How to solve 'The kinematics plugin (arm) failed to load'?
b2220333 opened this issue · comments
I followed:
http://rtt-lwr.readthedocs.io/en/latest/tutos/moveit-tuto.html
I run:
roslaunch lwr_moveit_config run.launch sim:=true
My error:
sam@sam-RT:~$ roslaunch lwr_moveit_config run.launch sim:=true
... logging to /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/roslaunch-sam-RT-3323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam-RT:41353/
SUMMARY
========
PARAMETERS
* /gazebo/robot_description: <?xml version="1....
* /is_sim: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /joint_trajectory_controller/action_monitor_rate: 20
* /joint_trajectory_controller/constraints/goal_time: 0.0
* /joint_trajectory_controller/constraints/joint_0/goal: 0.0
* /joint_trajectory_controller/constraints/joint_0/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_1/goal: 0.0
* /joint_trajectory_controller/constraints/joint_1/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_2/goal: 0.0
* /joint_trajectory_controller/constraints/joint_2/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_3/goal: 0.0
* /joint_trajectory_controller/constraints/joint_3/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_4/goal: 0.0
* /joint_trajectory_controller/constraints/joint_4/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_5/goal: 0.0
* /joint_trajectory_controller/constraints/joint_5/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_6/goal: 0.0
* /joint_trajectory_controller/constraints/joint_6/trajectory: 0.0
* /joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.0
* /joint_trajectory_controller/gains/joint_0/d: 15
* /joint_trajectory_controller/gains/joint_0/i: 10
* /joint_trajectory_controller/gains/joint_0/i_clamp: 1
* /joint_trajectory_controller/gains/joint_0/p: 450
* /joint_trajectory_controller/gains/joint_1/d: 15
* /joint_trajectory_controller/gains/joint_1/i: 10
* /joint_trajectory_controller/gains/joint_1/i_clamp: 1
* /joint_trajectory_controller/gains/joint_1/p: 450
* /joint_trajectory_controller/gains/joint_2/d: 15
* /joint_trajectory_controller/gains/joint_2/i: 8
* /joint_trajectory_controller/gains/joint_2/i_clamp: 1
* /joint_trajectory_controller/gains/joint_2/p: 350
* /joint_trajectory_controller/gains/joint_3/d: 2
* /joint_trajectory_controller/gains/joint_3/i: 5
* /joint_trajectory_controller/gains/joint_3/i_clamp: 1
* /joint_trajectory_controller/gains/joint_3/p: 200
* /joint_trajectory_controller/gains/joint_4/d: 0.01
* /joint_trajectory_controller/gains/joint_4/i: 5
* /joint_trajectory_controller/gains/joint_4/i_clamp: 1
* /joint_trajectory_controller/gains/joint_4/p: 150
* /joint_trajectory_controller/gains/joint_5/d: 5.0
* /joint_trajectory_controller/gains/joint_5/i: 0.1
* /joint_trajectory_controller/gains/joint_5/i_clamp: 1
* /joint_trajectory_controller/gains/joint_5/p: 50
* /joint_trajectory_controller/gains/joint_6/d: 1.1
* /joint_trajectory_controller/gains/joint_6/i: 0.01
* /joint_trajectory_controller/gains/joint_6/i_clamp: 0.5
* /joint_trajectory_controller/gains/joint_6/p: 20
* /joint_trajectory_controller/joints: ['joint_0', 'join...
* /joint_trajectory_controller/state_publish_rate: 50
* /joint_trajectory_controller/stop_trajectory_duration: 0.0
* /joint_trajectory_controller/type: effort_controller...
* /lwr_sim/joint_limits: ['joint_0', 'join...
* /lwr_sim/kcd_default: [0.7, 0.7, 0.7, 0...
* /lwr_sim/kcp_default: [1000.0, 1000.0, ...
* /lwr_sim/kd_default: [1.0, 1.0, 1.0, 0...
* /lwr_sim/kp_default: [450.0, 450.0, 20...
* /lwr_sim/lower_joint_limits: [-100.0, -100.0, ...
* /lwr_sim/upper_joint_limits: [100.0, 100.0, 10...
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/arm/longest_valid_segment_fraction: 0.005
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(joint_0,jo...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/controller_manager_name: controller_manager
* /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_simple_con...
* /move_group/moveit_manage_controllers: False
* /move_group/octomap_resolution: 0.025
* /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/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/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/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/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/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/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/use_controller_manager: True
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.01
* /robot_description_kinematics/arm/solve_type: Distance
* /robot_description_planning/joint_limits/joint_0/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_0/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_0/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_0/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_1/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_2/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_3/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_4/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_5/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_6/max_velocity: 0.5
* /robot_description_semantic: <?xml version="1....
