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| cihat@jarbay51:~/ws_moveit$ ros2 launch moveit2_tutorials perception_pipeline_demo.launch.py | |
| [INFO] [launch]: All log files can be found below /home/cihat/.ros/log/2024-05-24-17-16-30-563567-jarbay51-28181 | |
| [INFO] [launch]: Default logging verbosity is set to INFO | |
| [INFO] [rviz2-1]: process started with pid [28184] | |
| [INFO] [static_transform_publisher-2]: process started with pid [28186] | |
| [INFO] [robot_state_publisher-3]: process started with pid [28188] | |
| [INFO] [move_group-4]: process started with pid [28190] | |
| [INFO] [ros2_control_node-5]: process started with pid [28192] | |
| [INFO] [spawner-6]: process started with pid [28194] | |
| [INFO] [spawner-7]: process started with pid [28196] | |
| [INFO] [spawner-8]: process started with pid [28198] | |
| [static_transform_publisher-2] [WARN] [1716560191.214239648] []: Old-style arguments are deprecated; see --help for new-style arguments | |
| [robot_state_publisher-3] [WARN] [1716560191.252660926] [kdl_parser]: The root link panda_link0 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. | |
| [robot_state_publisher-3] [INFO] [1716560191.253903073] [robot_state_publisher]: got segment panda_hand | |
| [robot_state_publisher-3] [INFO] [1716560191.254713976] [robot_state_publisher]: got segment panda_leftfinger | |
| [robot_state_publisher-3] [INFO] [1716560191.255401032] [robot_state_publisher]: got segment panda_link0 | |
| [robot_state_publisher-3] [INFO] [1716560191.256175764] [robot_state_publisher]: got segment panda_link1 | |
| [robot_state_publisher-3] [INFO] [1716560191.257048788] [robot_state_publisher]: got segment panda_link2 | |
| [robot_state_publisher-3] [INFO] [1716560191.257877246] [robot_state_publisher]: got segment panda_link3 | |
| [robot_state_publisher-3] [INFO] [1716560191.258778314] [robot_state_publisher]: got segment panda_link4 | |
| [robot_state_publisher-3] [INFO] [1716560191.259611619] [robot_state_publisher]: got segment panda_link5 | |
| [robot_state_publisher-3] [INFO] [1716560191.260394047] [robot_state_publisher]: got segment panda_link6 | |
| [robot_state_publisher-3] [INFO] [1716560191.261171398] [robot_state_publisher]: got segment panda_link7 | |
| [robot_state_publisher-3] [INFO] [1716560191.261937844] [robot_state_publisher]: got segment panda_link8 | |
| [robot_state_publisher-3] [INFO] [1716560191.262740513] [robot_state_publisher]: got segment panda_rightfinger | |
| [static_transform_publisher-2] [INFO] [1716560191.263402587] [static_transform_publisher]: Spinning until stopped - publishing transform | |
| [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') | |
| [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') | |
| [static_transform_publisher-2] from 'world' to 'panda_link0' | |
| [ros2_control_node-5] [INFO] [1716560191.314101479] [controller_manager]: Subscribing to '/robot_description' topic for robot description. | |
| [ros2_control_node-5] [INFO] [1716560191.314317434] [controller_manager]: update rate is 100 Hz | |
| [ros2_control_node-5] [INFO] [1716560191.314536442] [controller_manager]: RT kernel is recommended for better performance | |
| [ros2_control_node-5] [INFO] [1716560191.324417613] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [INFO] [1716560191.324864310] [resource_manager]: Loading hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326328642] [resource_manager]: Initialize hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326413724] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326449564] [resource_manager]: Loading hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326467123] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326490593] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326548390] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326564553] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326574259] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326581529] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326589064] [resource_manager]: 'configure' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326595998] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326606909] [resource_manager]: 'activate' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716560191.326614124] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem' | |
| [move_group-4] [INFO] [1716560191.374287431] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00889148 seconds | |
| [move_group-4] [INFO] [1716560191.374501108] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [move_group-4] [WARN] [1716560191.394901455] [kdl_parser]: The root link panda_link0 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. | |
| [move_group-4] [INFO] [1716560191.395073042] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [ros2_control_node-5] [INFO] [1716560191.443559436] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [WARN] [1716560191.443616409] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file. | |
| [move_group-4] [INFO] [1716560191.474386002] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716560191.474729098] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states | |
| [move_group-4] [INFO] [1716560191.478123837] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states' | |
| [move_group-4] [INFO] [1716560191.479091643] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects | |
| [move_group-4] [INFO] [1716560191.479131837] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher. | |
| [move_group-4] [INFO] [1716560191.479305122] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. | |
| [move_group-4] [INFO] [1716560191.479925912] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716560191.480046250] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [move_group-4] [INFO] [1716560191.481391887] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene' | |
| [move_group-4] [INFO] [1716560191.481435912] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [move_group-4] [INFO] [1716560191.482324065] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object' | |
| [move_group-4] [INFO] [1716560191.483170002] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry | |
| [move_group-4] [WARN] [1716560191.485697223] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead | |
| [move_group-4] [INFO] [1716560191.537938703] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_1/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716560191.539067886] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_2/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716560191.588316293] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL' | |
| [move_group-4] [INFO] [1716560191.597474974] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.601446542] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.601497400] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.601858608] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.601881831] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.601925214] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.601939961] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.601964720] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.611423966] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.616736730] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.616774818] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716560191.621066360] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716560191.621104594] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716560191.622265398] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716560191.639923580] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP' | |
| [move_group-4] [INFO] [1716560191.650236115] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.651103886] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.651148154] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.651938221] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.651975500] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.652071875] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.652090734] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.652139560] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.662222833] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.663898604] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.678451745] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716560191.683346262] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716560191.683425168] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716560191.707660929] [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 | |
| [move_group-4] [INFO] [1716560191.707749825] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC | |
| [move_group-4] [INFO] [1716560191.711382514] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC] | |
| [move_group-4] [INFO] [1716560191.711447137] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN | |
| [move_group-4] [INFO] [1716560191.713669493] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN] | |
| [move_group-4] [INFO] [1716560191.713728172] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP | |
| [move_group-4] [INFO] [1716560191.715854356] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP] | |
| [move_group-4] [INFO] [1716560191.715910305] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner' | |
| [move_group-4] [INFO] [1716560191.726258719] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.727816362] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.727869921] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.727932402] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.727949948] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.727982213] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [WARN] [1716560191.727997447] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified. | |
