ROSkinect

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Mar 3rd, 2015
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  1. ros@ros:~/catkin_ws$ roslaunch staublitx60moveit demo.launch
  2. ... logging to /home/ros/.ros/log/ce037a82-c1e8-11e4-bfe2-00215c70446f/roslaunch-ros-19445.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://ros:44591/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13.  * /joint_state_publisher/use_gui
  14.  * /move_group/Arm/planner_configs
  15.  * /move_group/EndJoin/planner_configs
  16.  * /move_group/allow_trajectory_execution
  17.  * /move_group/allowed_execution_duration_scaling
  18.  * /move_group/allowed_goal_duration_margin
  19.  * /move_group/capabilities
  20.  * /move_group/controller_list
  21.  * /move_group/jiggle_fraction
  22.  * /move_group/max_range
  23.  * /move_group/max_safe_path_cost
  24.  * /move_group/moveit_controller_manager
  25.  * /move_group/moveit_manage_controllers
  26.  * /move_group/octomap_resolution
  27.  * /move_group/planner_configs/BKPIECEkConfigDefault/type
  28.  * /move_group/planner_configs/ESTkConfigDefault/type
  29.  * /move_group/planner_configs/KPIECEkConfigDefault/type
  30.  * /move_group/planner_configs/LBKPIECEkConfigDefault/type
  31.  * /move_group/planner_configs/PRMkConfigDefault/type
  32.  * /move_group/planner_configs/PRMstarkConfigDefault/type
  33.  * /move_group/planner_configs/RRTConnectkConfigDefault/type
  34.  * /move_group/planner_configs/RRTkConfigDefault/type
  35.  * /move_group/planner_configs/RRTstarkConfigDefault/type
  36.  * /move_group/planner_configs/SBLkConfigDefault/type
  37.  * /move_group/planner_configs/TRRTkConfigDefault/type
  38.  * /move_group/planning_plugin
  39.  * /move_group/planning_scene_monitor/publish_geometry_updates
  40.  * /move_group/planning_scene_monitor/publish_planning_scene
  41.  * /move_group/planning_scene_monitor/publish_state_updates
  42.  * /move_group/planning_scene_monitor/publish_transforms_updates
  43.  * /move_group/request_adapters
  44.  * /move_group/start_state_max_bounds_error
  45.  * /robot_description
  46.  * /robot_description_kinematics/Arm/kinematics_solver
  47.  * /robot_description_kinematics/Arm/kinematics_solver_attempts
  48.  * /robot_description_kinematics/Arm/kinematics_solver_search_resolution
  49.  * /robot_description_kinematics/Arm/kinematics_solver_timeout
  50.  * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits
  51.  * /robot_description_planning/joint_limits/joint_1/has_velocity_limits
  52.  * /robot_description_planning/joint_limits/joint_1/max_acceleration
  53.  * /robot_description_planning/joint_limits/joint_1/max_velocity
  54.  * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits
  55.  * /robot_description_planning/joint_limits/joint_2/has_velocity_limits
  56.  * /robot_description_planning/joint_limits/joint_2/max_acceleration
  57.  * /robot_description_planning/joint_limits/joint_2/max_velocity
  58.  * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits
  59.  * /robot_description_planning/joint_limits/joint_3/has_velocity_limits
  60.  * /robot_description_planning/joint_limits/joint_3/max_acceleration
  61.  * /robot_description_planning/joint_limits/joint_3/max_velocity
  62.  * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits
  63.  * /robot_description_planning/joint_limits/joint_4/has_velocity_limits
  64.  * /robot_description_planning/joint_limits/joint_4/max_acceleration
  65.  * /robot_description_planning/joint_limits/joint_4/max_velocity
  66.  * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits
  67.  * /robot_description_planning/joint_limits/joint_5/has_velocity_limits
  68.  * /robot_description_planning/joint_limits/joint_5/max_acceleration
  69.  * /robot_description_planning/joint_limits/joint_5/max_velocity
  70.  * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits
  71.  * /robot_description_planning/joint_limits/joint_6/has_velocity_limits
  72.  * /robot_description_planning/joint_limits/joint_6/max_acceleration
  73.  * /robot_description_planning/joint_limits/joint_6/max_velocity
  74.  * /robot_description_semantic
  75.  * /rosdistro
  76.  * /rosversion
  77.  * /rviz_ros_19445_4077846197698941307/Arm/kinematics_solver
  78.  * /rviz_ros_19445_4077846197698941307/Arm/kinematics_solver_attempts
  79.  * /rviz_ros_19445_4077846197698941307/Arm/kinematics_solver_search_resolution
  80.  * /rviz_ros_19445_4077846197698941307/Arm/kinematics_solver_timeout
  81.  * /source_list
  82.  
