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October 15, 2018 22:17
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This is the terminal output for the error with the 14 DOF arm
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| crasar@crasar-dell:~$ roslaunch fotokite_two_modules_moveit demo.launch | |
| ... logging to /home/crasar/.ros/log/f461eb86-d0c7-11e8-abb0-d89ef3923760/roslaunch-crasar-dell-11039.log | |
| Checking log directory for disk usage. This may take awhile. | |
| Press Ctrl-C to interrupt | |
| Done checking log file disk usage. Usage is <1GB. | |
| started roslaunch server http://crasar-dell:42951/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /joint_state_publisher/source_list: ['move_group/fake... | |
| * /joint_state_publisher/use_gui: False | |
| * /move_group/allow_trajectory_execution: True | |
| * /move_group/arm/default_planner_config: NonekConfigDefault | |
| * /move_group/arm/planner_configs: ['SBLkConfigDefau... | |
| * /move_group/controller_list: [{'joints': ['toe... | |
| * /move_group/jiggle_fraction: 0.05 | |
| * /move_group/max_range: 5.0 | |
| * /move_group/max_safe_path_cost: 1 | |
| * /move_group/moveit_controller_manager: moveit_fake_contr... | |
| * /move_group/moveit_manage_controllers: True | |
| * /move_group/octomap_resolution: 0.025 | |
| * /move_group/planner_configs/BFMT/balanced: 0 | |
| * /move_group/planner_configs/BFMT/cache_cc: 1 | |
| * /move_group/planner_configs/BFMT/extended_fmt: 1 | |
| * /move_group/planner_configs/BFMT/heuristics: 1 | |
| * /move_group/planner_configs/BFMT/nearest_k: 1 | |
| * /move_group/planner_configs/BFMT/num_samples: 1000 | |
| * /move_group/planner_configs/BFMT/optimality: 1 | |
| * /move_group/planner_configs/BFMT/radius_multiplier: 1.0 | |
| * /move_group/planner_configs/BFMT/type: geometric::BFMT | |
| * /move_group/planner_configs/BKPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5 | |
| * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/BKPIECE/range: 0.0 | |
| * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE | |
| * /move_group/planner_configs/BiEST/range: 0.0 | |
| * /move_group/planner_configs/BiEST/type: geometric::BiEST | |
| * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300 | |
| * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1 | |
| * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0 | |
| * /move_group/planner_configs/BiTRRT/init_temperature: 100 | |
| * /move_group/planner_configs/BiTRRT/range: 0.0 | |
| * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1 | |
| * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT | |
| * /move_group/planner_configs/EST/goal_bias: 0.05 | |
| * /move_group/planner_configs/EST/range: 0.0 | |
| * /move_group/planner_configs/EST/type: geometric::EST | |
| * /move_group/planner_configs/FMT/cache_cc: 1 | |
| * /move_group/planner_configs/FMT/extended_fmt: 1 | |
| * /move_group/planner_configs/FMT/heuristics: 0 | |
| * /move_group/planner_configs/FMT/nearest_k: 1 | |
| * /move_group/planner_configs/FMT/num_samples: 1000 | |
| * /move_group/planner_configs/FMT/radius_multiplier: 1.1 | |
| * /move_group/planner_configs/FMT/type: geometric::FMT | |
| * /move_group/planner_configs/KPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5 | |
| * /move_group/planner_configs/KPIECE/goal_bias: 0.05 | |
| * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/KPIECE/range: 0.0 | |
| * /move_group/planner_configs/KPIECE/type: geometric::KPIECE | |
| * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9 | |
| * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5 | |
| * /move_group/planner_configs/LBKPIECE/range: 0.0 | |
| * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE | |
| * /move_group/planner_configs/LBTRRT/epsilon: 0.4 | |
| * /move_group/planner_configs/LBTRRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/LBTRRT/range: 0.0 | |
| * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT | |
| * /move_group/planner_configs/LazyPRM/range: 0.0 | |
| * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM | |
| * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR... | |
| * /move_group/planner_configs/PDST/type: geometric::PDST | |
| * /move_group/planner_configs/PRM/max_nearest_neighbors: 10 | |
| * /move_group/planner_configs/PRM/type: geometric::PRM | |
| * /move_group/planner_configs/PRMstar/type: geometric::PRMstar | |
| * /move_group/planner_configs/ProjEST/goal_bias: 0.05 | |
| * /move_group/planner_configs/ProjEST/range: 0.0 | |
| * /move_group/planner_configs/ProjEST/type: geometric::ProjEST | |
| * /move_group/planner_configs/RRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/RRT/range: 0.0 | |
| * /move_group/planner_configs/RRT/type: geometric::RRT | |
| * /move_group/planner_configs/RRTConnect/range: 0.0 | |
| * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon... | |
| * /move_group/planner_configs/RRTstar/delay_collision_checking: 1 | |
| * /move_group/planner_configs/RRTstar/goal_bias: 0.05 | |
| * /move_group/planner_configs/RRTstar/range: 0.0 | |
| * /move_group/planner_configs/RRTstar/type: geometric::RRTstar | |