* /robot_name: lwr_sim
* /robot_ns: /
* /robot_state_publisher/publish_frequency: 1000
* /root_link: link_0
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver: trac_ik_kinematic...
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_attempts: 3
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_search_resolution: 0.005
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_timeout: 0.01
* /rviz_sam_RT_3323_5014441435028785204/arm/solve_type: Distance
* /start_paused: False
* /tf_prefix: /
* /tip_link: link_7
* /use_sim_time: True
NODES
/
Deployer (rtt_ros/deployer)
controller_spawner (controller_manager/spawner)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_sam_RT_3323_5014441435028785204 (rviz/rviz)
spawn_lwr_sim (gazebo_ros/spawn_model)
world_to_lwr_sim_world (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[world_to_lwr_sim_world-1]: started with pid [3348]
process[robot_state_publisher-2]: started with pid [3349]
process[spawn_lwr_sim-3]: started with pid [3351]
process[Deployer-4]: started with pid [3359]
process[move_group-5]: started with pid [3372]
process[rviz_sam_RT_3323_5014441435028785204-6]: started with pid [3397]
process[controller_spawner-7]: started with pid [3408]
Real-time memory: 517888 bytes free of 524288 allocated.
[ INFO] [1502895238.747227903]: Loading robot model 'lwr'...
[ INFO] [1502895238.747361971]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1502895238.764229489]: Could not identify parent group for end-effector 'effector'
[ INFO] [1502895238.784889280]: rviz version 1.12.11
[ INFO] [1502895238.784926255]: compiled against Qt version 5.5.1
[ INFO] [1502895238.784934863]: compiled against OGRE version 1.9.0 (Ghadamon)
[ERROR] [1502895238.796039053]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin lwr_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1502895238.796200342]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1502895238.824489318]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1502895238.827935280]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1502895238.828044624]: Starting scene monitor
[ INFO] [1502895238.835044058]: Listening to '/planning_scene'
[ INFO] [1502895238.835198772]: Starting world geometry monitor
[ INFO] [1502895238.839743509]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1502895238.842841973]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1502895238.853615959]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
0.253 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] No such package or directory found in search path: lwr_utils. Search path is: /home/sam/isir/lwr_ws/devel/lib/orocos:/home/sam/code/ros_kinetic/devel/lib/orocos:/opt/ros/kinetic/lib/orocos:.
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] Directories searched include the following:
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/isir/lwr_ws/devel/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/isir/lwr_ws/devel/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/code/ros_kinetic/devel/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/code/ros_kinetic/devel/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /opt/ros/kinetic/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /opt/ros/kinetic/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - ./lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - ./gnulinux/lwr_utils
[ INFO] [1502895238.945599402]: Initializing OMPL interface using ROS parameters
[ INFO] [1502895238.979415497]: Using planning interface 'OMPL'
[ INFO] [1502895239.032294916, 13.863000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1502895239.032918045, 13.863000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1502895239.033409272, 13.863000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1502895239.034083965, 13.864000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1502895239.034592089, 13.865000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1502895239.035122138, 13.865000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1502895239.035192813, 13.866000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1502895239.035222494, 13.866000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1502895239.035246109, 13.866000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1502895239.035327854, 13.866000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1502895239.035351163, 13.866000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1502895239.037876414, 13.868000000]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1502895239.038381842, 13.869000000]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
0.451 [ ERROR ][ScriptingService] No such service or plugin: 'ros_helper'
0.452 [ ERROR ][ScriptingService] /home/sam/isir/lwr_ws/src/rtt_lwr/lwr_utils/scripts/utils.ops :Parse error at line 17: Service or Task "Deployer" has no Peer or Service ros_helper (or Deployer was not found at all).
0.452 [ ERROR ][ScriptingService] /home/sam/isir/lwr_ws/src/rtt_lwr/lwr_moveit_config/scripts/run.ops :Parse error at line 4: No method "loadRobot" registered for the object or task "Deployer".
Switched to : Deployer
This console reader allows you to browse and manipulate TaskContexts.
You can type in an operation, expression, create or change variables.
(type 'help' for instructions and 'ls' for context info)
TAB completion and HISTORY is available ('bash' like)
Use 'Ctrl-D' or type 'quit' to exit this program.
Deployer [R]> SpawnModel script started
[INFO] [1502895239.392861, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1502895239.476711, 0.000000]: Loading model XML from ros parameter
[INFO] [1502895239.479773, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1502895239.481209, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1502895239.579567493, 14.365000000]: Stereo is NOT SUPPORTED
[ INFO] [1502895239.579661564, 14.365000000]: OpenGl version: 4.5 (GLSL 4.5).