  83. NODES
  84.   /
  85.     joint_state_publisher (joint_state_publisher/joint_state_publisher)
  86.     move_group (moveit_ros_move_group/move_group)
  87.     robot_state_publisher (robot_state_publisher/robot_state_publisher)
  88.     rviz_ros_19445_4077846197698941307 (rviz/rviz)
  89.  
  90. auto-starting new master
  91. process[master]: started with pid [19459]
  92. ROS_MASTER_URI=http://localhost:11311
  93.  
  94. setting /run_id to ce037a82-c1e8-11e4-bfe2-00215c70446f
  95. process[rosout-1]: started with pid [19472]
  96. started core service [/rosout]
  97. process[joint_state_publisher-2]: started with pid [19484]
  98. process[robot_state_publisher-3]: started with pid [19485]
  99. /opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher
  100. process[move_group-4]: started with pid [19505]
  101. process[rviz_ros_19445_4077846197698941307-5]: started with pid [19506]
  102. [ INFO] [1425416637.755507603]: Loading robot model 'staubli_tx60'...
  103. [ INFO] [1425416637.757697474]: No root joint specified. Assuming fixed joint
  104. [ INFO] [1425416637.854818625]: rviz version 1.10.18
  105. [ INFO] [1425416637.855117197]: compiled against OGRE version 1.7.4 (Cthugha)
  106. [ INFO] [1425416638.439798463]: Stereo is NOT SUPPORTED
  107. [ INFO] [1425416638.440677276]: OpenGl version: 2.1 (GLSL 1.2).
  108. [ INFO] [1425416638.853014417]: Loading robot model 'staubli_tx60'...
  109. [ INFO] [1425416638.853584670]: No root joint specified. Assuming fixed joint
  110. [ INFO] [1425416641.598098274]: Publishing maintained planning scene on 'monitored_planning_scene'
  111. [ INFO] [1425416641.606501785]: MoveGroup debug mode is ON
  112. Starting context monitors...
  113. [ INFO] [1425416641.606594115]: Starting scene monitor
  114. [ INFO] [1425416641.609202269]: Listening to '/planning_scene'
  115. [ INFO] [1425416641.609287615]: Starting world geometry monitor
  116. [ INFO] [1425416641.611731079]: Listening to '/collision_object' using message notifier with target frame '/bt '
  117. [ INFO] [1425416641.614306753]: Listening to '/planning_scene_world' for planning scene world geometry
  118. [ INFO] [1425416644.617142735]: Loading robot model 'staubli_tx60'...
  119. [ INFO] [1425416644.622347514]: No root joint specified. Assuming fixed joint
  120. [ INFO] [1425416646.261275761]: Loading robot model 'staubli_tx60'...
