out.md

% ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
[INFO] [launch]: All log files can be found below /home/khassanov/.ros/log/2020-09-15-11-24-34-337151-vm20-3394
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [3401]
[INFO] [robot_state_publisher-2]: process started with pid [3403]
[INFO] [rviz2-3]: process started with pid [3410]
[INFO] [run_moveit_cpp-4]: process started with pid [3412]
[INFO] [fake_joint_driver_node-5]: process started with pid [3419]
[static_transform_publisher-1] [INFO] [1600161874.685619758] [static_transform_publisher]: Spinning until killed publishing transform from 'world' to 'panda_link0'
[robot_state_publisher-2] Parsing robot urdf xml string.
[robot_state_publisher-2] Link panda_link1 had 1 children
[robot_state_publisher-2] Link panda_link2 had 1 children
[robot_state_publisher-2] Link panda_link3 had 1 children
[robot_state_publisher-2] Link panda_link4 had 1 children
[robot_state_publisher-2] Link panda_link5 had 1 children
[robot_state_publisher-2] Link panda_link6 had 1 children
[robot_state_publisher-2] Link panda_link7 had 1 children
[robot_state_publisher-2] Link panda_link8 had 1 children
[robot_state_publisher-2] Link panda_hand had 2 children
[robot_state_publisher-2] Link panda_leftfinger had 0 children
[robot_state_publisher-2] Link panda_rightfinger had 0 children
[robot_state_publisher-2] [INFO] [1600161874.714642668] [robot_state_publisher]: got segment panda_hand
[robot_state_publisher-2] [INFO] [1600161874.714755073] [robot_state_publisher]: got segment panda_leftfinger
[robot_state_publisher-2] [INFO] [1600161874.714764219] [robot_state_publisher]: got segment panda_link0
[robot_state_publisher-2] [INFO] [1600161874.714768421] [robot_state_publisher]: got segment panda_link1
[robot_state_publisher-2] [INFO] [1600161874.714772231] [robot_state_publisher]: got segment panda_link2
[robot_state_publisher-2] [INFO] [1600161874.714775943] [robot_state_publisher]: got segment panda_link3
[robot_state_publisher-2] [INFO] [1600161874.714779648] [robot_state_publisher]: got segment panda_link4
[robot_state_publisher-2] [INFO] [1600161874.714783342] [robot_state_publisher]: got segment panda_link5
[robot_state_publisher-2] [INFO] [1600161874.714787002] [robot_state_publisher]: got segment panda_link6
[robot_state_publisher-2] [INFO] [1600161874.714790729] [robot_state_publisher]: got segment panda_link7
[robot_state_publisher-2] [INFO] [1600161874.714794321] [robot_state_publisher]: got segment panda_link8
[robot_state_publisher-2] [INFO] [1600161874.714798057] [robot_state_publisher]: got segment panda_rightfinger
[fake_joint_driver_node-5] Parsing robot urdf xml string.
[fake_joint_driver_node-5] [INFO] [1600161874.756132446] [controller_manager]: Loading controller 'fake_joint_state_controller'
[fake_joint_driver_node-5] 
[run_moveit_cpp-4] [INFO] [1600161874.771033568] [moveit_cpp_demo]: Initialize node
[fake_joint_driver_node-5] [INFO] [1600161874.802290764] [controller_manager]: Loading controller 'panda_arm_controller'
[fake_joint_driver_node-5] 
[fake_joint_driver_node-5] [WARN] [1600161874.863336974] []: Error occurred while doing error handling.
[fake_joint_driver_node-5] [ERROR] [1600161874.864035683] [joint handle]: handle with name panda_joint1 not found!
[fake_joint_driver_node-5] [WARN] [1600161874.864400471] [panda_arm_controller]: unable to obtain joint 'panda_joint1' with interface 'position'
[fake_joint_driver_node-5] [ERROR] [1600161874.864801756] [fake_joint_driver]: at least one controller failed to configure
[rviz2-3] [INFO] [1600161875.139661123] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1600161875.140625989] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-3] [INFO] [1600161875.166935855] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1600161875.422661481] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0102005 seconds
[rviz2-3] [INFO] [1600161875.423535458] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [WARN] [1600161875.430684479] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[rviz2-3] Parsing robot urdf xml string.
[rviz2-3] [INFO] [1600161875.437187249] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000659165 seconds
[rviz2-3] [INFO] [1600161875.438979209] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1600161876.348279449] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-3] [INFO] [1600161876.350146329] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/publish_planning_scene'
[run_moveit_cpp-4] [INFO] [1600161879.921172213] [moveit_cpp_demo]: Initialize MoveItCpp
[run_moveit_cpp-4] Parsing robot urdf xml string.
