Open y-yosuke opened 4 years ago
y-yosuke
commented
4 years ago y-yosuke
commented
2 years ago チュートリアルドキュメント内のキャプチャ画像が Indigo と Kinetic 版しか無いですね．
y-yosuke
commented
2 years ago NEXTAGE Open 以外のパッケージインストールも要確認ですね．
y-yosuke
commented
2 years ago [x] Set up keys のアップデートが必要
Ubuntu install of ROS *** - 1.3 Set up your keys
y-yosuke
commented
2 years ago debian パッケージ ros-melodic-minas はない
ros-melodic-minas からのインストールは ROS Melodic 版では出力されないようにすれば良さそう．y-yosuke
commented
2 years ago /temp/catkin_ws と ~/catkin_ws の2通りあって非統一的なのは修正すべきか？ そのままが良いのか？y-yosuke
commented
2 years ago y-yosuke
commented
2 years ago rosdep install --from-paths . --ignore-src -y が抜けている？ 不要？y-yosuke
commented
2 years ago ROS Melodic 版インストールソフトウェアまとめ
y-yosuke
commented
2 years ago https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1094185016
/tmp/catkin_ws の方はビルドしたソフトウェアを後で「インストール（非推奨）」するために /tmp/catkin_ws で作業しているため．
https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1094185756
も「インストール」時に依存関係にあるパッケージをインストールするため rosdep install は不要ということか．
git clone https//:github.com/〜/〜.git の 〜/〜 が変わるだけ的な？ y-yosuke
commented
2 years ago https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1094185371
「ソースインストール」はソースをビルドしてから「インストール」する方法なのでワークスペースでのビルド利用とは異なるため．
y-yosuke
commented
2 years ago roslaunch tra1_bringup tra1_bringup.launch simulation:=true で
libclass_loader.so: cannot open shared object file: No such file or directory と言われて動作しない．
robotuser@robotuser-PC:~/catkin_ws$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
... logging to /home/robotuser/.ros/log/d3a676f8-b897-11ec-b40e-50eb713af63d/roslaunch-robotuser-PC-14370.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.py is deprecated; please use xacro instead
started roslaunch server http://robotuser-PC:37599/
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /main/joint1/home_encoder_offset: 0
* /main/joint1/max_motor_speed: 3000
* /main/joint1/max_torque: 1000
* /main/joint1/motor_working_range: 1
* /main/joint1/over_load_level: 0
* /main/joint1/over_speed_level: 0
* /main/joint1/torque_for_emergency_stop: 0
* /main/joint2/home_encoder_offset: 0
* /main/joint2/max_motor_speed: 3000
* /main/joint2/max_torque: 1000
* /main/joint2/motor_working_range: 1
* /main/joint2/over_load_level: 0
* /main/joint2/over_speed_level: 0
* /main/joint2/torque_for_emergency_stop: 0
* /main/joint3/home_encoder_offset: 0
* /main/joint3/max_motor_speed: 3000
* /main/joint3/max_torque: 1500
* /main/joint3/motor_working_range: 1
* /main/joint3/over_load_level: 0
* /main/joint3/over_speed_level: 0
* /main/joint3/torque_for_emergency_stop: 0
* /main/joint4/home_encoder_offset: 0
* /main/joint4/max_motor_speed: 3000
* /main/joint4/max_torque: 1000
* /main/joint4/motor_working_range: 1
* /main/joint4/over_load_level: 0
* /main/joint4/over_speed_level: 0
* /main/joint4/torque_for_emergency_stop: 0
* /main/joint5/home_encoder_offset: 0
* /main/joint5/max_motor_speed: 3000
* /main/joint5/max_torque: 1000
* /main/joint5/motor_working_range: 1
* /main/joint5/over_load_level: 0
* /main/joint5/over_speed_level: 0
* /main/joint5/torque_for_emergency_stop: 0
* /main/joint6/home_encoder_offset: 0
* /main/joint6/max_motor_speed: 3000
* /main/joint6/max_torque: 1000
* /main/joint6/motor_working_range: 1
* /main/joint6/over_load_level: 0
* /main/joint6/over_speed_level: 0
* /main/joint6/torque_for_emergency_stop: 0
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/constraints/goal_time: 2.0
* /position_trajectory_controller/constraints/joint1/goal: 0.2
* /position_trajectory_controller/constraints/joint1/trajectory: 0
* /position_trajectory_controller/constraints/joint2/goal: 0.2
* /position_trajectory_controller/constraints/joint2/trajectory: 0
* /position_trajectory_controller/constraints/joint3/goal: 0.2
* /position_trajectory_controller/constraints/joint3/trajectory: 0
* /position_trajectory_controller/constraints/joint4/goal: 0.2
* /position_trajectory_controller/constraints/joint4/trajectory: 0
* /position_trajectory_controller/constraints/joint5/goal: 0.2
* /position_trajectory_controller/constraints/joint5/trajectory: 0
* /position_trajectory_controller/constraints/joint6/goal: 0.2
* /position_trajectory_controller/constraints/joint6/trajectory: 0
* /position_trajectory_controller/constraints/stopped_velocity_tolerance: 0.1
* /position_trajectory_controller/joints: ['joint1', 'joint...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
controller_spawner (controller_manager/spawner)
main (minas_control/main)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
world_link_broadcaster (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [14383]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d3a676f8-b897-11ec-b40e-50eb713af63d
process[rosout-1]: started with pid [14394]
started core service [/rosout]
process[main-2]: started with pid [14401]
/home/robotuser/catkin_ws/devel/lib/minas_control/main: error while loading shared libraries: libclass_loader.so: cannot open shared object file: No such file or directory
[main-2] process has died [pid 14401, exit code 127, cmd /home/robotuser/catkin_ws/devel/lib/minas_control/main --loopback __name:=main __log:=/home/robotuser/.ros/log/d3a676f8-b897-11ec-b40e-50eb713af63d/main-2.log].
