12*.log
[ INFO] [1452657834.537370438, 164.425000000]: MoveitSimpleControllerManager: Waiting for arm_controller/follow_joint_trajectory to come up
[ INFO] [1452657834.984742433, 164.425000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1452657834.984856207, 164.425000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1452657834.988467206, 164.425000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://stem/meshes/stem.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://arena_old/meshes/100x60.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://eight/meshes/eight.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://panel/meshes/panel.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://start/meshes/start.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://pad/meshes/10x10.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://stem/meshes/stem.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://arena_old/meshes/100x60.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://eight/meshes/eight.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://panel/meshes/panel.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
Error [ModelDatabase.cc:407] Unable to download model[model://start/meshes/start.dae]
Error [SystemPaths.cc:367] File or path does not exist[""]
Error [Visual.cc:2133] No mesh specified
[ INFO] [1452657835.293327364, 164.425000000]: Loading gazebo_ros_control plugin
[ INFO] [1452657835.293491267, 164.425000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1452657835.294864394, 164.425000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1452657835.399539262, 164.425000000]: No type element found in transmission 'r_gripper_trans'.
[ INFO] [1452657835.668044831, 164.425000000]: Loaded gazebo_ros_control.
[ INFO] [1452657835.674318935, 164.425000000]: f3d plugin missing <frameName>, defaults to world
[ INFO] [1452657835.682393639, 164.425000000]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1452657835.682461174, 164.425000000]: imu plugin missing <rpyOffset>, defaults to 0s
[ INFO] [1452657835.821879168, 164.446000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1452657835.871099478, 164.490000000]: Physics dynamic reconfigure ready.
[ERROR] [1452657837.589842232, 166.163000000]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1452657837.590833454, 166.164000000]: Loading robot model 'husky_robot_gazebo'...
[ INFO] [1452657837.590926042, 166.164000000]: No root joint specified. Assuming fixed joint
[ERROR] [1452657839.287507983, 167.751000000]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1452657839.288096475, 167.751000000]: Loading robot model 'husky_robot_gazebo'...
[ INFO] [1452657839.288156798, 167.751000000]: No root joint specified. Assuming fixed joint
[ INFO] [1452657840.976151283, 169.349000000]: Starting scene monitor
[ INFO] [1452657840.982641515, 169.355000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1452657840.984359577, 169.356000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1452657841.056780336, 169.425000000]: MoveitSimpleControllerManager: Waiting for arm_controller/follow_joint_trajectory to come up
[ WARN] [1452657846.265961527, 174.373000000]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20150912-1730/planning_scene_monitor/src/planning_scene_monitor.cpp:461
[ERROR] [1452657846.320951043, 174.425000000]: MoveitSimpleControllerManager: Action client not connected: arm_controller/follow_joint_trajectory
[ERROR] [1452657846.415546350, 174.515000000]: MoveitSimpleControllerManager: No type specified for controller r_gripper_controller
[ INFO] [1452657846.415666690, 174.515000000]: Returned 0 controllers in list
[ INFO] [1452657846.432631157, 174.531000000]: Trajectory execution is managing controllers
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
[ INFO] [1452657846.885630230, 174.960000000]: 

********************************************************
* MoveGroup using: 
*     - CartesianPathService
*     - ExecutePathService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - GetPlanningSceneService
*     - ExecutePathService
********************************************************

[ INFO] [1452657846.885704307, 174.960000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1452657846.885733752, 174.960000000]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ INFO] [1452657851.899533074, 179.851000000]: Constructing new MoveGroup connection for group 'ur5_arm' in namespace ''
[ INFO] [1452657852.675361108, 180.574000000]: Ready to take MoveGroup commands for group ur5_arm.
[ INFO] [1452657852.675441680, 180.574000000]: Looking around: no
[ INFO] [1452657852.675494776, 180.574000000]: Replanning: no
tongtybj commented 8 years ago

roslaunch-bakui-ThinkPad-W510-28788.log.txt

tongtybj commented 8 years ago

arm_controller_spawner-8.log.txt arm_controller_spawner-8-stdout.log.txt [Uploading base_controller_spawner-5.log.txt…]() [Uploading base_controller_spawner-5-stdout.log.txt…]()

[Uploading fake_joint_calibration-9.log.txt…]() [Uploading fake_joint_calibration-9-stdout.log.txt…]() [Uploading master.log.txt…]() [Uploading r_gripper_controller_spawner-11.log.txt…]()

[Uploading robot_state_publisher-4-stdout.log.txt…]() [Uploading roslaunch-bakui-ThinkPad-W510-28788.log.txt…]() [Uploading rosout.log.txt…]() [Uploading rosout-1-stdout.log.txt…]() [Uploading spawn_husky_model-12.log.txt…]() [Uploading spawn_husky_model-12-stdout.log.txt…]() [Uploading stow_ur5-10.log.txt…]() [Uploading stow_ur5-10-stdout.log.txt…]() [Uploading twist_mux-7-stdout.log.txt…]()

k-okada commented 8 years ago

@tongtybj you're running at huskey_simulaiton branch and I suspect you will have same issue if you run on indigo-devel branch

k-okada commented 8 years ago

this turns out we need latest ur_simulation from source code, deb version 1.1.5 is not working well.