| * /move_group/planner_configs/SBL/range: 0.0 | |
| * /move_group/planner_configs/SBL/type: geometric::SBL | |
| * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001 | |
| * /move_group/planner_configs/SPARS/max_failures: 1000 | |
| * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25 | |
| * /move_group/planner_configs/SPARS/stretch_factor: 3.0 | |
| * /move_group/planner_configs/SPARS/type: geometric::SPARS | |
| * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001 | |
| * /move_group/planner_configs/SPARStwo/max_failures: 5000 | |
| * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25 | |
| * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0 | |
| * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo | |
| * /move_group/planner_configs/STRIDE/degree: 16 | |
| * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0 | |
| * /move_group/planner_configs/STRIDE/goal_bias: 0.05 | |
| * /move_group/planner_configs/STRIDE/max_degree: 18 | |
| * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6 | |
| * /move_group/planner_configs/STRIDE/min_degree: 12 | |
| * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2 | |
| * /move_group/planner_configs/STRIDE/range: 0.0 | |
| * /move_group/planner_configs/STRIDE/type: geometric::STRIDE | |
| * /move_group/planner_configs/STRIDE/use_projected_distance: 0 | |
| * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1 | |
| * /move_group/planner_configs/TRRT/frountier_threshold: 0.0 | |
| * /move_group/planner_configs/TRRT/goal_bias: 0.05 | |
| * /move_group/planner_configs/TRRT/init_temperature: 10e-6 | |
| * /move_group/planner_configs/TRRT/k_constant: 0.0 | |
| * /move_group/planner_configs/TRRT/max_states_failed: 10 | |
| * /move_group/planner_configs/TRRT/min_temperature: 10e-10 | |
| * /move_group/planner_configs/TRRT/range: 0.0 | |
| * /move_group/planner_configs/TRRT/temp_change_factor: 2.0 | |
| * /move_group/planner_configs/TRRT/type: geometric::TRRT | |
| * /move_group/planning_plugin: ompl_interface/OM... | |
| * /move_group/planning_scene_monitor/publish_geometry_updates: True | |
| * /move_group/planning_scene_monitor/publish_planning_scene: True | |
| * /move_group/planning_scene_monitor/publish_state_updates: True | |
| * /move_group/planning_scene_monitor/publish_transforms_updates: True | |
| * /move_group/request_adapters: default_planner_r... | |
| * /move_group/start_state_max_bounds_error: 0.1 | |
| * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 | |
| * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 | |
| * /move_group/trajectory_execution/allowed_start_tolerance: 0.01 | |
| * /robot_description: <?xml version="1.... | |
| * /robot_description_kinematics/arm/kinematics_solver: cached_ik_kinemat... | |
| * /robot_description_kinematics/arm/kinematics_solver_attempts: 3 | |
| * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005 | |
| * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005 | |
| * /robot_description_kinematics/arm/position_only_ik: True | |
| * /robot_description_planning/joint_limits/arm_2_hand_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/arm_2_hand_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/arm_2_hand_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/arm_2_hand_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/arm_hand_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/arm_hand_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/arm_hand_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/arm_hand_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/foot_2_knee_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/foot_2_knee_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/foot_2_knee_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/foot_2_knee_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/foot_knee_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/foot_knee_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/foot_knee_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/foot_knee_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/hand_2_finger_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/hand_2_finger_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/hand_2_finger_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/hand_2_finger_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/hand_toe_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/hand_toe_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/hand_toe_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/hand_toe_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/hip_2_arm_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/hip_2_arm_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/hip_2_arm_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/hip_2_arm_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/hip_arm_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/hip_arm_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/hip_arm_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/hip_arm_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