log file: /home/robotuser/.ros/log/d3a676f8-b897-11ec-b40e-50eb713af63d/main-2*.log
process[world_link_broadcaster-3]: started with pid [14402]
process[robot_state_publisher-4]: started with pid [14403]
process[controller_spawner-5]: started with pid [14409]
[WARN] [1649572278.455070]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1649572278.456253]: Controller Spawner: Waiting for service controller_manager/load_controller
^C[controller_spawner-5] killing on exit
[robot_state_publisher-4] killing on exit
[world_link_broadcaster-3] killing on exit
[WARN] [1649572300.216564]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robotuser@robotuser-PC:~/catkin_ws$ ^Csudo apt install libclass-loader-dev すると次は sudo apt install libclass-loader-dev と出る．
sudo apt install libroslib-dev の後は libxmlrpcpp.so: cannot open shared object file: No such file or directory
シェアドライブラリに関する作業が何か抜けていた？？？
robotuser@robotuser-PC:~/catkin_ws$ sudo apt install libclass-loader-dev
[sudo] password for robotuser:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
libfwup1 libllvm9 shim
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
libclass-loader0d
The following NEW packages will be installed:
libclass-loader-dev libclass-loader0d
0 upgraded, 2 newly installed, 0 to remove and 0 not upgraded.
Need to get 61.8 kB of archives.
After this operation, 271 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 libclass-loader0d amd64 0.3.8-1build2 [45.9 kB]
Get:2 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 libclass-loader-dev amd64 0.3.8-1build2 [15.9 kB]
Fetched 61.8 kB in 0s (276 kB/s)
Selecting previously unselected package libclass-loader0d:amd64.
(Reading database ... 275710 files and directories currently installed.)
Preparing to unpack .../libclass-loader0d_0.3.8-1build2_amd64.deb ...
Unpacking libclass-loader0d:amd64 (0.3.8-1build2) ...
Selecting previously unselected package libclass-loader-dev.
Preparing to unpack .../libclass-loader-dev_0.3.8-1build2_amd64.deb ...
Unpacking libclass-loader-dev (0.3.8-1build2) ...
Setting up libclass-loader0d:amd64 (0.3.8-1build2) ...
Setting up libclass-loader-dev (0.3.8-1build2) ...
Processing triggers for libc-bin (2.27-3ubuntu1.5) ...
robotuser@robotuser-PC:~/catkin_ws$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
... logging to /home/robotuser/.ros/log/6d79ad44-b899-11ec-b40e-50eb713af63d/roslaunch-robotuser-PC-15055.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.py is deprecated; please use xacro instead
started roslaunch server http://robotuser-PC:35879/
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /main/joint1/home_encoder_offset: 0
* /main/joint1/max_motor_speed: 3000
* /main/joint1/max_torque: 1000
* /main/joint1/motor_working_range: 1
* /main/joint1/over_load_level: 0
* /main/joint1/over_speed_level: 0
* /main/joint1/torque_for_emergency_stop: 0
* /main/joint2/home_encoder_offset: 0
* /main/joint2/max_motor_speed: 3000
* /main/joint2/max_torque: 1000
* /main/joint2/motor_working_range: 1
* /main/joint2/over_load_level: 0
* /main/joint2/over_speed_level: 0
* /main/joint2/torque_for_emergency_stop: 0
* /main/joint3/home_encoder_offset: 0
* /main/joint3/max_motor_speed: 3000
* /main/joint3/max_torque: 1500
* /main/joint3/motor_working_range: 1
* /main/joint3/over_load_level: 0
* /main/joint3/over_speed_level: 0
* /main/joint3/torque_for_emergency_stop: 0
* /main/joint4/home_encoder_offset: 0
* /main/joint4/max_motor_speed: 3000
* /main/joint4/max_torque: 1000
* /main/joint4/motor_working_range: 1
* /main/joint4/over_load_level: 0
* /main/joint4/over_speed_level: 0
* /main/joint4/torque_for_emergency_stop: 0
* /main/joint5/home_encoder_offset: 0
* /main/joint5/max_motor_speed: 3000
* /main/joint5/max_torque: 1000
* /main/joint5/motor_working_range: 1
* /main/joint5/over_load_level: 0
* /main/joint5/over_speed_level: 0
* /main/joint5/torque_for_emergency_stop: 0
* /main/joint6/home_encoder_offset: 0
* /main/joint6/max_motor_speed: 3000
* /main/joint6/max_torque: 1000
* /main/joint6/motor_working_range: 1
* /main/joint6/over_load_level: 0
* /main/joint6/over_speed_level: 0
* /main/joint6/torque_for_emergency_stop: 0
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/constraints/goal_time: 2.0
* /position_trajectory_controller/constraints/joint1/goal: 0.2
* /position_trajectory_controller/constraints/joint1/trajectory: 0
* /position_trajectory_controller/constraints/joint2/goal: 0.2
* /position_trajectory_controller/constraints/joint2/trajectory: 0
* /position_trajectory_controller/constraints/joint3/goal: 0.2
* /position_trajectory_controller/constraints/joint3/trajectory: 0
* /position_trajectory_controller/constraints/joint4/goal: 0.2
* /position_trajectory_controller/constraints/joint4/trajectory: 0
* /position_trajectory_controller/constraints/joint5/goal: 0.2
* /position_trajectory_controller/constraints/joint5/trajectory: 0
* /position_trajectory_controller/constraints/joint6/goal: 0.2
* /position_trajectory_controller/constraints/joint6/trajectory: 0
* /position_trajectory_controller/constraints/stopped_velocity_tolerance: 0.1
* /position_trajectory_controller/joints: ['joint1', 'joint...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
controller_spawner (controller_manager/spawner)
main (minas_control/main)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
world_link_broadcaster (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [15069]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 6d79ad44-b899-11ec-b40e-50eb713af63d
process[rosout-1]: started with pid [15080]
started core service [/rosout]
process[main-2]: started with pid [15087]
/home/robotuser/catkin_ws/devel/lib/minas_control/main: error while loading shared libraries: libroslib.so: cannot open shared object file: No such file or directory
process[world_link_broadcaster-3]: started with pid [15088]
process[robot_state_publisher-4]: started with pid [15089]
process[controller_spawner-5]: started with pid [15094]
[main-2] process has died [pid 15087, exit code 127, cmd /home/robotuser/catkin_ws/devel/lib/minas_control/main --loopback __name:=main __log:=/home/robotuser/.ros/log/6d79ad44-b899-11ec-b40e-50eb713af63d/main-2.log].
