MoveIt Demo Launch File Output

console output

core service [/rosout] found
process[joint_state_publisher-1]: started with pid [27263]
process[robot_state_publisher-2]: started with pid [27271]
/opt/ros/groovy/lib/robot_state_publisher/robot_state_publisher
 WARN ros.kdl_parser: 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.
process[move_group-3]: started with pid [27290]
ERROR ros.rosconsole_bridge.console_bridge: Semantic description is not specified for the same robot as the URDF
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
ERROR ros.rosconsole_bridge.console_bridge: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
process[rviz_ros_monster_27227_6398390756485919374-4]: started with pid [27311]
 INFO ros.rviz: rviz version 1.9.16
 INFO ros.rviz: compiled against OGRE version 1.7.4 (Cthugha)
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/planning_scene_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/motion_planning_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/planning_scene_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/motion_planning_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/planning_scene_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
[rospack] Error: stack/package ros not found
[librospack]: error while executing command
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/motion_planning_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
 WARN ros.kdl_parser: 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.
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/planning_scene_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
ERROR ros.rviz: Could not find package manifest (neither package.xml or deprectated manifest.xml) at same directory level as the plugin XML file /home/dave/ros/moveit/src/moveit_ros/visualization/motion_planning_rviz_plugin_description.xml. Plugins will likely not be exported properly.
)
 WARN ros.kdl_parser: 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 ros.moveit_ros_planning: Starting world geometry monitor
 INFO ros.moveit_ros_planning: Listening to 'collision_object' using message notifier with target frame '/odom_combined '
 INFO ros.moveit_ros_planning: Listening to 'collision_map' using message notifier with target frame '/odom_combined '
 INFO ros.moveit_ros_planning: Listening to 'planning_scene_world' for planning scene world geometry
 WARN ros.moveit_ros_perception: Resolution not specified for Octomap.
 INFO ros.moveit_ros_planning: Starting scene monitor
 INFO ros.moveit_ros_planning: Listening to 'planning_scene'
 INFO ros.moveit_ros_planning: Listening to 'attached_collision_object' for attached collision objects
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
[rospack] Error: stack/package ros not found
[librospack]: error while executing command
[rospack] Error: stack/package ros not found
[librospack]: error while executing command
 INFO ros.moveit_ompl_planners_ros_plugin: Not displaying OMPL exploration data structures.
 INFO ros.moveit_ompl_planners_ros_plugin: Initializing OMPL interface using ROS parameters
 INFO ros.moveit_ros_planning: Using planning interface 'OMPL'
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
[rospack] Error: stack/package ros not found
[librospack]: error while executing command
[rospack] Error: stack/package planning not found
[librospack]: error while executing command
 INFO ros.moveit_ros_planning: Param 'default_workspace_bounds' was not set. Using default value: 10
 INFO ros.moveit_ros_planning: Param 'start_state_max_bounds_error' was set to 0.1
 INFO ros.moveit_ros_planning: Param 'start_state_max_dt' was not set. Using default value: 0.5
 INFO ros.moveit_ros_planning: Param 'start_state_max_dt' was not set. Using default value: 0.5
 INFO ros.moveit_ros_planning: Param 'jiggle_fraction' was not set. Using default value: 0.02
 INFO ros.moveit_ros_planning: Param 'max_sampling_attempts' was not set. Using default value: 100
 INFO ros.moveit_ros_planning: Using planning request adapter 'Add Time Parameterization'
 INFO ros.moveit_ros_planning: Using planning request adapter 'Fix Workspace Bounds'
 INFO ros.moveit_ros_planning: Using planning request adapter 'Fix Start State Bounds'
 INFO ros.moveit_ros_planning: Using planning request adapter 'Fix Start State In Collision'
 INFO ros.moveit_ros_planning: Using planning request adapter 'Fix Start State Path Constraints'
 INFO ros.moveit_ros_planning: MoveGroup action running using planning plugin ompl_interface_ros/OMPLPlanner
[rviz_ros_monster_27227_6398390756485919374-4] process has finished cleanly
log file: /home/dave/.ros/log/d67730f4-4351-11e2-afd5-d43d7e05aeaf/rviz_ros_monster_27227_6398390756485919374-4*.log

Hello,
I couldn't find exactly the topic, where this paste is referring to, but I came across a similar problem.
'head_mount_link', 'head_mount_prosilica_link', as well as the kinect links are not known. This happened after updating the PR2 to Indigo and happends after starting the move_group or any code that actually plans.
Regards
-Daniel

I am running ROS Indigo on Linux 14.04 64bit. I got similar errors like this, whenever I load the pr2 robot model in Moveit:
...
[ERROR] [1468855968.109028519]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
...

I fixed it by following steps:

1. $ roscd pr2_description
2. $ sudo vim robots/pr2.urdf.xacro
3. In line 149 of file "pr2.urdf.xacro", change [xacro:if value="$(optenv KINECT1 false)"] to [xacro:if value="$(optenv KINECT1 true)"], and save
4. done

The KINECT1 and KINECT2 are not defined as environment values, so the default value is important. If you use KINECT1 (which seems to be kinect_prosilica_camera), the setting will produce no errors.

Hope this help :-)

Longfei

Hello there,

I am facing the same problem.
I am following the tutorial on random movement of an arm of a robot from the book Programming Robots with ROS by Morgan Quigley, Brian Gerkey, William D. Smart (page - 194)
While the original tutorial is directed for r2 which works flawlessly. But if I try to run the tutorial on pr2, I get the all of the above errors.

I see that you have suggested a fix here, but I am unable to follow.
I am confused with 3. What am I supposed to change and change to what? Can you please explain? (I am new to ROS :P)

Thanks in advance

Bests,
SillyCodeValley

I solved the problem by setting an environment variable.

export KINECT1=true

or

export KINECT2=true

before I launch pr2 on gazebo. At least those ugly errors have disappeared.