| [move_group-4] [INFO] [1716560191.745366712] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP' | |
| [move_group-4] [INFO] [1716560191.755726658] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.757090163] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716560191.757697431] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.758840817] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716560191.759413646] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.760044571] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716560191.760610556] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.761226658] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716560191.771181282] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.774790329] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716560191.775478785] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716560191.779246601] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716560191.779311689] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716560191.784474370] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [rviz2-1] [INFO] [1716560191.818718698] [rviz2]: Stereo is NOT SUPPORTED | |
| [rviz2-1] [INFO] [1716560191.819734469] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) | |
| [ros2_control_node-5] [INFO] [1716560191.848556888] [controller_manager]: Loading controller 'panda_hand_controller' | |
| [rviz2-1] [INFO] [1716560191.867173674] [rviz2]: Stereo is NOT SUPPORTED | |
| [ros2_control_node-5] [INFO] [1716560191.918137039] [controller_manager]: Loading controller 'panda_arm_controller' | |
| [spawner-8] [INFO] [1716560191.923971044] [spawner_panda_hand_controller]: Loaded panda_hand_controller | |
| [move_group-4] [INFO] [1716560191.953815856] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller | |
| [move_group-4] [INFO] [1716560191.953941475] [move_group.moveit.moveit.plugins.simple_controller_manager]: Max effort set to 0.0 | |
| [move_group-4] [INFO] [1716560191.961047451] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added GripperCommand controller for panda_hand_controller | |
| [move_group-4] [INFO] [1716560191.961334171] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716560191.961407650] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716560191.962309483] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers | |
| [move_group-4] [INFO] [1716560191.962349306] [move_group]: MoveGroup debug mode is ON | |
| [ros2_control_node-5] [INFO] [1716560191.965164084] [controller_manager]: Configuring controller 'panda_hand_controller' | |
| [ros2_control_node-5] [INFO] [1716560191.965302448] [panda_hand_controller]: Action status changes will be monitored at 20Hz. | |
| [spawner-7] [INFO] [1716560191.997653286] [spawner_panda_arm_controller]: Loaded panda_arm_controller | |
| [move_group-4] [INFO] [1716560192.011329963] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action | |
| [ros2_control_node-5] [INFO] [1716560192.015029349] [controller_manager]: Configuring controller 'panda_arm_controller' | |
| [ros2_control_node-5] [INFO] [1716560192.015304322] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. | |
| [ros2_control_node-5] [INFO] [1716560192.015354405] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. | |
| [ros2_control_node-5] [INFO] [1716560192.015375182] [panda_arm_controller]: Using 'splines' interpolation method. | |
| [spawner-8] [INFO] [1716560192.016550083] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller | |
| [move_group-4] [INFO] [1716560192.017088362] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716560192.017169178] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716560192.017209681] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716560192.017817018] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716560192.017880877] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716560192.017917255] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [ros2_control_node-5] [INFO] [1716560192.019274176] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz. | |
| [move_group-4] [INFO] [1716560192.019710934] [move_group.moveit.moveit.ros.move_group.executable]: | |
| [move_group-4] | |
| [move_group-4] ******************************************************** | |
| [move_group-4] * MoveGroup using: | |
| [move_group-4] * - apply_planning_scene_service | |
| [move_group-4] * - clear_octomap_service | |
| [move_group-4] * - get_group_urdf | |
| [move_group-4] * - CartesianPathService | |
| [move_group-4] * - execute_trajectory_action | |
| [move_group-4] * - get_planning_scene_service | |
| [move_group-4] * - kinematics_service | |
| [move_group-4] * - move_action | |
| [move_group-4] * - motion_plan_service | |
| [move_group-4] * - query_planners_service | |
| [move_group-4] * - state_validation_service | |
| [move_group-4] * - SequenceAction | |
| [move_group-4] * - SequenceService | |
| [move_group-4] ******************************************************** | |
| [move_group-4] | |
| [move_group-4] [INFO] [1716560192.019814813] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl | |
| [move_group-4] [INFO] [1716560192.019857041] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete | |
| [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/ClearOctomapService'... | |
| [move_group-4] Loading 'move_group/GetUrdfService'... | |
| [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... | |
| [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... | |
| [move_group-4] Loading 'move_group/MoveGroupMoveAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupPlanService'... | |
| [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... | |
| [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... | |
| [move_group-4] | |
| [move_group-4] You can start planning now! | |
| [move_group-4] | |
| [ros2_control_node-5] [INFO] [1716560192.054993570] [controller_manager]: Loading controller 'joint_state_broadcaster' | |
| [spawner-7] [INFO] [1716560192.056020694] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller | |
| [spawner-6] [INFO] [1716560192.086118822] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster | |
| [ros2_control_node-5] [INFO] [1716560192.087879047] [controller_manager]: Configuring controller 'joint_state_broadcaster' | |
| [ros2_control_node-5] [INFO] [1716560192.088019291] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published | |
| [rviz2-1] [WARN] [1716560192.111148362] [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. | |
| [spawner-6] [INFO] [1716560192.116223822] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster | |
| [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. | |
| [rviz2-1] at line 321 in /opt/ros/iron/include/class_loader/class_loader/class_loader_core.hpp | |
| [rviz2-1] [INFO] [1716560192.201507297] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00697031 seconds | |
| [rviz2-1] [INFO] [1716560192.201662003] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [INFO] [spawner-8]: process has finished cleanly [pid 28198] | |
| [INFO] [spawner-7]: process has finished cleanly [pid 28196] | |
| [INFO] [spawner-6]: process has finished cleanly [pid 28194] | |
| [rviz2-1] [ERROR] [1716560195.533084885] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available | |
| [rviz2-1] [INFO] [1716560195.549824909] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. | |
| [rviz2-1] [WARN] [1716560195.584240538] [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. | |
| [rviz2-1] [INFO] [1716560195.609035129] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00341799 seconds | |
| [rviz2-1] [INFO] [1716560195.609111158] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [rviz2-1] [WARN] [1716560195.642036300] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716560195.642309504] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [rviz2-1] [INFO] [1716560195.706140470] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716560195.707009441] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716560195.712482061] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716560195.715075041] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716560195.731460457] [interactive_marker_display_105596770137728]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic | |
| [rviz2-1] [WARN] [1716560195.737609253] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716560195.746817985] [rviz2.moveit.ros.motion_planning_frame]: group panda_arm | |
| [rviz2-1] [INFO] [1716560195.746872020] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' | |
| [rviz2-1] [INFO] [1716560195.766413903] [interactive_marker_display_105596770137728]: Sending request for interactive markers | |
| [rviz2-1] [INFO] [1716560195.777051701] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group panda_arm. | |
| [rviz2-1] [INFO] [1716560195.799697611] [interactive_marker_display_105596770137728]: Service response received for initialization | |
| [move_group-4] [INFO] [1716560205.095780205] [move_group.moveit.moveit.ros.move_group.move_action]: MoveGroupMoveAction: Received request | |
| [move_group-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' | |
| [move_group-4] what(): client will not receive response, at ./src/rmw_response.cpp:154, at ./src/rcl/service.c:402 | |
| [move_group-4] Stack trace (most recent call last): | |
| [move_group-4] #16 Object "", at 0xffffffffffffffff, in | |