[INFO] [1502895239.627515, 14.365000]: Spawn status: SpawnModel: Successfully spawned model
[spawn_lwr_sim-3] process has finished cleanly
log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/spawn_lwr_sim-3*.log
[ WARN] [1502895243.327955570, 17.746000000]: The STL file 'package://lwr_description/meshes/handle/handle.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ WARN] [1502895243.336998482, 17.755000000]: The STL file 'package://lwr_description/meshes/head_cam/head_cam.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ INFO] [1502895243.450199742, 17.867000000]: Loading robot model 'lwr'...
[ INFO] [1502895243.450240316, 17.867000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1502895243.457098966, 17.874000000]: Could not identify parent group for end-effector 'effector'
[ERROR] [1502895243.494562834, 17.908000000]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin lwr_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1502895243.494608168, 17.908000000]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1502895243.553218305, 17.968000000]: Starting scene monitor
[ INFO] [1502895243.556054673, 17.971000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1502895243.556992412, 17.972000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1502895244.518850488, 18.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[ INFO] [1502895248.580590359, 22.984000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.9/planning_scene_monitor/src/planning_scene_monitor.cpp:486
[ INFO] [1502895248.627771045, 23.032000000]: No active joints or end effectors found for group 'arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1502895248.630112829, 23.034000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1502895249.530641901, 23.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1502895254.545444147, 28.933000000]: Action client not connected: joint_trajectory_controller/follow_joint_trajectory
[ INFO] [1502895254.607825515, 28.996000000]: Returned 0 controllers in list
[ INFO] [1502895254.617929135, 29.007000000]: Trajectory execution is not managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
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] [1502895254.755511974, 29.144000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1502895254.755655931, 29.145000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1502895254.755678631, 29.145000000]: MoveGroup context initialization complete
You can start planning now!
[ WARN] [1502895255.518071495, 29.906000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1502895255.520419717, 29.908000000]: Ready to take commands for planning group arm.
[ INFO] [1502895255.520470571, 29.908000000]: Looking around: no
[ INFO] [1502895255.520490323, 29.908000000]: Replanning: no
[WARN] [1502895269.519665, 43.882000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-7] process has finished cleanly
log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/controller_spawner-7*.log
How to solve it?
Thank you~
definitely related to #10. I think once you'll solve it this is gonna work.
Wow! Yes! You are totally right. Now it works!
Thank you very much~~
Here are my success log:
sam@sam-RT:~$ roslaunch lwr_moveit_config run.launch sim:=true
... logging to /home/sam/.ros/log/cf51af1a-8731-11e7-9975-00e04c00f31b/roslaunch-sam-RT-4436.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam-RT:46665/
SUMMARY
========
PARAMETERS
* /gazebo/robot_description: <?xml version="1....
* /is_sim: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /joint_trajectory_controller/action_monitor_rate: 20
* /joint_trajectory_controller/constraints/goal_time: 0.0
* /joint_trajectory_controller/constraints/joint_0/goal: 0.0
* /joint_trajectory_controller/constraints/joint_0/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_1/goal: 0.0
* /joint_trajectory_controller/constraints/joint_1/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_2/goal: 0.0
* /joint_trajectory_controller/constraints/joint_2/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_3/goal: 0.0
* /joint_trajectory_controller/constraints/joint_3/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_4/goal: 0.0
* /joint_trajectory_controller/constraints/joint_4/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_5/goal: 0.0
* /joint_trajectory_controller/constraints/joint_5/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_6/goal: 0.0
* /joint_trajectory_controller/constraints/joint_6/trajectory: 0.0
* /joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.0
* /joint_trajectory_controller/gains/joint_0/d: 15
* /joint_trajectory_controller/gains/joint_0/i: 10
* /joint_trajectory_controller/gains/joint_0/i_clamp: 1
* /joint_trajectory_controller/gains/joint_0/p: 450
* /joint_trajectory_controller/gains/joint_1/d: 15
* /joint_trajectory_controller/gains/joint_1/i: 10
* /joint_trajectory_controller/gains/joint_1/i_clamp: 1
* /joint_trajectory_controller/gains/joint_1/p: 450
* /joint_trajectory_controller/gains/joint_2/d: 15
* /joint_trajectory_controller/gains/joint_2/i: 8
* /joint_trajectory_controller/gains/joint_2/i_clamp: 1
* /joint_trajectory_controller/gains/joint_2/p: 350
* /joint_trajectory_controller/gains/joint_3/d: 2
* /joint_trajectory_controller/gains/joint_3/i: 5
* /joint_trajectory_controller/gains/joint_3/i_clamp: 1
* /joint_trajectory_controller/gains/joint_3/p: 200
* /joint_trajectory_controller/gains/joint_4/d: 0.01
* /joint_trajectory_controller/gains/joint_4/i: 5
* /joint_trajectory_controller/gains/joint_4/i_clamp: 1
* /joint_trajectory_controller/gains/joint_4/p: 150
* /joint_trajectory_controller/gains/joint_5/d: 5.0
* /joint_trajectory_controller/gains/joint_5/i: 0.1
* /joint_trajectory_controller/gains/joint_5/i_clamp: 1
* /joint_trajectory_controller/gains/joint_5/p: 50
* /joint_trajectory_controller/gains/joint_6/d: 1.1
* /joint_trajectory_controller/gains/joint_6/i: 0.01
* /joint_trajectory_controller/gains/joint_6/i_clamp: 0.5
* /joint_trajectory_controller/gains/joint_6/p: 20
* /joint_trajectory_controller/joints: ['joint_0', 'join...
