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  1. 1605490867.787671906 Node Startup
  2. 0.000000000 INFO /cube_spawner [/catkin_ws/src/spawn_objects/src/spawn_objects_node.cpp:197(main)] [topics: /rosout] spawn_objects server started.
  3. 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-2.8.7/src/gazebo_ros_api_plugin.cpp:2334(GazeboRosApiPlugin::physicsReconfigureThread)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Physics dynamic reconfigure ready.
  4. 0.000000000 INFO /rosbridge_websocket [rosbridge_websocket:312(<module>)] [topics: /clock, /client_count, /rosout, /connected_clients] Rosbridge WebSocket server started at ws://0.0.0.0:9090
  5. 0.000000000 INFO /rosapi [rosapi_node:202(<module>)] [topics: /clock, /rosout] Rosapi started
  6. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-core-1.0.6/robot_model/src/robot_model.cpp:92(core::RobotModel::buildModel)] [topics: /rosout] Loading robot model 'robot_arm'...
  7. 0.000000000 INFO /controller_spawner [spawner:121(main)] [topics: /clock, /rosout] Controller Spawner: Waiting for service controller_manager/load_controller
  8. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-core-1.0.6/robot_model/src/robot_model.cpp:951(core::JointModel* moveit::core::RobotModel::constructJointModel)] [topics: /rosout] No root/virtual joint specified in SRDF. Assuming fixed joint
  9. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:329(PlanningSceneMonitor::startPublishingPlanningScene)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Publishing maintained planning scene on 'monitored_planning_scene'
  10. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-1.0.6/src/move_group.cpp:206(main)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] MoveGroup debug mode is ON
  11. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:985(PlanningSceneMonitor::startSceneMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Starting planning scene monitor
  12. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:991(PlanningSceneMonitor::startSceneMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Listening to '/planning_scene'
  13. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:1056(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Starting world geometry update monitor for collision objects, attached objects, octomap updates.
  14. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:1063(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Listening to '/collision_object'
  15. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:1071(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Listening to '/planning_scene_world' for planning scene world geometry
  16. 0.000000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-occupancy-map-monitor-1.0.6/src/occupancy_map_monitor.cpp:114(OccupancyMapMonitor::initialize)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] No sensor plugin specified for octomap updater 0; ignoring.
  17. 0.000000000 INFO /picking [/tmp/binarydeb/ros-melodic-moveit-core-1.0.6/robot_model/src/robot_model.cpp:92(core::RobotModel::buildModel)] [topics: /rosout] Loading robot model 'robot_arm'...
  18. 0.000000000 INFO /spawn_gazebo_model_camera [gazebo_interface.py:19(spawn_sdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_sdf_model
  19. 0.000000000 INFO /spawn_gazebo_model [gazebo_interface.py:31(spawn_urdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model
  20. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_scene_monitor/src/planning_scene_monitor.cpp:1131(PlanningSceneMonitor::startStateMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Listening to '/attached_collision_object' for attached collision objects
  21. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-planners-ompl-1.0.6/ompl_interface/src/ompl_interface.cpp:55(OMPLInterface::OMPLInterface)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Initializing OMPL interface using ROS parameters
  22. 0.000000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-planners-ompl-1.0.6/ompl_interface/src/ompl_interface.cpp:185(OMPLInterface::loadPlannerConfiguration)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene] Could not find the planner configuration 'None' on the param server
  23. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:119(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning interface 'OMPL'
  24. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp:53(FixWorkspaceBounds::FixWorkspaceBounds)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'default_workspace_bounds' was not set. Using default value: 10
  25. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:60(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'start_state_max_bounds_error' was set to 0.1
  26. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:65(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5
  27. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:57(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5
  28. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:68(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'jiggle_fraction' was set to 0.05
  29. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:73(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Param 'max_sampling_attempts' was not set. Using default value: 100
  30. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning request adapter 'Add Time Parameterization'
  31. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning request adapter 'Fix Workspace Bounds'
  32. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Bounds'
  33. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State In Collision'
  34. 0.000000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Path Constraints'
  35. 0.000000000 WARN /controller_spawner [spawner:138(main)] [topics: /clock, /rosout] Controller Spawner couldn't find the expected controller_manager ROS interface.
