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  1. ... logging to /home/karthik/.ros/log/a9b444f4-5003-11e6-a5d9-4437e65144c3/roslaunch-karthik-ThinkCentre-M91p-4198.log
  2. Checking log directory for disk usage. This may take awhile.
  3. Press Ctrl-C to interrupt
  4. Done checking log file disk usage. Usage is <1GB.
  5.  
  6. started roslaunch server http://karthik-ThinkCentre-M91p:37647/
  7.  
  8. SUMMARY
  9. ========
  10.  
  11. PARAMETERS
  12. * /camera/camera_nodelet_manager/num_worker_threads: 4
  13. * /camera/depth_rectify_depth/interpolation: 0
  14. * /camera/driver/data_skip: 0
  15. * /camera/driver/debug: False
  16. * /camera/driver/depth_camera_info_url:
  17. * /camera/driver/depth_frame_id: camera_depth_opti...
  18. * /camera/driver/depth_registration: False
  19. * /camera/driver/device_id: #1
  20. * /camera/driver/diagnostics_max_frequency: 30.0
  21. * /camera/driver/diagnostics_min_frequency: 30.0
  22. * /camera/driver/diagnostics_tolerance: 0.05
  23. * /camera/driver/diagnostics_window_time: 5.0
  24. * /camera/driver/enable_depth_diagnostics: False
  25. * /camera/driver/enable_ir_diagnostics: False
  26. * /camera/driver/enable_rgb_diagnostics: False
  27. * /camera/driver/rgb_camera_info_url:
  28. * /camera/driver/rgb_frame_id: camera_rgb_optica...
  29. * /controller_joint_names: ['gripper_l_joint...
  30. * /left_arm/J23_coupled: False
  31. * /left_arm/controller_joint_names: ['yumi_joint_1_l'...
  32. * /left_arm/robot_ip_address: 10.140.60.194
  33. * /move_group/allow_trajectory_execution: True
  34. * /move_group/allowed_goal_duration_margin: 0.5
  35. * /move_group/both_arms/planner_configs: ['SBLkConfigDefau...
  36. * /move_group/capabilities: move_group/MoveGr...
  37. * /move_group/controller_list: [{'action_ns': 'j...
  38. * /move_group/head_pointing_frame: /head_mount_kinec...
  39. * /move_group/jiggle_fraction: 0.05
  40. * /move_group/left_arm/longest_valid_segment_fraction: 0.05
  41. * /move_group/left_arm/planner_configs: ['SBLkConfigDefau...
  42. * /move_group/left_arm/projection_evaluator: joints(yumi_joint...
  43. * /move_group/max_range: 5.0
  44. * /move_group/max_safe_path_cost: 1
  45. * /move_group/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
  46. * /move_group/move_group/trajectory_execution/execution_duration_monitoring: False
  47. * /move_group/moveit_controller_manager: moveit_simple_con...
  48. * /move_group/moveit_manage_controllers: True
  49. * /move_group/octomap_frame: /world
  50. * /move_group/octomap_resolution: 0.025
  51. * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
  52. * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  53. * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  54. * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
  55. * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  56. * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
  57. * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
  58. * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  59. * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
  60. * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  61. * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
  62. * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
  63. * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
  64. * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  65. * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
  66. * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  67. * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
  68. * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  69. * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
  70. * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
  71. * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
  72. * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
  73. * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  74. * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
  75. * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
  76. * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  77. * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
  78. * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
  79. * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
  80. * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
  81. * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
  82. * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  83. * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
  84. * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
  85. * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
  86. * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
  87. * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
  88. * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
  89. * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
  90. * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
  91. * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
  92. * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
  93. * /move_group/planning_plugin: ompl_interface/OM...
  94. * /move_group/planning_scene_monitor/publish_geometry_updates: True
  95. * /move_group/planning_scene_monitor/publish_planning_scene: True
  96. * /move_group/planning_scene_monitor/publish_state_updates: True
  97. * /move_group/planning_scene_monitor/publish_transforms_updates: True
  98. * /move_group/request_adapters: default_planner_r...
  99. * /move_group/right_arm/longest_valid_segment_fraction: 0.05
  100. * /move_group/right_arm/planner_configs: ['SBLkConfigDefau...