| [move_group-4] #15 Object "/home/cihat/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x62e3b11eb204, in _start | |
| [move_group-4] #14 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7c01b3429e3f] | |
| [move_group-4] #13 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7c01b3429d8f] | |
| [move_group-4] #12 Object "/home/cihat/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x62e3b11ea37b, in main | |
| [move_group-4] #11 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7c01b3d0e9d4, in rclcpp::executors::MultiThreadedExecutor::spin() | |
| [move_group-4] #10 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7c01b3d0e599, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long) | |
| [move_group-4] #9 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7c01b3cfef5e, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) | |
| [move_group-4] #8 Object "/opt/ros/iron/lib/librclcpp_action.so", at 0x7c01b2d93828, in rclcpp_action::ServerBase::execute_goal_request_received(std::shared_ptr<void>&) | |
| [move_group-4] #7 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7c01b3cfbf38, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcutils_error_state_s const*, void (*)()) | |
| [move_group-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7c01b38ae1fd, in std::rethrow_exception(std::__exception_ptr::exception_ptr) | |
| [move_group-4] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7c01b38ae276, in std::terminate() | |
| [move_group-4] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7c01b38ae20b, in | |
| [move_group-4] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7c01b38a2b9d, in | |
| [move_group-4] #2 Source "./stdlib/abort.c", line 79, in abort [0x7c01b34287f2] | |
| [move_group-4] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7c01b3442475] | |
| [move_group-4] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal | |
| [move_group-4] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation | |
| [move_group-4] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7c01b34969fc] | |
| [move_group-4] Aborted (Signal sent by tkill() 28190 1000) | |
| [ERROR] [move_group-4]: process has died [pid 28190, exit code -6, cmd '/home/cihat/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_gr4dn6n2']. |
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| [move_group-4] [INFO] [1716558854.885839142] [move_group.moveit.moveit.ros.move_group.move_action]: executing.. | |
| [move_group-4] terminate called after throwing an instance of 'std::runtime_error' | |
| [move_group-4] what(): Taking data from action server but nothing is ready | |
| [move_group-4] Stack trace (most recent call last) in thread 15010: | |
| [move_group-4] [INFO] [1716558854.894334400] [move_group.moveit.moveit.ros.move_group.move_action]: Planning request received for MoveGroup action. Forwarding to planning pipeline. | |
| [move_group-4] [INFO] [1716558854.894640342] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716558854.894754006] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds' | |
| [move_group-4] [WARN] [1716558854.895602834] [move_group.moveit.moveit.ros.validate_workspace_bounds]: It looks like the planning volume was not specified. Using default values. | |
| [move_group-4] [INFO] [1716558854.895724646] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716558854.895812497] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision' | |
| [move_group-4] #14 Object "", at 0xffffffffffffffff, in | |
| [move_group-4] [INFO] [1716558854.896946842] [move_group.moveit.moveit.planners.ompl.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [move_group-4] [INFO] [1716558854.897153217] [move_group]: Calling Planner 'OMPL' | |
| [move_group-4] [INFO] [1716558854.956959425] [move_group]: Calling PlanningResponseAdapter 'AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716558854.957188159] [move_group]: Calling PlanningResponseAdapter 'ValidateSolution' | |
| [move_group-4] [INFO] [1716558854.957802209] [move_group]: Calling PlanningResponseAdapter 'DisplayMotionPath' | |
| [move_group-4] [WARN] [1716558854.957958264] [move_group.moveit.moveit.ros.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. | |
| [move_group-4] [INFO] [1716558854.958047203] [move_group.moveit.moveit.ros.move_group.move_action]: Motion plan was computed successfully. | |
| [move_group-4] #13 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 81, in __clone3 [0x7314a132684f] | |
| [move_group-4] #12 Source "./nptl/pthread_create.c", line 442, in start_thread [0x7314a1294ac2] | |
| [move_group-4] #11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7314a16dc252, in | |
| [move_group-4] #10 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7314a1b0e571, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long) | |
| [move_group-4] #9 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7314a1b0587c, in rclcpp::Executor::get_next_executable(rclcpp::AnyExecutable&, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) | |
| [move_group-4] #8 Object "/opt/ros/iron/lib/librclcpp.so", at 0x7314a1b057ae, in rclcpp::Executor::get_next_ready_executable_from_map(rclcpp::AnyExecutable&, std::map<std::weak_ptr<rclcpp::CallbackGroup>, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::owner_less<std::weak_ptr<rclcpp::CallbackGroup> >, std::allocator<std::pair<std::weak_ptr<rclcpp::CallbackGroup> const, std::weak_ptr<rclcpp::node_interfaces::NodeBaseInterface> > > > const&) | |
| [move_group-4] #7 Object "/opt/ros/iron/lib/librclcpp_action.so", at 0x7314a0b59785, in | |
| [move_group-4] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7314a16ae4d7, in __cxa_throw | |
| [move_group-4] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7314a16ae276, in std::terminate() | |
| [move_group-4] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7314a16ae20b, in | |
| [move_group-4] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7314a16a2b9d, in | |
| [move_group-4] #2 Source "./stdlib/abort.c", line 79, in abort [0x7314a12287f2] | |
| [move_group-4] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7314a1242475] | |
| [move_group-4] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal | |
| [move_group-4] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation | |
| [move_group-4] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7314a12969fc] | |
| [move_group-4] Aborted (Signal sent by tkill() 14861 1000) | |
| [ERROR] [move_group-4]: process has died [pid 14861, exit code -6, cmd '/home/cihat/ws_moveit/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_jyro3qn8']. |
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| [INFO] [launch]: All log files can be found below /home/cihat/.ros/log/2024-05-24-21-53-02-676661-jarbay51-6144 | |
| [INFO] [launch]: Default logging verbosity is set to INFO | |
| [INFO] [rviz2-1]: process started with pid [6147] | |
| [INFO] [static_transform_publisher-2]: process started with pid [6149] | |
| [INFO] [robot_state_publisher-3]: process started with pid [6151] | |
| [INFO] [move_group-4]: process started with pid [6153] | |
| [INFO] [ros2_control_node-5]: process started with pid [6155] | |
| [INFO] [spawner-6]: process started with pid [6157] | |
| [INFO] [spawner-7]: process started with pid [6159] | |
| [INFO] [spawner-8]: process started with pid [6161] | |
| [robot_state_publisher-3] [INFO] [1716576783.737927682] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [static_transform_publisher-2] [INFO] [1716576783.745071724] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [ros2_control_node-5] [INFO] [1716576783.771697451] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [move_group-4] [INFO] [1716576783.823831376] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [rviz2-1] [INFO] [1716576783.935648579] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [spawner-7] [INFO] [1716576784.114693003] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [spawner-6] [INFO] [1716576784.122772000] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [spawner-8] [INFO] [1716576784.125760717] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id c38d4c1a6d5e3256e3bfd1688a36dae. | |
| [static_transform_publisher-2] [WARN] [1716576784.745728262] []: Old-style arguments are deprecated; see --help for new-style arguments | |
| [static_transform_publisher-2] [INFO] [1716576784.752760411] [static_transform_publisher]: Spinning until stopped - publishing transform | |
| [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') | |
| [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') | |
| [static_transform_publisher-2] from 'world' to 'panda_link0' | |
| [robot_state_publisher-3] [WARN] [1716576784.756364283] [kdl_parser]: The root link panda_link0 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. | |
| [robot_state_publisher-3] [INFO] [1716576784.756508103] [robot_state_publisher]: got segment panda_hand | |
| [robot_state_publisher-3] [INFO] [1716576784.756559257] [robot_state_publisher]: got segment panda_leftfinger | |
| [robot_state_publisher-3] [INFO] [1716576784.756571075] [robot_state_publisher]: got segment panda_link0 | |
| [robot_state_publisher-3] [INFO] [1716576784.756581560] [robot_state_publisher]: got segment panda_link1 | |
| [robot_state_publisher-3] [INFO] [1716576784.756590974] [robot_state_publisher]: got segment panda_link2 | |
| [robot_state_publisher-3] [INFO] [1716576784.756600519] [robot_state_publisher]: got segment panda_link3 | |
| [robot_state_publisher-3] [INFO] [1716576784.756607542] [robot_state_publisher]: got segment panda_link4 | |
| [robot_state_publisher-3] [INFO] [1716576784.756616624] [robot_state_publisher]: got segment panda_link5 | |
| [robot_state_publisher-3] [INFO] [1716576784.756623734] [robot_state_publisher]: got segment panda_link6 | |