  36. 0.003000000 INFO /spawn_gazebo_model_camera [gazebo_interface.py:21(spawn_sdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity
  37. 0.197000000 INFO /spawn_gazebo_model [gazebo_interface.py:33(spawn_urdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity
  38. 0.197000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.7/src/gazebo_ros_control_plugin.cpp:62(GazeboRosControlPlugin::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Loading gazebo_ros_control plugin
  39. 0.197000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.7/src/gazebo_ros_control_plugin.cpp:161(GazeboRosControlPlugin::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Starting gazebo_ros_control plugin in namespace: /
  40. 0.197000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.7/src/gazebo_ros_control_plugin.cpp:287(__cxx11::string gazebo_ros_control::GazeboRosControlPlugin::getURDF)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
  41. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
  42. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
  43. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/elbow_joint
  44. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
  45. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
  46. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
  47. 0.197000000 WARN /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.7/src/default_robot_hw_sim.cpp:185(DefaultRobotHWSim::initSim)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'gripper_finger1_joint'.
  48. 0.197000000 ERROR /gazebo [/tmp/binarydeb/ros-melodic-control-toolbox-1.18.2/src/pid.cpp:116(Pid::init)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/gripper_finger1_joint
  49. 0.197000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.7/src/gazebo_ros_control_plugin.cpp:207(GazeboRosControlPlugin::Load)] [topics: /rosout, /clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates] Loaded gazebo_ros_control.
  50. 5.002000000 WARN /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:94(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /manipulator_pos/follow_joint_trajectory/goal, /manipulator_pos/follow_joint_trajectory/cancel] Waiting for manipulator_pos/follow_joint_trajectory to come up
  51. 11.002000000 WARN /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:94(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /manipulator_pos/follow_joint_trajectory/goal, /manipulator_pos/follow_joint_trajectory/cancel] Waiting for manipulator_pos/follow_joint_trajectory to come up
  52. 17.002000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:100(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /manipulator_pos/follow_joint_trajectory/goal, /manipulator_pos/follow_joint_trajectory/cancel] Action client not connected: manipulator_pos/follow_joint_trajectory
  53. 22.052000000 WARN /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:94(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /gripper_pos/follow_joint_trajectory/goal, /gripper_pos/follow_joint_trajectory/cancel] Waiting for gripper_pos/follow_joint_trajectory to come up
  54. 28.053000000 WARN /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:94(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /gripper_pos/follow_joint_trajectory/goal, /gripper_pos/follow_joint_trajectory/cancel] Waiting for gripper_pos/follow_joint_trajectory to come up
  55. 34.053000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/include/moveit_simple_controller_manager/action_based_controller_handle.h:100(ActionBasedControllerHandle<T>::ActionBasedControllerHandle)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /gripper_pos/follow_joint_trajectory/goal, /gripper_pos/follow_joint_trajectory/cancel] Action client not connected: gripper_pos/follow_joint_trajectory
  56. 34.144000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/src/moveit_simple_controller_manager.cpp:189(MoveItSimpleControllerManager::getControllersList)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts] Returned 0 controllers in list
  57. 34.155000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/trajectory_execution_manager/src/trajectory_execution_manager.cpp:178(TrajectoryExecutionManager::initialize)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates] Trajectory execution is managing controllers
  58. 34.197000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-1.0.6/src/move_group.cpp:172(MoveGroupExe::configureCapabilities)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status]
  59.  
  60. ********************************************************
  61. * MoveGroup using:
  62. * - ApplyPlanningSceneService
  63. * - ClearOctomapService
  64. * - CartesianPathService
  65. * - ExecuteTrajectoryAction
  66. * - GetPlanningSceneService
  67. * - KinematicsService
  68. * - MoveAction
  69. * - PickPlaceAction
  70. * - MotionPlanService
  71. * - QueryPlannersService
  72. * - StateValidationService
  73. ********************************************************
  74.  
  75. 34.197000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-1.0.6/src/move_group_context.cpp:84(MoveGroupContext::status)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  76. 34.197000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-1.0.6/src/move_group_context.cpp:85(MoveGroupContext::status)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] MoveGroup context initialization complete
  77. 0.000000000 INFO /picking [/tmp/binarydeb/ros-melodic-moveit-core-1.0.6/robot_model/src/robot_model.cpp:951(core::JointModel* moveit::core::RobotModel::constructJointModel)] [topics: /rosout] No root/virtual joint specified in SRDF. Assuming fixed joint
  78. 35.309000000 INFO /picking [/tmp/binarydeb/ros-melodic-moveit-ros-planning-interface-1.0.6/move_group_interface/src/move_group_interface.cpp:176(planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl)] [topics: /rosout, /trajectory_execution_event, /attached_collision_object, /move_group/goal, /move_group/cancel, /pickup/goal, /pickup/cancel, /place/goal, /place/cancel, /execute_trajectory/goal, /execute_trajectory/cancel] Ready to take commands for planning group manipulator.
