tylerjw/gist:fbc69b8574e3f91967e0273b8f4785a2

## gistfile1.txt
root@0a5d7aa235e9:~/ros_ws# rostest moveit_ros_planning_interface move_group_pick_place_test.test --text
... logging to /root/.ros/log/rostest-0a5d7aa235e9-10761.log
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
testmove_group_pick_place_test (rostest.runner.RosTest) ... [ROSTEST]setup[/root/ros_ws/src/moveit/moveit_ros/planning_interface/test/move_group_pick_place_test.test] run_id[dfa523d0-8e52-11ea-92a2-0242ac110002] starting
started roslaunch server http://0a5d7aa235e9:36121/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'joints': ['pan...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'ready'...
 * /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_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /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/sensors: [{'point_subsampl...
 * /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/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_desired_publisher (topic_tools/relay)
    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)
    virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher)

[ROSTEST]setup[/root/ros_ws/src/moveit/moveit_ros/planning_interface/test/move_group_pick_place_test.test] run_id[dfa523d0-8e52-11ea-92a2-0242ac110002] done
[ROSTEST]Running test [move_group_pick_place_test]
ROS_MASTER_URI=http://0a5d7aa235e9:44055/
setting /run_id to dfa523d0-8e52-11ea-92a2-0242ac110002
process[virtual_joint_broadcaster_1-1]: started with pid [10790]
process[joint_state_publisher-2]: started with pid [10791]
process[joint_state_desired_publisher-3]: started with pid [10802]
process[robot_state_publisher-4]: started with pid [10803]
process[move_group-5]: started with pid [10821]
[ROSTEST]removing previous test results file [/root/.ros/test_results/moveit_ros_planning_interface/rosunit-move_group_pick_place_test.xml]
[ROSTEST]running test move_group_pick_place_test
==10821== Memcheck, a memory error detector
==10821== Copyright (C) 2002-2015, and GNU GPL'd, by Julian Seward et al.
==10821== Using Valgrind-3.11.0 and LibVEX; rerun with -h for copyright info
==10821== Command: /root/ros_ws/devel/lib/moveit_ros_move_group/move_group --debug /joint_states:=/joint_states_desired __name:=move_group __log:=/root/.ros/log/dfa523d0-8e52-11ea-92a2-0242ac110002/move_group-5.log
==10821==
process[move_group_pick_place_test-6]: started with pid [10847]
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from PickPlaceTestFixture
[ RUN      ] PickPlaceTestFixture.PickPlaceTest
[ INFO] [1588629718.181413819]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1588629722.250860189]: Loading robot model 'panda'...
[ WARN] [1588629723.189440590]: service '/get_planning_scene' not advertised yet. Continue waiting...
[ INFO] [1588629723.189956330]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1588629727.935523130]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1588629728.236977684]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1588629728.240643524]: Starting planning scene monitor
[ INFO] [1588629728.281773890]: Listening to '/planning_scene'
[ INFO] [1588629728.284780954]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1588629728.319881304]: Listening to '/collision_object'
[ INFO] [1588629728.352182614]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1588629733.814163999]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
==10821== Thread 7:
==10821== Invalid write of size 8
==10821==    at 0x9E48DBA: moveit::core::FloatingJointModel::computeVariablePositions(Eigen::Transform<double, 3, 1, 0> const&, double*) const (floating_joint_model.cpp:232)
==10821==    by 0x54059EB: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:453)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==    by 0x8F40A3D: boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::operator()() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F35D65: tf2::BufferCore::testTransformableRequests() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F36604: tf2::BufferCore::setTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x5D50A8F: tf2_ros::TransformListener::subscription_callback_impl(ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&, bool) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==    by 0x5D57672: boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, tf2_ros::TransformListener, ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<tf2_ros::TransformListener*>, boost::arg<1> > >, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==    by 0x5D554DB: boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const>) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==  Address 0x1ee04fc0 is 0 bytes after a block of size 48 alloc'd
==10821==    at 0x4C2E0EF: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==10821==    by 0x4EE256D: __gnu_cxx::new_allocator<double>::allocate(unsigned long, void const*) (new_allocator.h:104)
==10821==    by 0x4EE0651: std::allocator_traits<std::allocator<double> >::allocate(std::allocator<double>&, unsigned long) (alloc_traits.h:491)
==10821==    by 0x4EDD97F: std::_Vector_base<double, std::allocator<double> >::_M_allocate(unsigned long) (stl_vector.h:170)