log file: /home/robotuser/.ros/log/6d79ad44-b899-11ec-b40e-50eb713af63d/main-2*.log
[WARN] [1649572966.081008]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1649572966.083578]: Controller Spawner: Waiting for service controller_manager/load_controller
^C[controller_spawner-5] killing on exit
[robot_state_publisher-4] killing on exit
[world_link_broadcaster-3] killing on exit
[WARN] [1649572976.864012]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robotuser@robotuser-PC:~/catkin_ws/src$ sudo apt install libroslib-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
libfwup1 libllvm9 shim
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
libroslib0d librospack-dev librospack0d
The following NEW packages will be installed:
libroslib-dev libroslib0d librospack-dev librospack0d
0 upgraded, 4 newly installed, 0 to remove and 0 not upgraded.
Need to get 132 kB of archives.
After this operation, 489 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 librospack0d amd64 2.4.3-1build1 [87.1 kB]
Get:2 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 librospack-dev amd64 2.4.3-1build1 [11.8 kB]
Get:3 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 libroslib0d amd64 1.14.2-1 [25.1 kB]
Get:4 http://jp.archive.ubuntu.com/ubuntu bionic/universe amd64 libroslib-dev amd64 1.14.2-1 [7,800 B]
Fetched 132 kB in 0s (840 kB/s)
Selecting previously unselected package librospack0d:amd64.
(Reading database ... 275734 files and directories currently installed.)
Preparing to unpack .../librospack0d_2.4.3-1build1_amd64.deb ...
Unpacking librospack0d:amd64 (2.4.3-1build1) ...
Selecting previously unselected package librospack-dev.
Preparing to unpack .../librospack-dev_2.4.3-1build1_amd64.deb ...
Unpacking librospack-dev (2.4.3-1build1) ...
Selecting previously unselected package libroslib0d:amd64.
Preparing to unpack .../libroslib0d_1.14.2-1_amd64.deb ...
Unpacking libroslib0d:amd64 (1.14.2-1) ...
Selecting previously unselected package libroslib-dev:amd64.
Preparing to unpack .../libroslib-dev_1.14.2-1_amd64.deb ...
Unpacking libroslib-dev:amd64 (1.14.2-1) ...
Setting up librospack0d:amd64 (2.4.3-1build1) ...
Setting up librospack-dev (2.4.3-1build1) ...
Setting up libroslib0d:amd64 (1.14.2-1) ...
Setting up libroslib-dev:amd64 (1.14.2-1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.5) ...
robotuser@robotuser-PC:~/catkin_ws/src$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
... logging to /home/robotuser/.ros/log/36e8f5f4-b89a-11ec-b40e-50eb713af63d/roslaunch-robotuser-PC-15332.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.py is deprecated; please use xacro instead
started roslaunch server http://robotuser-PC:45021/
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /main/joint1/home_encoder_offset: 0
* /main/joint1/max_motor_speed: 3000
* /main/joint1/max_torque: 1000
* /main/joint1/motor_working_range: 1
* /main/joint1/over_load_level: 0
* /main/joint1/over_speed_level: 0
* /main/joint1/torque_for_emergency_stop: 0
* /main/joint2/home_encoder_offset: 0
* /main/joint2/max_motor_speed: 3000
* /main/joint2/max_torque: 1000
* /main/joint2/motor_working_range: 1
* /main/joint2/over_load_level: 0
* /main/joint2/over_speed_level: 0
* /main/joint2/torque_for_emergency_stop: 0
* /main/joint3/home_encoder_offset: 0
* /main/joint3/max_motor_speed: 3000
* /main/joint3/max_torque: 1500
* /main/joint3/motor_working_range: 1
* /main/joint3/over_load_level: 0
* /main/joint3/over_speed_level: 0
* /main/joint3/torque_for_emergency_stop: 0
* /main/joint4/home_encoder_offset: 0
* /main/joint4/max_motor_speed: 3000
* /main/joint4/max_torque: 1000
* /main/joint4/motor_working_range: 1
* /main/joint4/over_load_level: 0
* /main/joint4/over_speed_level: 0
* /main/joint4/torque_for_emergency_stop: 0
* /main/joint5/home_encoder_offset: 0
* /main/joint5/max_motor_speed: 3000
* /main/joint5/max_torque: 1000
* /main/joint5/motor_working_range: 1
* /main/joint5/over_load_level: 0
* /main/joint5/over_speed_level: 0
* /main/joint5/torque_for_emergency_stop: 0
* /main/joint6/home_encoder_offset: 0
* /main/joint6/max_motor_speed: 3000
* /main/joint6/max_torque: 1000
* /main/joint6/motor_working_range: 1
* /main/joint6/over_load_level: 0
* /main/joint6/over_speed_level: 0
* /main/joint6/torque_for_emergency_stop: 0
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/constraints/goal_time: 2.0
