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January 29, 2020 10:43
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| lrinelli@SAN22389:~$ roslaunch edo_gripper_moveit edo_moveit_planning_execution.launch sim:=true __ns:=edo | |
| ... logging to /home/lrinelli/.ros/log/6a8a4a72-427a-11ea-b706-3badd16dad62/roslaunch-SAN22389-28643.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. | |
| /home/lrinelli/ros_catkin_ws/install_isolated/lib/python2.7/dist-packages/roslaunch/loader.py:412: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. | |
| data = yaml.load(text) | |
| started roslaunch server http://SAN22389:43293/ | |
| SUMMARY | |
| ======== | |
| PARAMETERS | |
| * /edo/move_group/allow_trajectory_execution: True | |
| * /edo/move_group/capabilities: move_group/MoveGr... | |
| * /edo/move_group/controller_list: [{'default': True... | |
| * /edo/move_group/edo/longest_valid_segment_fraction: 0.005 | |
| * /edo/move_group/edo/planner_configs: ['SBLkConfigDefau... | |
| * /edo/move_group/edo/projection_evaluator: joints(edo_joint_... | |
| * /edo/move_group/edo_gripper/planner_configs: ['SBLkConfigDefau... | |
| * /edo/move_group/jiggle_fraction: 0.05 | |
| * /edo/move_group/max_range: 5.0 | |
| * /edo/move_group/max_safe_path_cost: 1 | |
| * /edo/move_group/moveit_controller_manager: moveit_simple_con... | |
| * /edo/move_group/moveit_manage_controllers: True | |
| * /edo/move_group/octomap_resolution: 0.025 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/balanced: 0 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/heuristics: 1 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/optimality: 1 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0 | |
| * /edo/move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT | |
| * /edo/move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 | |
| * /edo/move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 | |
| * /edo/move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 | |
| * /edo/move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE | |
| * /edo/move_group/planner_configs/BiESTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1 | |
| * /edo/move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT | |
| * /edo/move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/ESTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/ESTkConfigDefault/type: geometric::EST | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/cache_cc: 1 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/heuristics: 0 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/nearest_k: 1 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/num_samples: 1000 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1 | |
| * /edo/move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE | |
| * /edo/move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 | |
| * /edo/move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 | |
| * /edo/move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE | |
| * /edo/move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4 | |
| * /edo/move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT | |
| * /edo/move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM | |
| * /edo/move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR... | |
| * /edo/move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST | |
| * /edo/move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 | |
| * /edo/move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM | |
| * /edo/move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar | |
| * /edo/move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/ProjESTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST | |
| * /edo/move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... | |
| * /edo/move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/RRTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT | |
| * /edo/move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 | |
| * /edo/move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar | |
| * /edo/move_group/planner_configs/SBLkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL | |
| * /edo/move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001 | |
| * /edo/move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000 | |
| * /edo/move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25 | |
| * /edo/move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0 | |
| * /edo/move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS | |
| * /edo/move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001 | |
| * /edo/move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000 | |
| * /edo/move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25 | |
| * /edo/move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0 | |
| * /edo/move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/degree: 16 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE | |
| * /edo/move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/range: 0.0 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 | |
| * /edo/move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT | |
| * /edo/move_group/planning_plugin: ompl_interface/OM... | |
| * /edo/move_group/planning_scene_monitor/publish_geometry_updates: True | |
| * /edo/move_group/planning_scene_monitor/publish_planning_scene: True | |
| * /edo/move_group/planning_scene_monitor/publish_state_updates: True | |
| * /edo/move_group/planning_scene_monitor/publish_transforms_updates: True | |
| * /edo/move_group/request_adapters: default_planner_r... | |
| * /edo/move_group/start_state_max_bounds_error: 0.1 | |
| * /edo/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 | |
| * /edo/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 | |
| * /edo/move_group/trajectory_execution/allowed_start_tolerance: 0.05 | |
| * /edo/move_group/trajectory_execution/execution_duration_monitoring: False | |
| * /edo/move_group/use_controller_manager: False | |
| * /edo/robot_description_kinematics/edo/kinematics_solver: kdl_kinematics_pl... | |
| * /edo/robot_description_kinematics/edo/kinematics_solver_search_resolution: 0.005 | |
| * /edo/robot_description_kinematics/edo/kinematics_solver_timeout: 0.005 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_ext_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_ext_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_ext_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_ext_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_base_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_finger_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_finger_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_finger_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_left_finger_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_ext_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_ext_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_ext_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_ext_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_base_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_finger_joint/has_acceleration_limits: False | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_finger_joint/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_finger_joint/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_gripper_right_finger_joint/max_velocity: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_1/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_1/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_1/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_1/max_velocity: 0.35 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_2/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_2/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_2/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_2/max_velocity: 0.35 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_3/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_3/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_3/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_3/max_velocity: 0.35 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_4/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_4/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_4/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_4/max_velocity: 0.35 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_5/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_5/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_5/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_5/max_velocity: 0.35 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_6/has_acceleration_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_6/has_velocity_limits: True | |
| * /edo/robot_description_planning/joint_limits/edo_joint_6/max_acceleration: 0.5 | |
| * /edo/robot_description_planning/joint_limits/edo_joint_6/max_velocity: 0.35 | |
| * /edo/robot_description_semantic: <?xml version="1.... | |
| * /rosdistro: melodic | |
| * /rosversion: 1.14.3 | |
| NODES | |
| /edo/ | |
| move_group (moveit_ros_move_group/move_group) | |
| ROS_MASTER_URI=http://localhost:11311 | |
| process[edo/move_group-1]: started with pid [28659] | |
| [ INFO] [1580292500.084215040]: Loading robot model 'edo'... | |
| [ INFO] [1580292500.085383027]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [ INFO] [1580292500.520448512, 2054.326000000]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [ INFO] [1580292500.524884914, 2054.331000000]: MoveGroup debug mode is OFF | |
| Starting planning scene monitors... | |
| [ INFO] [1580292500.524977453, 2054.331000000]: Starting planning scene monitor | |
| [ INFO] [1580292500.528527127, 2054.334000000]: Listening to '/edo/planning_scene' | |
| [ INFO] [1580292500.528578064, 2054.334000000]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [ INFO] [1580292500.531876840, 2054.338000000]: Listening to '/edo/collision_object' | |
| [ INFO] [1580292500.534998214, 2054.341000000]: Listening to '/edo/planning_scene_world' for planning scene world geometry | |
| [ INFO] [1580292500.622274777, 2054.428000000]: Listening to '/edo/attached_collision_object' for attached collision objects | |
| Planning scene monitors started. | |
| [ INFO] [1580292500.712833514, 2054.518000000]: Using planning interface 'OMPL' | |