  101. * /move_group/right_arm/projection_evaluator: joints(yumi_joint...
  102. * /move_group/sensors: [{'point_subsampl...
  103. * /move_group/start_state_max_bounds_error: 0.1
  104. * /right_arm/J23_coupled: False
  105. * /right_arm/controller_joint_names: ['yumi_joint_1_r'...
  106. * /right_arm/motion_download_interface/port: 12000
  107. * /right_arm/robot_ip_address: 10.140.60.194
  108. * /right_arm/robot_state/port: 12002
  109. * /robot_description: <?xml version="1....
  110. * /robot_description_kinematics/left_arm/kinematics_solver: kdl_kinematics_pl...
  111. * /robot_description_kinematics/left_arm/kinematics_solver_attempts: 3
  112. * /robot_description_kinematics/left_arm/kinematics_solver_search_resolution: 0.005
  113. * /robot_description_kinematics/left_arm/kinematics_solver_timeout: 0.005
  114. * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl...
  115. * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 3
  116. * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
  117. * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
  118. * /robot_description_planning/joint_limits/gripper_l_joint/has_acceleration_limits: False
  119. * /robot_description_planning/joint_limits/gripper_l_joint/has_velocity_limits: True
  120. * /robot_description_planning/joint_limits/gripper_l_joint/max_acceleration: 0
  121. * /robot_description_planning/joint_limits/gripper_l_joint/max_velocity: 0.02
  122. * /robot_description_planning/joint_limits/gripper_l_joint_m/has_acceleration_limits: False
  123. * /robot_description_planning/joint_limits/gripper_l_joint_m/has_velocity_limits: True
  124. * /robot_description_planning/joint_limits/gripper_l_joint_m/max_acceleration: 0
  125. * /robot_description_planning/joint_limits/gripper_l_joint_m/max_velocity: 0.02
  126. * /robot_description_planning/joint_limits/gripper_r_joint/has_acceleration_limits: False
  127. * /robot_description_planning/joint_limits/gripper_r_joint/has_velocity_limits: True
  128. * /robot_description_planning/joint_limits/gripper_r_joint/max_acceleration: 0
  129. * /robot_description_planning/joint_limits/gripper_r_joint/max_velocity: 0.02
  130. * /robot_description_planning/joint_limits/gripper_r_joint_m/has_acceleration_limits: False
  131. * /robot_description_planning/joint_limits/gripper_r_joint_m/has_velocity_limits: True
  132. * /robot_description_planning/joint_limits/gripper_r_joint_m/max_acceleration: 0
  133. * /robot_description_planning/joint_limits/gripper_r_joint_m/max_velocity: 0.02
  134. * /robot_description_planning/joint_limits/yumi_joint_1_l/has_acceleration_limits: False
  135. * /robot_description_planning/joint_limits/yumi_joint_1_l/has_velocity_limits: True
  136. * /robot_description_planning/joint_limits/yumi_joint_1_l/max_acceleration: 0
  137. * /robot_description_planning/joint_limits/yumi_joint_1_l/max_velocity: 3.14
  138. * /robot_description_planning/joint_limits/yumi_joint_1_r/has_acceleration_limits: False
  139. * /robot_description_planning/joint_limits/yumi_joint_1_r/has_velocity_limits: True
  140. * /robot_description_planning/joint_limits/yumi_joint_1_r/max_acceleration: 0
  141. * /robot_description_planning/joint_limits/yumi_joint_1_r/max_velocity: 3.14
  142. * /robot_description_planning/joint_limits/yumi_joint_2_l/has_acceleration_limits: False
  143. * /robot_description_planning/joint_limits/yumi_joint_2_l/has_velocity_limits: True
  144. * /robot_description_planning/joint_limits/yumi_joint_2_l/max_acceleration: 0
  145. * /robot_description_planning/joint_limits/yumi_joint_2_l/max_velocity: 3.14
  146. * /robot_description_planning/joint_limits/yumi_joint_2_r/has_acceleration_limits: False
  147. * /robot_description_planning/joint_limits/yumi_joint_2_r/has_velocity_limits: True