| [robot_state_publisher-3] [INFO] [1716576784.756632866] [robot_state_publisher]: got segment panda_link7 | |
| [robot_state_publisher-3] [INFO] [1716576784.756642277] [robot_state_publisher]: got segment panda_link8 | |
| [robot_state_publisher-3] [INFO] [1716576784.756651617] [robot_state_publisher]: got segment panda_rightfinger | |
| [ros2_control_node-5] [INFO] [1716576784.806204815] [controller_manager]: Subscribing to '/robot_description' topic for robot description. | |
| [ros2_control_node-5] [INFO] [1716576784.806424497] [controller_manager]: update rate is 100 Hz | |
| [ros2_control_node-5] [INFO] [1716576784.806693149] [controller_manager]: RT kernel is recommended for better performance | |
| [ros2_control_node-5] [INFO] [1716576784.810183948] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [INFO] [1716576784.810511403] [resource_manager]: Loading hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811552941] [resource_manager]: Initialize hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811635302] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811655042] [resource_manager]: Loading hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811664734] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811677173] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811709324] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811722241] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811727749] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811732090] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811736552] [resource_manager]: 'configure' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811740613] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811746891] [resource_manager]: 'activate' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716576784.811751019] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem' | |
| [move_group-4] [INFO] [1716576784.848023739] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00525426 seconds | |
| [move_group-4] [INFO] [1716576784.848238335] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [move_group-4] [WARN] [1716576784.862389442] [kdl_parser]: The root link panda_link0 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. | |
| [move_group-4] [INFO] [1716576784.862518011] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [move_group-4] [INFO] [1716576784.889927374] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716576784.890341160] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states | |
| [move_group-4] [INFO] [1716576784.891847838] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states' | |
| [move_group-4] [INFO] [1716576784.892288293] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects | |
| [move_group-4] [INFO] [1716576784.892349747] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher. | |
| [move_group-4] [INFO] [1716576784.892564119] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. | |
| [move_group-4] [INFO] [1716576784.892800400] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716576784.892909327] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [move_group-4] [INFO] [1716576784.893373026] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene' | |
| [move_group-4] [INFO] [1716576784.893440666] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [move_group-4] [INFO] [1716576784.893903398] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object' | |
| [move_group-4] [INFO] [1716576784.894371173] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry | |
| [move_group-4] [WARN] [1716576784.896529063] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead | |
| [move_group-4] [INFO] [1716576784.923894530] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_1/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716576784.924361102] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_2/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716576784.953765976] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL' | |
| [move_group-4] [INFO] [1716576784.959760532] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576784.961280846] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576784.961314969] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576784.961602884] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576784.961632893] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576784.961688113] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576784.961722440] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576784.961779605] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576784.968482641] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576784.972337769] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576784.972379636] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716576784.973737582] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716576784.973788559] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716576784.974318525] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716576784.985103217] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP' | |
| [move_group-4] [INFO] [1716576784.994664160] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576784.995384840] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576784.995439794] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576784.995619795] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576784.995638608] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576784.995667083] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576784.995681466] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576784.995699640] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576785.002035394] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576785.002907967] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576785.012653723] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716576785.013481216] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716576785.013550847] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716576785.018801375] [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 | |
| [move_group-4] [INFO] [1716576785.018896773] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC | |
| [move_group-4] [INFO] [1716576785.021305053] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC] | |
| [move_group-4] [INFO] [1716576785.021362414] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN | |
| [move_group-4] [INFO] [1716576785.022939571] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN] | |
| [move_group-4] [INFO] [1716576785.022991865] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP | |
| [move_group-4] [INFO] [1716576785.024317867] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP] | |
| [move_group-4] [INFO] [1716576785.024371148] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner' | |
| [move_group-4] [INFO] [1716576785.030833153] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576785.031693139] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576785.031740076] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576785.031789108] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576785.031804418] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576785.031824207] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [WARN] [1716576785.031837602] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified. | |
| [move_group-4] [INFO] [1716576785.042356423] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP' | |
| [move_group-4] [INFO] [1716576785.048648014] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576785.049229901] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716576785.049269665] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576785.049510427] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716576785.049534999] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576785.049595315] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716576785.049617260] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576785.049673660] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716576785.056299581] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576785.057344222] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716576785.057433136] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716576785.057877496] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716576785.057910992] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716576785.058288955] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716576785.095439228] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller | |
| [move_group-4] [INFO] [1716576785.095591083] [move_group.moveit.moveit.plugins.simple_controller_manager]: Max effort set to 0.0 | |
| [move_group-4] [INFO] [1716576785.097636007] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added GripperCommand controller for panda_hand_controller | |
| [move_group-4] [INFO] [1716576785.097897170] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716576785.097953338] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716576785.098315187] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers | |
| [move_group-4] [INFO] [1716576785.098343072] [move_group]: MoveGroup debug mode is ON | |
| [move_group-4] [INFO] [1716576785.123326513] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action | |
| [move_group-4] [INFO] [1716576785.126888482] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716576785.127008005] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716576785.127078639] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716576785.127597466] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716576785.127967430] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716576785.128030119] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716576785.130441329] [move_group.moveit.moveit.ros.move_group.executable]: | |