* /joint_trajectory_controller/state_publish_rate: 50
* /joint_trajectory_controller/stop_trajectory_duration: 0.0
* /joint_trajectory_controller/type: effort_controller...
* /lwr_sim/joint_limits: ['joint_0', 'join...
* /lwr_sim/kcd_default: [0.7, 0.7, 0.7, 0...
* /lwr_sim/kcp_default: [1000.0, 1000.0, ...
* /lwr_sim/kd_default: [1.0, 1.0, 1.0, 0...
* /lwr_sim/kp_default: [450.0, 450.0, 20...
* /lwr_sim/lower_joint_limits: [-100.0, -100.0, ...
* /lwr_sim/upper_joint_limits: [100.0, 100.0, 10...
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/arm/longest_valid_segment_fraction: 0.005
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(joint_0,jo...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/controller_manager_name: controller_manager
* /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_simple_con...
* /move_group/moveit_manage_controllers: False
* /move_group/octomap_resolution: 0.025
* /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/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/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/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/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/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/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/use_controller_manager: True
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.01
* /robot_description_kinematics/arm/solve_type: Distance
* /robot_description_planning/joint_limits/joint_0/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_0/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_0/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_0/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_1/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_2/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_3/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_4/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_5/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_6/max_velocity: 0.5
* /robot_description_semantic: <?xml version="1....
* /robot_name: lwr_sim
* /robot_ns: /
* /robot_state_publisher/publish_frequency: 1000
* /root_link: link_0
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rviz_sam_RT_4436_7115020663623996804/arm/kinematics_solver: trac_ik_kinematic...
* /rviz_sam_RT_4436_7115020663623996804/arm/kinematics_solver_attempts: 3
* /rviz_sam_RT_4436_7115020663623996804/arm/kinematics_solver_search_resolution: 0.005
* /rviz_sam_RT_4436_7115020663623996804/arm/kinematics_solver_timeout: 0.01
* /rviz_sam_RT_4436_7115020663623996804/arm/solve_type: Distance
* /start_paused: False
* /tf_prefix: /
* /tip_link: link_7
* /use_sim_time: True
NODES
/
Deployer (rtt_ros/deployer)
controller_spawner (controller_manager/spawner)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_sam_RT_4436_7115020663623996804 (rviz/rviz)
spawn_lwr_sim (gazebo_ros/spawn_model)
world_to_lwr_sim_world (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [4453]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cf51af1a-8731-11e7-9975-00e04c00f31b
process[rosout-1]: started with pid [4466]
started core service [/rosout]
process[world_to_lwr_sim_world-2]: started with pid [4490]
process[robot_state_publisher-3]: started with pid [4491]
process[spawn_lwr_sim-4]: started with pid [4498]
process[Deployer-5]: started with pid [4510]
process[move_group-6]: started with pid [4522]
process[rviz_sam_RT_4436_7115020663623996804-7]: started with pid [4544]
Real-time memory: 517888 bytes free of 524288 allocated.
process[controller_spawner-8]: started with pid [4556]
0.077 [ Warning][ComponentLoader::import(path_list)] Component type name OCL::LuaTLSFComponent already used: overriding.
0.080 [ Warning][ComponentLoader::import(path_list)] Component type name OCL::NetcdfReporting already used: overriding.
0.083 [ Warning][ComponentLoader::import(path_list)] Component type name OCL::LuaComponent already used: overriding.
0.085 [ Warning][ComponentLoader::import(path_list)] Component type name OCL::HelloWorld already used: overriding.
[ INFO] [1503403367.309703944]: Loading robot model 'lwr'...