  148. * /robot_description_planning/joint_limits/yumi_joint_2_r/max_acceleration: 0
  149. * /robot_description_planning/joint_limits/yumi_joint_2_r/max_velocity: 3.14
  150. * /robot_description_planning/joint_limits/yumi_joint_3_l/has_acceleration_limits: False
  151. * /robot_description_planning/joint_limits/yumi_joint_3_l/has_velocity_limits: True
  152. * /robot_description_planning/joint_limits/yumi_joint_3_l/max_acceleration: 0
  153. * /robot_description_planning/joint_limits/yumi_joint_3_l/max_velocity: 3.14
  154. * /robot_description_planning/joint_limits/yumi_joint_3_r/has_acceleration_limits: False
  155. * /robot_description_planning/joint_limits/yumi_joint_3_r/has_velocity_limits: True
  156. * /robot_description_planning/joint_limits/yumi_joint_3_r/max_acceleration: 0
  157. * /robot_description_planning/joint_limits/yumi_joint_3_r/max_velocity: 3.14
  158. * /robot_description_planning/joint_limits/yumi_joint_4_l/has_acceleration_limits: False
  159. * /robot_description_planning/joint_limits/yumi_joint_4_l/has_velocity_limits: True
  160. * /robot_description_planning/joint_limits/yumi_joint_4_l/max_acceleration: 0
  161. * /robot_description_planning/joint_limits/yumi_joint_4_l/max_velocity: 6.98
  162. * /robot_description_planning/joint_limits/yumi_joint_4_r/has_acceleration_limits: False
  163. * /robot_description_planning/joint_limits/yumi_joint_4_r/has_velocity_limits: True
  164. * /robot_description_planning/joint_limits/yumi_joint_4_r/max_acceleration: 0
  165. * /robot_description_planning/joint_limits/yumi_joint_4_r/max_velocity: 6.98
  166. * /robot_description_planning/joint_limits/yumi_joint_5_l/has_acceleration_limits: False
  167. * /robot_description_planning/joint_limits/yumi_joint_5_l/has_velocity_limits: True
  168. * /robot_description_planning/joint_limits/yumi_joint_5_l/max_acceleration: 0
  169. * /robot_description_planning/joint_limits/yumi_joint_5_l/max_velocity: 6.98
  170. * /robot_description_planning/joint_limits/yumi_joint_5_r/has_acceleration_limits: False
  171. * /robot_description_planning/joint_limits/yumi_joint_5_r/has_velocity_limits: True
  172. * /robot_description_planning/joint_limits/yumi_joint_5_r/max_acceleration: 0
  173. * /robot_description_planning/joint_limits/yumi_joint_5_r/max_velocity: 6.98
  174. * /robot_description_planning/joint_limits/yumi_joint_6_l/has_acceleration_limits: False
  175. * /robot_description_planning/joint_limits/yumi_joint_6_l/has_velocity_limits: True
  176. * /robot_description_planning/joint_limits/yumi_joint_6_l/max_acceleration: 0
  177. * /robot_description_planning/joint_limits/yumi_joint_6_l/max_velocity: 3.14
  178. * /robot_description_planning/joint_limits/yumi_joint_6_r/has_acceleration_limits: False
  179. * /robot_description_planning/joint_limits/yumi_joint_6_r/has_velocity_limits: True
  180. * /robot_description_planning/joint_limits/yumi_joint_6_r/max_acceleration: 0
  181. * /robot_description_planning/joint_limits/yumi_joint_6_r/max_velocity: 3.14
  182. * /robot_description_planning/joint_limits/yumi_joint_7_l/has_acceleration_limits: False
  183. * /robot_description_planning/joint_limits/yumi_joint_7_l/has_velocity_limits: True
  184. * /robot_description_planning/joint_limits/yumi_joint_7_l/max_acceleration: 0
  185. * /robot_description_planning/joint_limits/yumi_joint_7_l/max_velocity: 3.14
  186. * /robot_description_planning/joint_limits/yumi_joint_7_r/has_acceleration_limits: False
  187. * /robot_description_planning/joint_limits/yumi_joint_7_r/has_velocity_limits: True
  188. * /robot_description_planning/joint_limits/yumi_joint_7_r/max_acceleration: 0
  189. * /robot_description_planning/joint_limits/yumi_joint_7_r/max_velocity: 3.14
  190. * /robot_description_semantic: <?xml version="1....