| [move_group-4] | |
| [move_group-4] ******************************************************** | |
| [move_group-4] * MoveGroup using: | |
| [move_group-4] * - apply_planning_scene_service | |
| [move_group-4] * - clear_octomap_service | |
| [move_group-4] * - get_group_urdf | |
| [move_group-4] * - CartesianPathService | |
| [move_group-4] * - execute_trajectory_action | |
| [move_group-4] * - get_planning_scene_service | |
| [move_group-4] * - kinematics_service | |
| [move_group-4] * - move_action | |
| [move_group-4] * - motion_plan_service | |
| [move_group-4] * - query_planners_service | |
| [move_group-4] * - state_validation_service | |
| [move_group-4] * - SequenceAction | |
| [move_group-4] * - SequenceService | |
| [move_group-4] ******************************************************** | |
| [move_group-4] | |
| [move_group-4] [INFO] [1716576785.130618819] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl | |
| [move_group-4] [INFO] [1716576785.130678292] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete | |
| [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/ClearOctomapService'... | |
| [move_group-4] Loading 'move_group/GetUrdfService'... | |
| [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... | |
| [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... | |
| [move_group-4] Loading 'move_group/MoveGroupMoveAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupPlanService'... | |
| [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... | |
| [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... | |
| [move_group-4] | |
| [move_group-4] You can start planning now! | |
| [move_group-4] | |
| [ros2_control_node-5] [INFO] [1716576785.195924055] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [WARN] [1716576785.195975578] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file. | |
| [ros2_control_node-5] [INFO] [1716576785.200647059] [controller_manager]: Loading controller 'joint_state_broadcaster' | |
| [ros2_control_node-5] [INFO] [1716576785.217288194] [controller_manager]: Loading controller 'panda_arm_controller' | |
| [ros2_control_node-5] [INFO] [1716576785.237128310] [controller_manager]: Loading controller 'panda_hand_controller' | |
| [spawner-6] [INFO] [1716576785.254788218] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster | |
| [ros2_control_node-5] [INFO] [1716576785.258105284] [controller_manager]: Configuring controller 'joint_state_broadcaster' | |
| [ros2_control_node-5] [INFO] [1716576785.258264514] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published | |
| [spawner-7] [INFO] [1716576785.270838553] [spawner_panda_arm_controller]: Loaded panda_arm_controller | |
| [spawner-8] [INFO] [1716576785.281005607] [spawner_panda_hand_controller]: Loaded panda_hand_controller | |
| [ros2_control_node-5] [ERROR] [1716576785.284416900] [rmw_zenoh_cpp]: Query queue depth of 1 reached, discarding oldest Query for service for 0/%controller_manager%configure_controller | |
| [ros2_control_node-5] [INFO] [1716576785.287300346] [controller_manager]: Configuring controller 'panda_hand_controller' | |
| [ros2_control_node-5] [INFO] [1716576785.287388949] [panda_hand_controller]: Action status changes will be monitored at 20Hz. | |
| [spawner-6] [INFO] [1716576785.289329205] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster | |
| [move_group-4] [WARN] [1716576785.304781112] [rmw_zenoh_cpp]: Received liveliness token to remove node /spawner_joint_state_broadcaster from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [move_group-4] [WARN] [1716576785.304854281] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /spawner_joint_state_broadcaster from the graph. Ignoring... | |
| [move_group-4] [WARN] [1716576785.304882527] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /spawner_joint_state_broadcaster from the graph. Ignoring... | |
| [spawner-8] [INFO] [1716576785.320677173] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller | |
| [rviz2-1] [INFO] [1716576785.322729660] [rviz2]: Stereo is NOT SUPPORTED | |
| [rviz2-1] [INFO] [1716576785.322965971] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) | |
| [rviz2-1] [INFO] [1716576785.359885895] [rviz2]: Stereo is NOT SUPPORTED | |
| [INFO] [spawner-6]: process has finished cleanly [pid 6157] | |
| [INFO] [spawner-8]: process has finished cleanly [pid 6161] | |
| [rviz2-1] [WARN] [1716576785.509920339] [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. | |
| [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. | |
| [rviz2-1] at line 321 in /opt/ros/iron/include/class_loader/class_loader/class_loader_core.hpp | |
| [rviz2-1] [INFO] [1716576785.571160586] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00623646 seconds | |
| [rviz2-1] [INFO] [1716576785.571376762] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [rviz2-1] [ERROR] [1716576788.868253346] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available | |
| [rviz2-1] [INFO] [1716576788.876707863] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. | |
| [rviz2-1] [WARN] [1716576788.904254603] [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. | |
| [rviz2-1] [INFO] [1716576788.926886071] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00410038 seconds | |
| [rviz2-1] [INFO] [1716576788.926975379] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [rviz2-1] [WARN] [1716576788.950614078] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716576788.950832231] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [rviz2-1] [INFO] [1716576789.001637594] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716576789.002756018] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716576789.006656210] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716576789.007623700] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716576789.018934937] [interactive_marker_display_97807036757696]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic | |
| [rviz2-1] [WARN] [1716576789.024996341] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716576789.033796364] [rviz2.moveit.ros.motion_planning_frame]: group panda_arm | |
| [rviz2-1] [INFO] [1716576789.033905611] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' | |
| [rviz2-1] [INFO] [1716576789.039327477] [interactive_marker_display_97807036757696]: Sending request for interactive markers | |
| [rviz2-1] [INFO] [1716576789.049062920] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group panda_arm. | |
| [rviz2-1] [INFO] [1716576789.050552827] [interactive_marker_display_97807036757696]: Service response received for initialization | |
| ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) | |
| [ros2_control_node-5] [INFO] [1716576862.849366595] [rclcpp]: signal_handler(signum=2) | |
| [robot_state_publisher-3] [INFO] [1716576862.849366788] [rclcpp]: signal_handler(signum=2) | |
| [rviz2-1] [INFO] [1716576862.849425130] [rclcpp]: signal_handler(signum=2) | |
| [move_group-4] [INFO] [1716576862.849447678] [rclcpp]: signal_handler(signum=2) | |
| [static_transform_publisher-2] [INFO] [1716576862.849445802] [rclcpp]: signal_handler(signum=2) | |
| [move_group-4] [INFO] [1716576862.856786127] [move_group.moveit.moveit.ros.moveit_cpp]: Deleting MoveItCpp | |
| [ros2_control_node-5] [ERROR] [1716576862.858533300] [joint_state_broadcaster]: Unable to start transition 7 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:423, at ./src/rcl_lifecycle.c:368 | |
| [ros2_control_node-5] [WARN] [1716576862.858559452] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(active) | |
| [ros2_control_node-5] [ERROR] [1716576862.859962540] [panda_hand_controller]: Unable to start transition 7 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:423, at ./src/rcl_lifecycle.c:368 | |
| [ros2_control_node-5] [WARN] [1716576862.859976885] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(active) | |
| [move_group-4] [INFO] [1716576862.860432801] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. | |
| [move_group-4] [INFO] [1716576862.860692593] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor | |
| [move_group-4] [INFO] [1716576862.860937254] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor | |
| [ros2_control_node-5] [ERROR] [1716576862.862335063] [panda_arm_controller]: Unable to start transition 5 from current state shuttingdown: Could not publish transition: publisher's context is invalid, at ./src/rcl/publisher.c:423, at ./src/rcl_lifecycle.c:368 | |
| [ros2_control_node-5] [WARN] [1716576862.862355514] [rclcpp_lifecycle]: Shutdown error in destruction of LifecycleNode: final state(unconfigured) | |
| [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 6149] | |
| [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 6151] | |
| [rviz2-1] [WARN] [1716576862.872805292] [interactive_marker_display_97807036757696]: Server not available while running, resetting | |
| [spawner-7] [WARN] [1716576862.878458637] [rmw_zenoh_cpp]: Received liveliness token to remove node /move_group_private_96577663827424 from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [INFO] [move_group-4]: process has finished cleanly [pid 6153] | |
| [INFO] [ros2_control_node-5]: process has finished cleanly [pid 6155] | |
