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  1. [INFO] [launch]: All log files can be found below /home/dogukanyilmaz/.ros/log/2024-05-14-15-35-47-397300-DESKTOP-VB12HTG-87876
  2. [INFO] [launch]: Default logging verbosity is set to INFO
  3. Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
  4. [INFO] [rviz2-1]: process started with pid [87883]
  5. [INFO] [static_transform_publisher-2]: process started with pid [87885]
  6. [INFO] [robot_state_publisher-3]: process started with pid [87887]
  7. [INFO] [move_group-4]: process started with pid [87889]
  8. [INFO] [gazebo-5]: process started with pid [87892]
  9. [INFO] [spawn_entity.py-6]: process started with pid [87894]
  10. [robot_state_publisher-3] [INFO] [1715690147.600766312] [robot_state_publisher]: got segment Motor2Gv_1
  11. [robot_state_publisher-3] [INFO] [1715690147.600870157] [robot_state_publisher]: got segment Motor3Gv_1
  12. [robot_state_publisher-3] [INFO] [1715690147.600901403] [robot_state_publisher]: got segment Motor4Gv_1
  13. [robot_state_publisher-3] [INFO] [1715690147.600909067] [robot_state_publisher]: got segment Motor5Gv_1
  14. [robot_state_publisher-3] [INFO] [1715690147.600910731] [robot_state_publisher]: got segment Motor6Gv_1
  15. [robot_state_publisher-3] [INFO] [1715690147.600912377] [robot_state_publisher]: got segment Motor7Gv_1
  16. [robot_state_publisher-3] [INFO] [1715690147.600914226] [robot_state_publisher]: got segment base_link
  17. [robot_state_publisher-3] [INFO] [1715690147.600915651] [robot_state_publisher]: got segment world
  18. [static_transform_publisher-2] [INFO] [1715690147.601451239] [static_transform_publisher]: Spinning until stopped - publishing transform
  19. [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
  20. [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
  21. [static_transform_publisher-2] from 'world' to 'dummy'
  22. [rviz2-1] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
  23. [move_group-4] [INFO] [1715690147.641354449] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0 seconds
  24. [move_group-4] [INFO] [1715690147.641483875] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'octobot'...
  25. [move_group-4] [WARN] [1715690147.674685425] [move_group.moveit.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
  26. [move_group-4] [INFO] [1715690147.681647208] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
  27. [move_group-4] [INFO] [1715690147.809159654] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  28. [move_group-4] [INFO] [1715690147.809298465] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
  29. [move_group-4] [INFO] [1715690147.810243454] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
  30. [move_group-4] [INFO] [1715690147.810754066] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
  31. [move_group-4] [INFO] [1715690147.810797753] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
  32. [move_group-4] [INFO] [1715690147.810897145] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
  33. [move_group-4] [INFO] [1715690147.811217962] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
  34. [move_group-4] [INFO] [1715690147.811310962] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  35. [move_group-4] [INFO] [1715690147.811575504] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
  36. [move_group-4] [INFO] [1715690147.811588783] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
  37. [move_group-4] [INFO] [1715690147.812300559] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
  38. [move_group-4] [INFO] [1715690147.812689868] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
  39. [move_group-4] [WARN] [1715690147.813641941] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
  40. [move_group-4] [ERROR] [1715690147.813676169] [move_group.moveit.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
  41. [gazebo-5] Gazebo multi-robot simulator, version 11.10.2
  42. [gazebo-5] Copyright (C) 2012 Open Source Robotics Foundation.
  43. [gazebo-5] Released under the Apache 2 License.
  44. [gazebo-5] http://gazebosim.org
  45. [gazebo-5]
  46. [gazebo-5] Gazebo multi-robot simulator, version 11.10.2
  47. [gazebo-5] Copyright (C) 2012 Open Source Robotics Foundation.
  48. [gazebo-5] Released under the Apache 2 License.