[ INFO] [1503403367.309789883]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1503403367.323766837]: Could not identify parent group for end-effector 'effector'
[ INFO] [1503403367.349797045]: rviz version 1.12.11
[ INFO] [1503403367.349842185]: compiled against Qt version 5.5.1
[ INFO] [1503403367.349855790]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1503403367.395756333]: IK Using joint link_1 -2.96706 2.96706
[ INFO] [1503403367.395801547]: IK Using joint link_2 -2.0944 2.0944
[ INFO] [1503403367.395836369]: IK Using joint link_3 -2.96706 2.96706
[ INFO] [1503403367.395873563]: IK Using joint link_4 -2.0944 2.0944
[ INFO] [1503403367.395904245]: IK Using joint link_5 -2.96706 2.96706
[ INFO] [1503403367.395932177]: IK Using joint link_6 -2.0944 2.0944
[ INFO] [1503403367.395960217]: IK Using joint link_7 -2.96706 2.96706
[ INFO] [1503403367.395993243]: Looking in private handle: /move_group for param name: arm/position_only_ik
[ INFO] [1503403367.396480513]: Looking in private handle: /move_group for param name: arm/solve_type
[ INFO] [1503403367.396904633]: Using solve type Speed
[ INFO] [1503403367.424516370]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1503403367.428980811]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1503403367.429053631]: Starting scene monitor
[ INFO] [1503403367.431817842]: Listening to '/planning_scene'
[ INFO] [1503403367.431884474]: Starting world geometry monitor
[ INFO] [1503403367.434889048]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1503403367.437778391]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1503403367.447831637]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1503403367.555868525]: Initializing OMPL interface using ROS parameters
[ INFO] [1503403367.575137219]: Using planning interface 'OMPL'
Couldn't find an AF_INET address for []
[ INFO] [1503403367.625750667]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1503403367.626846048]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1503403367.627630721]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1503403367.628347730]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1503403367.629031804]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1503403367.629756772]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1503403367.629876561]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1503403367.629932082]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1503403367.629978685]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1503403367.630023932]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1503403367.630067505]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1503403367.632873908]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1503403367.633342320]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
SpawnModel script started
Gazebo multi-robot simulator, version 8.1.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
0.618 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
[INFO] [1503403367.843642, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1503403367.843793874]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1503403367.844883507]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1503403367.846986, 0.000000]: Loading model XML from ros parameter
[INFO] [1503403367.849747, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1503403368.502211427]: Stereo is NOT SUPPORTED
[ INFO] [1503403368.502292030]: OpenGl version: 4.5 (GLSL 4.5).
[[--- Gazebo running ---]]
[ INFO] [1503403368.995554957, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ WARN] [1503403368.998700204]: The STL file 'package://lwr_description/meshes/handle/handle.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ WARN] [1503403369.007697272]: The STL file 'package://lwr_description/meshes/head_cam/head_cam.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ INFO] [1503403369.024781406, 0.048000000]: Physics dynamic reconfigure ready.
[INFO] [1503403369.055179, 0.078000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1503403369.374056, 0.153000]: Spawn status: SpawnModel: Successfully spawned model
[spawn_lwr_sim-4] process has finished cleanly
log file: /home/sam/.ros/log/cf51af1a-8731-11e7-9975-00e04c00f31b/spawn_lwr_sim-4*.log
0.153 [ Warning][ComponentLoader::import(path_list)] Component type name rtt_tf::RTT_TF already used: overriding.
Gazebo multi-robot simulator, version 8.1.1
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
0.153 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
[ INFO] [1503403371.754927803, 0.153000000]: Building KDL Chain from link_0 to link_7 => 7 joints and 7 segments
[lwr_sim] RUNNING ON SIMULATION
Loading KRL Tool for lwr_sim
0.153 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
Loading ATI F/T Sensor (Simulated)
=> Please use connectToAtiFTSensorPort("my_component","my_geometry_msgs_port",ConnPolicy())
0.153 [ ERROR ][Thread] Can't create Activity: component ft_sensor not found.
0.153 [ ERROR ][connectPeers] No such peer: ft_sensor
Loading ROS Control for lwr_sim
[ INFO] [1503403371.996340485, 0.153000000]: Adding joint [joint_0]
[ INFO] [1503403371.996379962, 0.153000000]: Adding joint [joint_1]
[ INFO] [1503403371.996387481, 0.153000000]: Adding joint [joint_2]
[ INFO] [1503403371.996426742, 0.153000000]: Adding joint [joint_3]
[ INFO] [1503403371.996432947, 0.153000000]: Adding joint [joint_4]
[ INFO] [1503403371.996439514, 0.153000000]: Adding joint [joint_5]
[ INFO] [1503403371.996456917, 0.153000000]: Adding joint [joint_6]
[ INFO] [1503403371.996470659, 0.153000000]: Registering joint [joint_0] lj:true slj:false
[ INFO] [1503403371.996494842, 0.153000000]: Registering joint [joint_1] lj:true slj:false
[ INFO] [1503403371.996516093, 0.153000000]: Registering joint [joint_2] lj:true slj:false
[ INFO] [1503403371.996525111, 0.153000000]: Registering joint [joint_3] lj:true slj:false
[ INFO] [1503403371.996533367, 0.153000000]: Registering joint [joint_4] lj:true slj:false
[ INFO] [1503403371.996542448, 0.153000000]: Registering joint [joint_5] lj:true slj:false
[ INFO] [1503403371.996551021, 0.153000000]: Registering joint [joint_6] lj:true slj:false
0.153 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users..
