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Created December 9, 2021 20:23
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Log output running clean foxy branches of MoveIt2 source
Raw
gistfile1.txt
$ ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
[INFO] [launch]: All log files can be found below /home/david/.ros/log/2021-12-09-15-19-36-850833-LAPTOP-27459
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [27461]
[INFO] [static_transform_publisher-2]: process started with pid [27463]
[INFO] [robot_state_publisher-3]: process started with pid [27465]
[INFO] [move_group-4]: process started with pid [27467]
[INFO] [ros2_control_node-5]: process started with pid [27469]
[INFO] [mongo_wrapper_ros.py-6]: process started with pid [27471]
[INFO] [ros2 run controller_manager spawner.py panda_arm_controller-7]: process started with pid [27473]
[INFO] [ros2 run controller_manager spawner.py panda_hand_controller-8]: process started with pid [27476]
[INFO] [ros2 run controller_manager spawner.py joint_state_broadcaster-9]: process started with pid [27509]
[static_transform_publisher-2] [INFO] [1639081177.119854222] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link panda_link1 had 1 children
[robot_state_publisher-3] Link panda_link2 had 1 children
[robot_state_publisher-3] Link panda_link3 had 1 children
[robot_state_publisher-3] Link panda_link4 had 1 children
[robot_state_publisher-3] Link panda_link5 had 1 children
[robot_state_publisher-3] Link panda_link6 had 1 children
[robot_state_publisher-3] Link panda_link7 had 1 children
[robot_state_publisher-3] Link panda_link8 had 1 children
[robot_state_publisher-3] Link panda_hand had 2 children
[robot_state_publisher-3] Link panda_leftfinger had 0 children
[robot_state_publisher-3] Link panda_rightfinger had 0 children
[robot_state_publisher-3] [INFO] [1639081177.125510341] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-3] [INFO] [1639081177.125591226] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-3] [INFO] [1639081177.125599838] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-3] [INFO] [1639081177.125605218] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-3] [INFO] [1639081177.125610101] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-3] [INFO] [1639081177.125614885] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-3] [INFO] [1639081177.125619600] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-3] [INFO] [1639081177.125624366] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-3] [INFO] [1639081177.125629187] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-3] [INFO] [1639081177.125675166] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-3] [INFO] [1639081177.125683509] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-3] [INFO] [1639081177.125689240] [robot_state_publisher]: got segment panda_rightfinger
[ros2_control_node-5] [INFO] [1639081177.139502170] [controller_manager]: update rate is 100 Hz
[move_group-4] [WARN] [1639081177.210160407] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[move_group-4] [WARN] [1639081177.210217899] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-4] Parsing robot urdf xml string.
[move_group-4] [INFO] [1639081177.213757146] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000938881 seconds
[move_group-4] [INFO] [1639081177.213825162] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[move_group-4] Link panda_link1 had 1 children
[move_group-4] Link panda_link2 had 1 children
[move_group-4] Link panda_link3 had 1 children
[move_group-4] Link panda_link4 had 1 children
[move_group-4] Link panda_link5 had 1 children
[move_group-4] Link panda_link6 had 1 children
[move_group-4] Link panda_link7 had 1 children
[move_group-4] Link panda_link8 had 1 children
[move_group-4] Link panda_hand had 2 children
[move_group-4] Link panda_leftfinger had 0 children
[move_group-4] Link panda_rightfinger had 0 children
[move_group-4] [INFO] [1639081177.251096296] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-4] [INFO] [1639081177.251360761] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-4] [INFO] [1639081177.252470592] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-4] [INFO] [1639081177.253296147] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-4] [INFO] [1639081177.253347978] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-4] [INFO] [1639081177.254153303] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-4] [INFO] [1639081177.254206230] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-4] [INFO] [1639081177.255300591] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-4] [INFO] [1639081177.255921719] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-4] [WARN] [1639081177.256028388] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-4] [ERROR] [1639081177.256060380] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[move_group-4] [INFO] [1639081177.258095376] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[move_group-4] [INFO] [1639081177.287010401] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-4] [INFO] [1639081177.290648279] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1639081177.290693462] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-4] [INFO] [1639081177.290699272] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-4] [INFO] [1639081177.290716839] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-4] [INFO] [1639081177.290732455] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.050000
[move_group-4] [INFO] [1639081177.290737124] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1639081177.290748454] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-4] [INFO] [1639081177.290755214] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-4] [INFO] [1639081177.290768507] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-4] [INFO] [1639081177.290781520] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-4] [INFO] [1639081177.290806679] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1639081177.290812989] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1639081177.290816752] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1639081177.290848523] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[mongo_wrapper_ros.py-6] [INFO] [1639081177.336520331] [mongodb]: Starting mongodb with db location /tmp/db listening on localhost:33829