* /position_trajectory_controller/constraints/joint1/goal: 0.2
* /position_trajectory_controller/constraints/joint1/trajectory: 0
* /position_trajectory_controller/constraints/joint2/goal: 0.2
* /position_trajectory_controller/constraints/joint2/trajectory: 0
* /position_trajectory_controller/constraints/joint3/goal: 0.2
* /position_trajectory_controller/constraints/joint3/trajectory: 0
* /position_trajectory_controller/constraints/joint4/goal: 0.2
* /position_trajectory_controller/constraints/joint4/trajectory: 0
* /position_trajectory_controller/constraints/joint5/goal: 0.2
* /position_trajectory_controller/constraints/joint5/trajectory: 0
* /position_trajectory_controller/constraints/joint6/goal: 0.2
* /position_trajectory_controller/constraints/joint6/trajectory: 0
* /position_trajectory_controller/constraints/stopped_velocity_tolerance: 0.1
* /position_trajectory_controller/joints: ['joint1', 'joint...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
controller_spawner (controller_manager/spawner)
main (minas_control/main)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
world_link_broadcaster (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [15345]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 36e8f5f4-b89a-11ec-b40e-50eb713af63d
process[rosout-1]: started with pid [15356]
started core service [/rosout]
process[main-2]: started with pid [15363]
/home/robotuser/catkin_ws/devel/lib/minas_control/main: error while loading shared libraries: libxmlrpcpp.so: cannot open shared object file: No such file or directory
process[world_link_broadcaster-3]: started with pid [15364]
[main-2] process has died [pid 15363, exit code 127, cmd /home/robotuser/catkin_ws/devel/lib/minas_control/main --loopback __name:=main __log:=/home/robotuser/.ros/log/36e8f5f4-b89a-11ec-b40e-50eb713af63d/main-2.log].
log file: /home/robotuser/.ros/log/36e8f5f4-b89a-11ec-b40e-50eb713af63d/main-2*.log
process[robot_state_publisher-4]: started with pid [15365]
process[controller_spawner-5]: started with pid [15370]
[WARN] [1649573304.014879]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1649573304.017699]: Controller Spawner: Waiting for service controller_manager/load_controller
^C[controller_spawner-5] killing on exit
[robot_state_publisher-4] killing on exit
[world_link_broadcaster-3] killing on exit
[WARN] [1649573314.980425]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robotuser@robotuser-PC:~/catkin_ws/src$khi duaro は次の気になる点はあるものの Gazebo-MoveIt にて動作計画とその実行ができることを確認しました．
y-yosuke
commented
2 years ago NEXTAGE OPEN については既にシミュレータでの動作確認済ですが改めて動作確認をしました．
y-yosuke
commented
2 years ago myCobot もシミュレータの起動と動作計画・実行の確認をしました．
y-yosuke
commented
2 years ago y-yosuke
commented
2 years ago duaro はロボットデザインが以前と異なるのでもしかしたら可動範囲外の姿勢を指定しれいるのかもしれないけど動作計画が見つからない．
あと，Gazebo シミュレータを起動したときのロボットの姿勢が特異点にいるのでそれが原因か？？？ https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1094212488
robotuser@robotuser-PC:~/catkin_ws$ rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses.py
[ INFO] [1649660361.503416964]: Loading robot model 'khi_duaro'...
[ INFO] [1649660361.505158212]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1649660361.817055325, 182.219000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/lower_arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1649660361.849346309, 182.250000000]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ WARN] [1649660361.860132301, 182.261000000]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[INFO] [1649660361.883834, 0.000000]: Move Groups defined in the robot :
botharms
lower_arm
lower_arm_tool
upper_arm
upper_arm_tool
[ INFO] [1649660361.914424209, 182.314000000]: Loading robot model 'khi_duaro'...
[ INFO] [1649660361.914501433, 182.314000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1649660362.190964613, 182.581000000]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ WARN] [1649660362.202976689, 182.591000000]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1649660363.425721190, 183.778000000]: Ready to take commands for planning group upper_arm.
[INFO] [1649660363.426529, 0.000000]: Start Pose Target 1
[INFO] [1649660363.432055, 0.000000]: Set Target to Pose:
position:
x: 0.0
y: 0.55
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
[ INFO] [1649660365.555810315, 185.842000000]: ABORTED: No motion plan found. No execution attempted.