/knee_2_lap_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/knee_2_lap_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/knee_2_lap_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/knee_2_lap_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/knee_lap_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/knee_lap_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/knee_lap_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/knee_lap_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/lap_2_hip_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/lap_2_hip_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/lap_2_hip_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/lap_2_hip_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/lap_hip_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/lap_hip_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/lap_hip_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/lap_hip_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/toe_2_foot_2_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/toe_2_foot_2_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/toe_2_foot_2_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/toe_2_foot_2_joint/max_velocity: 1 | |
| * /robot_description_planning/joint_limits/toe_foot_joint/has_acceleration_limits: False | |
| * /robot_description_planning/joint_limits/toe_foot_joint/has_velocity_limits: True | |
| * /robot_description_planning/joint_limits/toe_foot_joint/max_acceleration: 0 | |
| * /robot_description_planning/joint_limits/toe_foot_joint/max_velocity: 1 | |
| * /robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: kinetic | |
| * /rosversion: 1.12.14 | |
| * /rviz_crasar_dell_11039_5946323639215850829/arm/kinematics_solver: cached_ik_kinemat... | |
| * /rviz_crasar_dell_11039_5946323639215850829/arm/kinematics_solver_attempts: 3 | |
| * /rviz_crasar_dell_11039_5946323639215850829/arm/kinematics_solver_search_resolution: 0.005 | |
| * /rviz_crasar_dell_11039_5946323639215850829/arm/kinematics_solver_timeout: 0.005 | |
| * /rviz_crasar_dell_11039_5946323639215850829/arm/position_only_ik: True | |
| NODES | |
| / | |
| 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) | |
| rviz_crasar_dell_11039_5946323639215850829 (rviz/rviz) | |
| auto-starting new master | |
| process[master]: started with pid [11052] | |
| ROS_MASTER_URI=http://localhost:11311 | |
| setting /run_id to f461eb86-d0c7-11e8-abb0-d89ef3923760 | |
| process[rosout-1]: started with pid [11065] | |
| started core service [/rosout] | |
| process[joint_state_publisher-2]: started with pid [11082] | |
| process[robot_state_publisher-3]: started with pid [11083] | |
| process[move_group-4]: started with pid [11084] | |
| process[rviz_crasar_dell_11039_5946323639215850829-5]: started with pid [11086] | |
| [ WARN] [1539641785.921446516]: The root link toe 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] [1539641785.970840817]: Loading robot model 'arm'... | |
| [ INFO] [1539641786.002969630]: SrvKinematicsPlugin initializing | |
| [ INFO] [1539641786.005485426]: Loading robot model 'arm'... | |
| [ INFO] [1539641786.005707248]: Dimension planning group 'arm': 14. Active Joints Models: 14. Mimic Joint Models: 0 | |
| [ INFO] [1539641786.007313907]: waitForService: Service [/solve_ik] has not been advertised, waiting... | |
| [ INFO] [1539641786.011904977]: rviz version 1.12.16 | |
| [ INFO] [1539641786.011949091]: compiled against Qt version 5.5.1 | |
| [ INFO] [1539641786.011961431]: compiled against OGRE version 1.9.0 (Ghadamon) | |
| [ WARN] [1539641786.110134932]: Unable to connect to ROS service client with name: /solve_ik | |
| [ INFO] [1539641786.118822781]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [ INFO] [1539641786.120931772]: MoveGroup debug mode is ON | |
| Starting context monitors... | |
| [ INFO] [1539641786.120949856]: Starting scene monitor | |
| [ INFO] [1539641786.122902787]: Listening to '/planning_scene' | |
| [ INFO] [1539641786.122921490]: Starting world geometry monitor | |
| [ INFO] [1539641786.124932858]: Listening to '/collision_object' using message notifier with target frame '/toe ' | |
| [ INFO] [1539641786.126825347]: Listening to '/planning_scene_world' for planning scene world geometry | |
| [ INFO] [1539641786.132587001]: Listening to '/attached_collision_object' for attached collision objects | |
| Context monitors started. | |
| [ INFO] [1539641786.154791330]: Initializing OMPL interface using ROS parameters | |
| [ERROR] [1539641786.156586802]: Could not find the planner configuration 'NonekConfigDefault' on the param server | |
| [ERROR] [1539641786.157282931]: Could not find the planner configuration 'SBLkConfigDefault' on the param server | |
| [ERROR] [1539641786.157591186]: Could not find the planner configuration 'ESTkConfigDefault' on the param server | |
| [ERROR] [1539641786.157872183]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server | |
| [ERROR] [1539641786.158146860]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server | |