  49. [gazebo-5] http://gazebosim.org
  50. [gazebo-5]
  51. [move_group-4] [INFO] [1715690147.868373243] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL'
  52. [move_group-4] [INFO] [1715690147.871206704] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  53. [move_group-4] [INFO] [1715690147.872269940] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  54. [move_group-4] [INFO] [1715690147.872313197] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  55. [move_group-4] [INFO] [1715690147.872711088] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  56. [move_group-4] [INFO] [1715690147.872728876] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  57. [move_group-4] [INFO] [1715690147.872757461] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  58. [move_group-4] [INFO] [1715690147.872761735] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  59. [move_group-4] [INFO] [1715690147.872772733] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  60. [move_group-4] [INFO] [1715690147.875929277] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  61. [move_group-4] [INFO] [1715690147.879579783] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  62. [move_group-4] [INFO] [1715690147.879618120] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  63. [move_group-4] [INFO] [1715690147.881219076] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  64. [move_group-4] [INFO] [1715690147.881244367] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  65. [move_group-4] [INFO] [1715690147.881886600] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  66. [move_group-4] [INFO] [1715690147.886857030] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP'
  67. [move_group-4] [INFO] [1715690147.888984171] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  68. [move_group-4] [INFO] [1715690147.889193371] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  69. [move_group-4] [INFO] [1715690147.889200832] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  70. [move_group-4] [INFO] [1715690147.889499464] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  71. [move_group-4] [INFO] [1715690147.889514525] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  72. [move_group-4] [INFO] [1715690147.889536862] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  73. [move_group-4] [INFO] [1715690147.889539739] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  74. [move_group-4] [INFO] [1715690147.889546615] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  75. [move_group-4] [INFO] [1715690147.891666265] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  76. [move_group-4] [INFO] [1715690147.892400497] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization'
  77. [move_group-4] [INFO] [1715690147.892435814] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  78. [move_group-4] [INFO] [1715690147.892937002] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  79. [move_group-4] [INFO] [1715690147.892961369] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  80. [move_group-4] [INFO] [1715690147.893327112] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  81. [move_group-4] [INFO] [1715690147.897156632] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  82. [move_group-4] [INFO] [1715690147.906197825] [move_group.moveit.moveit.planners.pilz.command_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP
  83. [move_group-4] [INFO] [1715690147.906242852] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
  84. [move_group-4] [INFO] [1715690147.907439503] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC]
  85. [move_group-4] [INFO] [1715690147.907476071] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
  86. [move_group-4] [INFO] [1715690147.908168870] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN]
  87. [move_group-4] [INFO] [1715690147.908189202] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
  88. [move_group-4] [INFO] [1715690147.908836404] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP]
  89. [move_group-4] [INFO] [1715690147.908856382] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner'
  90. [move_group-4] [INFO] [1715690147.911966704] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  91. [move_group-4] [INFO] [1715690147.912321775] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames'
  92. [move_group-4] [INFO] [1715690147.912340257] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  93. [move_group-4] [INFO] [1715690147.912811779] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds'
  94. [move_group-4] [INFO] [1715690147.912838395] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds'
  95. [move_group-4] [INFO] [1715690147.912862609] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds'
  96. [move_group-4] [INFO] [1715690147.912866397] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision'
  97. [move_group-4] [INFO] [1715690147.912877514] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision'
  98. [move_group-4] [INFO] [1715690147.916120493] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution'
  99. [move_group-4] [INFO] [1715690147.917455807] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution'
  100. [move_group-4] [INFO] [1715690147.917503008] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath'
  101. [move_group-4] [INFO] [1715690147.917921746] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath'
  102. [spawn_entity.py-6] [INFO] [1715690147.936730552] [spawn_entity]: Spawn Entity started
  103. [spawn_entity.py-6] [INFO] [1715690147.937010952] [spawn_entity]: Loading entity published on topic /robot_description
  104. [spawn_entity.py-6] /opt/ros/iron/lib/python3.10/site-packages/rclpy/qos.py:313: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
  105. [spawn_entity.py-6] warnings.warn(
  106. [spawn_entity.py-6] [INFO] [1715690147.939422647] [spawn_entity]: Waiting for entity xml on /robot_description
  107. [spawn_entity.py-6] [INFO] [1715690147.950379853] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
  108. [spawn_entity.py-6] [INFO] [1715690147.950726121] [spawn_entity]: Waiting for service /spawn_entity
  109. [move_group-4] [INFO] [1715690147.971905486] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for arm_controller
  110. [move_group-4] [INFO] [1715690147.972440098] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
  111. [move_group-4] [INFO] [1715690147.972510533] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 1 controllers in list
  112. [move_group-4] [INFO] [1715690147.973151965] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
  113. [move_group-4] [INFO] [1715690147.973189138] [move_group]: MoveGroup debug mode is ON
  114. [move_group-4] [INFO] [1715690147.996208973] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action
  115. [move_group-4] [INFO] [1715690147.998889329] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  116. [move_group-4] [INFO] [1715690147.999064834] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
  117. [move_group-4] [INFO] [1715690147.999822704] [move_group.moveit.moveit.ros.move_group.executable]:
  118. [move_group-4]
  119. [move_group-4] ********************************************************
  120. [move_group-4] * MoveGroup using:
  121. [move_group-4] * - apply_planning_scene_service
  122. [move_group-4] * - clear_octomap_service
  123. [move_group-4] * - ExecuteTaskSolution
  124. [move_group-4] * - get_group_urdf
  125. [move_group-4] * - CartesianPathService
  126. [move_group-4] * - execute_trajectory_action
  127. [move_group-4] * - get_planning_scene_service
  128. [move_group-4] * - kinematics_service
  129. [move_group-4] * - move_action
  130. [move_group-4] * - motion_plan_service
  131. [move_group-4] * - query_planners_service
  132. [move_group-4] * - state_validation_service
  133. [move_group-4] * - SequenceAction
  134. [move_group-4] * - SequenceService
  135. [move_group-4] ********************************************************
  136. [move_group-4]
  137. [move_group-4] [INFO] [1715690147.999870932] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl
  138. [move_group-4] [INFO] [1715690147.999896848] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete
  139. [move_group-4] Loading 'move_group/ApplyPlanningSceneService'...
