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  1. roslaunch franka_example_controllers joint_impedance_example_controller.launch robot_ip:=172.16.0.2 load_gripper:=true
  2. ... logging to /home/frankanuc01/.ros/log/bfc19a2e-351d-11e9-9f44-54b2030bcd42/roslaunch-franka-NUC01-5116.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://franka-NUC01:39863/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13.  * /cartesian_impedance_example_controller/arm_id: panda
  14.  * /cartesian_impedance_example_controller/joint_names: ['panda_joint1', ...
  15.  * /cartesian_impedance_example_controller/type: franka_example_co...
  16.  * /cartesian_pose_example_controller/arm_id: panda
  17.  * /cartesian_pose_example_controller/type: franka_example_co...
  18.  * /cartesian_velocity_example_controller/arm_id: panda
  19.  * /cartesian_velocity_example_controller/type: franka_example_co...
  20.  * /elbow_example_controller/arm_id: panda
  21.  * /elbow_example_controller/type: franka_example_co...
  22.  * /force_example_controller/arm_id: panda
  23.  * /force_example_controller/joint_names: ['panda_joint1', ...
  24.  * /force_example_controller/type: franka_example_co...
  25.  * /franka_control/arm_id: panda
  26.  * /franka_control/cutoff_frequency: 100
  27.  * /franka_control/internal_controller: joint_impedance
  28.  * /franka_control/joint_names: ['panda_joint1', ...
  29.  * /franka_control/rate_limiting: True
  30.  * /franka_control/robot_ip: 172.16.0.2
  31.  * /franka_gripper/default_grasp_epsilon/inner: 0.005
  32.  * /franka_gripper/default_grasp_epsilon/outer: 0.005
  33.  * /franka_gripper/default_speed: 0.1
  34.  * /franka_gripper/joint_names: ['panda_finger_jo...
  35.  * /franka_gripper/publish_rate: 30
  36.  * /franka_gripper/robot_ip: 172.16.0.2
  37.  * /franka_state_controller/arm_id: panda
  38.  * /franka_state_controller/joint_names: ['panda_joint1', ...
  39.  * /franka_state_controller/publish_rate: 30
  40.  * /franka_state_controller/type: franka_control/Fr...
  41.  * /joint_impedance_example_controller/acceleration_time: 2.0
  42.  * /joint_impedance_example_controller/arm_id: panda
  43.  * /joint_impedance_example_controller/coriolis_factor: 1.0
  44.  * /joint_impedance_example_controller/d_gains: [50.0, 50.0, 50.0...
  45.  * /joint_impedance_example_controller/joint_names: ['panda_joint1', ...
  46.  * /joint_impedance_example_controller/k_gains: [600.0, 600.0, 60...
  47.  * /joint_impedance_example_controller/publish_rate: 10.0
  48.  * /joint_impedance_example_controller/radius: 0.1
  49.  * /joint_impedance_example_controller/type: franka_example_co...
  50.  * /joint_impedance_example_controller/vel_max: 0.15
  51.  * /joint_position_example_controller/joint_names: ['panda_joint1', ...
  52.  * /joint_position_example_controller/type: franka_example_co...
  53.  * /joint_state_desired_publisher/rate: 30
  54.  * /joint_state_desired_publisher/source_list: ['franka_state_co...
  55.  * /joint_state_publisher/rate: 30
  56.  * /joint_state_publisher/source_list: ['franka_state_co...
  57.  * /joint_velocity_example_controller/joint_names: ['panda_joint1', ...
  58.  * /joint_velocity_example_controller/type: franka_example_co...
  59.  * /model_example_controller/arm_id: panda
  60.  * /model_example_controller/type: franka_example_co...
  61.  * /position_joint_trajectory_controller/constraints/goal_time: 0.5
  62.  * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
  63.  * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
  64.  * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
  65.  * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
  66.  * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
  67.  * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
  68.  * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
  69.  * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
  70.  * /position_joint_trajectory_controller/type: position_controll...
  71.  * /robot_description: <?xml version="1....
  72.  * /rosdistro: kinetic
  73.  * /rosversion: 1.12.14
  74.  
  75. NODES
  76.   /
  77.     controller_spawner (controller_manager/spawner)
  78.     franka_control (franka_control/franka_control_node)
  79.     franka_gripper (franka_gripper/franka_gripper_node)
  80.     joint_state_desired_publisher (joint_state_publisher/joint_state_publisher)
  81.     joint_state_publisher (joint_state_publisher/joint_state_publisher)
  82.     robot_state_publisher (robot_state_publisher/robot_state_publisher)
  83.     rviz (rviz/rviz)
  84.     state_controller_spawner (controller_manager/spawner)
  85.  
