exmiracle@ExMiracle:~/personal_robot$ roslaunch manipulator demo.launch
... logging to /home/exmiracle/.ros/log/06080bc0-dc6d-11e9-9023-446d570d3158/roslaunch-ExMiracle-25987.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ExMiracle:40889/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['move_group/fake...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/default_planner_config: None
 * /move_group/arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/capabilities:
 * /move_group/controller_list: [{'joints': ['joi...
 * /move_group/disable_capabilities:
 * /move_group/hand/default_planner_config:
 * /move_group/hand/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint10/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint10/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint10/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint10/max_velocity: 0.5
 * /robot_description_planning/joint_limits/joint15/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint15/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint15/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint15/max_velocity: 0.5
 * /robot_description_planning/joint_limits/joint18/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint18/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint18/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint18/max_velocity: 0.5
 * /robot_description_planning/joint_limits/joint20/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint20/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint20/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint20/max_velocity: 1
 * /robot_description_planning/joint_limits/joint21/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint21/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint21/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint21/max_velocity: 1
 * /robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint4/max_velocity: 0.5
 * /robot_description_planning/joint_limits/joint7/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint7/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint7/max_velocity: 0.5
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /rviz_ExMiracle_25987_7311517598302889249/arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_ExMiracle_25987_7311517598302889249/arm/kinematics_solver_attempts: 3
 * /rviz_ExMiracle_25987_7311517598302889249/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_ExMiracle_25987_7311517598302889249/arm/kinematics_solver_timeout: 0.005

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_ExMiracle_25987_7311517598302889249 (rviz/rviz)

auto-starting new master
process[master]: started with pid [25997]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 06080bc0-dc6d-11e9-9023-446d570d3158
process[rosout-1]: started with pid [26008]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [26015]
process[robot_state_publisher-3]: started with pid [26016]
process[move_group-4]: started with pid [26017]
process[rviz_ExMiracle_25987_7311517598302889249-5]: started with pid [26018]
GNU gdb (Ubuntu 8.1-0ubuntu3) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /opt/ros/melodic/lib/rviz/rviz...(no debugging symbols found)...done.
Starting program: /opt/ros/melodic/lib/rviz/rviz -d /home/exmiracle/ws_moveit/src/manipulator/launch/moveit.rviz __name:=rviz_ExMiracle_25987_7311517598302889249 __log:=/home/exmiracle/.ros/log/06080bc0-dc6d-11e9-9023-446d570d3158/rviz_ExMiracle_25987_7311517598302889249-5.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1569069644.729114924]: Loading robot model 'test_robot'...
[ WARN] [1569069645.487584676]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffdc6cc700 (LWP 26054)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1569069647.205476546]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1569069647.210482479]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1569069647.210569338]: Starting planning scene monitor
[ INFO] [1569069647.214331520]: Listening to '/planning_scene'
[ INFO] [1569069647.214410317]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1569069647.218089352]: Listening to '/collision_object'
[ INFO] [1569069647.223603373]: Listening to '/planning_scene_world' for planning scene world geometry
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffd25c7700 (LWP 26057)]
[New Thread 0x7fffd1dc6700 (LWP 26058)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffcbfff700 (LWP 26059)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1569069647.766630912]: rviz version 1.13.3
[ INFO] [1569069647.766721971]: compiled against Qt version 5.9.5
[ INFO] [1569069647.766760888]: compiled against OGRE version 1.9.0 (Ghadamon)
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffcadeb700 (LWP 26062)]
[New Thread 0x7fffca5ea700 (LWP 26063)]
[New Thread 0x7fffc9de9700 (LWP 26064)]
[New Thread 0x7fffc95e8700 (LWP 26065)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffb5504700 (LWP 26066)]
[New Thread 0x7fffabfff700 (LWP 26067)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffa3fff700 (LWP 26068)]
[New Thread 0x7fffa37fe700 (LWP 26069)]
[New Thread 0x7fffa2ffd700 (LWP 26070)]
[New Thread 0x7fffa27fc700 (LWP 26071)]
[ INFO] [1569069648.245271942]: Stereo is NOT SUPPORTED
[ INFO] [1569069648.247047042]: OpenGl version: 3 (GLSL 1.3).