  140. [move_group-4] Loading 'move_group/ClearOctomapService'...
  141. [move_group-4] Loading 'move_group/ExecuteTaskSolutionCapability'...
  142. [move_group-4] Loading 'move_group/GetUrdfService'...
  143. [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'...
  144. [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
  145. [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'...
  146. [move_group-4] Loading 'move_group/MoveGroupKinematicsService'...
  147. [move_group-4] Loading 'move_group/MoveGroupMoveAction'...
  148. [move_group-4] Loading 'move_group/MoveGroupPlanService'...
  149. [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'...
  150. [move_group-4] Loading 'move_group/MoveGroupStateValidationService'...
  151. [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
  152. [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
  153. [move_group-4]
  154. [move_group-4] You can start planning now!
  155. [move_group-4]
  156. [rviz2-1] [INFO] [1715690148.951892360] [rviz2]: Stereo is NOT SUPPORTED
  157. [rviz2-1] [INFO] [1715690148.952064946] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
  158. [rviz2-1] [INFO] [1715690148.973808827] [rviz2]: Stereo is NOT SUPPORTED
  159. [rviz2-1] [WARN] [1715690149.060232117] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
  160. [rviz2-1] [INFO] [1715690149.070218651] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00299775 seconds
  161. [rviz2-1] [INFO] [1715690149.070386083] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
  162. [rviz2-1] [WARN] [1715690149.101834434] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
  163. [gazebo-5] [INFO] [1715690149.233465537] [gazebo_ros_node]: ROS was initialized without arguments.
  164. [spawn_entity.py-6] [INFO] [1715690149.457762868] [spawn_entity]: Calling service /spawn_entity
  165. [gazebo-5] [Msg] Waiting for master.
  166. [gazebo-5] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  167. [gazebo-5] [Msg] Publicized address: 172.31.195.178
  168. [gazebo-5] [Wrn] [GuiIface.cc:120] QStandardPaths: wrong permissions on runtime directory /run/user/1000/, 0755 instead of 0700
  169. [rviz2-1] [INFO] [1715690149.545634581] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00207065 seconds
  170. [rviz2-1] [INFO] [1715690149.545729091] [rviz2.moveit.core.robot_model]: Loading robot model 'octobot'...
  171. [rviz2-1] [WARN] [1715690149.579251297] [rviz2.moveit.core.robot_model]: Could not identify parent group for end-effector 'end_effector'
  172. [rviz2-1] [INFO] [1715690149.586849969] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1
  173. [spawn_entity.py-6] [INFO] [1715690149.681319550] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [octobot]
  174. [rviz2-1] [INFO] [1715690149.726543188] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
  175. [rviz2-1] [INFO] [1715690149.729167098] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene'
  176. [gazebo-5] [INFO] [1715690149.737341946] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
  177. [gazebo-5] [INFO] [1715690149.745392615] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
  178. [gazebo-5] [INFO] [1715690149.745663574] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
  179. [gazebo-5] [INFO] [1715690149.750600664] [gazebo_ros2_control]: connected to service!! robot_state_publisher
  180. [gazebo-5] [INFO] [1715690149.751351709] [gazebo_ros2_control]: Received urdf from param server, parsing...
