API tools faq
paste
Advertisement
ljklonepiece

plan twice

ljklonepiece
Oct 16th, 2017
354
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
GDB 17.36 KB | None | 0 0
raw download clone embed print report
  1. All is well! Everyone is happy! You can start planning now!
  2.  
  3. [ INFO] [1508149016.329569140]: Loading robot model 'fetch'...
  4. [ INFO] [1508149016.329621421]: No root/virtual joint specified in SRDF. Assuming fixed joint
  5. [ INFO] [1508149016.500443946]: Loading robot model 'fetch'...
  6. [ INFO] [1508149016.500477833]: No root/virtual joint specified in SRDF. Assuming fixed joint
  7. [ WARN] [1508149016.542886828]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
  8. [ INFO] [1508149016.781387784]: Starting scene monitor
  9. [ INFO] [1508149016.785755513]: Listening to '/move_group/monitored_planning_scene'
  10. [ WARN] [1508149017.949510117]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
  11. [ WARN] [1508149017.949691928]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
  12. [ INFO] [1508149017.953171332]: Constructing new MoveGroup connection for group 'arm' in namespace ''
  13. [ INFO] [1508149018.844423829]: TrajectoryExecution will use old service capability.
  14. [ INFO] [1508149018.844486298]: Ready to take MoveGroup commands for group arm.
  15. [ INFO] [1508149018.844524376]: Looking around: no
  16. [ INFO] [1508149018.844549352]: Replanning: no
  17. [ INFO] [1508149034.968391236]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  18. [ INFO] [1508149034.983377879]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
  19. [ INFO] [1508149034.983752226]: Planner configuration 'arm[BITstarConfigDefault]' will use planner 'geometric::BITstar'. Additional configuration parameters will be set when the planner is constructed.
  20. [ WARN] [1508149034.995515276]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  21. [ WARN] [1508149034.996073571]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  22. [ WARN] [1508149034.996439082]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  23. [ WARN] [1508149034.996670932]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  24. [ INFO] [1508149035.005615427]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  25. [ INFO] [1508149035.006464274]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  26. [ INFO] [1508149035.006759842]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  27. [ INFO] [1508149035.006877544]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  28. [ INFO] [1508149035.008341140]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  29. [ INFO] [1508149035.008414570]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  30. [ INFO] [1508149035.008461628]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  31. [ INFO] [1508149035.008520622]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  32. [ INFO] [1508149035.008557243]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  33. [ INFO] [1508149035.008598921]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  34. [ INFO] [1508149035.008630557]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  35. [ INFO] [1508149035.008658154]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  36. [ INFO] [1508149035.011700591]: ParallelPlan::solve(): Solution found by one or more threads in 0.017811 seconds
  37. [ WARN] [1508149035.012803555]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  38. [ WARN] [1508149035.012869908]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  39. [ WARN] [1508149035.012938086]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  40. [ WARN] [1508149035.012995241]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  41. [ INFO] [1508149035.015736756]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  42. [ INFO] [1508149035.015769080]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  43. [ INFO] [1508149035.015848594]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  44. [ INFO] [1508149035.016003005]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  45. [ INFO] [1508149035.016212191]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  46. [ INFO] [1508149035.016243864]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  47. [ INFO] [1508149035.016288247]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  48. [ INFO] [1508149035.016325988]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  49. [ INFO] [1508149035.016377960]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  50. [ INFO] [1508149035.016441306]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  51. [ INFO] [1508149035.016483507]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  52. [ INFO] [1508149035.016554544]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  53. [ INFO] [1508149035.017552495]: ParallelPlan::solve(): Solution found by one or more threads in 0.005068 seconds
  54. [ WARN] [1508149035.018067331]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  55. [ WARN] [1508149035.018107463]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  56. [ INFO] [1508149035.021166305]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  57. [ INFO] [1508149035.021225156]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  58. [ INFO] [1508149035.021759300]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  59. [ INFO] [1508149035.021808732]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  60. [ INFO] [1508149035.021885425]: arm[BITstarConfigDefault] (1 iters): Found a solution of cost 7.3642 (2 vertices) from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The graph currently has 2 vertices.
  61. [ INFO] [1508149035.021934203]: arm[BITstarConfigDefault]: Finished with a solution of cost 7.3642 (2 vertices) found from 0 samples by processing 1 edges (1 collision checked) to create 2 vertices and perform 0 rewirings. The final graph has 2 vertices.
  62. [ INFO] [1508149035.022894394]: ParallelPlan::solve(): Solution found by one or more threads in 0.005041 seconds
  63. [ INFO] [1508149035.023035736]: SimpleSetup: Path simplification took 0.000026 seconds and changed from 2 to 2 states
  64.  
  65.  
  66.  
  67. ###### Plan again for the same start and goal poses
  68.  
  69.  
  70.  
  71. [ INFO] [1508149047.035997213]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  72. [ INFO] [1508149047.038483986]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
  73. [ INFO] [1508149047.038672538]: Planner configuration 'arm[BITstarConfigDefault]' will use planner 'geometric::BITstar'. Additional configuration parameters will be set when the planner is constructed.
  74. [ INFO] [1508149047.043910351]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  75. [ INFO] [1508149047.044193976]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  76. [ INFO] [1508149047.045166237]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  77. [ INFO] [1508149047.045368349]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  78. [ WARN] [1508149047.054675617]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  79. [ WARN] [1508149047.055035356]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  80. [ WARN] [1508149047.056033199]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  81. [ WARN] [1508149047.061101310]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  82. [ INFO] [1508149047.064373533]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  83. [ INFO] [1508149047.064535497]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  84. [ INFO] [1508149047.064675818]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  85. [ INFO] [1508149047.064733450]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  86. [ INFO] [1508149047.066981361]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  87. [ INFO] [1508149047.067039250]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  88. [ INFO] [1508149047.069562676]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  89. [ INFO] [1508149047.069674732]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  90. [ INFO] [1508149047.089115978]: arm[BITstarConfigDefault] (3 iters): Found a solution of cost 12.8261 (3 vertices) from 100 samples by processing 2 edges (2 collision checked) to create 3 vertices and perform 0 rewirings. The graph currently has 3 vertices.