  191. * /rosdistro: indigo
  192. * /rosversion: 1.11.20
  193. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/left_arm/kinematics_solver: kdl_kinematics_pl...
  194. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/left_arm/kinematics_solver_attempts: 3
  195. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/left_arm/kinematics_solver_search_resolution: 0.005
  196. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/left_arm/kinematics_solver_timeout: 0.005
  197. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/right_arm/kinematics_solver: kdl_kinematics_pl...
  198. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/right_arm/kinematics_solver_attempts: 3
  199. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/right_arm/kinematics_solver_search_resolution: 0.005
  200. * /rviz_karthik_ThinkCentre_M91p_4198_361936678796911167/right_arm/kinematics_solver_timeout: 0.005
  201.  
  202. NODES
  203. /left_arm/
  204. joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
  205. left_joints_relay (topic_tools/relay)
  206. motion_download_interface (abb_driver/motion_download_interface)
  207. robot_state (abb_driver/robot_state)
  208. /camera/
  209. camera_nodelet_manager (nodelet/nodelet)
  210. depth_metric (nodelet/nodelet)
  211. depth_metric_rect (nodelet/nodelet)
  212. depth_points (nodelet/nodelet)
  213. depth_rectify_depth (nodelet/nodelet)
  214. driver (nodelet/nodelet)
  215. /right_arm/
  216. joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
  217. motion_download_interface (abb_driver/motion_download_interface)
  218. right_joints_relay (topic_tools/relay)
  219. robot_state (abb_driver/robot_state)
  220. /
  221. camera_base_link (tf/static_transform_publisher)
  222. camera_base_link1 (tf/static_transform_publisher)
  223. camera_base_link2 (tf/static_transform_publisher)
  224. camera_base_link3 (tf/static_transform_publisher)
  225. link1_broadcaster (tf/static_transform_publisher)
  226. move_group (moveit_ros_move_group/move_group)
  227. robot_state_publisher (robot_state_publisher/robot_state_publisher)
  228. rviz_karthik_ThinkCentre_M91p_4198_361936678796911167 (rviz/rviz)
  229.  
  230. auto-starting new master
  231. process[master]: started with pid [4210]
  232. ROS_MASTER_URI=http://localhost:11311
  233.  
  234. setting /run_id to a9b444f4-5003-11e6-a5d9-4437e65144c3
  235. process[rosout-1]: started with pid [4223]
  236. started core service [/rosout]
  237. process[left_arm/robot_state-2]: started with pid [4240]
  238. process[left_arm/motion_download_interface-3]: started with pid [4241]
  239. process[left_arm/joint_trajectory_action-4]: started with pid [4242]
  240. process[left_arm/left_joints_relay-5]: started with pid [4243]
  241. process[right_arm/robot_state-6]: started with pid [4254]
  242. process[right_arm/motion_download_interface-7]: started with pid [4266]
  243. process[right_arm/joint_trajectory_action-8]: started with pid [4273]
  244. process[right_arm/right_joints_relay-9]: started with pid [4275]
  245. [ INFO] [1469188735.601377679]: Added message handler for message type: 0
  246. process[robot_state_publisher-10]: started with pid [4305]
  247. [ INFO] [1469188735.611578602]: Joint Trajectory Interface connecting to IP address: '10.140.60.194:11000'
  248. process[move_group-11]: started with pid [4314]
  249. [ INFO] [1469188735.616234998]: Adding yumi_joint_1_l to list parameter
  250. [ INFO] [1469188735.616358366]: Adding yumi_joint_2_l to list parameter
  251. [ INFO] [1469188735.616397963]: Adding yumi_joint_3_l to list parameter
  252. [ INFO] [1469188735.616431602]: Adding yumi_joint_4_l to list parameter
  253. [ INFO] [1469188735.616463386]: Adding yumi_joint_5_l to list parameter