[INFO] [1649660365.556170, 185.842000]: Start Pose Target 2
[INFO] [1649660365.559159, 185.843000]: Set Target to Pose:
position:
x: -0.55
y: -0.0
z: 1.05
orientation:
x: 0.0
y: 0.0
z: 0.707
w: 0.707
[ INFO] [1649660368.435966713, 188.623000000]: ABORTED: Timeout reached
robotuser@robotuser-PC:~/catkin_ws$ pose_target_1.orientation.w = 0.0 の値を 1.0 にして normalize 状態でも同じ
y-yosuke
commented
2 years ago gazebo duaro robot は起動時に一瞬ニュートラルポジションっぽい姿勢になるがその後特異点姿勢になってしまう．
＜起動数秒後の一瞬＞
＜特異点姿勢（関節角度ゼロ？）＞
gazebo のターミナル出力では ERROR: Incompatible arguments to call service: Not enough arguments: が出ています．
robotuser@robotuser-PC:~/catkin_ws$ roslaunch khi_duaro_gazebo duaro_world.launch
... logging to /home/robotuser/.ros/log/7065704a-b968-11ec-b40e-50eb713af63d/roslaunch-robotuser-PC-5345.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://robotuser-PC:41533/
SUMMARY
========
PARAMETERS
* /duaro_lower_arm_controller/constraints/goal_time: 2.0
* /duaro_lower_arm_controller/constraints/lower_joint1/goal: 0.2
* /duaro_lower_arm_controller/constraints/lower_joint1/trajectory: 0
* /duaro_lower_arm_controller/constraints/lower_joint2/goal: 0.2
* /duaro_lower_arm_controller/constraints/lower_joint2/trajectory: 0
* /duaro_lower_arm_controller/constraints/lower_joint3/goal: 0.2
* /duaro_lower_arm_controller/constraints/lower_joint3/trajectory: 0
* /duaro_lower_arm_controller/constraints/lower_joint4/goal: 0.2
* /duaro_lower_arm_controller/constraints/lower_joint4/trajectory: 0
* /duaro_lower_arm_controller/constraints/stopped_velocity_tolerance: 0.1
* /duaro_lower_arm_controller/joints: ['lower_joint1', ...
* /duaro_lower_arm_controller/type: position_controll...
* /duaro_lower_joint_group_controller/joints: ['lower_joint1', ...
* /duaro_lower_joint_group_controller/type: position_controll...
* /duaro_upper_arm_controller/action_monitor_rate: 20
* /duaro_upper_arm_controller/constraints/goal_time: 2.0
* /duaro_upper_arm_controller/constraints/stopped_velocity_tolerance: 0.1
* /duaro_upper_arm_controller/constraints/upper_joint1/goal: 0.2
* /duaro_upper_arm_controller/constraints/upper_joint1/trajectory: 0
* /duaro_upper_arm_controller/constraints/upper_joint2/goal: 0.2
* /duaro_upper_arm_controller/constraints/upper_joint2/trajectory: 0
* /duaro_upper_arm_controller/constraints/upper_joint3/goal: 0.2
* /duaro_upper_arm_controller/constraints/upper_joint3/trajectory: 0
* /duaro_upper_arm_controller/constraints/upper_joint4/goal: 0.2
* /duaro_upper_arm_controller/constraints/upper_joint4/trajectory: 0
* /duaro_upper_arm_controller/joints: ['upper_joint1', ...
* /duaro_upper_arm_controller/state_publish_rate: 50
* /duaro_upper_arm_controller/type: position_controll...
* /duaro_upper_joint_group_controller/joints: ['upper_joint1', ...
* /duaro_upper_joint_group_controller/type: position_controll...
* /gazebo/enable_ros_network: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
fake_joint_calibration (rostopic/rostopic)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
go_initial (khi_duaro_gazebo/go_initial.sh)
joint_group_controller_manager (controller_manager/controller_manager)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [5358]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7065704a-b968-11ec-b40e-50eb713af63d
process[rosout-1]: started with pid [5369]
started core service [/rosout]
process[gazebo-2]: started with pid [5376]
process[gazebo_gui-3]: started with pid [5381]
process[spawn_gazebo_model-4]: started with pid [5386]
process[robot_state_publisher-5]: started with pid [5387]
process[fake_joint_calibration-6]: started with pid [5388]
process[controller_spawner-7]: started with pid [5389]
process[joint_group_controller_manager-8]: started with pid [5394]
process[go_initial-9]: started with pid [5396]
[ INFO] [1649661877.063592888]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1649661877.065475594]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1649661877.069778635]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1649661877.070966694]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[WARN] [1649661877.076654, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1649661877.077689, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649661877.418917, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1649661877.435007, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1649661877.437430, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1649661877.438563253]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1649661877.739051, 0.150000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1649661877.747202270, 0.150000000]: Physics dynamic reconfigure ready.
[ INFO] [1649661877.886587671, 0.150000000]: Loading gazebo_ros_control plugin
[ INFO] [1649661877.886706507, 0.150000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1649661877.887452736, 0.150000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1649661877.999046468, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/lower_joint1
[ERROR] [1649661877.999759298, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/lower_joint2
[ERROR] [1649661878.000362763, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/lower_joint3
[ERROR] [1649661878.000976609, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/lower_joint4
[ERROR] [1649661878.001597717, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/upper_joint1
[ERROR] [1649661878.002042439, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/upper_joint2
[ERROR] [1649661878.002505578, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/upper_joint3
[ERROR] [1649661878.002903208, 0.150000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/upper_joint4
[ INFO] [1649661878.005675229, 0.150000000]: Loaded gazebo_ros_control.
