gistfile1.txt

[ INFO] [1504118599.678720650]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1504118599.678749467]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ INFO] [1504118602.462840318]: Loading robot model 'pr2'...
[ WARN] [1504118602.707506625]: The root link base_footprint 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] [1504118602.756322909]: Loading robot model 'pr2'...
[ WARN] [1504118602.768514059]: The root link base_footprint 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.
[ WARN] [1504118602.803163534]: The root link base_footprint 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] [1504118602.822658234]: Loading robot model 'pr2'...
[ WARN] [1504118602.833880285]: The root link base_footprint 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] [1504118602.896741762]: Starting scene monitor
[ INFO] [1504118602.900174583]: Listening to '/move_group/monitored_planning_scene'
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ WARN] [1504118602.961708026]: The STL file 'package://pr2_description/meshes/sensors/kinect_prosilica_v0/115x100_swept_back--coarse.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
[ WARN] [1504118603.413763472]: The root link base_footprint 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.
[ WARN] [1504118603.414141162]: The root link base_footprint 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.
[ WARN] [1504118603.414350015]: The root link base_footprint 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.
[ WARN] [1504118603.414551272]: The root link base_footprint 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.
[ WARN] [1504118603.414749833]: The root link base_footprint 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] [1504118603.444418823]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''
[ INFO] [1504118604.313538802]: TrajectoryExecution will use old service capability.
[ INFO] [1504118604.313712339]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1504118604.313807720]: Looking around: no
[ INFO] [1504118604.313890007]: Replanning: no
[ INFO] [1504118904.890753659]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1504118904.890993450]: Found empty JointState message
[ERROR] [1504118904.891096504]: Found empty JointState message
[ERROR] [1504118904.891547111]: Found empty JointState message
[ERROR] [1504118904.892878541]: Found empty JointState message
[ INFO] [1504118904.893859844]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1504118904.894188787]: No planner specified. Using default.
[ INFO] [1504118904.894467078]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1504118904.895111409]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1504118904.979703818]: LBKPIECE1: Created 112 (60 start + 52 goal) states in 95 cells (54 start (54 on boundary) + 41 goal (41 on boundary))
[ INFO] [1504118904.979768831]: Solution found in 0.085058 seconds
[ INFO] [1504118904.980611699]: SimpleSetup: Path simplification took 0.000708 seconds and changed from 43 to 2 states
[ INFO] [1504118914.988009830]: Received new trajectory execution service request...
[ INFO] [1504118914.988556181]: Fake execution of trajectory
[ INFO] [1504118917.789049170]: Execution completed: SUCCEEDED
[ INFO] [1504118927.795179758]: Attaching world object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118927.795304785]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118927.885797119]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118928.149856047]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118928.380777127]: Attached object 'camera' to link 'r_wrist_roll_link'
...
[ INFO] [1504118937.657776055]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118937.795588604]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1504118937.795760377]: Found empty JointState message
[ERROR] [1504118937.795815524]: Found empty JointState message
[ERROR] [1504118937.796348922]: Found empty JointState message
[ERROR] [1504118937.797157426]: Found empty JointState message
[ INFO] [1504118937.797584126]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1504118937.797704137]: No planner specified. Using default.
[ INFO] [1504118937.797774927]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1504118937.798280789]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1504118937.837362783]: LBKPIECE1: Created 69 (12 start + 57 goal) states in 57 cells (10 start (10 on boundary) + 47 goal (47 on boundary))
[ INFO] [1504118937.837418790]: Solution found in 0.039574 seconds
[ INFO] [1504118937.837487791]: SimpleSetup: Path simplification took 0.000011 seconds and changed from 22 to 2 states
[ INFO] [1504118937.892082713]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118938.154669073]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118938.387146608]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118938.649596044]: Attached object 'camera' to link 'r_wrist_roll_link'
...
[ INFO] [1504118947.398774928]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118947.662666941]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118947.841735033]: Received new trajectory execution service request...
[ INFO] [1504118947.842068842]: Fake execution of trajectory
[ INFO] [1504118947.893716336]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118948.157971366]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118948.407417382]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118948.542355415]: Execution completed: SUCCEEDED
[ INFO] [1504118948.543219084]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1504118948.543367214]: Found empty JointState message
[ERROR] [1504118948.543433923]: Found empty JointState message
[ERROR] [1504118948.543932408]: Found empty JointState message
[ERROR] [1504118948.544645879]: Found empty JointState message
[ INFO] [1504118948.544953673]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1504118948.545398872]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1504118948.602968856]: LBKPIECE1: Created 54 (29 start + 25 goal) states in 44 cells (27 start (27 on boundary) + 17 goal (17 on boundary))
[ INFO] [1504118948.603017013]: Solution found in 0.057936 seconds
[ INFO] [1504118948.603063668]: SimpleSetup: Path simplification took 0.000009 seconds and changed from 27 to 2 states
[ INFO] [1504118948.649708047]: Attached object 'camera' to link 'r_wrist_roll_link'
...
[ INFO] [1504118958.143768672]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118958.407750274]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118958.612751679]: Received new trajectory execution service request...
[ INFO] [1504118958.613172558]: Fake execution of trajectory
[ INFO] [1504118958.671823293]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118958.902885589]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118959.167071979]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118959.313539922]: Execution completed: SUCCEEDED
[ INFO] [1504118959.314288586]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1504118959.314425934]: Found empty JointState message
[ERROR] [1504118959.314474724]: Found empty JointState message
[ERROR] [1504118959.314975884]: Found empty JointState message
[ERROR] [1504118959.315660439]: Found empty JointState message
[ INFO] [1504118959.316027410]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1504118959.316530340]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1504118959.390342652]: LBKPIECE1: Created 58 (24 start + 34 goal) states in 49 cells (23 start (23 on boundary) + 26 goal (26 on boundary))
[ INFO] [1504118959.390392357]: Solution found in 0.074196 seconds
[ INFO] [1504118959.390441507]: SimpleSetup: Path simplification took 0.000009 seconds and changed from 30 to 2 states
[ INFO] [1504118959.400724569]: Attached object 'camera' to link 'r_wrist_roll_link'
...
[ INFO] [1504118968.931165122]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118969.164318547]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118969.396313174]: Received new trajectory execution service request...
[ERROR] [1504118969.396506391]: 
Invalid Trajectory: start point deviates from current robot state more than 0.01
joint 'r_elbow_flex_joint': expected: -1.56487, current: -1.57897
[ INFO] [1504118969.396577075]: Execution completed: ABORTED
[ INFO] [1504118969.432979771]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118969.663894238]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118969.928219446]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118970.160031861]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118970.407614181]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118970.670626667]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118970.934577859]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118971.165718221]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118971.430072108]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118971.661122098]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118971.926957769]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118972.158858184]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118972.433159808]: Attached object 'camera' to link 'r_wrist_roll_link'
[ INFO] [1504118972.670733681]: Attached object 'camera' to link 'r_wrist_roll_link'
^C[ INFO] [1504118972.934359711]: Attached object 'camera' to link 'r_wrist_roll_link'
[rviz_miller_23812_7257985335271597927-6] killing on exit
[move_group-5] killing on exit
[robot_state_publisher-4] killing on exit
[joint_state_publisher-3] killing on exit
[virtual_joint_broadcaster_0-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done