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] MongoDB starting : pid=27556 port=33829 dbpath=/tmp/db 64-bit host=LAPTOP-N06C44K6
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] db version v3.6.8
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] OpenSSL version: OpenSSL 1.1.1f 31 Mar 2020
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] allocator: tcmalloc
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] modules: none
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] build environment:
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] distarch: x86_64
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] target_arch: x86_64
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I CONTROL [initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db" } }
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I - [initandlisten] Detected data files in /tmp/db created by the 'wiredTiger' storage engine, so setting the active storage engine to 'wiredTiger'.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I STORAGE [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I STORAGE [initandlisten] ** WARNING: Using the XFS filesystem is strongly recommended with the WiredTiger storage engine
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I STORAGE [initandlisten] ** See http://dochub.mongodb.org/core/prodnotes-filesystem
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.362-0500 I STORAGE [initandlisten] wiredtiger_open config: create,cache_size=3405M,session_max=20000,eviction=(threads_min=4,threads_max=4),config_base=false,statistics=(fast),cache_cursors=false,compatibility=(release="3.0",require_max="3.0"),log=(enabled=true,archive=true,path=journal,compressor=snappy),file_manager=(close_idle_time=100000),statistics_log=(wait=0),verbose=(recovery_progress),
[ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1639081177.595303007] [spawner_panda_hand_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1639081177.606944311] [spawner_panda_arm_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1639081177.614165670] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[ros2_control_node-5] [INFO] [1639081177.800541347] [controller_manager]: Loading controller 'panda_hand_controller'
[ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1639081177.815772947] [spawner_panda_hand_controller]: Loaded panda_hand_controller
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.816-0500 I STORAGE [initandlisten] WiredTiger message [1639081177:816525][27556:0x7ff08e493100], txn-recover: Main recovery loop: starting at 16/5888
[ros2_control_node-5] [INFO] [1639081177.817761732] [controller_manager]: Loading controller 'panda_arm_controller'
[ros2_control_node-5] [INFO] [1639081177.834783843] [controller_manager]: Configuring controller 'panda_hand_controller'
[ros2_control_node-5] [INFO] [1639081177.834914987] [panda_hand_controller]: Action status changes will be monitored at 20Hz.
[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1639081177.835476696] [spawner_panda_arm_controller]: Loaded panda_arm_controller
[ros2_control_node-5] [INFO] [1639081177.854802707] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1639081177.855503149] [spawner_panda_hand_controller]: Configured and started panda_hand_controller
[ros2_control_node-5] [INFO] [1639081177.864782067] [controller_manager]: Configuring controller 'panda_arm_controller'
[ros2_control_node-5] [INFO] [1639081177.864890773] [panda_arm_controller]: Command interfaces are [position] and and state interfaces are [position velocity].
[ros2_control_node-5] [INFO] [1639081177.865519387] [panda_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1639081177.865691391] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1639081177.867288005] [panda_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [INFO] [1639081177.872208513] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[move_group-4] [INFO] [1639081177.872859910] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for panda_arm_controller
[move_group-4] [INFO] [1639081177.876143778] [moveit.plugins.moveit_simple_controller_manager]: Added GripperCommand controller for panda_hand_controller
[move_group-4] [INFO] [1639081177.876334341] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-4] [INFO] [1639081177.876968856] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-4] [INFO] [1639081177.876987071] [move_group.move_group]: MoveGroup debug mode is ON
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.889-0500 I STORAGE [initandlisten] WiredTiger message [1639081177:889379][27556:0x7ff08e493100], txn-recover: Recovering log 16 through 17
[ros2 run controller_manager spawner.py joint_state_broadcaster-9] [INFO] [1639081177.895589922] [spawner_joint_state_broadcaster]: Configured and started joint_state_broadcaster
[move_group-4] [INFO] [1639081177.902355519] [move_group.move_group]:
[move_group-4]
[move_group-4] ********************************************************
[move_group-4] * MoveGroup using:
[move_group-4] * - ApplyPlanningSceneService
[move_group-4] * - ClearOctomapService
[move_group-4] * - CartesianPathService
[move_group-4] * - ExecuteTrajectoryAction
[move_group-4] * - GetPlanningSceneService
[move_group-4] * - KinematicsService
[move_group-4] * - MoveAction
[move_group-4] * - MotionPlanService
[move_group-4] * - QueryPlannersService
[move_group-4] * - StateValidationService
[move_group-4] ********************************************************
[move_group-4]
[move_group-4] [INFO] [1639081177.902415014] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-4] [INFO] [1639081177.902424161] [moveit_move_group_capabilities_base.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/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]
[move_group-4] You can start planning now!