0.153 [ Warning][Thread] Forcing priority (26) of thread with SCHED_OTHER policy to 0.
0.153 [ Warning][lwr_sim_ros_control] Lowering scheduler type to SCHED_OTHER for non-privileged users..
Switched to : Deployer
This console reader allows you to browse and manipulate TaskContexts.
You can type in an operation, expression, create or change variables.
(type 'help' for instructions and 'ls' for context info)
TAB completion and HISTORY is available ('bash' like)
Use 'Ctrl-D' or type 'quit' to exit this program.
Deployer [R]> [INFO] [1503403372.065996, 0.153000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1503403372.066997, 0.153000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1503403372.067906, 0.153000]: Loading controller: joint_state_controller
[INFO] [1503403372.108257, 0.153000]: Loading controller: joint_trajectory_controller
[INFO] [1503403372.302160, 0.153000]: Controller Spawner: Loaded controllers: joint_state_controller, joint_trajectory_controller
[INFO] [1503403372.304178, 0.153000]: Started controllers: joint_state_controller, joint_trajectory_controller
[ INFO] [1503403374.592158304, 0.154000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1503403374.596080962, 0.154000000]: Camera Plugin (ns = /) <tf_prefix_>, set to "/"
[ INFO] [1503403374.603355823, 0.154000000]: ft_sensor plugin reporting wrench values to the frame [ati_link]
[ INFO] [1503403374.697997580, 0.156000000]: Added FollowJointTrajectory controller for joint_trajectory_controller
[ INFO] [1503403374.698141440, 0.156000000]: Returned 1 controllers in list
[ INFO] [1503403374.707623984, 0.156000000]: Trajectory execution is not managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
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] [1503403374.849717601, 0.293000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1503403374.849765578, 0.293000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1503403374.849789481, 0.293000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1503403377.827564745, 3.269000000]: Loading robot model 'lwr'...
[ INFO] [1503403377.827617041, 3.269000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1503403377.834260651, 3.275000000]: Could not identify parent group for end-effector 'effector'
[ INFO] [1503403377.919445804, 3.358000000]: IK Using joint link_1 -2.96706 2.96706
[ INFO] [1503403377.919495455, 3.358000000]: IK Using joint link_2 -2.0944 2.0944
[ INFO] [1503403377.919514936, 3.358000000]: IK Using joint link_3 -2.96706 2.96706
[ INFO] [1503403377.919533171, 3.358000000]: IK Using joint link_4 -2.0944 2.0944
[ INFO] [1503403377.919547583, 3.358000000]: IK Using joint link_5 -2.96706 2.96706
[ INFO] [1503403377.919560306, 3.358000000]: IK Using joint link_6 -2.0944 2.0944
[ INFO] [1503403377.919572368, 3.358000000]: IK Using joint link_7 -2.96706 2.96706
[ INFO] [1503403377.919591148, 3.358000000]: Looking in private handle: /rviz_sam_RT_4436_7115020663623996804 for param name: arm/position_only_ik
[ INFO] [1503403377.920143199, 3.359000000]: Looking in private handle: /rviz_sam_RT_4436_7115020663623996804 for param name: arm/solve_type
[ INFO] [1503403377.920935221, 3.360000000]: Using solve type Distance
[ INFO] [1503403377.951724886, 3.390000000]: Starting scene monitor
[ INFO] [1503403377.954347499, 3.393000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1503403377.990800800, 3.430000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1503403378.848557967, 4.284000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1503403378.851526524, 4.287000000]: Ready to take commands for planning group arm.