  254. [ INFO] [1469188735.616495062]: Adding yumi_joint_6_l to list parameter
  255. [ INFO] [1469188735.616527011]: Adding yumi_joint_7_l to list parameter
  256. [ INFO] [1469188735.616558001]: Adding gripper_l_joint to list parameter
  257. [ INFO] [1469188735.616607752]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_l, yumi_joint_2_l, yumi_joint_3_l, yumi_joint_4_l, yumi_joint_5_l, yumi_joint_6_l, yumi_joint_7_l, gripper_l_joint]
  258. [ INFO] [1469188735.616654055]: Filtered joint names to 8 joints
  259. process[rviz_karthik_ThinkCentre_M91p_4198_361936678796911167-12]: started with pid [4317]
  260. process[camera/camera_nodelet_manager-13]: started with pid [4322]
  261. [ INFO] [1469188735.630379071]: Adding yumi_joint_1_l to list parameter
  262. [ INFO] [1469188735.630422211]: Adding yumi_joint_2_l to list parameter
  263. [ INFO] [1469188735.630435177]: Adding yumi_joint_3_l to list parameter
  264. [ INFO] [1469188735.630448527]: Adding yumi_joint_4_l to list parameter
  265. [ INFO] [1469188735.630460039]: Adding yumi_joint_5_l to list parameter
  266. [ INFO] [1469188735.630471970]: Adding yumi_joint_6_l to list parameter
  267. [ INFO] [1469188735.630484731]: Adding yumi_joint_7_l to list parameter
  268. [ INFO] [1469188735.630497694]: Adding gripper_l_joint to list parameter
  269. [ INFO] [1469188735.630527421]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_l, yumi_joint_2_l, yumi_joint_3_l, yumi_joint_4_l, yumi_joint_5_l, yumi_joint_6_l, yumi_joint_7_l, gripper_l_joint]
  270. [ INFO] [1469188735.631391729]: Connected to server
  271. [ INFO] [1469188735.632860712]: Robot state connecting to IP address: '10.140.60.194:11002'
  272. process[camera/driver-14]: started with pid [4339]
  273. process[camera/depth_rectify_depth-15]: started with pid [4340]
  274. process[camera/depth_metric_rect-16]: started with pid [4342]
  275. [ WARN] [1469188735.668042663]: Unable to read velocity limits from 'robot_description' param. Velocity validation disabled.
  276. process[camera/depth_metric-17]: started with pid [4344]
  277. process[camera/depth_points-18]: started with pid [4350]
  278. process[camera_base_link-19]: started with pid [4351]
  279. [ INFO] [1469188735.682415695]: Adding yumi_joint_1_l to list parameter
  280. [ INFO] [1469188735.682453066]: Adding yumi_joint_2_l to list parameter
  281. [ INFO] [1469188735.682466124]: Adding yumi_joint_3_l to list parameter
  282. [ INFO] [1469188735.682477689]: Adding yumi_joint_4_l to list parameter
  283. [ INFO] [1469188735.682488360]: Adding yumi_joint_5_l to list parameter
  284. [ INFO] [1469188735.682499656]: Adding yumi_joint_6_l to list parameter
  285. [ INFO] [1469188735.682512972]: Adding yumi_joint_7_l to list parameter
  286. [ INFO] [1469188735.682523199]: Adding gripper_l_joint to list parameter
  287. [ INFO] [1469188735.682549997]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_l, yumi_joint_2_l, yumi_joint_3_l, yumi_joint_4_l, yumi_joint_5_l, yumi_joint_6_l, yumi_joint_7_l, gripper_l_joint]
  288. [ INFO] [1469188735.683067905]: Connected to server
  289. [ INFO] [1469188735.683090940]: Initializing message manager with default comms fault handler
  290. [ INFO] [1469188735.683107245]: Default communications fault handler successfully initialized
  291. [ INFO] [1469188735.683120293]: Initializing message manager
  292. [ INFO] [1469188735.683133778]: Added message handler for message type: 1
  293. [ INFO] [1469188735.686688001]: Joint Trajectory Interface connecting to IP address: '10.140.60.194:12000'
  294. process[camera_base_link1-20]: started with pid [4379]
  295. process[camera_base_link2-21]: started with pid [4383]