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/robotuser/.ros/log/7065704a-b968-11ec-b40e-50eb713af63d/spawn_gazebo_model-4*.log
Loaded 'duaro_lower_joint_group_controller'
Loaded 'duaro_upper_joint_group_controller'
[INFO] [1649661878.284367, 0.430000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649661878.287732, 0.434000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649661878.292300, 0.438000]: Loading controller: joint_state_controller
[INFO] [1649661878.301733, 0.448000]: Loading controller: duaro_lower_arm_controller
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[INFO] [1649661878.341623, 0.488000]: Loading controller: duaro_upper_arm_controller
[INFO] [1649661878.365556, 0.512000]: Controller Spawner: Loaded controllers: joint_state_controller, duaro_lower_arm_controller, duaro_upper_arm_controller
[INFO] [1649661878.368557, 0.515000]: Started controllers: joint_state_controller, duaro_lower_arm_controller, duaro_upper_arm_controller
[joint_group_controller_manager-8] process has finished cleanly
log file: /home/robotuser/.ros/log/7065704a-b968-11ec-b40e-50eb713af63d/joint_group_controller_manager-8*.log
ERROR: Incompatible arguments to call service:
Not enough arguments:
* Given: [[], ['duaro_lower_arm_controller', 'duaro_upper_arm_controller', 'joint_state_controller'], 2]
* Expected: ['start_controllers', 'stop_controllers', 'strictness', 'start_asap', 'timeout']
Provided arguments are:
* [] (type list)
* ['duaro_lower_arm_controller', 'duaro_upper_arm_controller', 'joint_state_controller'] (type list)
* 2 (type int)
Service arguments are: [start_controllers stop_controllers strictness start_asap timeout]
ERROR: Incompatible arguments to call service:
Not enough arguments:
* Given: [['duaro_lower_arm_controller', 'duaro_upper_arm_controller', 'joint_state_controller'], [], 2]
* Expected: ['start_controllers', 'stop_controllers', 'strictness', 'start_asap', 'timeout']
Provided arguments are:
* ['duaro_lower_arm_controller', 'duaro_upper_arm_controller', 'joint_state_controller'] (type list)
* [] (type list)
* 2 (type int)
Service arguments are: [start_controllers stop_controllers strictness start_asap timeout]
[go_initial-9] process has finished cleanly
log file: /home/robotuser/.ros/log/7065704a-b968-11ec-b40e-50eb713af63d/go_initial-9*.log
^C[controller_spawner-7] killing on exit
[fake_joint_calibration-6] killing on exit
[INFO] [1649661911.445098, 28.455000]: Shutting down spawner. Stopping and unloading controllers...
[robot_state_publisher-5] killing on exit
[gazebo_gui-3] killing on exit
[INFO] [1649661911.448007, 28.457000]: Stopping all controllers...
[gazebo-2] killing on exit
[controller_spawner-7] escalating to SIGTERM
[WARN] [1649661926.475797, 28.461000]: Controller Spawner error while taking down controllers: transport error completing service call: unable to receive data from sender, check sender's logs for details
[gazebo-2] escalating to SIGTERM
[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robotuser@robotuser-PC:~/catkin_ws$ myCobot は mycobot_moveit_tutorial_poses.py で意図したとおり動いているよう．
y-yosuke
commented
2 years ago rtmros_nextage を debian パッケージインストールで利用時に roslaunch nextage_ros_bridge ar_headcamera.launch sim:=true で Error: specified file /opt/ros/melodic/share/nextage_gazebo/models/MarkerBox-60mm/model.sdf does not exist などとエラーが出る
robotuser@robotuser-PC:~/catkin_ws$ roslaunch nextage_ros_bridge ar_headcamera.launch sim:=true
... logging to /home/robotuser/.ros/log/95718a2a-baf5-11ec-b40e-50eb713af63d/roslaunch-robotuser-PC-9920.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://robotuser-PC:39207/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
ar_track_alvar (ar_track_alvar/individualMarkersNoKinect)
camera_head_l_link_to_frame (tf/static_transform_publisher)
camera_head_r_link_to_frame (tf/static_transform_publisher)
spawn_sdf_armarkerbox (gazebo_ros/spawn_model)
spawn_sdf_cafetable (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311
process[ar_track_alvar-1]: started with pid [9936]
process[spawn_sdf_cafetable-2]: started with pid [9937]
process[spawn_sdf_armarkerbox-3]: started with pid [9938]
process[camera_head_l_link_to_frame-4]: started with pid [9939]
process[camera_head_r_link_to_frame-5]: started with pid [9940]
[ WARN] [1649832834.108660816]: Command line arguments are deprecated. Consider using ROS parameters and remappings.
[ INFO] [1649832834.123285919]: Subscribing to info topic
[ INFO] [1649832834.167426901]: AR tracker reconfigured: ENABLED 10.00 4.50 0.08 0.20
[FATAL] [1649832835.506425, 0.000000]: Error: specified file /opt/ros/melodic/share/nextage_gazebo/models/MarkerBox-60mm/model.sdf does not exist
[FATAL] [1649832835.570691, 0.000000]: Error: specified file /opt/ros/melodic/share/nextage_gazebo/models/cafe_table/model.sdf does not exist
[spawn_sdf_armarkerbox-3] process has died [pid 9938, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /opt/ros/melodic/share/nextage_gazebo/models/MarkerBox-60mm/model.sdf -sdf -x 0.40 -z 1.0 -model MarkerBox-60mm __name:=spawn_sdf_armarkerbox __log:=/home/robotuser/.ros/log/95718a2a-baf5-11ec-b40e-50eb713af63d/spawn_sdf_armarkerbox-3.log].
log file: /home/robotuser/.ros/log/95718a2a-baf5-11ec-b40e-50eb713af63d/spawn_sdf_armarkerbox-3*.log
[spawn_sdf_cafetable-2] process has died [pid 9937, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /opt/ros/melodic/share/nextage_gazebo/models/cafe_table/model.sdf -sdf -x 0.65 -model Cafe_Table __name:=spawn_sdf_cafetable __log:=/home/robotuser/.ros/log/95718a2a-baf5-11ec-b40e-50eb713af63d/spawn_sdf_cafetable-2.log].
