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manual mode with xarm_controller
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| [INFO] [launch]: All log files can be found below /home/xilinx/.ros/log/2023-12-12-18-07-36-927112-xilinx-3118581 | |
| [INFO] [launch]: Default logging verbosity is set to INFO | |
| [INFO] [robot_state_publisher-1]: process started with pid [3118594] | |
| [INFO] [rviz2-2]: process started with pid [3118596] | |
| [INFO] [move_group-3]: process started with pid [3118598] | |
| [INFO] [static_transform_publisher-4]: process started with pid [3118600] | |
| [INFO] [joint_state_publisher-5]: process started with pid [3118602] | |
| [INFO] [ros2_control_node-6]: process started with pid [3118604] | |
| [INFO] [spawner-7]: process started with pid [3118606] | |
| [static_transform_publisher-4] [WARN] [1702400858.033327557] []: Old-style arguments are deprecated; see --help for new-style arguments | |
| [static_transform_publisher-4] [INFO] [1702400858.068657676] [static_transform_publisher]: Spinning until stopped - publishing transform | |
| [static_transform_publisher-4] translation: ('0.000000', '0.000000', '0.000000') | |
| [static_transform_publisher-4] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') | |
| [static_transform_publisher-4] from 'world' to 'link_base' | |
| [ros2_control_node-6] [INFO] [1702400858.081381779] [resource_manager]: Loading hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [INFO] [1702400858.095513324] [resource_manager]: Initialize hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [move_group-3] [WARN] [1702400858.110846418] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior). | |
| [robot_state_publisher-1] [INFO] [1702400858.116419892] [robot_state_publisher]: got segment link1 | |
| [robot_state_publisher-1] [INFO] [1702400858.116639752] [robot_state_publisher]: got segment link2 | |
| [robot_state_publisher-1] [INFO] [1702400858.116659308] [robot_state_publisher]: got segment link3 | |
| [robot_state_publisher-1] [INFO] [1702400858.116670761] [robot_state_publisher]: got segment link4 | |
| [robot_state_publisher-1] [INFO] [1702400858.116683892] [robot_state_publisher]: got segment link5 | |
| [robot_state_publisher-1] [INFO] [1702400858.116715600] [robot_state_publisher]: got segment link_base | |
| [robot_state_publisher-1] [INFO] [1702400858.116729987] [robot_state_publisher]: got segment link_eef | |
| [robot_state_publisher-1] [INFO] [1702400858.116743746] [robot_state_publisher]: got segment world | |
| [ros2_control_node-6] [INFO] [1702400858.119318305] [UFACTORY.RobotHW]: [192.168.1.215] namespace: / | |
| [ros2_control_node-6] [INFO] [1702400858.119352387] [UFACTORY.RobotHW]: [192.168.1.215] robot_type: xarm, hw_ns: xarm, prefix: , report_type: normal | |
| [ros2_control_node-6] [INFO] [1702400858.119655568] [UFACTORY.RobotHW]: [192.168.1.215] dof: 5, velocity_control: 1, add_gripper: 0, baud_checkset: 1, default_gripper_baud: 2000000 | |
| [ros2_control_node-6] [INFO] [1702400858.119993879] [ufactory_driver]: robot_ip=192.168.1.215, report_type=normal, dof=5 | |
| [ros2_control_node-6] [INFO] [1702400858.120105276] [ufactory_driver]: baud_checkset: 1, default_gripper_baud: 2000000 | |
| [ros2_control_node-6] SDK_VERSION: 1.11.8 | |
| [ros2_control_node-6] Tcp control connection successful | |
| [move_group-3] [INFO] [1702400858.161876716] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0507552 seconds | |
| [move_group-3] [INFO] [1702400858.161964926] [moveit_robot_model.robot_model]: Loading robot model 'xarm5'... | |
| [move_group-3] [INFO] [1702400858.161979313] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [move_group-3] [INFO] [1702400858.426350972] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' | |
| [move_group-3] [INFO] [1702400858.426657575] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states | |
| [move_group-3] [INFO] [1702400858.427741233] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' | |
| [move_group-3] [INFO] [1702400858.428813296] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects | |
| [move_group-3] [INFO] [1702400858.428850033] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor | |
| [move_group-3] [INFO] [1702400858.429543836] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene' | |
| [move_group-3] [INFO] [1702400858.429625900] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. | |
| [move_group-3] [INFO] [1702400858.430992554] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' | |
| [move_group-3] [INFO] [1702400858.431885125] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry | |
| [move_group-3] [WARN] [1702400858.432086827] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead | |
| [move_group-3] [ERROR] [1702400858.432105824] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates | |
| [ros2_control_node-6] ROBOT_IP: 192.168.1.215, VERSION: v2.1.0, PROTOCOL: V1, DETAIL: 5,5,XF1200,XX0000,v2.1.0, TYPE1300: [0, 0] | |
| [ros2_control_node-6] Tcp Report Rich connection successful | |
| [ros2_control_node-6] change prot_flag to 3 | |