  296. [ INFO] [1469188735.700791964]: Added message handler for message type: 10
  297. [ INFO] [1469188735.707339928]: Adding yumi_joint_1_r to list parameter
  298. [ INFO] [1469188735.707376690]: Adding yumi_joint_2_r to list parameter
  299. [ INFO] [1469188735.707389688]: Adding yumi_joint_3_r to list parameter
  300. [ INFO] [1469188735.707400993]: Adding yumi_joint_4_r to list parameter
  301. [ INFO] [1469188735.707411627]: Adding yumi_joint_5_r to list parameter
  302. [ INFO] [1469188735.707422587]: Adding yumi_joint_6_r to list parameter
  303. [ INFO] [1469188735.707450787]: Adding yumi_joint_7_r to list parameter
  304. [ INFO] [1469188735.707466704]: Adding gripper_r_joint to list parameter
  305. [ INFO] [1469188735.707493245]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_r, yumi_joint_2_r, yumi_joint_3_r, yumi_joint_4_r, yumi_joint_5_r, yumi_joint_6_r, yumi_joint_7_r, gripper_r_joint]
  306. process[camera_base_link3-22]: started with pid [4385]
  307. [ INFO] [1469188735.708001979]: Connected to server
  308. [ INFO] [1469188735.708567330]: Loading nodelet /camera/depth_metric of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
  309. [ INFO] [1469188735.708619088]: /camera/image -> /camera/depth/image
  310. [ INFO] [1469188735.708633950]: /camera/image_raw -> /camera/depth/image_raw
  311. process[link1_broadcaster-23]: started with pid [4413]
  312. [ WARN] [1469188735.717832387]: Unable to read velocity limits from 'robot_description' param. Velocity validation disabled.
  313. [ INFO] [1469188735.720120636]: Entering message manager spin loop
  314. [ INFO] [1469188735.720705031]: Initializing nodelet with 4 worker threads.
  315. [ INFO] [1469188735.725476567]: Loading nodelet /camera/depth_points of type depth_image_proc/point_cloud_xyz to manager camera_nodelet_manager with the following remappings:
  316. [ INFO] [1469188735.725538743]: /camera/image_rect -> /camera/depth/image_rect_raw
  317. [ INFO] [1469188735.725554229]: /camera/points -> /camera/depth/points
  318. [ INFO] [1469188735.725774888]: rviz version 1.11.14
  319. [ INFO] [1469188735.725822207]: compiled against Qt version 4.8.6
  320. [ INFO] [1469188735.725839742]: compiled against OGRE version 1.8.1 (Byatis)
  321. [ INFO] [1469188735.814487338]: Adding yumi_joint_1_r to list parameter
  322. [ INFO] [1469188735.814550879]: Adding yumi_joint_2_r to list parameter
  323. [ INFO] [1469188735.814564031]: Adding yumi_joint_3_r to list parameter
  324. [ INFO] [1469188735.814574578]: Adding yumi_joint_4_r to list parameter
  325. [ INFO] [1469188735.814584576]: Adding yumi_joint_5_r to list parameter
  326. [ INFO] [1469188735.814595009]: Adding yumi_joint_6_r to list parameter
  327. [ INFO] [1469188735.814605332]: Adding yumi_joint_7_r to list parameter
  328. [ INFO] [1469188735.814619506]: Adding gripper_r_joint to list parameter
  329. [ INFO] [1469188735.814646058]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_r, yumi_joint_2_r, yumi_joint_3_r, yumi_joint_4_r, yumi_joint_5_r, yumi_joint_6_r, yumi_joint_7_r, gripper_r_joint]
  330. [ INFO] [1469188735.814670767]: Filtered joint names to 8 joints
  331. [ INFO] [1469188735.820321176]: Added message handler for message type: 0
  332. [ INFO] [1469188735.824497760]: Robot state connecting to IP address: '10.140.60.194:12002'
  333. [ INFO] [1469188735.826177824]: Adding yumi_joint_1_r to list parameter
  334. [ INFO] [1469188735.826206178]: Adding yumi_joint_2_r to list parameter
  335. [ INFO] [1469188735.826218993]: Adding yumi_joint_3_r to list parameter
  336. [ INFO] [1469188735.826230008]: Adding yumi_joint_4_r to list parameter
  337. [ INFO] [1469188735.826240278]: Adding yumi_joint_5_r to list parameter