  79. 35.570000000 INFO /picking [/tmp/binarydeb/ros-melodic-moveit-ros-planning-interface-1.0.6/move_group_interface/src/move_group_interface.cpp:176(planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl)] [topics: /rosout, /trajectory_execution_event, /attached_collision_object, /move_group/goal, /move_group/cancel, /pickup/goal, /pickup/cancel, /place/goal, /place/cancel, /execute_trajectory/goal, /execute_trajectory/cancel] Ready to take commands for planning group gripper.
  80. 37.601000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-1.0.6/src/default_capabilities/move_action_capability.cpp:103(MoveGroupMoveAction::executeMoveCallbackPlanAndExecute)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
  81. 37.601000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/plan_execution/src/plan_execution.cpp:176(PlanExecution::planAndExecuteHelper)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Planning attempt 1 of at most 1
  82. 37.603000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-planners-ompl-1.0.6/ompl_interface/src/model_based_planning_context.cpp:351(ModelBasedPlanningContext::useConfig)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
  83. 37.604000000 INFO /move_group [/tmp/binarydeb/ros-melodic-ompl-1.4.2/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:221(OMPLPlannerManager::OMPLPlannerManager)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] RRTConnect: Starting planning with 1 states already in datastructure
  84. 37.617000000 INFO /move_group [/tmp/binarydeb/ros-melodic-ompl-1.4.2/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:355(OMPLPlannerManager::OMPLPlannerManager)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] RRTConnect: Created 5 states (2 start + 3 goal)
  85. 37.617000000 INFO /move_group [/tmp/binarydeb/ros-melodic-ompl-1.4.2/src/ompl/geometric/src/SimpleSetup.cpp:143(OMPLPlannerManager::OMPLPlannerManager)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Solution found in 0.013161 seconds
  86. 37.627000000 INFO /move_group [/tmp/binarydeb/ros-melodic-ompl-1.4.2/src/ompl/geometric/src/SimpleSetup.cpp:185(OMPLPlannerManager::OMPLPlannerManager)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] SimpleSetup: Path simplification took 0.010161 seconds and changed from 4 to 2 states
  87. 37.628000000 INFO /move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-1.0.6/src/moveit_simple_controller_manager.cpp:189(MoveItSimpleControllerManager::getControllersList)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Returned 0 controllers in list
  88. 37.628000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/trajectory_execution_manager/src/trajectory_execution_manager.cpp:1116(TrajectoryExecutionManager::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
  89. 37.628000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/trajectory_execution_manager/src/trajectory_execution_manager.cpp:1130(TrajectoryExecutionManager::configure)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Known controllers and their joints:
  90.  
  91. 37.628000000 ERROR /move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.6/plan_execution/src/plan_execution.cpp:385(MoveItErrorCodes plan_execution::PlanExecution::executeAndMonitor)] [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /move_group/trajectory_execution/parameter_descriptions, /move_group/trajectory_execution/parameter_updates, /move_group/plan_execution/parameter_descriptions, /move_group/plan_execution/parameter_updates, /move_group/sense_for_plan/parameter_descriptions, /move_group/sense_for_plan/parameter_updates, /move_group/display_cost_sources, /move_group/motion_plan_request, /execute_trajectory/result, /execute_trajectory/feedback, /execute_trajectory/status, /move_group/result, /move_group/feedback, /move_group/status, /move_group/display_grasp_markers, /pickup/result, /pickup/feedback, /pickup/status, /place/result, /place/feedback, /place/status] Apparently trajectory initialization failed
  92. 37.628000000 INFO /picking [/tmp/binarydeb/ros-melodic-moveit-ros-planning-interface-1.0.6/move_group_interface/src/move_group_interface.cpp:792(planning_interface::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::move)] [topics: /rosout, /trajectory_execution_event, /attached_collision_object, /move_group/goal, /move_group/cancel, /pickup/goal, /pickup/cancel, /place/goal, /place/cancel, /execute_trajectory/goal, /execute_trajectory/cancel] ABORTED: Solution found but controller failed during execution
  93.  
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