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ljklonepiece

many iters bitstar

Oct 16th, 2017
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GDB 7.97 KB | None | 0 0
  1. All is well! Everyone is happy! You can start planning now!
  2.  
  3. [ INFO] [1508147403.386081864]: Loading robot model 'fetch'...
  4. [ INFO] [1508147403.386141713]: No root/virtual joint specified in SRDF. Assuming fixed joint
  5. [ INFO] [1508147403.557130393]: Loading robot model 'fetch'...
  6. [ INFO] [1508147403.557176378]: No root/virtual joint specified in SRDF. Assuming fixed joint
  7. [ WARN] [1508147403.597899343]: 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] [1508147403.806786542]: Starting scene monitor
  9. [ INFO] [1508147403.809608612]: Listening to '/move_group/monitored_planning_scene'
  10. [ WARN] [1508147404.895040247]: 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] [1508147404.895241679]: 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] [1508147404.898789531]: Constructing new MoveGroup connection for group 'arm' in namespace ''
  13. [ INFO] [1508147405.878781860]: TrajectoryExecution will use old service capability.
  14. [ INFO] [1508147405.878936189]: Ready to take MoveGroup commands for group arm.
  15. [ INFO] [1508147405.879013836]: Looking around: no
  16. [ INFO] [1508147405.879072022]: Replanning: no
  17. [ INFO] [1508147409.224096805]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  18. [ INFO] [1508147409.227936134]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
  19. [ INFO] [1508147409.228143810]: Planner configuration 'arm[BITstarConfigDefault]' will use planner 'geometric::BITstar'. Additional configuration parameters will be set when the planner is constructed.
  20. [ INFO] [1508147409.231185101]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  21. [ INFO] [1508147409.231656419]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  22. [ INFO] [1508147409.231913617]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  23. [ INFO] [1508147409.232096745]: arm[BITstarConfigDefault]: Searching for a solution to the given planning problem.
  24. [ WARN] [1508147409.242310876]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  25. [ WARN] [1508147409.242455838]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  26. [ WARN] [1508147409.242716809]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  27. [ WARN] [1508147409.243007300]: PathLengthDirectInfSampler: Treating the StateSpace of type "STATE_SPACE_UNKNOWN" as type "STATE_SPACE_REAL_VECTOR".
  28. [ INFO] [1508147409.243096000]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  29. [ INFO] [1508147409.243170278]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  30. [ INFO] [1508147409.243243416]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  31. [ INFO] [1508147409.243298984]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  32. [ INFO] [1508147409.243403342]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  33. [ INFO] [1508147409.243458724]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  34. [ INFO] [1508147409.243658912]: arm[BITstarConfigDefault]: Added new starts and/or goals to the problem. Rebuilding the queue.
  35. [ INFO] [1508147409.243818202]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  36. [ INFO] [1508147409.265939306]: arm[BITstarConfigDefault] (9 iters): Found a solution of cost 17.9270 (4 vertices) from 100 samples by processing 8 edges (8 collision checked) to create 9 vertices and perform 0 rewirings. The graph currently has 9 vertices.
  37. [ INFO] [1508147409.267004493]: arm[BITstarConfigDefault] (3 iters): Found a solution of cost 10.6033 (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.
  38. [ INFO] [1508147409.268719363]: arm[BITstarConfigDefault] (18 iters): Found a solution of cost 18.3303 (4 vertices) from 100 samples by processing 17 edges (16 collision checked) to create 17 vertices and perform 0 rewirings. The graph currently has 17 vertices.
  39. [ INFO] [1508147409.269998609]: arm[BITstarConfigDefault] (15 iters): Found a solution of cost 18.1051 (5 vertices) from 100 samples by processing 14 edges (12 collision checked) to create 13 vertices and perform 0 rewirings. The graph currently has 13 vertices.
  40. [ INFO] [1508147409.278336696]: arm[BITstarConfigDefault] (12 iters): Found a solution of cost 6.1380 (2 vertices) from 200 samples by processing 10 edges (9 collision checked) to create 9 vertices and perform 1 rewirings. The graph currently has 9 vertices.
  41. [ INFO] [1508147409.278384851]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  42. [ INFO] [1508147409.281408590]: arm[BITstarConfigDefault] (21 iters): Found a solution of cost 6.1378 (2 vertices) from 200 samples by processing 19 edges (17 collision checked) to create 17 vertices and perform 1 rewirings. The graph currently has 17 vertices.
  43. [ INFO] [1508147409.281454344]: arm[BITstarConfigDefault]: Finished with a solution of cost 6.1378 (2 vertices) found from 200 samples by processing 19 edges (17 collision checked) to create 17 vertices and perform 1 rewirings. The final graph has 17 vertices.
  44. [ INFO] [1508147409.284862559]: arm[BITstarConfigDefault] (26 iters): Found a solution of cost 15.2794 (4 vertices) from 200 samples by processing 24 edges (21 collision checked) to create 21 vertices and perform 1 rewirings. The graph currently has 21 vertices.
  45. [ INFO] [1508147409.284896034]: arm[BITstarConfigDefault]: Resorting 1 vertices in the queue.
  46. [ INFO] [1508147409.300229792]: arm[BITstarConfigDefault] (34 iters): Found a solution of cost 13.8616 (4 vertices) from 300 samples by processing 31 edges (26 collision checked) to create 26 vertices and perform 1 rewirings. The graph currently has 26 vertices.
  47. [ INFO] [1508147409.407700184]: arm[BITstarConfigDefault] (55 iters): Found a solution of cost 12.4930 (4 vertices) from 1000 samples by processing 45 edges (39 collision checked) to create 39 vertices and perform 1 rewirings. The graph currently has 39 vertices.
  48. [ INFO] [1508147409.862370776]: arm[BITstarConfigDefault] (69 iters): Found a solution of cost 10.0453 (4 vertices) from 6200 samples by processing 7 edges (6 collision checked) to create 7 vertices and perform 0 rewirings. The graph currently has 7 vertices.
  49. [ INFO] [1508147410.464104144]: arm[BITstarConfigDefault] (141 iters): Found a solution of cost 11.1111 (4 vertices) from 7400 samples by processing 67 edges (58 collision checked) to create 55 vertices and perform 4 rewirings. The graph currently has 55 vertices.
  50. [ INFO] [1508147414.230422681]: arm[BITstarConfigDefault]: Finished with a solution of cost 10.0453 (4 vertices) found from 29400 samples by processing 9 edges (7 collision checked) to create 8 vertices and perform 0 rewirings. The final graph has 8 vertices.
  51. [ INFO] [1508147414.249084290]: arm[BITstarConfigDefault]: Finished with a solution of cost 11.1111 (4 vertices) found from 24900 samples by processing 71 edges (62 collision checked) to create 59 vertices and perform 4 rewirings. The final graph has 59 vertices.
  52. [ INFO] [1508147419.275916961]: arm[BITstarConfigDefault]: Finished with a solution of cost 6.1380 (2 vertices) found from 300 samples by processing 12 edges (9 collision checked) to create 9 vertices and perform 1 rewirings. The final graph has 9 vertices.
  53. [ INFO] [1508147419.276154053]: ParallelPlan::solve(): Solution found by one or more threads in 10.045975 seconds
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