  181. [gazebo-5] [INFO] [1715690149.751463412] [gazebo_ros2_control]: Loading parameter files /home/dogukanyilmaz/ws_octobot/src/cores/octobot_config/config/ros2_controllers.yaml
  182. [gazebo-5] [INFO] [1715690149.765798667] [gazebo_ros2_control]: Loading joint: doner12
  183. [gazebo-5] [INFO] [1715690149.765901416] [gazebo_ros2_control]: State:
  184. [gazebo-5] [INFO] [1715690149.765908184] [gazebo_ros2_control]: position
  185. [gazebo-5] [INFO] [1715690149.765922065] [gazebo_ros2_control]: velocity
  186. [gazebo-5] [INFO] [1715690149.765925555] [gazebo_ros2_control]: effort
  187. [gazebo-5] [INFO] [1715690149.765932927] [gazebo_ros2_control]: Command:
  188. [gazebo-5] [INFO] [1715690149.765935599] [gazebo_ros2_control]: position
  189. [gazebo-5] [INFO] [1715690149.765986170] [gazebo_ros2_control]: Loading joint: doner23
  190. [gazebo-5] [INFO] [1715690149.765990601] [gazebo_ros2_control]: State:
  191. [gazebo-5] [INFO] [1715690149.765992873] [gazebo_ros2_control]: position
  192. [gazebo-5] [INFO] [1715690149.765995429] [gazebo_ros2_control]: velocity
  193. [gazebo-5] [INFO] [1715690149.765997609] [gazebo_ros2_control]: effort
  194. [gazebo-5] [INFO] [1715690149.765999625] [gazebo_ros2_control]: Command:
  195. [gazebo-5] [INFO] [1715690149.766001524] [gazebo_ros2_control]: position
  196. [gazebo-5] [INFO] [1715690149.766008922] [gazebo_ros2_control]: Loading joint: doner34
  197. [gazebo-5] [INFO] [1715690149.766011194] [gazebo_ros2_control]: State:
  198. [gazebo-5] [INFO] [1715690149.766013230] [gazebo_ros2_control]: position
  199. [gazebo-5] [INFO] [1715690149.766015157] [gazebo_ros2_control]: velocity
  200. [gazebo-5] [INFO] [1715690149.766017130] [gazebo_ros2_control]: effort
  201. [gazebo-5] [INFO] [1715690149.766019684] [gazebo_ros2_control]: Command:
  202. [gazebo-5] [INFO] [1715690149.766021856] [gazebo_ros2_control]: position
  203. [gazebo-5] [INFO] [1715690149.766028440] [gazebo_ros2_control]: Loading joint: doner45
  204. [gazebo-5] [INFO] [1715690149.766030490] [gazebo_ros2_control]: State:
  205. [gazebo-5] [INFO] [1715690149.766032554] [gazebo_ros2_control]: position
  206. [gazebo-5] [INFO] [1715690149.766034432] [gazebo_ros2_control]: velocity
  207. [gazebo-5] [INFO] [1715690149.766036291] [gazebo_ros2_control]: effort
  208. [gazebo-5] [INFO] [1715690149.766038137] [gazebo_ros2_control]: Command:
  209. [gazebo-5] [INFO] [1715690149.766040030] [gazebo_ros2_control]: position
  210. [gazebo-5] [INFO] [1715690149.766045653] [gazebo_ros2_control]: Loading joint: doner56
  211. [gazebo-5] [INFO] [1715690149.766047748] [gazebo_ros2_control]: State:
  212. [gazebo-5] [INFO] [1715690149.766049811] [gazebo_ros2_control]: position
  213. [gazebo-5] [INFO] [1715690149.766051770] [gazebo_ros2_control]: velocity
  214. [gazebo-5] [INFO] [1715690149.766053718] [gazebo_ros2_control]: effort
  215. [gazebo-5] [INFO] [1715690149.766055585] [gazebo_ros2_control]: Command:
  216. [gazebo-5] [INFO] [1715690149.766057431] [gazebo_ros2_control]: position
  217. [gazebo-5] [INFO] [1715690149.766062441] [gazebo_ros2_control]: Loading joint: doner67
  218. [gazebo-5] [INFO] [1715690149.766064438] [gazebo_ros2_control]: State:
  219. [gazebo-5] [INFO] [1715690149.766066279] [gazebo_ros2_control]: position
  220. [gazebo-5] [INFO] [1715690149.766068190] [gazebo_ros2_control]: velocity
  221. [gazebo-5] [INFO] [1715690149.766070804] [gazebo_ros2_control]: effort
  222. [gazebo-5] [INFO] [1715690149.766072818] [gazebo_ros2_control]: Command:
  223. [gazebo-5] [INFO] [1715690149.766074704] [gazebo_ros2_control]: position
  224. [gazebo-5] [INFO] [1715690149.766114403] [resource_manager]: Initialize hardware 'GazeboSystem'
  225. [gazebo-5] [INFO] [1715690149.766211751] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
  226. [gazebo-5] [INFO] [1715690149.766262040] [resource_manager]: 'configure' hardware 'GazeboSystem'