==10821==    by 0x4EDE03C: std::_Vector_base<double, std::allocator<double> >::_M_create_storage(unsigned long) (stl_vector.h:185)
==10821==    by 0x4EDA596: std::_Vector_base<double, std::allocator<double> >::_Vector_base(unsigned long, std::allocator<double> const&) (stl_vector.h:136)
==10821==    by 0x54080A5: std::vector<double, std::allocator<double> >::vector(unsigned long, std::allocator<double> const&) (stl_vector.h:278)
==10821==    by 0x540595E: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:450)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==
==10821== Invalid read of size 8
==10821==    at 0x9E47F92: moveit::core::FloatingJointModel::distanceRotation(double const*, double const*) const (floating_joint_model.cpp:116)
==10821==    by 0x9E47E5F: moveit::core::FloatingJointModel::distance(double const*, double const*) const (floating_joint_model.cpp:102)
==10821==    by 0x5405AE6: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:458)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==    by 0x8F40A3D: boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::operator()() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F35D65: tf2::BufferCore::testTransformableRequests() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F36604: tf2::BufferCore::setTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x5D50A8F: tf2_ros::TransformListener::subscription_callback_impl(ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&, bool) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==    by 0x5D57672: boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, tf2_ros::TransformListener, ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<tf2_ros::TransformListener*>, boost::arg<1> > >, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==  Address 0x1ee04fc0 is 0 bytes after a block of size 48 alloc'd
==10821==    at 0x4C2E0EF: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==10821==    by 0x4EE256D: __gnu_cxx::new_allocator<double>::allocate(unsigned long, void const*) (new_allocator.h:104)
==10821==    by 0x4EE0651: std::allocator_traits<std::allocator<double> >::allocate(std::allocator<double>&, unsigned long) (alloc_traits.h:491)
==10821==    by 0x4EDD97F: std::_Vector_base<double, std::allocator<double> >::_M_allocate(unsigned long) (stl_vector.h:170)
==10821==    by 0x4EDE03C: std::_Vector_base<double, std::allocator<double> >::_M_create_storage(unsigned long) (stl_vector.h:185)
==10821==    by 0x4EDA596: std::_Vector_base<double, std::allocator<double> >::_Vector_base(unsigned long, std::allocator<double> const&) (stl_vector.h:136)
==10821==    by 0x54080A5: std::vector<double, std::allocator<double> >::vector(unsigned long, std::allocator<double> const&) (stl_vector.h:278)
==10821==    by 0x540595E: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:450)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==
==10821== Invalid read of size 8
==10821==    at 0x4C326D6: memcpy@@GLIBC_2.14 (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==10821==    by 0x54067B6: moveit::core::RobotState::setJointPositions(moveit::core::JointModel const*, double const*) (robot_state.h:512)
==10821==    by 0x5405B31: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:463)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==    by 0x8F40A3D: boost::signals2::detail::signal0_impl<void, boost::signals2::optional_last_value<void>, int, std::less<int>, boost::function<void ()>, boost::function<void (boost::signals2::connection const&)>, boost::signals2::mutex>::operator()() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F35D65: tf2::BufferCore::testTransformableRequests() (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x8F36604: tf2::BufferCore::setTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) (in /opt/ros/kinetic/lib/libtf2.so)
==10821==    by 0x5D50A8F: tf2_ros::TransformListener::subscription_callback_impl(ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&, bool) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==    by 0x5D57672: boost::detail::function::void_function_obj_invoker1<boost::_bi::bind_t<void, boost::_mfi::mf1<void, tf2_ros::TransformListener, ros::MessageEvent<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>, boost::_bi::list2<boost::_bi::value<tf2_ros::TransformListener*>, boost::arg<1> > >, void, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&>::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<tf2_msgs::TFMessage_<std::allocator<void> > const> const&) (in /opt/ros/kinetic/lib/libtf2_ros.so)
==10821==  Address 0x1ee04fc0 is 0 bytes after a block of size 48 alloc'd
==10821==    at 0x4C2E0EF: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==10821==    by 0x4EE256D: __gnu_cxx::new_allocator<double>::allocate(unsigned long, void const*) (new_allocator.h:104)
==10821==    by 0x4EE0651: std::allocator_traits<std::allocator<double> >::allocate(std::allocator<double>&, unsigned long) (alloc_traits.h:491)
==10821==    by 0x4EDD97F: std::_Vector_base<double, std::allocator<double> >::_M_allocate(unsigned long) (stl_vector.h:170)
==10821==    by 0x4EDE03C: std::_Vector_base<double, std::allocator<double> >::_M_create_storage(unsigned long) (stl_vector.h:185)