| [spawner-7] [WARN] [1716576862.879068077] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879199101] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879437232] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879480086] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879526244] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879765906] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.879881810] [rmw_zenoh_cpp]: Received liveliness token to remove node /moveit_1730535796 from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [spawner-7] [WARN] [1716576862.880080320] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880109390] [rmw_zenoh_cpp]: Received liveliness token to remove node /move_group from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [spawner-7] [WARN] [1716576862.880195409] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880239074] [rmw_zenoh_cpp]: Received liveliness token to remove node /moveit from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [spawner-7] [WARN] [1716576862.880296051] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880392297] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880420424] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880486929] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880511064] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880535247] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880584455] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880634624] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880682821] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880725152] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880750694] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880788380] [rmw_zenoh_cpp]: Received liveliness token to remove node /transform_listener_impl_57d63d907c30 from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [spawner-7] [WARN] [1716576862.880864867] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.880988390] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881129681] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881201678] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881544765] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881577314] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881599933] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881649802] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881692703] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881734268] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881781949] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881823037] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881867454] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881915051] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.881942133] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /transform_listener_impl_57d63d907c30 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.882021951] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.882056950] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /move_group_private_96577663827424 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.882083331] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /moveit_1730535796 from the graph. Ignoring... | |
| [rviz2-1] [ERROR] [1716576862.921841279] [rviz2.moveit.ros.background_processing]: Exception caught while processing action 'Frame::changePlanningGroup': std::future_error: Broken promise | |
| [rviz2-1] [INFO] [1716576862.924203255] [rviz2.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor | |
| [rviz2-1] [INFO] [1716576862.926781020] [rviz2.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor | |
| [spawner-7] [WARN] [1716576862.967439612] [rmw_zenoh_cpp]: Received liveliness token to remove node /rviz2 from the graph before all pub/subs/clients/services for this node have been removed. Removing all entities first... | |
| [spawner-7] [WARN] [1716576862.967507722] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967526661] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967541144] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967557471] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967570698] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967584474] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967596210] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967609657] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [spawner-7] [WARN] [1716576862.967623057] [rmw_zenoh_cpp]: Received liveliness token to remove unknown node /rviz2 from the graph. Ignoring... | |
| [INFO] [rviz2-1]: process has finished cleanly [pid 6147] | |
| [ERROR] [spawner-7]: process[spawner-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' | |
| [INFO] [spawner-7]: sending signal 'SIGTERM' to process[spawner-7] | |
| [ERROR] [spawner-7]: process has died [pid 6159, exit code -15, cmd '/opt/ros/iron/lib/controller_manager/spawner panda_arm_controller -c /controller_manager --ros-args']. | |
| cihat@jarbay51:~/ws_moveit$ |
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| cihat@jarbay51:~/ws_moveit$ ros2 launch moveit2_tutorials perception_pipeline_demo.launch.py | |
| [INFO] [launch]: All log files can be found below /home/cihat/.ros/log/2024-05-24-20-55-59-452899-jarbay51-4045 | |
| [INFO] [launch]: Default logging verbosity is set to INFO | |
| [INFO] [rviz2-1]: process started with pid [4048] | |
| [INFO] [static_transform_publisher-2]: process started with pid [4050] | |
| [INFO] [robot_state_publisher-3]: process started with pid [4052] | |
| [INFO] [move_group-4]: process started with pid [4054] | |
| [INFO] [ros2_control_node-5]: process started with pid [4056] | |
| [INFO] [spawner-6]: process started with pid [4058] | |
| [INFO] [spawner-7]: process started with pid [4060] | |
| [INFO] [spawner-8]: process started with pid [4062] | |
| [robot_state_publisher-3] [INFO] [1716573360.504401584] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [static_transform_publisher-2] [INFO] [1716573360.512397811] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [ros2_control_node-5] [INFO] [1716573360.542065535] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [move_group-4] [INFO] [1716573360.571225268] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [rviz2-1] [INFO] [1716573360.669299576] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [spawner-6] [INFO] [1716573360.842378194] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [spawner-7] [INFO] [1716573360.882448677] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [spawner-8] [INFO] [1716573360.896833337] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id d60dc329815d90aa8997bc66f5b86a. | |
| [static_transform_publisher-2] [WARN] [1716573361.513135488] []: Old-style arguments are deprecated; see --help for new-style arguments | |
| [static_transform_publisher-2] [INFO] [1716573361.529010114] [static_transform_publisher]: Spinning until stopped - publishing transform | |
| [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') | |
| [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') | |
| [static_transform_publisher-2] from 'world' to 'panda_link0' | |
| [robot_state_publisher-3] [WARN] [1716573361.536708092] [kdl_parser]: The root link panda_link0 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. | |
| [robot_state_publisher-3] [INFO] [1716573361.537101130] [robot_state_publisher]: got segment panda_hand | |
| [robot_state_publisher-3] [INFO] [1716573361.537156413] [robot_state_publisher]: got segment panda_leftfinger | |
| [robot_state_publisher-3] [INFO] [1716573361.537171891] [robot_state_publisher]: got segment panda_link0 | |
| [robot_state_publisher-3] [INFO] [1716573361.537198858] [robot_state_publisher]: got segment panda_link1 | |
| [robot_state_publisher-3] [INFO] [1716573361.537205907] [robot_state_publisher]: got segment panda_link2 | |
| [robot_state_publisher-3] [INFO] [1716573361.537214593] [robot_state_publisher]: got segment panda_link3 | |
| [robot_state_publisher-3] [INFO] [1716573361.537221262] [robot_state_publisher]: got segment panda_link4 | |
| [robot_state_publisher-3] [INFO] [1716573361.537231548] [robot_state_publisher]: got segment panda_link5 | |
| [robot_state_publisher-3] [INFO] [1716573361.537240668] [robot_state_publisher]: got segment panda_link6 | |
| [robot_state_publisher-3] [INFO] [1716573361.537249402] [robot_state_publisher]: got segment panda_link7 | |
| [robot_state_publisher-3] [INFO] [1716573361.537258557] [robot_state_publisher]: got segment panda_link8 | |
| [robot_state_publisher-3] [INFO] [1716573361.537267485] [robot_state_publisher]: got segment panda_rightfinger | |
| [ros2_control_node-5] [INFO] [1716573361.593930369] [controller_manager]: Subscribing to '/robot_description' topic for robot description. | |
| [ros2_control_node-5] [INFO] [1716573361.594221784] [controller_manager]: update rate is 100 Hz | |
| [ros2_control_node-5] [INFO] [1716573361.594551861] [controller_manager]: RT kernel is recommended for better performance | |
| [ros2_control_node-5] [INFO] [1716573361.596536538] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [INFO] [1716573361.597130799] [resource_manager]: Loading hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598712993] [resource_manager]: Initialize hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598826627] [resource_manager]: Successful initialization of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598865265] [resource_manager]: Loading hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598882466] [resource_manager]: Initialize hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598905934] [resource_manager]: Successful initialization of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598960313] [resource_manager]: 'configure' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.598977443] [resource_manager]: Successful 'configure' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599005655] [resource_manager]: 'activate' hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599013977] [resource_manager]: Successful 'activate' of hardware 'PandaHandFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599036493] [resource_manager]: 'configure' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599044650] [resource_manager]: Successful 'configure' of hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599058249] [resource_manager]: 'activate' hardware 'PandaFakeSystem' | |