  121. [ INFO] [1425416646.262021876]: No root joint specified. Assuming fixed joint
  122. [ INFO] [1425416650.212032489]: Starting scene monitor
  123. [ INFO] [1425416650.216002057]: Listening to '/move_group/monitored_planning_scene'
  124. [ INFO] [1425416650.221003599]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
  125. [ WARN] [1425416655.225385091]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-hydro-moveit-ros-planning-0.5.20-0precise-20150122-0522/planning_scene_monitor/src/planning_scene_monitor.cpp:439
  126. [ INFO] [1425416660.438415606]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
  127. [ INFO] [1425416660.444211591]: No active joints or end effectors found for group 'Arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
  128. [ INFO] [1425416660.546753544]: No active joints or end effectors found for group 'Arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
  129. [ INFO] [1425416660.611317548]: Constructing new MoveGroup connection for group 'Arm' in namespace ''
  130. [ERROR] [1425416690.664821351]: Unable to connect to move_group action server within allotted time (2)
  131. [ INFO] [1425416690.665804507]: Constructing new MoveGroup connection for group 'Arm' in namespace ''
  132. [ INFO] [1425416691.546154937]: Listening to '/attached_collision_object' for attached collision objects
  133. Context monitors started.
  134. [ INFO] [1425416691.737102403]: Initializing OMPL interface using ROS parameters
  135. [ INFO] [1425416691.802921943]: Using planning interface 'OMPL'
  136. [ INFO] [1425416691.951481409]: Param 'default_workspace_bounds' was not set. Using default value: 10
  137. [ INFO] [1425416691.953251817]: Param 'start_state_max_bounds_error' was set to 0.1
  138. [ INFO] [1425416691.954718693]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  139. [ INFO] [1425416691.956474152]: Param 'start_state_max_dt' was not set. Using default value: 0.5
  140. [ INFO] [1425416691.958063599]: Param 'jiggle_fraction' was set to 0.05
  141. [ INFO] [1425416691.959736437]: Param 'max_sampling_attempts' was not set. Using default value: 100
  142. [ INFO] [1425416691.960332882]: Using planning request adapter 'Add Time Parameterization'
  143. [ INFO] [1425416691.960656946]: Using planning request adapter 'Fix Workspace Bounds'
  144. [ INFO] [1425416691.960922971]: Using planning request adapter 'Fix Start State Bounds'
  145. [ INFO] [1425416691.961181035]: Using planning request adapter 'Fix Start State In Collision'
  146. [ INFO] [1425416691.961428412]: Using planning request adapter 'Fix Start State Path Constraints'
  147. [ INFO] [1425416692.116351814]: Fake controller 'fake_Arm_controller' with joints [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
  148. [ INFO] [1425416692.118601193]: Fake controller 'fake_EndJoin_controller' with joints [ joint_6 ]
  149. [ INFO] [1425416692.118811905]: Returned 2 controllers in list
  150. [ INFO] [1425416692.143404348]: Trajectory execution is managing controllers
  151. Loading 'move_group/MoveGroupCartesianPathService'...
  152. Loading 'move_group/MoveGroupExecuteService'...
  153. Loading 'move_group/MoveGroupKinematicsService'...
  154. Loading 'move_group/MoveGroupMoveAction'...
  155. Loading 'move_group/MoveGroupPickPlaceAction'...
  156. Loading 'move_group/MoveGroupPlanService'...
  157. Loading 'move_group/MoveGroupQueryPlannersService'...
  158. Loading 'move_group/MoveGroupStateValidationService'...
  159. Loading 'move_group/MoveGroupGetPlanningSceneService'...
  160. [ INFO] [1425416692.508706737]:
  161.  
  162. ********************************************************
  163. * MoveGroup using:
  164. *     - CartesianPathService
  165. *     - ExecutePathService
  166. *     - KinematicsService
  167. *     - MoveAction
  168. *     - PickPlaceAction
  169. *     - MotionPlanService
  170. *     - QueryPlannersService
  171. *     - StateValidationService
  172. *     - GetPlanningSceneService
  173. ********************************************************
  174.  
  175. [ INFO] [1425416692.508935048]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
  176. [ INFO] [1425416692.508989035]: MoveGroup context initialization complete
  177.  
  178. All is well! Everyone is happy! You can start planning now!
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