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffa0a43700 (LWP 26072)]
[New Thread 0x7fff8bfff700 (LWP 26073)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff7a99c700 (LWP 26075)]
[ INFO] [1569069652.696889593]: Loading robot model 'test_robot'...
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1569069652.878983034]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'base_link '
[ INFO] [1569069652.915479839]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1569069653.023794856]: Initializing OMPL interface using ROS parameters
[ERROR] [1569069653.029158073]: Could not find the planner configuration 'None' on the param server
[ INFO] [1569069653.114815821]: Using planning interface 'OMPL'
[ INFO] [1569069653.121645583]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1569069653.122613891]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1569069653.123618672]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1569069653.124536756]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1569069653.125407411]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1569069653.126324187]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1569069653.126651100]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1569069653.126859577]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1569069653.127064224]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1569069653.127273048]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1569069653.127335240]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1569069653.144008732]: Fake controller 'fake_arm_controller' with joints [ joint4 joint7 joint10 joint15 joint18 ]
[ INFO] [1569069653.145146828]: Fake controller 'fake_hand_controller' with joints [ joint20 joint21 ]
[ INFO] [1569069653.146128206]: Returned 2 controllers in list
[ INFO] [1569069653.180419277]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1569069653.360427185]:

********************************************************
* MoveGroup using:
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1569069653.360699712]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1569069653.360768973]: MoveGroup context initialization complete

You can start planning now!

[ WARN] [1569069653.369080311]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_ExMiracle_25987_7311517598302889249/arm/kinematics_solver_attempts' from your configuration.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff7963f700 (LWP 26088)]
[ INFO] [1569069655.100095762]: Starting planning scene monitor
[ INFO] [1569069655.210575531]: Listening to '/move_group/monitored_planning_scene'
[New Thread 0x7fff681ba700 (LWP 26090)]
[New Thread 0x7fff679b9700 (LWP 26091)]
[ INFO] [1569069655.967695911]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1569069657.901940093]: Ready to take commands for planning group arm.
[ INFO] [1569069657.902464439]: Looking around: no
[ INFO] [1569069657.902595505]: Replanning: no
[ INFO] [1569069704.717492997]: Stopping planning scene monitor
[ INFO] [1569069704.720020831]: Starting planning scene monitor
[ INFO] [1569069704.726181693]: Listening to '/planning_scene'
[ INFO] [1569069737.825904100]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1569069737.828657812]: Constructing new MoveGroup connection for group 'hand' in namespace ''
[ INFO] [1569069737.946466887]: Ready to take commands for planning group hand.
[ INFO] [1569069737.946589315]: Looking around: no
[ INFO] [1569069737.946722950]: Replanning: no
[ INFO] [1569069750.634611208]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1569069750.739956669]: Ready to take commands for planning group arm.
[ INFO] [1569069750.740084677]: Looking around: no
[ INFO] [1569069750.740344504]: Replanning: no

Thread 21 "rviz" received signal SIGSEGV, Segmentation fault.