  91. [ INFO] [1508149047.090830207]: arm[BITstarConfigDefault] (3 iters): Found a solution of cost 12.3957 (3 vertices) from 100 samples by processing 2 edges (2 collision checked) to create 3 vertices and perform 0 rewirings. The graph currently has 3 vertices.
  92. [ INFO] [1508149047.097804231]: arm[BITstarConfigDefault] (15 iters): Found a solution of cost 16.9615 (4 vertices) from 100 samples by processing 14 edges (14 collision checked) to create 15 vertices and perform 0 rewirings. The graph currently has 15 vertices.
  93. [ INFO] [1508149047.101395248]: arm[BITstarConfigDefault] (20 iters): Found a solution of cost 18.6000 (4 vertices) from 100 samples by processing 19 edges (19 collision checked) to create 20 vertices and perform 0 rewirings. The graph currently has 20 vertices.
  94. [ INFO] [1508149047.111371379]: arm[BITstarConfigDefault] (7 iters): Found a solution of cost 9.9748 (3 vertices) from 200 samples by processing 5 edges (4 collision checked) to create 5 vertices and perform 0 rewirings. The graph currently has 5 vertices.
  95. [ INFO] [1508149047.113365223]: arm[BITstarConfigDefault] (7 iters): Found a solution of cost 12.0962 (3 vertices) from 200 samples by processing 5 edges (4 collision checked) to create 5 vertices and perform 0 rewirings. The graph currently has 5 vertices.
  96. [ INFO] [1508149047.115613709]: arm[BITstarConfigDefault] (19 iters): Found a solution of cost 11.7182 (3 vertices) from 200 samples by processing 17 edges (16 collision checked) to create 16 vertices and perform 1 rewirings. The graph currently has 16 vertices.
  97. [ INFO] [1508149047.115668421]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  98. [ INFO] [1508149047.119548949]: arm[BITstarConfigDefault] (24 iters): Found a solution of cost 11.2300 (3 vertices) from 200 samples by processing 22 edges (21 collision checked) to create 22 vertices and perform 0 rewirings. The graph currently has 22 vertices.
  99. [ INFO] [1508149047.153245533]: arm[BITstarConfigDefault] (12 iters): Found a solution of cost 11.0400 (3 vertices) from 400 samples by processing 8 edges (6 collision checked) to create 6 vertices and perform 1 rewirings. The graph currently has 6 vertices.
  100. [ INFO] [1508149047.153322742]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  101. [ INFO] [1508149047.176687125]: arm[BITstarConfigDefault] (17 iters): Found a solution of cost 9.4895 (3 vertices) from 500 samples by processing 12 edges (8 collision checked) to create 8 vertices and perform 1 rewirings. The graph currently has 8 vertices.
  102. [ INFO] [1508149047.509224931]: arm[BITstarConfigDefault] (48 iters): Found a solution of cost 11.6182 (4 vertices) from 2400 samples by processing 24 edges (21 collision checked) to create 21 vertices and perform 1 rewirings. The graph currently has 21 vertices.
  103. [ INFO] [1508149047.630166011]: arm[BITstarConfigDefault] (56 iters): Found a solution of cost 11.1217 (4 vertices) from 2900 samples by processing 27 edges (23 collision checked) to create 23 vertices and perform 1 rewirings. The graph currently has 23 vertices.
  104. [ INFO] [1508149047.944461331]: arm[BITstarConfigDefault] (72 iters): Found a solution of cost 11.0879 (4 vertices) from 4000 samples by processing 32 edges (30 collision checked) to create 30 vertices and perform 1 rewirings. The graph currently has 30 vertices.
  105. [ INFO] [1508149047.944557375]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  106. [ INFO] [1508149047.990151585]: arm[BITstarConfigDefault] (74 iters): Found a solution of cost 11.0626 (4 vertices) from 4300 samples by processing 31 edges (26 collision checked) to create 25 vertices and perform 2 rewirings. The graph currently has 25 vertices.
  107. [ INFO] [1508149052.043685039]: arm[BITstarConfigDefault]: Finished with a solution of cost 9.4895 (3 vertices) found from 18900 samples by processing 13 edges (8 collision checked) to create 8 vertices and perform 1 rewirings. The final graph has 8 vertices.
  108. [ INFO] [1508149052.071957461]: arm[BITstarConfigDefault]: Finished with a solution of cost 9.9748 (3 vertices) found from 18000 samples by processing 8 edges (6 collision checked) to create 7 vertices and perform 0 rewirings. The final graph has 7 vertices.
  109. [ INFO] [1508149052.073951232]: arm[BITstarConfigDefault]: Finished with a solution of cost 11.0879 (4 vertices) found from 14600 samples by processing 35 edges (31 collision checked) to create 31 vertices and perform 1 rewirings. The final graph has 31 vertices.
  110. [ INFO] [1508149052.107412766]: arm[BITstarConfigDefault]: Finished with a solution of cost 11.0626 (4 vertices) found from 13000 samples by processing 37 edges (32 collision checked) to create 31 vertices and perform 2 rewirings. The final graph has 31 vertices.
  111. [ INFO] [1508149052.107831768]: ParallelPlan::solve(): Solution found by one or more threads in 5.065030 seconds
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!