log file: /home/robotuser/.ros/log/95718a2a-baf5-11ec-b40e-50eb713af63d/spawn_sdf_cafetable-2*.log
^C[camera_head_r_link_to_frame-5] killing on exit
[camera_head_l_link_to_frame-4] killing on exit
[ar_track_alvar-1] killing on exit
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
[ar_track_alvar-1] escalating to SIGTERM
[ar_track_alvar-1] escalating to SIGKILL
Shutdown errors:
* process[ar_track_alvar-1, pid 9936]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done（メモ）
y-yosuke
commented
2 years ago ROS Melodic での動作状況 ＆ ToDo まとめ
roslaunch roslaunch と重複記述y-yosuke
commented
2 years ago MINAS TRA1 について一応確認のため ROS Kinetic での debian パッケージ取得インストールで動作計画の実行確認をして正常動作しました．
y-yosuke
commented
2 years ago --from-path → --from-paths
y-yosuke
commented
2 years ago ROS Melodic で MINAS Tra1 をソースインストールで /opt/ros/melodic/ にインストールしたところ lib〜 のエラーは出なく正常に MoveIt で動作計画できました．
robotuser@robotuser-PC:~$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
... logging to /home/robotuser/.ros/log/199423c6-bd4e-11ec-9a55-50eb713af63d/roslaunch-robotuser-PC-13902.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.py is deprecated; please use xacro instead
started roslaunch server http://robotuser-PC:37277/
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /main/joint1/home_encoder_offset: 0
* /main/joint1/max_motor_speed: 3000
* /main/joint1/max_torque: 1000
* /main/joint1/motor_working_range: 1
* /main/joint1/over_load_level: 0
* /main/joint1/over_speed_level: 0
* /main/joint1/torque_for_emergency_stop: 0
* /main/joint2/home_encoder_offset: 0
* /main/joint2/max_motor_speed: 3000
* /main/joint2/max_torque: 1000
* /main/joint2/motor_working_range: 1
* /main/joint2/over_load_level: 0
* /main/joint2/over_speed_level: 0
* /main/joint2/torque_for_emergency_stop: 0
* /main/joint3/home_encoder_offset: 0
* /main/joint3/max_motor_speed: 3000
* /main/joint3/max_torque: 1500
* /main/joint3/motor_working_range: 1
* /main/joint3/over_load_level: 0
* /main/joint3/over_speed_level: 0
* /main/joint3/torque_for_emergency_stop: 0
* /main/joint4/home_encoder_offset: 0
* /main/joint4/max_motor_speed: 3000
* /main/joint4/max_torque: 1000
* /main/joint4/motor_working_range: 1
* /main/joint4/over_load_level: 0
* /main/joint4/over_speed_level: 0
* /main/joint4/torque_for_emergency_stop: 0
* /main/joint5/home_encoder_offset: 0
* /main/joint5/max_motor_speed: 3000
* /main/joint5/max_torque: 1000
* /main/joint5/motor_working_range: 1
* /main/joint5/over_load_level: 0
* /main/joint5/over_speed_level: 0
* /main/joint5/torque_for_emergency_stop: 0
* /main/joint6/home_encoder_offset: 0
* /main/joint6/max_motor_speed: 3000
* /main/joint6/max_torque: 1000
* /main/joint6/motor_working_range: 1
* /main/joint6/over_load_level: 0
* /main/joint6/over_speed_level: 0
* /main/joint6/torque_for_emergency_stop: 0
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/constraints/goal_time: 2.0
* /position_trajectory_controller/constraints/joint1/goal: 0.2
* /position_trajectory_controller/constraints/joint1/trajectory: 0
* /position_trajectory_controller/constraints/joint2/goal: 0.2
* /position_trajectory_controller/constraints/joint2/trajectory: 0
* /position_trajectory_controller/constraints/joint3/goal: 0.2
* /position_trajectory_controller/constraints/joint3/trajectory: 0
* /position_trajectory_controller/constraints/joint4/goal: 0.2
* /position_trajectory_controller/constraints/joint4/trajectory: 0
* /position_trajectory_controller/constraints/joint5/goal: 0.2
* /position_trajectory_controller/constraints/joint5/trajectory: 0
* /position_trajectory_controller/constraints/joint6/goal: 0.2
* /position_trajectory_controller/constraints/joint6/trajectory: 0
* /position_trajectory_controller/constraints/stopped_velocity_tolerance: 0.1
* /position_trajectory_controller/joints: ['joint1', 'joint...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
controller_spawner (controller_manager/spawner)
main (minas_control/main)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
world_link_broadcaster (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [13916]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 199423c6-bd4e-11ec-9a55-50eb713af63d
process[rosout-1]: started with pid [13927]
started core service [/rosout]
process[main-2]: started with pid [13934]
process[world_link_broadcaster-3]: started with pid [13935]
Failed to lock memory. It is recommended to set permission to executables, for example: sudo setcap cap_net_raw,cap_ipc_lock=+ep main: Cannot allocate memory
[ WARN] [1650090368.550973222]: Continue running without mlockall
process[robot_state_publisher-4]: started with pid [13936]