  338. [ INFO] [1469188735.826250899]: Adding yumi_joint_6_r to list parameter
  339. [ INFO] [1469188735.826263007]: Adding yumi_joint_7_r to list parameter
  340. [ INFO] [1469188735.826273550]: Adding gripper_r_joint to list parameter
  341. [ INFO] [1469188735.826301359]: Found user-specified joint names in 'controller_joint_names': [yumi_joint_1_r, yumi_joint_2_r, yumi_joint_3_r, yumi_joint_4_r, yumi_joint_5_r, yumi_joint_6_r, yumi_joint_7_r, gripper_r_joint]
  342. [ INFO] [1469188735.826594947]: Connected to server
  343. [ INFO] [1469188735.826620118]: Initializing message manager with default comms fault handler
  344. [ INFO] [1469188735.826634416]: Default communications fault handler successfully initialized
  345. [ INFO] [1469188735.826649123]: Initializing message manager
  346. [ INFO] [1469188735.826662343]: Added message handler for message type: 1
  347. [ INFO] [1469188735.829694355]: Added message handler for message type: 10
  348. [ INFO] [1469188735.832579478]: Entering message manager spin loop
  349. [ INFO] [1469188735.837240593]: Stereo is NOT SUPPORTED
  350. [ INFO] [1469188735.837319830]: OpenGl version: 3 (GLSL 1.3).
  351. [ INFO] [1469188736.160564850]: advertised as /joint_states
  352.  
  353. [ INFO] [1469188736.652053866]: Loading nodelet /camera/driver of type freenect_camera/driver to manager camera_nodelet_manager with the following remappings:
  354. [ INFO] [1469188736.652145282]: /camera/depth -> /camera/depth
  355. [ INFO] [1469188736.652177074]: /camera/depth_registered -> /camera/depth_registered
  356. [ INFO] [1469188736.652203200]: /camera/ir -> /camera/ir
  357. [ INFO] [1469188736.652223411]: /camera/projector -> /camera/projector
  358. [ INFO] [1469188736.652244536]: /camera/rgb -> /camera/rgb
  359. [ INFO] [1469188736.658628735]: Loading nodelet /camera/depth_rectify_depth of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
  360. [ INFO] [1469188736.658707765]: /camera/image_mono -> /camera/depth/image_raw
  361. [ INFO] [1469188736.658734124]: /camera/image_rect -> /camera/depth/image_rect_raw
  362. [ INFO] [1469188736.672484630]: Loading nodelet /camera/depth_metric_rect of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
  363. [ INFO] [1469188736.672565033]: /camera/image -> /camera/depth/image_rect
  364. [ INFO] [1469188736.672586401]: /camera/image_raw -> /camera/depth/image_rect_raw
  365. [ INFO] [1469188736.709882038]: No devices connected.... waiting for devices to be connected
  366. [ INFO] [1469188736.763613954]: Loading robot model 'yumi'...
  367. [ INFO] [1469188736.763715494]: No root joint specified. Assuming fixed joint
  368. [ INFO] [1469188736.880794703]: advertised as /joint_states
  369.  
  370. [ INFO] [1469188736.995244015]: Loading robot model 'yumi'...
  371. [ INFO] [1469188736.995291178]: No root joint specified. Assuming fixed joint
  372. [ INFO] [1469188737.133900875]: Loading robot model 'yumi'...
  373. [ INFO] [1469188737.133950151]: No root joint specified. Assuming fixed joint
  374. [ INFO] [1469188737.737011606]: Publishing maintained planning scene on 'monitored_planning_scene'
  375. [ INFO] [1469188737.740391916]: MoveGroup debug mode is OFF
  376. Starting context monitors...
  377. [ INFO] [1469188737.740446091]: Starting scene monitor
  378. [ INFO] [1469188737.743622103]: Listening to '/planning_scene'
  379. [ INFO] [1469188737.743665031]: Starting world geometry monitor
  380. [ INFO] [1469188737.748160003]: Listening to '/collision_object' using message notifier with target frame '/world '
  381. [ INFO] [1469188737.752153660]: Listening to '/planning_scene_world' for planning scene world geometry
  382. [ INFO] [1469188739.296685375]: Loading robot model 'yumi'...