[move_group-4]
[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1639081177.916857545] [spawner_panda_arm_controller]: Configured and started panda_arm_controller
[INFO] [ros2 run controller_manager spawner.py panda_hand_controller-8]: process has finished cleanly [pid 27476]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.943-0500 I STORAGE [initandlisten] WiredTiger message [1639081177:943046][27556:0x7ff08e493100], txn-recover: Recovering log 17 through 17
[INFO] [ros2 run controller_manager spawner.py joint_state_broadcaster-9]: process has finished cleanly [pid 27509]
[INFO] [ros2 run controller_manager spawner.py panda_arm_controller-7]: process has finished cleanly [pid 27473]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:37.976-0500 I STORAGE [initandlisten] WiredTiger message [1639081177:976110][27556:0x7ff08e493100], txn-recover: Set global recovery timestamp: 0
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** WARNING: Access control is not enabled for the database.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** Read and write access to data and configuration is unrestricted.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** WARNING: This server is bound to localhost.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** Remote systems will be unable to connect to this server.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** Start the server with --bind_ip <address> to specify which IP
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** addresses it should serve responses from, or with --bind_ip_all to
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** bind to all interfaces. If this behavior is desired, start the
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** server with --bind_ip 127.0.0.1 to disable this warning.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** WARNING: /sys/kernel/mm/transparent_hugepage/enabled is 'always'.
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten] ** We suggest setting it to 'never'
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.019-0500 I CONTROL [initandlisten]
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.026-0500 I FTDC [initandlisten] Initializing full-time diagnostic data capture with directory '/tmp/db/diagnostic.data'
[mongo_wrapper_ros.py-6] 2021-12-09T15:19:38.026-0500 I NETWORK [initandlisten] waiting for connections on port 33829
[rviz2-1] [INFO] [1639081180.016223536] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1639081180.016571060] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-1] [INFO] [1639081180.055003031] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured 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 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1639081194.956312905] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1639081195.013344066] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000949893 seconds
[rviz2-1] [INFO] [1639081195.013416331] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] Link panda_link1 had 1 children
[rviz2-1] Link panda_link2 had 1 children
[rviz2-1] Link panda_link3 had 1 children
[rviz2-1] Link panda_link4 had 1 children
[rviz2-1] Link panda_link5 had 1 children
[rviz2-1] Link panda_link6 had 1 children
[rviz2-1] Link panda_link7 had 1 children
[rviz2-1] Link panda_link8 had 1 children
[rviz2-1] Link panda_hand had 2 children
[rviz2-1] Link panda_leftfinger had 0 children
[rviz2-1] Link panda_rightfinger had 0 children
[rviz2-1] [INFO] [1639081195.074924282] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-1] [INFO] [1639081195.075663134] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-1] [INFO] [1639081195.711235643] [interactive_marker_display_93952716334880]: Connected on namespace: rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-1] [INFO] [1639081195.719737637] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] Link panda_link1 had 1 children
[rviz2-1] Link panda_link2 had 1 children
[rviz2-1] Link panda_link3 had 1 children
[rviz2-1] Link panda_link4 had 1 children
[rviz2-1] Link panda_link5 had 1 children
[rviz2-1] Link panda_link6 had 1 children
[rviz2-1] Link panda_link7 had 1 children
[rviz2-1] Link panda_link8 had 1 children
[rviz2-1] Link panda_hand had 2 children
[rviz2-1] Link panda_leftfinger had 0 children
[rviz2-1] Link panda_rightfinger had 0 children
[rviz2-1] [INFO] [1639081195.720295862] [moveit_ros_robot_interaction.robot_interaction]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[rviz2-1] [INFO] [1639081195.724538744] [moveit_ros_visualization.motion_planning_frame]: group hand
[rviz2-1] [INFO] [1639081195.724576619] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'hand' in namespace ''
[rviz2-1] [WARN] [1639081195.724661549] [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] [1639081195.739458945] [move_group_interface]: Ready to take commands for planning group hand.