[ INFO] [1650090368.555776533]: Minas Hardware Interface in simulation mode
process[controller_spawner-5]: started with pid [13945]
[ INFO] [1650090368.560941926]: ~joint1/torque_for_emergency_stop : 0
[ INFO] [1650090368.560972437]: ~joint1/over_load_level : 0
[ INFO] [1650090368.560987953]: ~joint1/over_speed_level : 0
[ INFO] [1650090368.561019528]: ~joint1/motor_working_range : 1
[ INFO] [1650090368.562435351]: ~joint1/max_motor_speed : 3000
[ INFO] [1650090368.562458413]: ~joint1/max_torque : 1000
[ INFO] [1650090368.563080569]: ~joint1/home_encoder_offset : 0
[ INFO] [1650090368.565864476]: ~joint2/torque_for_emergency_stop : 0
[ INFO] [1650090368.565888946]: ~joint2/over_load_level : 0
[ INFO] [1650090368.565897164]: ~joint2/over_speed_level : 0
[ INFO] [1650090368.565912025]: ~joint2/motor_working_range : 1
[ INFO] [1650090368.567676754]: ~joint2/max_motor_speed : 3000
[ INFO] [1650090368.567706881]: ~joint2/max_torque : 1000
[ INFO] [1650090368.568563797]: ~joint2/home_encoder_offset : 0
[ INFO] [1650090368.570966719]: ~joint3/torque_for_emergency_stop : 0
[ INFO] [1650090368.570994575]: ~joint3/over_load_level : 0
[ INFO] [1650090368.571007137]: ~joint3/over_speed_level : 0
[ INFO] [1650090368.571021281]: ~joint3/motor_working_range : 1
[ INFO] [1650090368.572322360]: ~joint3/max_motor_speed : 3000
[ INFO] [1650090368.572347689]: ~joint3/max_torque : 1500
[ INFO] [1650090368.573055864]: ~joint3/home_encoder_offset : 0
[ INFO] [1650090368.576302585]: ~joint4/torque_for_emergency_stop : 0
[ INFO] [1650090368.576327346]: ~joint4/over_load_level : 0
[ INFO] [1650090368.576338545]: ~joint4/over_speed_level : 0
[ INFO] [1650090368.576352466]: ~joint4/motor_working_range : 1
[ INFO] [1650090368.577775807]: ~joint4/max_motor_speed : 3000
[ INFO] [1650090368.577795113]: ~joint4/max_torque : 1000
[ INFO] [1650090368.578175077]: ~joint4/home_encoder_offset : 0
[ INFO] [1650090368.579583179]: ~joint5/torque_for_emergency_stop : 0
[ INFO] [1650090368.579602044]: ~joint5/over_load_level : 0
[ INFO] [1650090368.579612754]: ~joint5/over_speed_level : 0
[ INFO] [1650090368.579626780]: ~joint5/motor_working_range : 1
[ INFO] [1650090368.580360533]: ~joint5/max_motor_speed : 3000
[ INFO] [1650090368.580375492]: ~joint5/max_torque : 1000
[ INFO] [1650090368.580733054]: ~joint5/home_encoder_offset : 0
[ INFO] [1650090368.582048195]: ~joint6/torque_for_emergency_stop : 0
[ INFO] [1650090368.582062343]: ~joint6/over_load_level : 0
[ INFO] [1650090368.582070225]: ~joint6/over_speed_level : 0
[ INFO] [1650090368.582082858]: ~joint6/motor_working_range : 1
[ INFO] [1650090368.582864851]: ~joint6/max_motor_speed : 3000
[ INFO] [1650090368.582876736]: ~joint6/max_torque : 1000
[ INFO] [1650090368.583245329]: ~joint6/home_encoder_offset : 0
[WARN] [1650090368.872754]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1650090368.874878]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1650090368.879417]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1650090368.883586]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1650090368.888410]: Loading controller: joint_state_controller
[INFO] [1650090368.901883]: Loading controller: position_trajectory_controller
[INFO] [1650090368.966645]: Controller Spawner: Loaded controllers: joint_state_controller, position_trajectory_controller
[INFO] [1650090368.970457]: Started controllers: joint_state_controller, position_trajectory_controllerROS Melodic で MINAS Tra1 の一般的なホームディレクトリ内のワークスペースでのソースビルド利用での問題は解決していませんが，少なくとも現状では MINAS Tra1 については TORK MoveIt Tutorial 上では次のような扱いにしておいたほうが良さそうに思います．
y-yosuke
commented
2 years ago 私が勘違いしていました．→ https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1100587218
もともと ROS Melodic 版では MINAS Tra1 は「debian インストール」と「ソースインストール」の2つの方法のみの案内でしたので「ソースビルド利用」の案内はありませんでした．
よって，MINAS Tra1 の ROS Melodic 版の debian パッケージが無い状況なので次のどちらかの措置を行えば良いという状況です．
y-yosuke
commented
2 years ago duaRo が ROS Melodic の Gazebo シミュレータで初期姿勢に入らなかった件はエラーメッセージに対応した修正を行うことで初期姿勢に入るようになり特異点でない初期姿勢から始められるようになり動作計画も失敗しなくなった模様です．
＜変更点＞
＜関連コメント＞
y-yosuke
commented
2 years ago duaRo の初期姿勢に入らない件に対する修正の PR を出しました． https://github.com/Kawasaki-Robotics/khi_robot/pull/62
y-yosuke
commented
2 years ago https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1094192445 について TORK MoveIt Tutorial では「ワークスペースでビルド : ソースコードを取得してワークスペース上でビルドして利用」は次の章でしか扱っていない（はず）のであまりごちゃごちゃ説明しない方が良くて，インストールの項目の構成もこのままが良いように思えてきた．
y-yosuke
commented
2 years ago https://github.com/tork-a/tork_moveit_tutorial/issues/46#issuecomment-1118193847 違った． ROS Melodic 版から myCobot をワークスペースでビルドして利用することが入っている．
y-yosuke
commented
2 years ago 結局良い構成や文言が思い浮かばなかったので次の内容で PR https://github.com/tork-a/tork_moveit_tutorial/pull/59 を出しました．