| [ERROR] [1539641786.158417991]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server | |
| [ERROR] [1539641786.158689276]: Could not find the planner configuration 'RRTkConfigDefault' on the param server | |
| [ERROR] [1539641786.158958176]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server | |
| [ERROR] [1539641786.159223593]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server | |
| [ERROR] [1539641786.159508710]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server | |
| [ERROR] [1539641786.159790560]: Could not find the planner configuration 'PRMkConfigDefault' on the param server | |
| [ERROR] [1539641786.160058170]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server | |
| [ERROR] [1539641786.160356135]: Could not find the planner configuration 'FMTkConfigDefault' on the param server | |
| [ERROR] [1539641786.160656172]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server | |
| [ERROR] [1539641786.160959215]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server | |
| [ERROR] [1539641786.161265680]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server | |
| [ERROR] [1539641786.161576602]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server | |
| [ERROR] [1539641786.161947353]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server | |
| [ERROR] [1539641786.162254923]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server | |
| [ERROR] [1539641786.162556267]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server | |
| [ERROR] [1539641786.162852063]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server | |
| [ERROR] [1539641786.163156484]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server | |
| [ERROR] [1539641786.163470977]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server | |
| [ERROR] [1539641786.163785957]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server | |
| [ INFO] [1539641786.169907148]: Using planning interface 'OMPL' | |
| [ INFO] [1539641786.172054536]: Param 'default_workspace_bounds' was not set. Using default value: 10 | |
| [ INFO] [1539641786.172460730]: Param 'start_state_max_bounds_error' was set to 0.1 | |
| [ INFO] [1539641786.172876608]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1539641786.173314124]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1539641786.173687892]: Param 'jiggle_fraction' was set to 0.05 | |
| [ INFO] [1539641786.174091845]: Param 'max_sampling_attempts' was not set. Using default value: 100 | |
| [ INFO] [1539641786.174143864]: Using planning request adapter 'Add Time Parameterization' | |
| [ INFO] [1539641786.174153312]: Using planning request adapter 'Fix Workspace Bounds' | |
| [ INFO] [1539641786.174161691]: Using planning request adapter 'Fix Start State Bounds' | |
| [ INFO] [1539641786.174185219]: Using planning request adapter 'Fix Start State In Collision' | |
| [ INFO] [1539641786.174210430]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [ INFO] [1539641786.178958896]: Fake controller 'fake_arm_controller' with joints [ toe_foot_joint foot_knee_joint knee_lap_joint lap_hip_joint hip_arm_joint arm_hand_joint hand_toe_2_joint toe_2_foot_2_joint foot_2_knee_2_joint knee_2_lap_2_joint lap_2_hip_2_joint hip_2_arm_2_joint arm_2_hand_2_joint hand_2_finger_joint ] | |
| [ INFO] [1539641786.179375203]: Returned 1 controllers in list | |
| [ INFO] [1539641786.187026949]: Trajectory execution is managing controllers | |
| 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] [1539641786.243925882]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [ INFO] [1539641786.243965877]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [ INFO] [1539641786.243977972]: MoveGroup context initialization complete | |
| You can start planning now! | |
| [ INFO] [1539641786.827268675]: Stereo is NOT SUPPORTED | |
| [ INFO] [1539641786.827355691]: OpenGl version: 4.6 (GLSL 4.6). | |
| [ INFO] [1539641790.159665778]: Loading robot model 'arm'... | |
| [ INFO] [1539641790.190299057]: SrvKinematicsPlugin initializing | |
| [ INFO] [1539641790.193135750]: Loading robot model 'arm'... | |
| [ INFO] [1539641790.193405374]: Dimension planning group 'arm': 14. Active Joints Models: 14. Mimic Joint Models: 0 | |
| [ INFO] [1539641790.195072568]: waitForService: Service [/solve_ik] has not been advertised, waiting... | |
| [ WARN] [1539641790.299904748]: Unable to connect to ROS service client with name: /solve_ik | |
| [ INFO] [1539641790.356891768]: Starting scene monitor | |
| [ INFO] [1539641790.366823075]: Listening to '/move_group/monitored_planning_scene' | |
| [ WARN] [1539641790.990487966]: The root link toe 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] [1539641790.993053147]: Constructing new MoveGroup connection for group 'arm' in namespace '' | |
| [ INFO] [1539641792.156831152]: Ready to take commands for planning group arm. | |
| [ INFO] [1539641792.156967799]: Looking around: no | |
| [ INFO] [1539641792.157042554]: Replanning: no | |
| [ WARN] [1539641792.191470474]: Interactive marker 'EE:goal_finger' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. |
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