Update moveit_tutorials (Noetic)

Question

Update moveit_tutorials (Noetic)

rickstaa opened this issue 3 years ago · comments

The MoveIt tutorials should be updated now that the new noetic branch has been released. This issue tracks this process.

TODOS

@tylerjw already performed some tests for his solution with the moveit_tutorials. We however need to re-perform these tests for the new Noetic release. Please first check #74 (comment) before testing one of the following tutorials:

I also found the following changes that need to be performed to the moveit_tutorials:

Maybe the panda_control_moveit_rviz.launch file should be documented in the documentation.
The demo_chomp.launch file was added to the panda_moveit_config repository, but this file is not used in the moveit_tutorials.
The lerp planner documentation talks about a lerp_example.launch file but this file is not included I think this should be changed to refer the demo_lerp.launch file.
The gazebo simulation intergration tutorial can be removed.

Robert Haschke commented 8 months ago

Sure.

Rick Staa · Answer 1 · Wed Nov 10 2021 23:22:31 GMT+0800 (China Standard Time)

@rhaschke I started updating the moveit setup assistant tutorial (see moveit/moveit_tutorials#678). I, however, noticed that the poses used in the panda_moveit_config are now in a collision when I use the pull requests in #96:

https://github.com/ros-planning/panda_moveit_config/blob/a831c092ea97789ece7d3c643c0ee367897e2e48/config/arm.xacro#L13-L30

I think this is because the MSA uses the coarse collisions (see https://github.com/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_setup_assistant/src/widgets/robot_poses_widget.cpp#L785-L789). Should we choose new poses, or is this something we should fix in the MSA or franka_ros? You can see the behaviour when opening the MSA using see https://github.com/rickstaa/msa_test.

Rick Staa · Answer 2 · Wed Nov 10 2021 23:29:04 GMT+0800 (China Standard Time)

Ah, I now see that https://github.com/rickstaa/msa_test mixed the results of the PMC with the newly created config. I will replace it with a freshly made robot configuration repository later.

Robert Haschke · Answer 3 · Thu Nov 11 2021 04:41:19 GMT+0800 (China Standard Time)

The URDF description needs more rework: frankaemika/franka_ros#199. But I don't have more time to invest in there...

Rick Staa · Answer 4 · Thu Nov 11 2021 16:31:04 GMT+0800 (China Standard Time)

Thanks, I haven't seen that pull request yet. I will take a look.

arnauddomes · Answer 5 · Wed Apr 06 2022 15:10:01 GMT+0800 (China Standard Time)

Hello,
I try to run move_to_start.py example from franka_ros but on panda_moveit_config for noetic there is no file panda_moveit.launch.
Is there a way to make it fix that issue? Why that file has been removed?

Robert Haschke · Answer 6 · Wed Apr 06 2022 18:25:16 GMT+0800 (China Standard Time)

Please try franka_control.launch instead.

xav12358 · Answer 7 · Wed Apr 06 2022 19:56:44 GMT+0800 (China Standard Time)

In fact I want to use an example with moveit. And in my move_to_start.launch there is already a call to franka_control.launch

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
    <arg name="load_gripper" value="false" />
  </include>
  <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>

Is there an other example of Moveit ?

Robert Haschke · Answer 8 · Wed Apr 06 2022 20:03:19 GMT+0800 (China Standard Time)

Note that a franka_control.launch is provided by both, franka_control and panda_moveit_config. Just replace panda_moveit.launch with franka_control.launch.

xav12358 · Answer 9 · Wed Apr 06 2022 20:17:16 GMT+0800 (China Standard Time)

After replacing panda_moveit.launch by franka_control.launch, I had to add robot_ip

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/franka_control.launch">
    <arg name="load_gripper" value="false" />
    <arg name="robot_ip" value="$(arg robot_ip)" />
  </include>
  <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>

But I get that error:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 
... logging to /home/dac/.ros/log/8b74270a-b5a3-11ec-ba51-1bda6a381553/roslaunch-dac-170644.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: roslaunch file contains multiple nodes named [/franka_control].
Please check all <node> 'name' attributes to make sure they are unique.
Also check that $(anon id) use different ids.
The traceback for the exception was written to the log file
dac@dac:~/dev/catkin_ws$

arnauddomes · Answer 10 · Wed Apr 06 2022 20:25:22 GMT+0800 (China Standard Time)

After a try I get the same trouble as @xav12358

I am on Ubuntu 20.04 and Noetic . And also Noetic on all my repos.