| [ros2_control_node-5] [INFO] [1716573361.599066444] [resource_manager]: Successful 'activate' of hardware 'PandaFakeSystem' | |
| [move_group-4] [INFO] [1716573361.607566867] [move_group.moveit.moveit.ros.rdf_loader]: Loaded robot model in 0.00697702 seconds | |
| [ros2_control_node-5] [INFO] [1716573361.607855089] [controller_manager]: Received robot description from topic. | |
| [ros2_control_node-5] [WARN] [1716573361.607959809] [controller_manager]: ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot description file. | |
| [move_group-4] [INFO] [1716573361.609149246] [move_group.moveit.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [move_group-4] [WARN] [1716573361.638038454] [kdl_parser]: The root link panda_link0 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. | |
| [move_group-4] [INFO] [1716573361.638185560] [move_group.moveit.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [move_group-4] [INFO] [1716573361.672197392] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716573361.672424709] [move_group.moveit.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states | |
| [move_group-4] [INFO] [1716573361.674249755] [move_group.moveit.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states' | |
| [move_group-4] [INFO] [1716573361.674999365] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects | |
| [move_group-4] [INFO] [1716573361.675046335] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher. | |
| [move_group-4] [INFO] [1716573361.675417858] [move_group.moveit.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene. | |
| [move_group-4] [INFO] [1716573361.675844120] [move_group.moveit.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-4] [INFO] [1716573361.675974124] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [move_group-4] [INFO] [1716573361.676403790] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene' | |
| [move_group-4] [INFO] [1716573361.676575028] [move_group.moveit.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [move_group-4] [INFO] [1716573361.677132001] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'collision_object' | |
| [move_group-4] [INFO] [1716573361.677590525] [move_group.moveit.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry | |
| [move_group-4] [WARN] [1716573361.681275135] [move_group.moveit.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead | |
| [move_group-4] [INFO] [1716573361.715174587] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_1/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716573361.715791053] [move_group.moveit.moveit.ros.pointcloud_octomap_updater]: Listening to '/camera_2/points' using message filter with target frame 'world ' | |
| [move_group-4] [INFO] [1716573361.755457513] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'OMPL' | |
| [move_group-4] [INFO] [1716573361.761426080] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.763686767] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.763735067] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.764007744] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.764034254] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.764129391] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.764150529] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.764203732] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.770535600] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.777360329] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.777429923] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716573361.779785908] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716573361.779889833] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716573361.780451426] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716573361.796012913] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'CHOMP' | |
| [move_group-4] [INFO] [1716573361.801914668] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.802504931] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.802529103] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.802760347] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.802780118] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.802828454] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.802880715] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.802900983] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.809841940] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.810748163] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.821474586] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716573361.822375921] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716573361.822445554] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716573361.828335176] [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 | |
| [move_group-4] [INFO] [1716573361.828399620] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC | |
| [move_group-4] [INFO] [1716573361.832286142] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [CIRC] | |
| [move_group-4] [INFO] [1716573361.832351626] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN | |
| [move_group-4] [INFO] [1716573361.834332066] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [LIN] | |
| [move_group-4] [INFO] [1716573361.834384876] [move_group.moveit.moveit.planners.pilz.command_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP | |
| [move_group-4] [INFO] [1716573361.836364470] [move_group.moveit.moveit.planners.pilz.command_planner]: Registered Algorithm [PTP] | |
| [move_group-4] [INFO] [1716573361.836418183] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'Pilz Industrial Motion Planner' | |
| [move_group-4] [INFO] [1716573361.843432732] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.844382574] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.844427018] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.844499152] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.844524760] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.844559359] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [WARN] [1716573361.844579396] [move_group.moveit.moveit.ros.planning_pipeline]: No planning response adapter names specified. | |
| [move_group-4] [INFO] [1716573361.859892435] [move_group.moveit.moveit.ros.planning_pipeline]: Successfully loaded planner 'STOMP' | |
| [move_group-4] [INFO] [1716573361.867412886] [move_group]: Try loading adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.868239463] [move_group]: Loaded adapter 'default_planning_request_adapters/ResolveConstraintFrames' | |
| [move_group-4] [INFO] [1716573361.868294554] [move_group]: Try loading adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.868651138] [move_group]: Loaded adapter 'default_planning_request_adapters/ValidateWorkspaceBounds' | |
| [move_group-4] [INFO] [1716573361.868681205] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.868752485] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateBounds' | |
| [move_group-4] [INFO] [1716573361.868788740] [move_group]: Try loading adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.868819180] [move_group]: Loaded adapter 'default_planning_request_adapters/CheckStartStateCollision' | |
| [move_group-4] [INFO] [1716573361.876357906] [move_group]: Try loading adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.877255556] [move_group]: Loaded adapter 'default_planning_response_adapters/AddTimeOptimalParameterization' | |
| [move_group-4] [INFO] [1716573361.877297462] [move_group]: Try loading adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716573361.877583790] [move_group]: Loaded adapter 'default_planning_response_adapters/ValidateSolution' | |
| [move_group-4] [INFO] [1716573361.877627076] [move_group]: Try loading adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716573361.877877053] [move_group]: Loaded adapter 'default_planning_response_adapters/DisplayMotionPath' | |
| [move_group-4] [INFO] [1716573361.941363850] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller | |
| [move_group-4] [INFO] [1716573361.941537620] [move_group.moveit.moveit.plugins.simple_controller_manager]: Max effort set to 0.0 | |
| [move_group-4] [INFO] [1716573361.945108221] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added GripperCommand controller for panda_hand_controller | |
| [move_group-4] [INFO] [1716573361.945391905] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716573361.945481422] [move_group.moveit.moveit.plugins.simple_controller_manager]: Returned 2 controllers in list | |
| [move_group-4] [INFO] [1716573361.946101008] [move_group.moveit.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers | |
| [move_group-4] [INFO] [1716573361.946138293] [move_group]: MoveGroup debug mode is ON | |
| [ros2_control_node-5] [INFO] [1716573361.947331417] [controller_manager]: Loading controller 'joint_state_broadcaster' | |
| [ros2_control_node-5] [INFO] [1716573361.972549384] [controller_manager]: Loading controller 'panda_arm_controller' | |
| [move_group-4] [INFO] [1716573361.992175617] [move_group.moveit.moveit.planners.pilz.move_group_sequence_action]: initialize move group sequence action | |