[ INFO] [1503403378.851617599, 4.287000000]: Looking around: no
[ INFO] [1503403378.851658319, 4.287000000]: Replanning: no
[ INFO] [1503403468.482162988, 93.494000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403468.485079966, 93.497000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403468.486659715, 93.499000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.486732297, 93.499000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.486760367, 93.499000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.486795199, 93.499000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.500977688, 93.513000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.501722708, 93.514000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.501757157, 93.514000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.503700531, 93.516000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403468.503836130, 93.516000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.017814 seconds
[ INFO] [1503403468.504112845, 93.516000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.504157954, 93.516000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.504182178, 93.516000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.504534062, 93.517000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.508798592, 93.521000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.512060992, 93.524000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.513934243, 93.525000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.514531174, 93.525000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.514612761, 93.525000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.010583 seconds
[ INFO] [1503403468.514755416, 93.525000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.514787880, 93.525000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403468.517829630, 93.530000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403468.518213776, 93.531000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403468.518333807, 93.531000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.003612 seconds
[ INFO] [1503403468.534706800, 93.546000000]: SimpleSetup: Path simplification took 0.016207 seconds and changed from 4 to 33 states
[ INFO] [1503403487.517586663, 112.435000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403487.517993344, 112.435000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403487.518271313, 112.435000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.518342820, 112.435000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.518377471, 112.435000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.519004720, 112.436000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.523017203, 112.436000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.523455897, 112.436000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.523791587, 112.436000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.524118954, 112.436000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.524200491, 112.436000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.006067 seconds
[ INFO] [1503403487.524383428, 112.437000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.524407939, 112.437000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.524482733, 112.437000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.524549039, 112.437000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.528690512, 112.440000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.528952695, 112.440000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.530798654, 112.441000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.530913808, 112.441000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403487.531017506, 112.441000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.006677 seconds
[ INFO] [1503403487.531160135, 112.442000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.531184304, 112.442000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403487.535249595, 112.447000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403487.536188549, 112.448000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403487.536329560, 112.448000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005211 seconds
[ INFO] [1503403487.546582886, 112.459000000]: SimpleSetup: Path simplification took 0.010180 seconds and changed from 4 to 13 states
[ INFO] [1503403490.039263648, 114.935000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403490.039729494, 114.935000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403490.040013936, 114.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.040059368, 114.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.040109338, 114.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.041390947, 114.937000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.044095162, 114.939000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.044809927, 114.939000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403490.044989535, 114.940000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.046631854, 114.942000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.046719930, 114.942000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.006798 seconds
[ INFO] [1503403490.046900153, 114.942000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.046921138, 114.942000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.046948973, 114.942000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.046979023, 114.942000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.049751217, 114.944000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403490.051892438, 114.947000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403490.052664027, 114.948000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.053100977, 114.948000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.053253590, 114.949000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.006405 seconds
[ INFO] [1503403490.053442402, 114.949000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.053469322, 114.949000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403490.056900462, 114.952000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403490.058615682, 114.954000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403490.058741318, 114.954000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005347 seconds
[ INFO] [1503403490.076006919, 114.971000000]: SimpleSetup: Path simplification took 0.017192 seconds and changed from 3 to 37 states
[ INFO] [1503403550.140511910, 174.691000000]: Replanning: yes
[ INFO] [1503403551.954341671, 176.494000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403551.954807568, 176.494000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403551.955125201, 176.495000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.955190577, 176.495000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.955217501, 176.495000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.955276047, 176.495000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.968034253, 176.505000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403551.969092809, 176.509000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.970449425, 176.510000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.971466449, 176.511000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.971539513, 176.511000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.016509 seconds
[ INFO] [1503403551.971891437, 176.512000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.971954249, 176.512000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.972010075, 176.512000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.972035636, 176.512000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.974387614, 176.514000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.975494386, 176.516000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.980118647, 176.520000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.982573188, 176.523000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.982711411, 176.523000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.011003 seconds
[ INFO] [1503403551.982879294, 176.523000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.982910279, 176.523000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403551.986054660, 176.524000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403551.987208746, 176.524000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403551.987295588, 176.524000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.004490 seconds
[ INFO] [1503403551.994979236, 176.534000000]: SimpleSetup: Path simplification took 0.007633 seconds and changed from 4 to 17 states
[ INFO] [1503403556.349642865, 180.871000000]: Replanning: no
[ INFO] [1503403559.439513974, 183.935000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403559.440036575, 183.935000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403559.440337393, 183.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.440367993, 183.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.440402136, 183.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.440430153, 183.935000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.454264425, 183.949000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.454313310, 183.949000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403559.456628685, 183.952000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1503403559.457157158, 183.952000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.457244042, 183.952000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.017000 seconds
