user@ubuntu:~$ source /opt/ros/groovy/setup.bash
user@ubuntu:~$ cd Desktop
user@ubuntu:~/Desktop$ export ROS_PACKAGE_PATH=$PWD:$ROS_PACKAGE_PATH
user@ubuntu:~/Desktop$ roslaunch final2.launch
... logging to /home/user/.ros/log/caaa8624-8cd8-11e2-ac46-000c29a429b4/roslaunch-ubuntu-22505.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://ubuntu:56284/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui
 * /move_group/allow_trajectory_execution
 * /move_group/flansch/planner_configs
 * /move_group/max_safe_path_cost
 * /move_group/planner_configs/BKPIECEkConfigDefault/type
 * /move_group/planner_configs/ESTkConfigDefault/type
 * /move_group/planner_configs/KPIECEkConfigDefault/type
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type
 * /move_group/planner_configs/LazyRRTkConfigDefault/type
 * /move_group/planner_configs/RRTConnectkConfigDefault/type
 * /move_group/planner_configs/RRTStarkConfigDefault/type
 * /move_group/planner_configs/RRTkConfigDefault/type
 * /move_group/planner_configs/SBLkConfigDefault/type
 * /move_group/planning_plugin
 * /move_group/request_adapters
 * /move_group/robot_arm/kinematics_solver
 * /move_group/robot_arm/kinematics_solver_search_resolution
 * /move_group/robot_arm/kinematics_solver_timeout
 * /move_group/robot_arm/planner_configs
 * /robot_description
 * /robot_description_planning/joint_limits/a1/has_acceleration_limits
 * /robot_description_planning/joint_limits/a1/has_velocity_limits
 * /robot_description_planning/joint_limits/a1/max_acceleration
 * /robot_description_planning/joint_limits/a1/max_velocity
 * /robot_description_planning/joint_limits/a2/has_acceleration_limits
 * /robot_description_planning/joint_limits/a2/has_velocity_limits
 * /robot_description_planning/joint_limits/a2/max_acceleration
 * /robot_description_planning/joint_limits/a2/max_velocity
 * /robot_description_planning/joint_limits/a3/has_acceleration_limits
 * /robot_description_planning/joint_limits/a3/has_velocity_limits
 * /robot_description_planning/joint_limits/a3/max_acceleration
 * /robot_description_planning/joint_limits/a3/max_velocity
 * /robot_description_planning/joint_limits/a4/has_acceleration_limits
 * /robot_description_planning/joint_limits/a4/has_velocity_limits
 * /robot_description_planning/joint_limits/a4/max_acceleration
 * /robot_description_planning/joint_limits/a4/max_velocity
 * /robot_description_planning/joint_limits/a5/has_acceleration_limits
 * /robot_description_planning/joint_limits/a5/has_velocity_limits
 * /robot_description_planning/joint_limits/a5/max_acceleration
 * /robot_description_planning/joint_limits/a5/max_velocity
 * /robot_description_semantic
 * /rosdistro
 * /rosversion
 * /rviz_ubuntu_22505_5983333988458520344/robot_arm/kinematics_solver
 * /rviz_ubuntu_22505_5983333988458520344/robot_arm/kinematics_solver_search_resolution
 * /rviz_ubuntu_22505_5983333988458520344/robot_arm/kinematics_solver_timeout

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group_action_server)
    odom_broadcaster (tf/static_transform_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_ubuntu_22505_5983333988458520344 (rviz/rviz)

auto-starting new master
process[master]: started with pid [22520]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to caaa8624-8cd8-11e2-ac46-000c29a429b4
process[rosout-1]: started with pid [22533]
started core service [/rosout]
process[odom_broadcaster-2]: started with pid [22545]
process[joint_state_publisher-3]: started with pid [22557]
process[robot_state_publisher-4]: started with pid [22558]
/opt/ros/groovy/lib/robot_state_publisher/robot_state_publisher
process[move_group-5]: started with pid [22577]
process[rviz_ubuntu_22505_5983333988458520344-6]: started with pid [22600]
[ INFO] [1363287355.090159597]: rviz version 1.9.20
[ INFO] [1363287355.090386281]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1363287365.549020658]: Initializing kdl solver
[ INFO] [1363287365.893127119]: KDL solver initialized
[ WARN] [1363287365.937001738]: OGRE EXCEPTION(7:InternalErrorException): Cannot compile GLSL high-level shader : rviz/pass_pos_color.vert Cannot compile GLSL high-level shader : rviz/pass_pos_color.vert 0:1(15): preprocessor error: syntax error, unexpected IDENTIFIER, expecting NEWLINE
 in GLSLProgram::compile at /build/buildd/ogre-1.7.4/RenderSystems/GL/src/GLSL/src/OgreGLSLExtSupport.cpp (line 65)
[ INFO] [1363287365.980623772]: Starting world geometry monitor
[ INFO] [1363287365.991653063]: Listening to 'collision_object' using message notifier with target frame '/base_link '
[ INFO] [1363287365.994268987]: Listening to 'collision_map' using message notifier with target frame '/base_link '
[ INFO] [1363287365.996692507]: Listening to 'planning_scene_world' for planning scene world geometry
[ WARN] [1363287366.003542600]: Resolution not specified for Octomap.
[ INFO] [1363287366.022732725]: Starting scene monitor
[ INFO] [1363287366.029239420]: Listening to 'planning_scene'
[ INFO] [1363287366.046803033]: Listening to 'attached_collision_object' for attached collision objects
[ INFO] [1363287366.730396133]: Not displaying OMPL exploration data structures.
[ INFO] [1363287366.733420958]: Initializing OMPL interface using ROS parameters
[ INFO] [1363287366.824146252]: Using planning interface 'OMPL'
[ INFO] [1363287367.162715021]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1363287367.165102476]: Param 'start_state_max_bounds_error' was not set. Using default value: 0.05
[ INFO] [1363287367.166895684]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1363287367.171132582]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1363287367.173387707]: Param 'jiggle_fraction' was not set. Using default value: 0.02
[ INFO] [1363287367.183649979]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1363287367.186055491]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1363287367.186622991]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1363287367.187052298]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1363287367.187623203]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1363287367.188064228]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1363287367.340148098]: MoveGroup running using planning plugin ompl_interface_ros/OMPLPlanner
[ INFO] [1363287369.013035153]: Initializing kdl solver
[ INFO] [1363287369.164803230]: KDL solver initialized
[ INFO] [1363287369.220055360]: Starting scene monitor
[ INFO] [1363287369.222397351]: Listening to 'planning_scene'
[ INFO] [1363287369.576509546]: Waiting for MoveGroup action server (move_group)...
[ INFO] [1363287369.922064282]: Waiting for MoveGroup action server (pickup)...
[ INFO] [1363287370.197647994]: Ready to take MoveGroup commands for group robot_arm.