[run_moveit_cpp-4] [INFO] [1600161879.932294801] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00166398 seconds
[run_moveit_cpp-4] [INFO] [1600161879.935006527] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[run_moveit_cpp-4] Link panda_link1 had 1 children
[run_moveit_cpp-4] Link panda_link2 had 1 children
[run_moveit_cpp-4] Link panda_link3 had 1 children
[run_moveit_cpp-4] Link panda_link4 had 1 children
[run_moveit_cpp-4] Link panda_link5 had 1 children
[run_moveit_cpp-4] Link panda_link6 had 1 children
[run_moveit_cpp-4] Link panda_link7 had 1 children
[run_moveit_cpp-4] Link panda_link8 had 1 children
[run_moveit_cpp-4] Link panda_hand had 2 children
[run_moveit_cpp-4] Link panda_leftfinger had 0 children
[run_moveit_cpp-4] Link panda_rightfinger had 0 children
[run_moveit_cpp-4] [INFO] [1600161880.059843801] [moveit.ros_planning_interface.moveit_cpp]: Listening to '/joint_states' for joint states
[run_moveit_cpp-4] [INFO] [1600161880.062629417] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[run_moveit_cpp-4] [INFO] [1600161880.071049408] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/planning_scene_monitor' for attached collision objects
[run_moveit_cpp-4] [INFO] [1600161880.074189817] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/moveit_cpp/publish_planning_scene'
[run_moveit_cpp-4] [INFO] [1600161880.074790543] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[run_moveit_cpp-4] [INFO] [1600161880.076107143] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/moveit_cpp/monitored_planning_scene'
[run_moveit_cpp-4] [INFO] [1600161880.076610429] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[run_moveit_cpp-4] [INFO] [1600161880.106030954] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[run_moveit_cpp-4] [INFO] [1600161880.131796504] [moveit_ros.fix_workspace_bounds]: Param 'default_workspace_bounds' was not set. Using default value: 10.000000
[run_moveit_cpp-4] [INFO] [1600161880.154493595] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[run_moveit_cpp-4] [INFO] [1600161880.155069669] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[run_moveit_cpp-4] [INFO] [1600161880.155405166] [moveit_ros.fix_start_state_collision]: Param 'start_state_max_dt' was not set. Using default value: 0.500000
[run_moveit_cpp-4] [INFO] [1600161880.155720630] [moveit_ros.fix_start_state_collision]: Param 'jiggle_fraction' was not set. Using default value: 0.020000
[run_moveit_cpp-4] [INFO] [1600161880.156072630] [moveit_ros.fix_start_state_collision]: Param 'max_sampling_attempts' was not set. Using default value: 0.000000,
[run_moveit_cpp-4] [INFO] [1600161880.156472819] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[run_moveit_cpp-4] [INFO] [1600161880.156851949] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[run_moveit_cpp-4] [INFO] [1600161880.157191175] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[run_moveit_cpp-4] [INFO] [1600161880.157770635] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[run_moveit_cpp-4] [INFO] [1600161880.158766158] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[run_moveit_cpp-4] [WARN] [1600161880.182926151] [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.
[rviz2-3] [INFO] [1600161881.378326509] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[run_moveit_cpp-4] [WARN] [1600161885.282542324] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for panda_arm_controller/follow_joint_trajectory to come up
[run_moveit_cpp-4] [WARN] [1600161890.283521464] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Waiting for panda_arm_controller/follow_joint_trajectory to come up
[run_moveit_cpp-4] [ERROR] [1600161895.289674911] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: panda_arm_controller/follow_joint_trajectory
[run_moveit_cpp-4] [INFO] [1600161895.293992762] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[run_moveit_cpp-4] [INFO] [1600161895.295270855] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[run_moveit_cpp-4] [INFO] [1600161895.296560496] [moveit_cpp_demo]: Initialize PlanningComponent
[run_moveit_cpp-4] [INFO] [1600161898.299346996] [moveit_cpp_demo]: Set goal
[run_moveit_cpp-4] [INFO] [1600161898.299449724] [moveit_cpp_demo]: Plan to goal
[run_moveit_cpp-4] [INFO] [1600161898.299663456] [moveit_collision_detection_fcl.collision_common]: Found a contact between 'panda_link5' (type 'Robot link') and 'panda_link7' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[run_moveit_cpp-4] [INFO] [1600161898.299672199] [moveit_collision_detection_fcl.collision_common]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[run_moveit_cpp-4] [INFO] [1600161898.299677188] [moveit_ros.fix_start_state_collision]: Start state appears to be in collision with respect to group panda_arm
[run_moveit_cpp-4] [WARN] [1600161898.305799704] [moveit_ros.fix_start_state_collision]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.020000 and 100 sampling attempts). Passing the original planning request to the planner.
[run_moveit_cpp-4] [INFO] [1600161898.306309930] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[run_moveit_cpp-4] [WARN] [1600161898.314789376] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.315474260] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.315861306] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.316208013] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.316577959] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.316916940] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.317296805] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.317631340] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.318712277] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:138 - ParallelPlan::solve(): Unable to find solution by any of the threads in 0.012209 seconds
[run_moveit_cpp-4] [WARN] [1600161898.319184896] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.319535498] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.319909688] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.320251888] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.322074711] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.322445763] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.322859889] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.323221154] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.323564516] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:138 - ParallelPlan::solve(): Unable to find solution by any of the threads in 0.004446 seconds
[run_moveit_cpp-4] [WARN] [1600161898.336541083] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.345347845] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.345918934] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/base/src/Planner.cpp:257 - panda_arm/panda_arm: Skipping invalid start state (invalid state)
[run_moveit_cpp-4] [ERROR] [1600161898.346288058] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp:207 - panda_arm/panda_arm: Motion planning start tree could not be initialized!
[run_moveit_cpp-4] [WARN] [1600161898.346631448] [ompl]: /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/tools/multiplan/src/ParallelPlan.cpp:138 - ParallelPlan::solve(): Unable to find solution by any of the threads in 0.023035 seconds
[run_moveit_cpp-4] [INFO] [1600161898.346733584] [moveit.ompl_planning.model_based_planning_context]: Unable to solve the planning problem
[run_moveit_cpp-4] [ERROR] [1600161898.346785397] [moveit.ros_planning_interface.planning_component]: Could not compute plan successfully
[run_moveit_cpp-4] [INFO] [1600161898.346794721] [moveit.ros_planning_interface.planning_component]: Deleting PlanningComponent 'panda_arm'