[rviz2-1] [INFO] [1639081195.739524136] [move_group_interface]: Looking around: no
[rviz2-1] [INFO] [1639081195.739537376] [move_group_interface]: Replanning: no
[rviz2-1] [INFO] [1639081195.740539968] [moveit_ros_visualization.motion_planning_frame]: group hand
[rviz2-1] [INFO] [1639081195.798250603] [interactive_marker_display_93952716334880]: Sending request for interactive markers
[rviz2-1] [INFO] [1639081195.800005396] [moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS 75 grp: hand
[rviz2-1] [INFO] [1639081195.800133827] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand
[rviz2-1] [INFO] [1639081195.800138853] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[BFMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800199103] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[BKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800203254] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[BiESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800205733] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[BiTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800208345] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[ESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800210999] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[FMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800214059] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[KPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800216672] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[LBKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800219647] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[LBTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800222219] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[LazyPRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800224891] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[LazyPRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800227423] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[PDSTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800254828] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[PRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800257855] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[PRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800260704] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[ProjESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800263470] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[RRTConnectkConfigDefault]
[rviz2-1] [INFO] [1639081195.800266160] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[RRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800268898] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[RRTstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800271747] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[SBLkConfigDefault]
[rviz2-1] [INFO] [1639081195.800274285] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[SPARSkConfigDefault]
[rviz2-1] [INFO] [1639081195.800276789] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[SPARStwokConfigDefault]
[rviz2-1] [INFO] [1639081195.800279631] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[STRIDEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800282159] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[TRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800284640] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand[TrajOptDefault]
[rviz2-1] [INFO] [1639081195.800287566] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm
[rviz2-1] [INFO] [1639081195.800289382] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[BFMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800291109] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[BKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800292834] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[BiESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800294575] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[BiTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800296264] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[ESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800298003] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[FMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800299673] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[KPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800301941] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[LBKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800303660] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[LBTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800305386] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[LazyPRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800307171] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[LazyPRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800308938] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[PDSTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800310742] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[PRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800312403] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[PRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800314129] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[ProjESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800315811] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[RRTConnectkConfigDefault]
[rviz2-1] [INFO] [1639081195.800317491] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[RRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800319145] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[RRTstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800324364] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[SBLkConfigDefault]
[rviz2-1] [INFO] [1639081195.800326262] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[SPARSkConfigDefault]
[rviz2-1] [INFO] [1639081195.800327984] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[SPARStwokConfigDefault]
[rviz2-1] [INFO] [1639081195.800329762] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[STRIDEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800331427] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[TRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800333197] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm[TrajOptDefault]
[rviz2-1] [INFO] [1639081195.800334890] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand
[rviz2-1] [INFO] [1639081195.800336615] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[BFMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800338361] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[BKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800340044] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[BiESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800341828] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[BiTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800343602] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[ESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800345368] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[FMTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800347100] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[KPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800348776] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[LBKPIECEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800356220] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[LBTRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800357892] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[LazyPRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800359554] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[LazyPRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800361348] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[PDSTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800363105] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[PRMkConfigDefault]
[rviz2-1] [INFO] [1639081195.800364762] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[PRMstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800366505] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[ProjESTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800368166] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[RRTConnectkConfigDefault]
[rviz2-1] [INFO] [1639081195.800369871] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[RRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800371534] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[RRTstarkConfigDefault]
[rviz2-1] [INFO] [1639081195.800373250] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[SBLkConfigDefault]
[rviz2-1] [INFO] [1639081195.800374915] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[SPARSkConfigDefault]
[rviz2-1] [INFO] [1639081195.800376574] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[SPARStwokConfigDefault]
[rviz2-1] [INFO] [1639081195.800378317] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[STRIDEkConfigDefault]
[rviz2-1] [INFO] [1639081195.800379982] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[TRRTkConfigDefault]
[rviz2-1] [INFO] [1639081195.800383663] [moveit_ros_visualization.motion_planning_frame_planning]: planner id: panda_arm_hand[TrajOptDefault]
[rviz2-1] [INFO] [1639081195.830696556] [interactive_marker_display_93952716334880]: Service response received for initialization
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