---Type <return> to continue, or q <return> to quit---
[Switching to Thread 0x7fff679b9700 (LWP 26091)]
0x00007fff7b753b6a in fcl::HierarchyTree<fcl::AABB>::bottomup(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
   from /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
(gdb) bt
#0  0x00007fff7b753b6a in fcl::HierarchyTree<fcl::AABB>::bottomup(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#1  0x00007fff7b754bbd in fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#2  0x00007fff7b754b68 in fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#3  0x00007fff7b754b68 in fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AAB---Type <return> to continue, or q <return> to quit---
B>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#4  0x00007fff7b754b68 in fcl::HierarchyTree<fcl::AABB>::topdown_0(__gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >, __gnu_cxx::__normal_iterator<fcl::NodeBase<fcl::AABB>**, std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> > >) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#5  0x00007fff7b754e11 in fcl::HierarchyTree<fcl::AABB>::init_0(std::vector<fcl::NodeBase<fcl::AABB>*, std::allocator<fcl::NodeBase<fcl::AABB>*> >&) ()
    at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#6  0x00007fff7b752085 in fcl::DynamicAABBTreeCollisionManager::registerObjects(std::vector<fcl::CollisionObject*, std::allocator<fcl::CollisionObject*> > const&) () at /usr/lib/x86_64-linux-gnu/libfcl.so.0.5
#7  0x00007fff7d4d1d9e in collision_detection::FCLObject::registerTo(fcl::BroadPhaseCollisionManager*) ()
    at /opt/ros/melodic/lib/libmoveit_collision_detection_fcl.so.1.0.2
#8  0x00007fff7d4e34b1 in collision_detection::CollisionRobotFCL::checkSelfColl---Type <return> to continue, or q <return> to quit---
isionHelper(collision_detection::CollisionRequest const&, collision_detection::CollisionResult&, moveit::core::RobotState const&, collision_detection::AllowedCollisionMatrix const*) const ()
    at /opt/ros/melodic/lib/libmoveit_collision_detection_fcl.so.1.0.2
#9  0x00007fff7fdc34da in planning_scene::PlanningScene::isStateColliding(moveit::core::RobotState const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) const ()
    at /opt/ros/melodic/lib/libmoveit_planning_scene.so.1.0.2
#10 0x00007fff89f72aac in moveit_rviz_plugin::MotionPlanningDisplay::isIKSolutionCollisionFree(moveit::core::RobotState*, moveit::core::JointModelGroup const*, double const*) const ()
    at /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin_core.so.1.0.2
#11 0x00007fff888eb4a2 in  ()
    at /opt/ros/melodic/lib/libmoveit_robot_state.so.1.0.2
#12 0x00007fff79caae79 in kdl_kinematics_plugin::KDLKinematicsPlugin::searchPositionIK(geometry_msgs::Pose_<std::allocator<void> > const&, std::vector<double, std::allocator<double> > const&, double, std::vector<double, std::allocator<double> >&, boost::function<void (geometry_msgs::Pose_<std::allocator<void> > const&, std::vector<double, std::allocator<double> > const&, moveit_msgs::MoveItEr---Type <return> to continue, or q <return> to quit---
rorCodes_<std::allocator<void> >&)> const&, moveit_msgs::MoveItErrorCodes_<std::allocator<void> >&, std::vector<double, std::allocator<double> > const&, kinematics::KinematicsQueryOptions const&) const ()
    at /opt/ros/melodic/lib//libmoveit_kdl_kinematics_plugin.so
#13 0x00007fff7abc5c72 in kinematics::KinematicsBase::searchPositionIK(std::vector<geometry_msgs::Pose_<std::allocator<void> >, std::allocator<geometry_msgs::Pose_<std::allocator<void> > > > const&, std::vector<double, std::allocator<double> > const&, double, std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, boost::function<void (geometry_msgs::Pose_<std::allocator<void> > const&, std::vector<double, std::allocator<double> > const&, moveit_msgs::MoveItErrorCodes_<std::allocator<void> >&)> const&, moveit_msgs::MoveItErrorCodes_<std::allocator<void> >&, kinematics::KinematicsQueryOptions const&, moveit::core::RobotState const*) const ()