| [ros2_control_node-6] report_data_size: 494, size_is_not_confirm: 0 | |
| [ros2_control_node-6] Tcp Report Norm connection successful | |
| [ros2_control_node-6] report_data_size: 145, size_is_not_confirm: 0 | |
| [ros2_control_node-6] [INFO] [1702400858.442000587] [ufactory_driver]: [TCP STATUS] CONTROL: 1, REPORT: 1 | |
| [ros2_control_node-6] [INFO] [1702400858.462624507] [ufactory_driver]: gripper_speed: 2000, gripper_max_pos: 850, gripper_frequency : 10, gripper_threshold: 3, gripper_threshold_times: 10 | |
| [ros2_control_node-6] [INFO] [1702400858.471842508] [UFACTORY.RobotHW]: [192.168.1.215] System Sucessfully configured! | |
| [ros2_control_node-6] [INFO] [1702400858.471904457] [resource_manager]: Successful initialization of hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [INFO] [1702400858.472154768] [resource_manager]: 'configure' hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [INFO] [1702400858.472170413] [resource_manager]: Successful 'configure' of hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [INFO] [1702400858.472181448] [resource_manager]: 'activate' hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [set_state], xArm is ready to move | |
| [ros2_control_node-6] [INFO] [1702400858.494902771] [UFACTORY.RobotHW]: [192.168.1.215] System Sucessfully started! | |
| [ros2_control_node-6] [INFO] [1702400858.494948378] [resource_manager]: Successful 'activate' of hardware 'uf_robot_hardware/UFRobotSystemHardware' | |
| [ros2_control_node-6] [INFO] [1702400858.507670386] [controller_manager]: update rate is 50 Hz | |
| [ros2_control_node-6] [INFO] [1702400858.507969097] [controller_manager]: RT kernel is recommended for better performance | |
| [rviz2-2] [INFO] [1702400858.510336018] [rviz2]: Stereo is NOT SUPPORTED | |
| [rviz2-2] [INFO] [1702400858.510594011] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) | |
| [rviz2-2] [INFO] [1702400858.530878782] [rviz2]: Stereo is NOT SUPPORTED | |
| [move_group-3] [INFO] [1702400858.553164925] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group' | |
| [move_group-3] [INFO] [1702400858.564068126] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' | |
| [move_group-3] [INFO] [1702400858.565865771] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000 | |
| [move_group-3] [INFO] [1702400858.565880228] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000 | |
| [move_group-3] [INFO] [1702400858.565887282] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000 | |
| [move_group-3] [INFO] [1702400858.565901530] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000 | |
| [move_group-3] [INFO] [1702400858.565915987] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000 | |
| [move_group-3] [INFO] [1702400858.565922552] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 | |
| [move_group-3] [INFO] [1702400858.565934914] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000 | |
| [move_group-3] [INFO] [1702400858.565942666] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000 | |
| [move_group-3] [INFO] [1702400858.565949371] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100 | |
| [move_group-3] [INFO] [1702400858.565961593] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' | |
| [move_group-3] [INFO] [1702400858.565968298] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' | |
| [move_group-3] [INFO] [1702400858.565974165] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' | |
| [move_group-3] [INFO] [1702400858.565978984] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' | |
| [move_group-3] [INFO] [1702400858.566019072] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' | |
| [move_group-3] [INFO] [1702400858.606536513] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for xarm5_traj_controller | |
| [move_group-3] [INFO] [1702400858.606725014] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702400858.606747433] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702400858.607324671] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers | |
| [move_group-3] [INFO] [1702400858.607360849] [move_group.move_group]: MoveGroup debug mode is ON | |
| [move_group-3] [INFO] [1702400858.632175036] [move_group.move_group]: | |
| [move_group-3] | |
| [move_group-3] ******************************************************** | |
| [move_group-3] * MoveGroup using: | |
| [move_group-3] * - ApplyPlanningSceneService | |
| [move_group-3] * - ClearOctomapService | |
| [move_group-3] * - CartesianPathService | |
| [move_group-3] * - ExecuteTrajectoryAction | |
| [move_group-3] * - GetPlanningSceneService | |
| [move_group-3] * - KinematicsService | |
| [move_group-3] * - MoveAction | |
| [move_group-3] * - MotionPlanService | |
| [move_group-3] * - QueryPlannersService | |
| [move_group-3] * - StateValidationService | |
| [move_group-3] ******************************************************** | |
| [move_group-3] | |
| [move_group-3] [INFO] [1702400858.632255284] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner | |
| [move_group-3] [INFO] [1702400858.632269322] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete | |
| [move_group-3] Loading 'move_group/ApplyPlanningSceneService'... | |
| [move_group-3] Loading 'move_group/ClearOctomapService'... | |
| [move_group-3] Loading 'move_group/MoveGroupCartesianPathService'... | |
| [move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... | |
| [move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'... | |
| [move_group-3] Loading 'move_group/MoveGroupKinematicsService'... | |
| [move_group-3] Loading 'move_group/MoveGroupMoveAction'... | |
| [move_group-3] Loading 'move_group/MoveGroupPlanService'... | |
| [move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'... | |
| [move_group-3] Loading 'move_group/MoveGroupStateValidationService'... | |
| [move_group-3] | |
| [move_group-3] You can start planning now! | |
| [move_group-3] | |
| [rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred 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. | |
| [rviz2-2] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp | |
| [ros2_control_node-6] [INFO] [1702400858.648843496] [UFACTORY.RobotHW]: [192.168.1.215] Robot is Ready | |
| [joint_state_publisher-5] [INFO] [1702400858.723878800] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... | |
| [ros2_control_node-6] [INFO] [1702400858.777925893] [controller_manager]: Loading controller 'xarm5_traj_controller' | |
| [ros2_control_node-6] [WARN] [1702400858.796870619] [xarm5_traj_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. | |
| [spawner-7] [INFO] [1702400858.810138227] [spawner_xarm5_traj_controller]: Loaded xarm5_traj_controller | |
| [ros2_control_node-6] [INFO] [1702400858.811888729] [controller_manager]: Configuring controller 'xarm5_traj_controller' | |
| [ros2_control_node-6] [INFO] [1702400858.812091897] [xarm5_traj_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. | |
| [ros2_control_node-6] [INFO] [1702400858.812117110] [xarm5_traj_controller]: Command interfaces are [position velocity] and state interfaces are [position velocity]. | |
| [ros2_control_node-6] [INFO] [1702400858.812136177] [xarm5_traj_controller]: Using 'splines' interpolation method. | |
| [ros2_control_node-6] [INFO] [1702400858.813027282] [xarm5_traj_controller]: Controller state will be published at 25.00 Hz. | |
| [ros2_control_node-6] [INFO] [1702400858.814834006] [xarm5_traj_controller]: Action status changes will be monitored at 10.00 Hz. | |
| [spawner-7] [INFO] [1702400858.850031635] [spawner_xarm5_traj_controller]: Configured and activated xarm5_traj_controller | |
| [INFO] [spawner-7]: process has finished cleanly [pid 3118606] | |
| [rviz2-2] [ERROR] [1702400861.668102298] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available | |
| [rviz2-2] [INFO] [1702400861.695389635] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. | |
| [rviz2-2] [INFO] [1702400861.725350775] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0247471 seconds | |
| [rviz2-2] [INFO] [1702400861.725418451] [moveit_robot_model.robot_model]: Loading robot model 'xarm5'... | |
| [rviz2-2] [INFO] [1702400861.725432838] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link2" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link3" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] Warning: Invalid frame ID "link4" passed to canTransform argument source_frame - frame does not exist | |
| [rviz2-2] at line 93 in ./src/buffer_core.cpp | |
| [rviz2-2] [INFO] [1702400862.030790293] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00121489 seconds | |
| [rviz2-2] [INFO] [1702400862.030845607] [moveit_robot_model.robot_model]: Loading robot model 'xarm5'... | |
| [rviz2-2] [INFO] [1702400862.030852242] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint | |
| [rviz2-2] [INFO] [1702400862.280300775] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor | |
| [rviz2-2] [INFO] [1702400862.280975861] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' | |
| [rviz2-2] [INFO] [1702400862.290887107] [interactive_marker_display_94238534930544]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic | |
| [rviz2-2] [INFO] [1702400862.300469610] [moveit_ros_visualization.motion_planning_frame]: group xarm5 | |
| [rviz2-2] [INFO] [1702400862.300534492] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'xarm5' in namespace '' | |
| [rviz2-2] [INFO] [1702400862.312490132] [interactive_marker_display_94238534930544]: Sending request for interactive markers | |
| [rviz2-2] [INFO] [1702400862.318459536] [move_group_interface]: Ready to take commands for planning group xarm5. | |
| [rviz2-2] [INFO] [1702400862.345021012] [interactive_marker_display_94238534930544]: Service response received for initialization | |
| [ros2_control_node-6] [set_state], xArm is not ready to move | |
| [ros2_control_node-6] [ERROR] [1702400882.848946648] [UFACTORY.RobotHW]: [192.168.1.215] Robot State detected! State: 5 | |
| [ros2_control_node-6] [set_state], xArm is ready to move | |
| [ros2_control_node-6] [ERROR] [1702400904.268748534] [UFACTORY.RobotHW]: [192.168.1.215] Robot Mode detected! Mode: 2 | |