==10821==    by 0x4EDA596: std::_Vector_base<double, std::allocator<double> >::_Vector_base(unsigned long, std::allocator<double> const&) (stl_vector.h:136)
==10821==    by 0x54080A5: std::vector<double, std::allocator<double> >::vector(unsigned long, std::allocator<double> const&) (stl_vector.h:278)
==10821==    by 0x540595E: planning_scene_monitor::CurrentStateMonitor::tfCallback() (current_state_monitor.cpp:450)
==10821==    by 0x540FBE6: boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>::operator()(planning_scene_monitor::CurrentStateMonitor*) const (mem_fn_template.hpp:49)
==10821==    by 0x540EE59: void boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> >::operator()<boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list0>(boost::_bi::type<void>, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>&, boost::_bi::list0&, int) (bind.hpp:253)
==10821==    by 0x540DFCB: boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >::operator()() (bind.hpp:893)
==10821==    by 0x540CBEE: boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, planning_scene_monitor::CurrentStateMonitor>, boost::_bi::list1<boost::_bi::value<planning_scene_monitor::CurrentStateMonitor*> > >, void>::invoke(boost::detail::function::function_buffer&) (function_template.hpp:159)
==10821==
[ INFO] [1588629734.344345183]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::overflow_error> >'
  what():  Error in function boost::math::erfc_inv<long double>(long double, long double): Overflow Error
==10821==
==10821== Process terminating with default action of signal 6 (SIGABRT)
==10821==    at 0x75B7428: raise (raise.c:54)
==10821==    by 0x75B9029: abort (abort.c:89)
==10821==    by 0x707984C: __gnu_cxx::__verbose_terminate_handler() (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21)
==10821==    by 0x70776B5: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21)
==10821==    by 0x70766A8: ??? (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21)
==10821==    by 0x7077004: __gxx_personality_v0 (in /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21)
==10821==    by 0x737BF82: ??? (in /lib/x86_64-linux-gnu/libgcc_s.so.1)
==10821==    by 0x737C486: _Unwind_Resume (in /lib/x86_64-linux-gnu/libgcc_s.so.1)
==10821==    by 0x244AE992: void boost::math::policies::detail::raise_error<std::overflow_error, long double>(char const*, char const*) (in /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.1.2.1)
==10821==    by 0x244AF85C: boost::math::tools::promote_args<long double, float, float, float, float, float>::type boost::math::erfc_inv<long double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(long double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&) (in /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.1.2.1)
==10821==    by 0x244B1312: boost::math::detail::erf_inv_initializer<long double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >::init::do_init() (in /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.1.2.1)
==10821==    by 0x243697B3: ??? (in /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.1.2.1)
ERROR
[ROSTEST]tearDown[/root/ros_ws/src/moveit/moveit_ros/planning_interface/test/move_group_pick_place_test.test]
shutting down processing monitor...
[move_group_pick_place_test-6] killing on exit
[robot_state_publisher-4] killing on exit
[move_group-5] killing on exit
[joint_state_desired_publisher-3] killing on exit
[joint_state_publisher-2] killing on exit
[virtual_joint_broadcaster_1-1] killing on exit
unknown file: Failure
C++ exception with description "ROS does not seem to be running" thrown in SetUp().
[  FAILED  ] PickPlaceTestFixture.PickPlaceTest (240291 ms)
[----------] 1 test from PickPlaceTestFixture (240291 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (240291 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] PickPlaceTestFixture.PickPlaceTest

 1 FAILED TEST
[move_group-5] escalating to SIGTERM
[move_group-5] escalating to SIGKILL
Shutdown errors:
 * process[move_group-5, pid 10821]: required SIGKILL. May still be running.
... shutting down processing monitor complete
[ROSTEST]rostest teardown /root/ros_ws/src/moveit/moveit_ros/planning_interface/test/move_group_pick_place_test.test complete

======================================================================
ERROR: testmove_group_pick_place_test (rostest.runner.RosTest)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/runner.py", line 148, in fn
    self.test_parent.run_test(test)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rostest/rostest_parent.py", line 132, in run_test
    return self.runner.run_test(test)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 684, in run_test
    (test.time_limit, test.test_name, test.package, test.type))
RLTestTimeoutException: max time [240.0s] allotted for test [move_group_pick_place_test] of type [moveit_ros_planning_interface/move_group_pick_place_test]

----------------------------------------------------------------------
Ran 1 test in 257.491s

FAILED (errors=1)

WARNING: overall test result is not accurate when --text is enabled
rostest log file is in /root/.ros/log/rostest-0a5d7aa235e9-10761.log