    at /opt/ros/melodic/lib/libmoveit_kinematics_base.so.1.0.2
#14 0x00007fff888f4fde in moveit::core::RobotState::setFromIK(moveit::core::JointModelGroup const*, std::vector<Eigen::Transform<double, 3, 1, 0>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1, 0> > > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::vector<std::vector<double, std::allocator<double> >---Type <return> to continue, or q <return> to quit---
, std::allocator<std::vector<double, std::allocator<double> > > > const&, double, boost::function<bool (moveit::core::RobotState*, moveit::core::JointModelGroup const*, double const*)> const&, kinematics::KinematicsQueryOptions const&) () at /opt/ros/melodic/lib/libmoveit_robot_state.so.1.0.2
#15 0x00007fff888f63cc in moveit::core::RobotState::setFromIK(moveit::core::JointModelGroup const*, Eigen::Transform<double, 3, 1, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> > const&, double, boost::function<bool (moveit::core::RobotState*, moveit::core::JointModelGroup const*, double const*)> const&, kinematics::KinematicsQueryOptions const&) ()
    at /opt/ros/melodic/lib/libmoveit_robot_state.so.1.0.2
#16 0x00007fff888f67bd in moveit::core::RobotState::setFromIK(moveit::core::JointModelGroup const*, geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double, boost::function<bool (moveit::core::RobotState*, moveit::core::JointModelGroup const*, double const*)> const&, kinematics::KinematicsQueryOptions const&) () at /opt/ros/melodic/lib/libmoveit_robot_state.so.1.0.2
#17 0x00007fff89485f83 in robot_interaction::KinematicOptions::setStateFromIK(moveit::core::RobotState&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_t---Type <return> to continue, or q <return> to quit---
raits<char>, std::allocator<char> > const&, geometry_msgs::Pose_<std::allocator<void> > const&) const ()
    at /opt/ros/melodic/lib/libmoveit_robot_interaction.so.1.0.2
#18 0x00007fff894987c8 in robot_interaction::InteractionHandler::updateStateEndEffector(moveit::core::RobotState*, robot_interaction::EndEffectorInteraction const*, geometry_msgs::Pose_<std::allocator<void> > const*, boost::function<void (robot_interaction::InteractionHandler*)>*) ()
    at /opt/ros/melodic/lib/libmoveit_robot_interaction.so.1.0.2
#19 0x00007fff89492dae in robot_interaction::LockedRobotState::modifyState(boost::function<void (moveit::core::RobotState*)> const&) ()
    at /opt/ros/melodic/lib/libmoveit_robot_interaction.so.1.0.2
#20 0x00007fff894990f9 in robot_interaction::InteractionHandler::handleEndEffector(robot_interaction::EndEffectorInteraction const&, boost::shared_ptr<visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > const> const&) () at /opt/ros/melodic/lib/libmoveit_robot_interaction.so.1.0.2
#21 0x00007fff8949fb15 in robot_interaction::RobotInteraction::processingThread() () at /opt/ros/melodic/lib/libmoveit_robot_interaction.so.1.0.2
#22 0x00007ffff57c1bcd in  ()
    at /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1
#23 0x00007ffff55986db in start_thread (arg=0x7fff679b9700)
---Type <return> to continue, or q <return> to quit---
    at pthread_create.c:463
#24 0x00007ffff619688f in clone ()
    at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
(gdb) info locals
No symbol table info available.
(gdb) info globals
Undefined info command: "globals".  Try "help info".
(gdb) info global
Undefined info command: "global".  Try "help info".
(gdb) info addr <[rviz_ExMiracle_25987_7311517598302889249-5] killing on exit
Quit
(gdb) [move_group-4] killing on exit
[robot_state_publisher-3] killing on exit
[joint_state_publisher-2] killing on exit
[rviz_ExMiracle_25987_7311517598302889249-5] escalating to SIGTERM
Exception ignored in: <gdb.GdbOutputFile object at 0x7fbb2343b198>
Traceback (most recent call last):
  File "/usr/share/gdb/python/gdb/__init__.py", line 43, in flush
    def flush(self):
KeyboardInterrupt
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete