20240205_kinova_bringup.log

NODES
  /arm_gen3/
    arm_gen3_driver (kortex_driver/kortex_arm_driver)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
  /camera/
    camera_color_tf_publisher (tf2_ros/static_transform_publisher)
    camera_depth_tf_publisher (tf2_ros/static_transform_publisher)
    camera_nodelet_manager (nodelet/nodelet)
    color_rectify_color (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_color (nodelet/nodelet)
  /camera/color/
    kinova_vision_color (kinova_vision/kinova_vision)
  /camera/depth/
    kinova_vision_depth (kinova_vision/kinova_vision)

ROS_MASTER_URI=http://localhost:11311

process[arm_gen3/arm_gen3_driver-1]: started with pid [39451]
process[arm_gen3/move_group-2]: started with pid [39452]
process[arm_gen3/joint_state_publisher-3]: started with pid [39453]
process[arm_gen3/robot_state_publisher-4]: started with pid [39454]
process[camera/camera_nodelet_manager-5]: started with pid [39455]
process[camera/depth/kinova_vision_depth-6]: started with pid [39456]
process[camera/color/kinova_vision_color-7]: started with pid [39460]
[ WARN] [1707123645.840724087]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[camera/camera_depth_tf_publisher-8]: started with pid [39463]
process[camera/camera_color_tf_publisher-9]: started with pid [39467]
process[camera/color_rectify_color-10]: started with pid [39477]
process[camera/depth_rectify_depth-11]: started with pid [39487]
[ WARN] [1707123645.865124153]: MoveGroup launched with ~default_planning_pipeline '' not configured in ~planning_pipelines
process[camera/depth_metric_rect-12]: started with pid [39488]
[ WARN] [1707123645.875251831]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ERROR] [1707123645.879026695]: Skipped loading plugin with error: XML Document '/opt/ros/noetic/share/prosilica_camera/plugins/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
process[camera/depth_metric-13]: started with pid [39498]
process[camera/depth_points-14]: started with pid [39504]
process[camera/register_depth_color-15]: started with pid [39513]
process[camera/points_xyzrgb_sw_registered-16]: started with pid [39521]
[ INFO] [1707123645.906797089]: Using gstreamer config from rosparam: "rtspsrc location=rtsp://192.168.1.10/depth latency=30 ! rtpgstdepay"
process[camera/depth_registered_sw_metric_rect-17]: started with pid [39525]
[ INFO] [1707123645.911004353]: Loading robot model 'gen3_robotiq_2f_140'...
[ INFO] [1707123645.911038049]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1707123645.917999236]: Initializing nodelet with 4 worker threads.
[ INFO] [1707123645.962501233]: Using gstreamer config from rosparam: "rtspsrc location=rtsp://192.168.1.10/color latency=30 ! rtph264depay ! avdec_h264 ! videoconvert"
[ WARN] [1707123646.124723472]: Could not identify parent group for end-effector 'gripper'
[ INFO] [1707123646.126861287]: Session created successfully for TCP services
[ INFO] [1707123646.140439696]: Session created successfully for UDP services
[ INFO] [1707123646.150639560]: -------------------------------------------------
[ INFO] [1707123646.150672441]: Scanning all devices in robot... 
[ INFO] [1707123646.170583319]: Base device was found on device identifier 0
[ INFO] [1707123646.170621153]: Vision device was found on device identifier 9
[ INFO] [1707123646.170637320]: Interconnect device was found on device identifier 8
[ INFO] [1707123646.171241337]: Actuator device of type SMALL_ACTUATOR was found on device identifier 7
[ INFO] [1707123646.171266302]: Actuator device of type SMALL_ACTUATOR was found on device identifier 6
[ INFO] [1707123646.171283608]: Actuator device of type SMALL_ACTUATOR was found on device identifier 5
[ INFO] [1707123646.171300188]: Actuator device of type BIG_ACTUATOR was found on device identifier 1
[ INFO] [1707123646.171315288]: Actuator device of type BIG_ACTUATOR was found on device identifier 2
[ INFO] [1707123646.171330638]: Actuator device of type BIG_ACTUATOR was found on device identifier 3
[ INFO] [1707123646.171345356]: Actuator device of type BIG_ACTUATOR was found on device identifier 4
[ INFO] [1707123646.171361740]: -------------------------------------------------
[ WARN] [1707123646.186560457]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1707123646.264616121]: State changed from INITIALIZING to IDLE

[ INFO] [1707123646.285150044]: -------------------------------------------------
[ INFO] [1707123646.285171011]: Initializing Kortex Driver's services...
[ERROR] [1707123646.517210206]: Failed to find nodelet with name '/camera/depth_registered_sw_metric_rect' to unload.
[ERROR] [1707123646.517283472]: Failed to find nodelet with name '/camera/points_xyzrgb_sw_registered' to unload.
[ERROR] [1707123646.517351525]: Failed to find nodelet with name '/camera/register_depth_color' to unload.
[ INFO] [1707123646.633152437]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1707123646.638312258]: Listening to 'joint_states' for joint states
[ INFO] [1707123646.645879963]: Listening to '/arm_gen3/attached_collision_object' for attached collision objects
[ INFO] [1707123646.645914522]: Starting planning scene monitor
[ INFO] [1707123646.651827676]: Listening to '/arm_gen3/planning_scene'
[ INFO] [1707123646.651863818]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1707123646.657136041]: Listening to '/arm_gen3/collision_object'
[ INFO] [1707123646.660307082]: Listening to '/arm_gen3/planning_scene_world' for planning scene world geometry
[ WARN] [1707123646.660833100]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ INFO] [1707123646.661304590]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1707123646.892036996]: Loading planning pipeline ''
[ INFO] [1707123646.936476518]: Using planning interface 'OMPL'
[ INFO] [1707123646.938976467]: Constructing N point filter
[ INFO] [1707123646.940626277]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1707123646.940873444]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1707123646.941071531]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1707123646.941328190]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1707123646.941609268]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1707123646.941892774]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1707123646.941924798]: Using planning request adapter 'Trajectory filter 'UniformSampleFilter' of type 'UniformSampleFilter''
[ INFO] [1707123646.941934535]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1707123646.941941265]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1707123646.941947160]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1707123646.941953029]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1707123646.941959034]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1707123647.199466433]: Added FollowJointTrajectory controller for gen3_joint_trajectory_controller
[ INFO] [1707123647.429171843]: Added GripperCommand controller for robotiq_2f_140_gripper_controller
[ INFO] [1707123647.429218676]: Returned 2 controllers in list
[ INFO] [1707123647.435798661]: Trajectory execution is managing controllers
[ INFO] [1707123647.435824414]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1707123647.467631676]: 

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

[ INFO] [1707123647.467867799]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1707123647.467893007]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1707123648.655057893]: Kortex Driver's services initialized correctly.
[ INFO] [1707123648.655102538]: -------------------------------------------------
[ INFO] [1707123648.655882378]: The Kortex driver has been initialized correctly!
[ERROR] [1707123651.239655434]: [depth]: Failed to start stream (timeout)
[ INFO] [1707123651.240443109]: [depth]: Trying to connect... (attempt #1)
[ERROR] [1707123651.241296653]: [color]: Failed to start stream (timeout)
[ INFO] [1707123651.241910914]: [color]: Trying to connect... (attempt #1)
[ERROR] [1707123654.643034492]: [color]: Failed to start stream
[ INFO] [1707123654.643962809]: [color]: Trying to connect... (attempt #2)
[ INFO] [1707123654.689121530]: [depth]: Stream started
[ INFO] [1707123654.689490729]: [depth]: Custom camera information file not set, using default one based on sensor resolution
[ INFO] [1707123654.689744050]: camera calibration URL: package://kinova_vision/launch/calibration/default_depth_calib_480x270.ini
[ INFO] [1707123654.689905564]: [depth]: Loaded camera calibration from 'package://kinova_vision/launch/calibration/default_depth_calib_480x270.ini'
[ERROR] [1707123657.680143185]: [color]: Failed to start stream
[ INFO] [1707123657.681886835]: [color]: Trying to connect... (attempt #3)
[ERROR] [1707123660.706084640]: [color]: Failed to start stream
[ INFO] [1707123660.706377090]: [color]: Trying to connect... (attempt #4)
[ERROR] [1707123663.746248745]: [color]: Failed to start stream
[ INFO] [1707123663.746814103]: [color]: Trying to connect... (attempt #5)
[ERROR] [1707123666.774685988]: [color]: Failed to start stream
[ INFO] [1707123666.775032838]: [color]: Trying to connect... (attempt #6)
[ERROR] [1707123669.802963707]: [color]: Failed to start stream
[ INFO] [1707123669.803723001]: [color]: Trying to connect... (attempt #7)
[ERROR] [1707123672.846278527]: [color]: Failed to start stream
[ INFO] [1707123672.847570331]: [color]: Trying to connect... (attempt #8)
[ERROR] [1707123675.868848112]: [color]: Failed to start stream
[ INFO] [1707123675.869191295]: [color]: Trying to connect... (attempt #9)
[ERROR] [1707123678.895779821]: [color]: Failed to start stream
[ INFO] [1707123678.896162220]: [color]: Trying to connect... (attempt #10)
[ERROR] [1707123681.949186286]: [color]: Failed to start stream
[ INFO] [1707123681.949571250]: [color]: Trying to connect... (attempt #11)
[ERROR] [1707123684.984544817]: [color]: Failed to start stream
[ INFO] [1707123684.985015344]: [color]: Trying to connect... (attempt #12)
[ERROR] [1707123688.024875465]: [color]: Failed to start stream
[ INFO] [1707123688.025342945]: [color]: Trying to connect... (attempt #13)
[ERROR] [1707123691.074002147]: [color]: Failed to start stream
[ INFO] [1707123691.074453311]: [color]: Trying to connect... (attempt #14)
[ERROR] [1707123694.110705153]: [color]: Failed to start stream
[ INFO] [1707123694.111186241]: [color]: Trying to connect... (attempt #15)
[ERROR] [1707123697.148474681]: [color]: Failed to start stream
[ INFO] [1707123697.148954085]: [color]: Trying to connect... (attempt #16)
[ERROR] [1707123700.207855473]: [color]: Failed to start stream
[ INFO] [1707123700.208339124]: [color]: Trying to connect... (attempt #17)
[ERROR] [1707123703.243345235]: [color]: Failed to start stream
[ INFO] [1707123703.243960761]: [color]: Trying to connect... (attempt #18)
[ERROR] [1707123706.289670096]: [color]: Failed to start stream
[ INFO] [1707123706.290070563]: [color]: Trying to connect... (attempt #19)
[ERROR] [1707123709.347995554]: [color]: Failed to start stream
[ INFO] [1707123709.348364333]: [color]: Trying to connect... (attempt #20)
[ERROR] [1707123712.383344278]: [color]: Failed to start stream
[ INFO] [1707123712.383867169]: [color]: Trying to connect... (attempt #21)
[ERROR] [1707123715.425682005]: [color]: Failed to start stream
[ INFO] [1707123715.426192441]: [color]: Trying to connect... (attempt #22)
[ERROR] [1707123718.476844786]: [color]: Failed to start stream
[ INFO] [1707123718.477401659]: [color]: Trying to connect... (attempt #23)
[ERROR] [1707123721.513036070]: [color]: Failed to start stream
[ INFO] [1707123721.513488068]: [color]: Trying to connect... (attempt #24)
[ERROR] [1707123724.569258580]: [color]: Failed to start stream
[ INFO] [1707123724.569692592]: [color]: Trying to connect... (attempt #25)
[ERROR] [1707123727.604680545]: [color]: Failed to start stream