  86. ROS_MASTER_URI=http://localhost:11311
  87.  
  88. process[franka_gripper-1]: started with pid [5136]
  89. process[franka_control-2]: started with pid [5137]
  90. [ INFO] [1550673790.051580570]: franka_gripper_node: Found default_speed 0.1
  91. process[state_controller_spawner-3]: started with pid [5138]
  92. [ INFO] [1550673790.052508298]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
  93. process[robot_state_publisher-4]: started with pid [5159]
  94. process[joint_state_publisher-5]: started with pid [5185]
  95. terminate called after throwing an instance of 'franka::CommandException'
  96.   what():  libfranka: Set Collision Behavior command rejected: command not possible in the current mode!
  97. process[joint_state_desired_publisher-6]: started with pid [5200]
  98. process[controller_spawner-7]: started with pid [5218]
  99. process[rviz-8]: started with pid [5228]
  100. [ INFO] [1550673790.247733777]: rviz version 1.12.16
  101. [ INFO] [1550673790.247782843]: compiled against Qt version 5.5.1
  102. [ INFO] [1550673790.247807036]: compiled against OGRE version 1.9.0 (Ghadamon)
  103. ================================================================================REQUIRED process [franka_control-2] has died!
  104. process has died [pid 5137, exit code -6, cmd /opt/ros/kinetic/lib/franka_control/franka_control_node __name:=franka_control __log:=/home/frankanuc01/.ros/log/bfc19a2e-351d-11e9-9f44-54b2030bcd42/franka_control-2.log].
  105. log file: /home/frankanuc01/.ros/log/bfc19a2e-351d-11e9-9f44-54b2030bcd42/franka_control-2*.log
  106. Initiating shutdown!
  107. ================================================================================
  108. [ INFO] [1550673790.454806388]: Stereo is NOT SUPPORTED
  109. [ INFO] [1550673790.454875834]: OpenGl version: 3 (GLSL 1.3).
  110. [rviz-8] killing on exit
  111. [controller_spawner-7] killing on exit
  112. [joint_state_desired_publisher-6] killing on exit
  113. [joint_state_publisher-5] killing on exit
  114. [robot_state_publisher-4] killing on exit
  115. [state_controller_spawner-3] killing on exit
  116. [franka_control-2] killing on exit
  117. [franka_gripper-1] killing on exit
  118. Traceback (most recent call last):
  119.   File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 6, in <module>
  120.     from python_qt_binding.QtCore import pyqtSlot
  121.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
  122.     from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  123.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 271, in <module>
  124.     getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  125.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
  126.     QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  127.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 152, in _load_pyqt
  128.     _named_optional_import('PyQt5.%s' % module_name)
  129.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 139, in _named_optional_import
  130.     _named_import(name)
  131.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 130, in _named_import
  132.     module = builtins.__import__(name)
  133. KeyboardInterrupt
  134. Traceback (most recent call last):
  135.   File "/opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher", line 6, in <module>
  136.     from python_qt_binding.QtCore import pyqtSlot
  137.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/__init__.py", line 55, in <module>
  138.     from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION  # @UnusedImport
  139.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 271, in <module>
  140.     getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
  141.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
  142.     QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
  143.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 152, in _load_pyqt
  144.     _named_optional_import('PyQt5.%s' % module_name)
  145.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 139, in _named_optional_import
  146.     _named_import(name)
  147.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/python_qt_binding/binding_helper.py", line 130, in _named_import
  148.     module = builtins.__import__(name)
  149. KeyboardInterrupt
  150. Traceback (most recent call last):
  151.   File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in <module>
  152.     if __name__ == '__main__': main()
  153.   File "/opt/ros/kinetic/lib/controller_manager/spawner", line 100, in main
  154.     rospy.init_node('spawner', anonymous=True)
  155.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node
  156.     raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
  157. rospy.exceptions.ROSInitException: init_node interrupted before it could complete
  158. Traceback (most recent call last):
  159.   File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in <module>
  160.     if __name__ == '__main__': main()
  161.   File "/opt/ros/kinetic/lib/controller_manager/spawner", line 100, in main
  162.     rospy.init_node('spawner', anonymous=True)
  163.   File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node
  164.     raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
  165. rospy.exceptions.ROSInitException: init_node interrupted before it could complete
  166. shutting down processing monitor...
  167. ... shutting down processing monitor complete
  168. done
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