Robert Haschke · Answer 11 · Wed Apr 06 2022 21:47:29 GMT+0800 (China Standard Time)

Ok. Looking into panda_moveit_config/franka_control.launch, I see that this file already includes franka_control/franka_control.launch, which explains the error message.
I think, it should suffice to include move_group.launch:

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/move_group.launch">
    <arg name="load_gripper" value="false" />
  </include>
  <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>

xav12358 · Answer 12 · Wed Apr 06 2022 21:59:28 GMT+0800 (China Standard Time)

I copy paste your launch file and I get now that error:

[ERROR] [1649253426.041527992]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1649253426.041559472]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.

full log:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2
... logging to /home/dac/.ros/log/e8e09518-b5b2-11ec-9826-37039db67cd8/roslaunch-dac-12360.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dac:44741/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/arm_id: panda
 * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: joint_impedance
 * /franka_control/joint_limit_warning_threshold: 1
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/realtime_config: enforce
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'effort...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities: 
 * /move_group/max_range: 5.0
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/panda_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_arm/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/panda_hand/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_manipulator/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /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/sense_for_plan/max_safe_path_cost: 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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.05
 * /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/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    franka_control (franka_control/franka_control_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    move_to_start (franka_example_controllers/move_to_start.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)
  /panda/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [12434]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e8e09518-b5b2-11ec-9826-37039db67cd8
process[rosout-1]: started with pid [12459]
started core service [/rosout]
process[franka_control-2]: started with pid [12466]
process[state_controller_spawner-3]: started with pid [12467]
process[robot_state_publisher-4]: started with pid [12468]
process[joint_state_publisher-5]: started with pid [12469]
process[panda/controller_spawner-6]: started with pid [12470]
process[move_group-7]: started with pid [12476]
process[move_to_start-8]: started with pid [12481]
[ WARN] [1649254056.784524917]: FrankaHW: 
	panda_joint1: 0.709150 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884923) 
	panda_joint3: 2.313849 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856916) 
[ WARN] [1649254056.799224947]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799811088]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799828673]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799841148]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799853592]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799865940]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799877889]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799889494]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799901135]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649254056.799920330]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799932631]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799944721]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799956897]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799969271]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799981135]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.799993050]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800004567]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800016358]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800027870]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800039954]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800052564]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800064706]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649254056.800077538]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649254056.800213988]: Loading robot model 'panda'...
[ INFO] [1649254056.875745863]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649254056.880402741]: Listening to 'joint_states' for joint states
[ INFO] [1649254056.888826566]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649254056.888870166]: Starting planning scene monitor
[ INFO] [1649254056.892824513]: Listening to '/planning_scene'
[ INFO] [1649254056.892891941]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649254056.896022940]: Listening to '/collision_object'
[ INFO] [1649254056.899204295]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649254056.900456453]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649254056.901843324]: Loading planning pipeline 'chomp'
[ INFO] [1649254056.936252806]: Using planning interface 'CHOMP'
[ INFO] [1649254056.938898932]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649254056.939259716]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649254056.939546162]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649254056.939827712]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649254056.940090778]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649254056.940347381]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649254056.940382296]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649254056.940394227]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649254056.940402803]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649254056.940410394]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649254056.940418251]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649254056.940425738]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649254056.941248929]: Loading planning pipeline 'ompl'
[ INFO] [1649254056.975460971]: Using planning interface 'OMPL'
[ INFO] [1649254056.976183787]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649254056.976353104]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649254056.976506021]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649254056.976668503]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649254056.976814190]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649254056.976948617]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649254056.976968174]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649254056.976978020]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649254056.976986699]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649254056.976995262]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649254056.977003740]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649254056.977011954]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649254056.977042035]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1649254056.977808365]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1649254056.977843152]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1649254057.105222]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649254057.106501]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649254057.107649]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649254057.108768]: Loading controller: franka_state_controller
[INFO] [1649254057.114520]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649254057.115092]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649254057.117568]: Started controllers: franka_state_controller