[ INFO] [1503403559.457537133, 183.953000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.457565251, 183.953000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.457695569, 183.953000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.457740888, 183.953000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.461353262, 183.956000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.461808135, 183.956000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.462252412, 183.956000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.462674828, 183.958000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.462798914, 183.958000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005380 seconds
[ INFO] [1503403559.462991092, 183.958000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.463030614, 183.958000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403559.466408916, 183.961000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.467211324, 183.961000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403559.467401385, 183.961000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.004469 seconds
[ INFO] [1503403559.475881072, 183.971000000]: SimpleSetup: Path simplification took 0.008389 seconds and changed from 3 to 25 states
[ INFO] [1503403560.624273807, 185.114000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403560.624721378, 185.115000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403560.625089636, 185.115000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.625114114, 185.115000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.625154372, 185.115000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.625200077, 185.115000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.638828065, 185.125000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.639188401, 185.125000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.640774362, 185.125000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.640825567, 185.125000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.640999417, 185.131000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.016055 seconds
[ INFO] [1503403560.641171305, 185.131000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.641195638, 185.131000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.641233009, 185.131000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.641256189, 185.131000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.644805023, 185.134000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.645430342, 185.135000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.645923039, 185.136000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.646534313, 185.136000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.646669411, 185.137000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005557 seconds
[ INFO] [1503403560.646789279, 185.137000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.646808872, 185.137000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.651203569, 185.140000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.651271070, 185.140000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.652332140, 185.140000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005557 seconds
[ INFO] [1503403560.660169749, 185.150000000]: SimpleSetup: Path simplification took 0.007760 seconds and changed from 4 to 17 states
[ INFO] [1503403560.905236773, 185.395000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403560.905673665, 185.395000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403560.905962519, 185.395000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.905993605, 185.395000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.906023046, 185.395000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.906051551, 185.395000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.919682560, 185.405000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.920141436, 185.410000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.920374645, 185.410000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.923529050, 185.413000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.923639579, 185.413000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.017771 seconds
[ INFO] [1503403560.923832062, 185.413000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.923855598, 185.413000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.923887042, 185.413000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.923959626, 185.413000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.928183289, 185.415000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.929428907, 185.419000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.930444930, 185.420000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.931086521, 185.420000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.931156755, 185.421000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.007378 seconds
[ INFO] [1503403560.931317629, 185.421000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.931342975, 185.421000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403560.934087803, 185.423000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403560.936855436, 185.426000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403560.936970409, 185.426000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005708 seconds
[ INFO] [1503403560.952838956, 185.442000000]: SimpleSetup: Path simplification took 0.015809 seconds and changed from 3 to 45 states
[ INFO] [1503403561.066309405, 185.554000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403561.066764147, 185.555000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403561.067033357, 185.555000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.067057446, 185.555000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.067083876, 185.555000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.067152261, 185.555000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.080759074, 185.568000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.080830222, 185.568000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.081005016, 185.568000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.081724646, 185.569000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.081821166, 185.569000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.014870 seconds
[ INFO] [1503403561.082044971, 185.570000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.082071677, 185.570000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.082107861, 185.570000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.085550815, 185.573000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.086049635, 185.574000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.086199584, 185.574000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403561.086255804, 185.574000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.090238258, 185.576000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.090406783, 185.576000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.008417 seconds
[ INFO] [1503403561.090721652, 185.576000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.090747409, 185.576000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.094452349, 185.579000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.095172391, 185.580000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.095293969, 185.580000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.004684 seconds
[ INFO] [1503403561.107146003, 185.592000000]: SimpleSetup: Path simplification took 0.011782 seconds and changed from 3 to 25 states
[ INFO] [1503403561.230194199, 185.714000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1503403561.230671446, 185.715000000]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1503403561.230994713, 185.715000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.231020090, 185.715000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.231050880, 185.715000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.231076373, 185.715000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.244176692, 185.728000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.245200422, 185.729000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.246779970, 185.729000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.247219680, 185.729000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.247640544, 185.729000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.016745 seconds
[ INFO] [1503403561.247831004, 185.729000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.247867136, 185.729000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.247894113, 185.729000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.247921422, 185.729000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.250910842, 185.734000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.251898962, 185.734000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403561.252639236, 185.734000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.253150459, 185.734000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.253219011, 185.734000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005445 seconds
[ INFO] [1503403561.253352280, 185.734000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.253381538, 185.734000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1503403561.255944754, 185.740000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1503403561.258896752, 185.743000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1503403561.259066392, 185.743000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.005748 seconds
[ INFO] [1503403561.267230003, 185.751000000]: SimpleSetup: Path simplification took 0.008115 seconds and changed from 3 to 17 states
[ INFO] [1503403562.856492609, 187.327000000]: Received new trajectory execution service request...
[ WARN] [1503403562.864651899, 187.336000000]: Dropping first 1 trajectory point(s) out of 24, as they occur before the current time.
First valid point will be reached in 0.457s.
[ INFO] [1503403567.817081933, 192.254000000]: Execution completed: SUCCEEDED
excellent ! Happy coding :)