  227. [gazebo-5] [INFO] [1715690149.766265476] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
  228. [gazebo-5] [INFO] [1715690149.766269427] [resource_manager]: 'activate' hardware 'GazeboSystem'
  229. [gazebo-5] [INFO] [1715690149.766271210] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
  230. [gazebo-5] [INFO] [1715690149.766290487] [gazebo_ros2_control]: Loading joint: doner12
  231. [gazebo-5] [INFO] [1715690149.766322771] [gazebo_ros2_control]: State:
  232. [gazebo-5] [INFO] [1715690149.766325918] [gazebo_ros2_control]: position
  233. [gazebo-5] [INFO] [1715690149.766331252] [gazebo_ros2_control]: found initial value: 0.000000
  234. [gazebo-5] [INFO] [1715690149.766342743] [gazebo_ros2_control]: velocity
  235. [gazebo-5] [INFO] [1715690149.766346358] [gazebo_ros2_control]: Command:
  236. [gazebo-5] [INFO] [1715690149.766350177] [gazebo_ros2_control]: position
  237. [gazebo-5] [INFO] [1715690149.766363352] [gazebo_ros2_control]: Loading joint: doner23
  238. [gazebo-5] [INFO] [1715690149.766365723] [gazebo_ros2_control]: State:
  239. [gazebo-5] [INFO] [1715690149.766368061] [gazebo_ros2_control]: position
  240. [gazebo-5] [INFO] [1715690149.766370423] [gazebo_ros2_control]: found initial value: 0.000000
  241. [gazebo-5] [INFO] [1715690149.766372888] [gazebo_ros2_control]: velocity
  242. [gazebo-5] [INFO] [1715690149.766374842] [gazebo_ros2_control]: Command:
  243. [gazebo-5] [INFO] [1715690149.766376904] [gazebo_ros2_control]: position
  244. [gazebo-5] [INFO] [1715690149.766380803] [gazebo_ros2_control]: Loading joint: doner34
  245. [gazebo-5] [INFO] [1715690149.766382767] [gazebo_ros2_control]: State:
  246. [gazebo-5] [INFO] [1715690149.766384746] [gazebo_ros2_control]: position
  247. [gazebo-5] [INFO] [1715690149.766386759] [gazebo_ros2_control]: found initial value: 0.000000
  248. [gazebo-5] [INFO] [1715690149.766388902] [gazebo_ros2_control]: velocity
  249. [gazebo-5] [INFO] [1715690149.766390779] [gazebo_ros2_control]: Command:
  250. [gazebo-5] [INFO] [1715690149.766392861] [gazebo_ros2_control]: position
  251. [gazebo-5] [INFO] [1715690149.766396672] [gazebo_ros2_control]: Loading joint: doner45
  252. [gazebo-5] [INFO] [1715690149.766398732] [gazebo_ros2_control]: State:
  253. [gazebo-5] [INFO] [1715690149.766400713] [gazebo_ros2_control]: position
  254. [gazebo-5] [INFO] [1715690149.766402512] [gazebo_ros2_control]: found initial value: 0.000000
  255. [gazebo-5] [INFO] [1715690149.766404680] [gazebo_ros2_control]: velocity
  256. [gazebo-5] [INFO] [1715690149.766406709] [gazebo_ros2_control]: Command:
  257. [gazebo-5] [INFO] [1715690149.766408645] [gazebo_ros2_control]: position
  258. [gazebo-5] [INFO] [1715690149.766412460] [gazebo_ros2_control]: Loading joint: doner56
  259. [gazebo-5] [INFO] [1715690149.766414439] [gazebo_ros2_control]: State:
  260. [gazebo-5] [INFO] [1715690149.766416270] [gazebo_ros2_control]: position
  261. [gazebo-5] [INFO] [1715690149.766418691] [gazebo_ros2_control]: found initial value: 0.000000
  262. [gazebo-5] [INFO] [1715690149.766421614] [gazebo_ros2_control]: velocity
  263. [gazebo-5] [INFO] [1715690149.766423603] [gazebo_ros2_control]: Command:
  264. [gazebo-5] [INFO] [1715690149.766425480] [gazebo_ros2_control]: position
  265. [gazebo-5] [INFO] [1715690149.766428644] [gazebo_ros2_control]: Loading joint: doner67
  266. [gazebo-5] [INFO] [1715690149.766430604] [gazebo_ros2_control]: State:
  267. [gazebo-5] [INFO] [1715690149.766432434] [gazebo_ros2_control]: position
  268. [gazebo-5] [INFO] [1715690149.766434258] [gazebo_ros2_control]: found initial value: 0.000000
  269. [gazebo-5] [INFO] [1715690149.766436393] [gazebo_ros2_control]: velocity
  270. [gazebo-5] [INFO] [1715690149.766438240] [gazebo_ros2_control]: Command:
  271. [gazebo-5] [INFO] [1715690149.766440068] [gazebo_ros2_control]: position
  272. [gazebo-5] [INFO] [1715690149.766443386] [resource_manager]: Initialize hardware 'GazeboSystem'