| [move_group-4] [INFO] [1716573361.995122109] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716573361.995229095] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716573361.995258990] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716573361.995799445] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Reading limits from namespace robot_description_planning | |
| [move_group-4] [WARN] [1716573361.995875384] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [WARN] [1716573361.995949372] [move_group.moveit.moveit.planners.pilz.joint_limits_aggregator]: Multi-DOF-Joint 'virtual_joint' not supported. | |
| [move_group-4] [INFO] [1716573361.997155009] [move_group.moveit.moveit.ros.move_group.executable]: | |
| [move_group-4] | |
| [move_group-4] ******************************************************** | |
| [move_group-4] * MoveGroup using: | |
| [move_group-4] * - apply_planning_scene_service | |
| [move_group-4] * - clear_octomap_service | |
| [move_group-4] * - get_group_urdf | |
| [move_group-4] * - CartesianPathService | |
| [move_group-4] * - execute_trajectory_action | |
| [move_group-4] * - get_planning_scene_service | |
| [move_group-4] * - kinematics_service | |
| [move_group-4] * - move_action | |
| [move_group-4] * - motion_plan_service | |
| [move_group-4] * - query_planners_service | |
| [move_group-4] * - state_validation_service | |
| [move_group-4] * - SequenceAction | |
| [move_group-4] * - SequenceService | |
| [move_group-4] ******************************************************** | |
| [move_group-4] | |
| [move_group-4] [INFO] [1716573361.997248091] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context using pipeline ompl | |
| [move_group-4] [INFO] [1716573361.997301071] [move_group.moveit.moveit.ros.move_group.context]: MoveGroup context initialization complete | |
| [move_group-4] Loading 'move_group/ApplyPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/ClearOctomapService'... | |
| [move_group-4] Loading 'move_group/GetUrdfService'... | |
| [move_group-4] Loading 'move_group/MoveGroupCartesianPathService'... | |
| [move_group-4] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [move_group-4] Loading 'move_group/MoveGroupKinematicsService'... | |
| [move_group-4] Loading 'move_group/MoveGroupMoveAction'... | |
| [move_group-4] Loading 'move_group/MoveGroupPlanService'... | |
| [move_group-4] Loading 'move_group/MoveGroupQueryPlannersService'... | |
| [move_group-4] Loading 'move_group/MoveGroupStateValidationService'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'... | |
| [move_group-4] Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'... | |
| [move_group-4] | |
| [move_group-4] You can start planning now! | |
| [move_group-4] | |
| [spawner-6] [INFO] [1716573362.004561390] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster | |
| [ros2_control_node-5] [INFO] [1716573362.007924178] [controller_manager]: Configuring controller 'joint_state_broadcaster' | |
| [ros2_control_node-5] [INFO] [1716573362.008056213] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published | |
| [ros2_control_node-5] [INFO] [1716573362.015097689] [controller_manager]: Loading controller 'panda_hand_controller' | |
| [spawner-7] [INFO] [1716573362.041341477] [spawner_panda_arm_controller]: Loaded panda_arm_controller | |
| [ros2_control_node-5] [INFO] [1716573362.045046582] [controller_manager]: Configuring controller 'panda_arm_controller' | |
| [ros2_control_node-5] [INFO] [1716573362.045315116] [panda_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. | |
| [ros2_control_node-5] [INFO] [1716573362.045366448] [panda_arm_controller]: Command interfaces are [position] and state interfaces are [position velocity]. | |
| [ros2_control_node-5] [INFO] [1716573362.045394437] [panda_arm_controller]: Using 'splines' interpolation method. | |
| [spawner-6] [INFO] [1716573362.045930080] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster | |
| [ros2_control_node-5] [INFO] [1716573362.047440291] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz. | |
| [spawner-8] [ERROR] [1716573362.062436864] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/set_parameters_atomically not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062514893] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/set_parameters_atomically not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062575392] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/set_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062590201] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/set_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062642040] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/list_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062655772] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/list_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062705534] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_parameter_types not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062720352] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_parameter_types not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062785996] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062802141] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_parameters not found in topic_map. Report this. | |
| [spawner-7] [ERROR] [1716573362.062720391] [rmw_zenoh_cpp]: topic name /parameter_events not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062853368] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/describe_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062867359] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/describe_parameters not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062966089] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_type_description not found in topic_map. Report this. | |
| [spawner-8] [ERROR] [1716573362.062982772] [rmw_zenoh_cpp]: topic name /spawner_joint_state_broadcaster/get_type_description not found in topic_map. Report this. | |
| [spawner-8] [INFO] [1716573362.066282453] [spawner_panda_hand_controller]: Loaded panda_hand_controller | |
| [rviz2-1] [INFO] [1716573362.073275062] [rviz2]: Stereo is NOT SUPPORTED | |
| [rviz2-1] [INFO] [1716573362.073518559] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) | |
| [ros2_control_node-5] [INFO] [1716573362.075231541] [controller_manager]: Configuring controller 'panda_hand_controller' | |
| [ros2_control_node-5] [INFO] [1716573362.075356120] [panda_hand_controller]: Action status changes will be monitored at 20Hz. | |
| [spawner-7] [INFO] [1716573362.077572309] [spawner_panda_arm_controller]: Configured and activated panda_arm_controller | |
| [spawner-8] [INFO] [1716573362.107546286] [spawner_panda_hand_controller]: Configured and activated panda_hand_controller | |
| [rviz2-1] [INFO] [1716573362.116850229] [rviz2]: Stereo is NOT SUPPORTED | |
| [INFO] [spawner-6]: process has finished cleanly [pid 4058] | |
| [INFO] [spawner-7]: process has finished cleanly [pid 4060] | |
| [INFO] [spawner-8]: process has finished cleanly [pid 4062] | |
| [rviz2-1] [WARN] [1716573362.295809151] [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. | |
| [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. | |
| [rviz2-1] at line 321 in /opt/ros/iron/include/class_loader/class_loader/class_loader_core.hpp | |
| [rviz2-1] [ERROR] [1716573365.377808362] [rviz2.moveit.ros.motion_planning_frame]: Action server: /recognize_objects not available | |
| [rviz2-1] [INFO] [1716573365.390751920] [rviz2.moveit.ros.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. | |
| [rviz2-1] [INFO] [1716573365.398824376] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00536905 seconds | |
| [rviz2-1] [INFO] [1716573365.399007824] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [rviz2-1] [WARN] [1716573365.733310620] [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. | |
| [rviz2-1] [INFO] [1716573365.756784550] [rviz2.moveit.ros.rdf_loader]: Loaded robot model in 0.00375118 seconds | |
| [rviz2-1] [INFO] [1716573365.756881599] [rviz2.moveit.core.robot_model]: Loading robot model 'panda'... | |
| [rviz2-1] [WARN] [1716573365.776745456] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716573365.777002215] [rviz2.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'panda_arm': 1 1 1 1 1 1 1 | |
| [rviz2-1] [INFO] [1716573365.831866045] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716573365.833158912] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716573365.837084477] [rviz2.moveit.ros.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-1] [INFO] [1716573365.837942061] [rviz2.moveit.ros.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-1] [INFO] [1716573365.851158596] [interactive_marker_display_97327639854224]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic | |
| [rviz2-1] [WARN] [1716573365.859520584] [kdl_parser]: The root link panda_link0 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. | |
| [rviz2-1] [INFO] [1716573365.872535869] [rviz2.moveit.ros.motion_planning_frame]: group panda_arm | |
| [rviz2-1] [INFO] [1716573365.872642967] [rviz2.moveit.ros.motion_planning_frame]: Constructing new MoveGroup connection for group 'panda_arm' in namespace '' | |
| [rviz2-1] [INFO] [1716573365.883154777] [interactive_marker_display_97327639854224]: Sending request for interactive markers | |
| [rviz2-1] [INFO] [1716573365.884853726] [rviz2.moveit.ros.move_group_interface]: Ready to take commands for planning group panda_arm. | |
| [rviz2-1] [INFO] [1716573365.914802112] [interactive_marker_display_97327639854224]: Service response received for initialization |
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