| [ros2_control_node-6] [set_state], xArm is not ready to move | |
| [ros2_control_node-6] [ERROR] [1702400918.868853364] [UFACTORY.RobotHW]: [192.168.1.215] Robot State detected! State: 5 | |
| [ros2_control_node-6] [set_state], xArm is ready to move | |
| [ros2_control_node-6] [ERROR] [1702400923.668858672] [UFACTORY.RobotHW]: [192.168.1.215] Robot Mode detected! Mode: 1 | |
| [rviz2-2] [INFO] [1702400944.372728156] [move_group_interface]: MoveGroup action client/server ready | |
| [move_group-3] [INFO] [1702400944.373635184] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702400944.373914619] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702400944.374003876] [move_group_interface]: Planning request accepted | |
| [move_group-3] [INFO] [1702400944.430253414] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline. | |
| [move_group-3] [INFO] [1702400944.430388347] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' | |
| [move_group-3] [INFO] [1702400944.431571528] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [move_group-3] [INFO] [1702400944.461927691] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully. | |
| [rviz2-2] [INFO] [1702400944.462476573] [move_group_interface]: Planning request complete! | |
| [rviz2-2] [INFO] [1702400944.473370137] [move_group_interface]: time taken to generate plan: 0.01442 seconds | |
| [move_group-3] [INFO] [1702400945.724578460] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request | |
| [move_group-3] [INFO] [1702400945.724691254] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received | |
| [move_group-3] [INFO] [1702400945.724723172] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702400945.724739026] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702400945.724815153] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 | |
| [rviz2-2] [INFO] [1702400945.724882130] [move_group_interface]: Execute request accepted | |
| [move_group-3] [ERROR] [1702400945.730273039] [moveit_ros.trajectory_execution_manager]: | |
| [move_group-3] Invalid Trajectory: start point deviates from current robot state more than 0.01 | |
| [move_group-3] joint 'joint1': expected: -1.18415, current: -1.37024 | |
| [move_group-3] [INFO] [1702400945.730384017] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED | |
| [rviz2-2] [INFO] [1702400945.730924169] [move_group_interface]: Execute request aborted | |
| [rviz2-2] [ERROR] [1702400945.824447648] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached | |
| [move_group-3] [INFO] [1702401118.215475957] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702401118.215603557] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702401118.215725221] [move_group_interface]: Plan and Execute request accepted | |
| [move_group-3] [INFO] [1702401118.230606721] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. | |
| [move_group-3] [INFO] [1702401118.230813870] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions | |
| [move_group-3] [INFO] [1702401118.230834334] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met. | |
| [rviz2-2] [INFO] [1702401118.231213851] [move_group_interface]: Plan and Execute request complete! | |
| [move_group-3] [INFO] [1702401129.708997618] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702401129.709279637] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702401129.709462831] [move_group_interface]: Plan and Execute request accepted | |
| [move_group-3] [INFO] [1702401129.729905513] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. | |
| [move_group-3] [INFO] [1702401129.729981780] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions | |
| [move_group-3] [INFO] [1702401129.730002662] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met. | |
| [rviz2-2] [INFO] [1702401129.730342370] [move_group_interface]: Plan and Execute request complete! | |
| [move_group-3] [INFO] [1702401147.260812582] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702401147.260990188] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702401147.261038239] [move_group_interface]: Plan and Execute request accepted | |
| [move_group-3] [INFO] [1702401147.329912006] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. | |
| [move_group-3] [INFO] [1702401147.330060000] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 | |
| [move_group-3] [INFO] [1702401147.330097644] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' | |
| [move_group-3] [INFO] [1702401147.330469968] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [move_group-3] [INFO] [1702401147.359437337] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401147.359481756] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401147.359599369] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 | |
| [move_group-3] [INFO] [1702401147.429959638] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... | |
| [move_group-3] [INFO] [1702401147.430029759] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401147.430047009] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401147.430177752] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to xarm5_traj_controller | |