  273. [gazebo-5] [INFO] [1715690149.766448620] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
  274. [gazebo-5] [INFO] [1715690149.766520444] [gazebo_ros2_control]: Loading controller_manager
  275. [gazebo-5] [INFO] [1715690149.807938982] [controller_manager]: Subscribing to '/controller_manager/robot_description' topic for robot description.
  276. [gazebo-5] [INFO] [1715690149.808634548] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
  277. [INFO] [spawn_entity.py-6]: process has finished cleanly [pid 87894]
  278. [INFO] [ros2-7]: process started with pid [88202]
  279. [gazebo-5] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
  280. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
  281. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
  282. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::base_link::base_link_visual. Object will appear white
  283. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
  284. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
  285. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
  286. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
  287. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
  288. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
  289. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
  290. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
  291. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
  292. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
  293. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
  294. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
  295. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor2Gv_1::Motor2Gv_1_visual. Object will appear white
  296. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor3Gv_1::Motor3Gv_1_visual. Object will appear white
  297. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor4Gv_1::Motor4Gv_1_visual. Object will appear white
  298. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor5Gv_1::Motor5Gv_1_visual. Object will appear white
  299. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor6Gv_1::Motor6Gv_1_visual. Object will appear white
  300. [gazebo-5] [Wrn] [Visual.cc:1056] Unable to get Material[Gazebo/Silver] for Geometry[octobot::Motor7Gv_1::Motor7Gv_1_visual. Object will appear white
  301. [gazebo-5] [INFO] [1715690151.333566659] [controller_manager]: Loading controller 'joint_state_broadcaster'
  302. [gazebo-5] [INFO] [1715690151.369370425] [controller_manager]: Configuring controller 'joint_state_broadcaster'
  303. [gazebo-5] [INFO] [1715690151.370035845] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
  304. [ros2-7] Successfully loaded controller joint_state_broadcaster into state active
  305. [INFO] [ros2-7]: process has finished cleanly [pid 88202]
  306. [INFO] [ros2-8]: process started with pid [88279]
  307. [gazebo-5] [INFO] [1715690152.887562737] [controller_manager]: Loading controller 'arm_controller'
  308. [gazebo-5] [INFO] [1715690152.924940466] [controller_manager]: Configuring controller 'arm_controller'
  309. [gazebo-5] [INFO] [1715690152.925138164] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
  310. [gazebo-5] [INFO] [1715690152.925183720] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
  311. [gazebo-5] [INFO] [1715690152.925224961] [arm_controller]: Using 'splines' interpolation method.
  312. [gazebo-5] [INFO] [1715690152.928510997] [arm_controller]: Action status changes will be monitored at 20.00 Hz.
  313. [ros2-8] Successfully loaded controller arm_controller into state active
  314. [INFO] [ros2-8]: process has finished cleanly [pid 88279]
  315. [gazebo-5] [Msg] Waiting for master.
  316. [gazebo-5] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  317. [gazebo-5] [Msg] Publicized address: 172.31.195.178
  318. [gazebo-5] [Msg] Loading world file [/usr/share/gazebo-11/worlds/empty.world]
Tags: ROS Gazebo
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