| [ INFO] [1580292500.718061044, 2054.523000000]: Param 'default_workspace_bounds' was not set. Using default value: 10 | |
| [ INFO] [1580292500.718698043, 2054.523000000]: Param 'start_state_max_bounds_error' was set to 0.1 | |
| [ INFO] [1580292500.719263698, 2054.524000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1580292500.719973794, 2054.525000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5 | |
| [ INFO] [1580292500.720477805, 2054.525000000]: Param 'jiggle_fraction' was set to 0.05 | |
| [ INFO] [1580292500.721084139, 2054.526000000]: Param 'max_sampling_attempts' was not set. Using default value: 100 | |
| [ INFO] [1580292500.721179907, 2054.526000000]: Using planning request adapter 'Add Time Parameterization' | |
| [ INFO] [1580292500.721218506, 2054.526000000]: Using planning request adapter 'Fix Workspace Bounds' | |
| [ INFO] [1580292500.721239934, 2054.526000000]: Using planning request adapter 'Fix Start State Bounds' | |
| [ INFO] [1580292500.721267049, 2054.526000000]: Using planning request adapter 'Fix Start State In Collision' | |
| [ INFO] [1580292500.721287270, 2054.526000000]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [ INFO] [1580292500.911239924, 2054.715000000]: Added FollowJointTrajectory controller for | |
| [ INFO] [1580292501.129368268, 2054.932000000]: Added GripperCommand controller for edo_gripper_controller | |
| [ INFO] [1580292501.129484038, 2054.932000000]: Returned 2 controllers in list | |
| [ INFO] [1580292501.149132437, 2054.952000000]: 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] [1580292501.252688531, 2055.056000000]: | |
| ******************************************************** | |
| * MoveGroup using: | |
| * - ApplyPlanningSceneService | |
| * - ClearOctomapService | |
| * - CartesianPathService | |
| * - ExecuteTrajectoryAction | |
| * - GetPlanningSceneService | |
| * - KinematicsService | |
| * - MoveAction | |
| * - PickPlaceAction | |
| * - MotionPlanService | |
| * - QueryPlannersService | |
| * - StateValidationService | |
| ******************************************************** | |
| [ INFO] [1580292501.252782365, 2055.056000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [ INFO] [1580292501.252817959, 2055.056000000]: MoveGroup context initialization complete | |
| You can start planning now! | |
| [ INFO] [1580292525.613987951, 2079.238000000]: Planning attempt 1 of at most 1 | |
| [ INFO] [1580292525.627931453, 2079.252000000]: Added plan for pipeline 'pick'. Queue is now of size 1 | |
| [ INFO] [1580292525.638283054, 2079.262000000]: Planner configuration 'edo' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [ INFO] [1580292525.638923972, 2079.262000000]: edo/edo: Starting planning with 1 states already in datastructure | |
| [ INFO] [1580292525.656668612, 2079.280000000]: edo/edo: Created 5 states (2 start + 3 goal) | |
| [ INFO] [1580292525.656751369, 2079.280000000]: Solution found in 0.018063 seconds | |
| [ INFO] [1580292525.707741909, 2079.330000000]: SimpleSetup: Path simplification took 0.050783 seconds and changed from 4 to 2 states | |
| [ INFO] [1580292525.714201018, 2079.336000000]: Found successful manipulation plan! | |
| [ INFO] [1580292525.714473434, 2079.337000000]: Pickup planning completed after 0.100263 seconds | |
| [ INFO] [1580292525.715957646, 2079.338000000]: Disabling trajectory recording | |
| [ INFO] [1580292533.718085292, 2087.242000000]: Controller successfully finished | |
| [ INFO] [1580292537.356226829, 2090.847000000]: Controller successfully finished | |
| [ INFO] [1580292538.876601021, 2092.348000000]: Found a contact between 'object' (type 'Object') and 'object' (type 'Robot attached'), which constitutes a collision. Contact information is not stored. | |
| [ INFO] [1580292538.876921946, 2092.349000000]: Collision checking is considered complete (collision was found and 0 contacts are stored) | |
| [ INFO] [1580292538.877004243, 2092.349000000]: Upcoming trajectory component 'retreat' is invalid | |
| [ INFO] [1580292538.886717594, 2092.358000000]: Found a contact between 'object' (type 'Object') and 'object' (type 'Robot attached'), which constitutes a collision. Contact information is not stored. | |
| [ INFO] [1580292538.886811120, 2092.358000000]: Collision checking is considered complete (collision was found and 0 contacts are stored) | |
| [ INFO] [1580292538.886864355, 2092.358000000]: Trajectory component 'retreat' is invalid after scene update | |
| [ INFO] [1580292538.886909123, 2092.358000000]: Stopping execution because the path to execute became invalid(probably the environment changed) | |
| [ INFO] [1580292538.886967748, 2092.358000000]: Cancelling execution for | |
| [ INFO] [1580292538.887087779, 2092.358000000]: Stopped trajectory execution. | |
| [ INFO] [1580292538.887396084, 2092.358000000]: Controller successfully finished | |
| [ INFO] [1580292538.887473120, 2092.358000000]: Completed trajectory execution with status PREEMPTED ... | |
| [ INFO] [1580292538.887646527, 2092.358000000]: Waiting for a 2.000000 seconds before attempting a new plan ... | |
| [ INFO] [1580292540.887836066, 2094.338000000]: Done waiting |
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