  383. [ INFO] [1469188739.296763564]: No root joint specified. Assuming fixed joint
  384. [ INFO] [1469188739.564198810]: Loading robot model 'yumi'...
  385. [ INFO] [1469188739.564247386]: No root joint specified. Assuming fixed joint
  386. [ INFO] [1469188739.710071807]: No devices connected.... waiting for devices to be connected
  387. [ INFO] [1469188739.728165366]: Loading robot model 'yumi'...
  388. [ INFO] [1469188739.728235103]: No root joint specified. Assuming fixed joint
  389. [ INFO] [1469188740.378391731]: Starting scene monitor
  390. [ INFO] [1469188740.381662631]: Listening to '/move_group/monitored_planning_scene'
  391. [ INFO] [1469188740.382598852]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
  392. [ INFO] [1469188741.191707288]: Listening to '/camera/depth/points' using message filter with target frame '/world '
  393. [ INFO] [1469188741.196979416]: Listening to '/attached_collision_object' for attached collision objects
  394. Context monitors started.
  395. [ INFO] [1469188741.243066982]: Initializing OMPL interface using ROS parameters
  396. [ INFO] [1469188741.278780080]: Using planning interface 'OMPL'
  397. [ INFO] [1469188741.305622694]: Param 'default_workspace_bounds' was not set. Using default value: 10
  398. [ INFO] [1469188741.306241612]: Param 'start_state_max_bounds_error' was set to 0.1
  399. [ INFO] [1469188741.306820993]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  400. [ INFO] [1469188741.307395095]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  401. [ INFO] [1469188741.307911595]: Param 'jiggle_fraction' was set to 0.05
  402. [ INFO] [1469188741.308391668]: Param 'max_sampling_attempts' was not set. Using default value: 100
  403. [ INFO] [1469188741.308459533]: Using planning request adapter 'Add Time Parameterization'
  404. [ INFO] [1469188741.308497092]: Using planning request adapter 'Fix Workspace Bounds'
  405. [ INFO] [1469188741.308515095]: Using planning request adapter 'Fix Start State Bounds'
  406. [ INFO] [1469188741.308533398]: Using planning request adapter 'Fix Start State In Collision'
  407. [ INFO] [1469188741.308550197]: Using planning request adapter 'Fix Start State Path Constraints'
  408. [ INFO] [1469188741.570356379]: Added FollowJointTrajectory controller for left_arm
  409. [ INFO] [1469188741.870948719]: Added FollowJointTrajectory controller for right_arm
  410. [ INFO] [1469188741.871077626]: Returned 2 controllers in list
  411. [ INFO] [1469188741.887555053]: Trajectory execution is managing controllers
  412. Loading 'move_group/MoveGroupCartesianPathService'...
  413. Loading 'move_group/MoveGroupExecuteService'...
  414. Loading 'move_group/MoveGroupKinematicsService'...
  415. Loading 'move_group/MoveGroupMoveAction'...
  416. Loading 'move_group/MoveGroupPickPlaceAction'...
  417. Loading 'move_group/MoveGroupPlanService'...
  418. Loading 'move_group/MoveGroupQueryPlannersService'...
  419. Loading 'move_group/MoveGroupStateValidationService'...
  420. Loading 'move_group/MoveGroupGetPlanningSceneService'...
  421. Loading 'move_group/ClearOctomapService'...
  422. [ INFO] [1469188742.005959797]:
  423.  
  424. ********************************************************
  425. * MoveGroup using:
  426. * - CartesianPathService
  427. * - ExecutePathService
  428. * - KinematicsService
  429. * - MoveAction
  430. * - PickPlaceAction
  431. * - MotionPlanService
  432. * - QueryPlannersService
  433. * - StateValidationService
  434. * - GetPlanningSceneService
  435. * - ClearOctomapService
  436. ********************************************************
  437.  
  438. [ INFO] [1469188742.006068079]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  439. [ INFO] [1469188742.006093695]: MoveGroup context initialization complete
  440.  
  441. All is well! Everyone is happy! You can start planning now!
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