| [ros2_control_node-6] [INFO] [1702401147.430516832] [xarm5_traj_controller]: Received new action goal | |
| [ros2_control_node-6] [INFO] [1702401147.430588978] [xarm5_traj_controller]: Accepted new action goal | |
| [move_group-3] [INFO] [1702401147.430767283] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: xarm5_traj_controller started execution | |
| [move_group-3] [INFO] [1702401147.430799759] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! | |
| [ros2_control_node-6] [WARN] [1702401150.308811210] [xarm5_traj_controller]: Aborted due goal_time_tolerance exceeding by 0.509533 seconds | |
| [move_group-3] [WARN] [1702401150.331089390] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'xarm5_traj_controller' failed with error GOAL_TOLERANCE_VIOLATED: | |
| [move_group-3] [WARN] [1702401150.331173409] [moveit_ros.trajectory_execution_manager]: Controller handle xarm5_traj_controller reports status ABORTED | |
| [move_group-3] [INFO] [1702401150.331210216] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... | |
| [move_group-3] [INFO] [1702401150.360960226] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution | |
| [rviz2-2] [INFO] [1702401150.361957699] [move_group_interface]: Plan and Execute request aborted | |
| [rviz2-2] [ERROR] [1702401150.362943229] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached | |
| [move_group-3] [INFO] [1702401191.553425744] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702401191.553612080] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702401191.553762169] [move_group_interface]: Plan and Execute request accepted | |
| [move_group-3] [INFO] [1702401191.630490357] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. | |
| [move_group-3] [INFO] [1702401191.630637233] [moveit_move_group_default_capabilities.move_action_capability]: Goal constraints are already satisfied. No need to plan or execute any motions | |
| [move_group-3] [INFO] [1702401191.630665798] [moveit_move_group_default_capabilities.move_action_capability]: Requested path and goal constraints are already met. | |
| [rviz2-2] [INFO] [1702401191.631203017] [move_group_interface]: Plan and Execute request complete! | |
| [move_group-3] [INFO] [1702401222.052868966] [moveit_move_group_default_capabilities.move_action_capability]: Received request | |
| [move_group-3] [INFO] [1702401222.053145607] [moveit_move_group_default_capabilities.move_action_capability]: executing.. | |
| [rviz2-2] [INFO] [1702401222.053191772] [move_group_interface]: Plan and Execute request accepted | |
| [move_group-3] [INFO] [1702401222.129964588] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. | |
| [move_group-3] [INFO] [1702401222.130115585] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 | |
| [move_group-3] [INFO] [1702401222.130132137] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group' | |
| [move_group-3] [INFO] [1702401222.130551115] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. | |
| [move_group-3] [INFO] [1702401222.159162294] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401222.159202452] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401222.159290662] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01 | |
| [move_group-3] [INFO] [1702401222.229909553] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ... | |
| [move_group-3] [INFO] [1702401222.229974785] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401222.229995458] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list | |
| [move_group-3] [INFO] [1702401222.230082760] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to xarm5_traj_controller | |
| [ros2_control_node-6] [INFO] [1702401222.230310582] [xarm5_traj_controller]: Received new action goal | |
| [ros2_control_node-6] [INFO] [1702401222.230368760] [xarm5_traj_controller]: Accepted new action goal | |
| [move_group-3] [INFO] [1702401222.230470449] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: xarm5_traj_controller started execution | |
| [move_group-3] [INFO] [1702401222.230481763] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted! | |
| [ros2_control_node-6] [WARN] [1702401225.688799230] [xarm5_traj_controller]: Aborted due goal_time_tolerance exceeding by 0.509304 seconds | |
| [move_group-3] [WARN] [1702401225.730963039] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'xarm5_traj_controller' failed with error GOAL_TOLERANCE_VIOLATED: | |
| [move_group-3] [WARN] [1702401225.731069267] [moveit_ros.trajectory_execution_manager]: Controller handle xarm5_traj_controller reports status ABORTED | |
| [move_group-3] [INFO] [1702401225.731113267] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ... | |
| [move_group-3] [INFO] [1702401225.759615144] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution | |
| [rviz2-2] [INFO] [1702401225.760109969] [move_group_interface]: Plan and Execute request aborted | |
| [rviz2-2] [ERROR] [1702401225.855520629] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached |
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