[ WARN] [1649254061.785308614]: FrankaHW: 
	panda_joint1: 0.709232 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884922) 
	panda_joint3: 2.313967 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856914) 
[ WARN] [1649254061.984073912]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649254066.786224494]: FrankaHW: 
	panda_joint1: 0.709145 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884923) 
	panda_joint3: 2.313945 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856914) 
[ WARN] [1649254067.984241458]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649254071.788167364]: FrankaHW: 
	panda_joint1: 0.709323 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884920) 
	panda_joint3: 2.313849 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856916) 
[ERROR] [1649254073.984374177]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649254076.790128679]: FrankaHW: 
	panda_joint1: 0.709019 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884925) 
	panda_joint3: 2.313945 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856914) 
[ WARN] [1649254079.000122070]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649254081.790929169]: FrankaHW: 
	panda_joint1: 0.709149 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884923) 
	panda_joint3: 2.313849 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856916) 
[ WARN] [1649254085.000297429]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649254086.791889242]: FrankaHW: 
	panda_joint1: 0.709354 degrees to joint limits (limits: [-2.897300, 2.897300] q: 2.884919) 
	panda_joint3: 2.313945 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.856914) 
[WARN] [1649254087.262547]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly
log file: /home/dac/.ros/log/e8e09518-b5b2-11ec-9826-37039db67cd8/panda-controller_spawner-6*.log
^C[move_to_start-8] killing on exit
[move_group-7] killing on exit
[joint_state_publisher-5] killing on exit
[robot_state_publisher-4] killing on exit
[state_controller_spawner-3] killing on exit
[franka_control-2] killing on exit
[INFO] [1649254088.099411]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649254088.100373]: Stopping all controllers...
^C[WARN] [1649254088.254829]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
^C^CLoading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

^C^CTraceback (most recent call last):
  File "/home/dac/dev/catkin_ws/devel/lib/franka_example_controllers/move_to_start.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/dac/dev/catkin_ws/src/franka_ros/franka_example_controllers/scripts/move_to_start.py", line 9, in <module>
    rospy.wait_for_message('move_group/status', GoalStatusArray)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 428, in wait_for_message
    raise rospy.exceptions.ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Robert Haschke · Answer 13 · Wed Apr 06 2022 22:09:51 GMT+0800 (China Standard Time)

@xav12358, looks like you are not running ROS Noetic, but ROS Melodic. In any case, you can ignore this error. It just states that the Pilz planner is not available (in Melodic).

xav12358 · Answer 14 · Wed Apr 06 2022 22:16:58 GMT+0800 (China Standard Time)

I update my previous post. When I run the move_to_start.py the robot arm is not moving

Robert Haschke · Answer 15 · Wed Apr 06 2022 22:48:52 GMT+0800 (China Standard Time)

Looks like you interrupted with Ctrl-C, didn't you?
The line rospy.wait_for_message('move_group/status', GoalStatusArray) waits for a message on the given topic.
Do you see any messages published on this topic (check via: rostopic echo /move_group/status)?

xav12358 · Answer 16 · Thu Apr 07 2022 16:03:10 GMT+0800 (China Standard Time)

Indeed I interrupted the program because no rviz was launch, just because it was not in the launch file. So I start rviz in an other terminal.

So now I get that full log:

 roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2
... logging to /home/dac/.ros/log/af27d34e-b644-11ec-9197-5f75f7ec2368/roslaunch-dac-6778.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dac:39555/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/arm_id: panda
 * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: joint_impedance
 * /franka_control/joint_limit_warning_threshold: 1
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/realtime_config: enforce
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities:
 * /move_group/controller_list: [{'name': 'effort...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities:
 * /move_group/max_range: 5.0
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/panda_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_arm/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/panda_hand/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_manipulator/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners:
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters:
 * /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/sense_for_plan/max_safe_path_cost: 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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.05
 * /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/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    franka_control (franka_control/franka_control_node)
    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)
    state_controller_spawner (controller_manager/spawner)
  /panda/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [6852]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to af27d34e-b644-11ec-9197-5f75f7ec2368
process[rosout-1]: started with pid [6877]
started core service [/rosout]
process[franka_control-2]: started with pid [6884]
process[state_controller_spawner-3]: started with pid [6885]
process[robot_state_publisher-4]: started with pid [6886]
process[joint_state_publisher-5]: started with pid [6887]
process[panda/controller_spawner-6]: started with pid [6888]
process[move_group-7]: started with pid [6894]
[ WARN] [1649316666.531843465]: FrankaHW:
panda_joint2: 24.396354 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337003)
[ WARN] [1649316666.546115499]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546672694]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546690741]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546704034]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546716397]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546728337]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546740217]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546753319]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546765208]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316666.546781982]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546794087]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546805763]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546817453]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546829287]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546841124]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546852973]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546864698]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546876541]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546888067]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546899846]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546911298]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546922947]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316666.546934587]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649316666.547071296]: Loading robot model 'panda'...
[ INFO] [1649316666.601918237]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649316666.604562038]: Listening to 'joint_states' for joint states
[ INFO] [1649316666.609209781]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649316666.609248078]: Starting planning scene monitor
[ INFO] [1649316666.611353028]: Listening to '/planning_scene'
[ INFO] [1649316666.611389094]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649316666.613859201]: Listening to '/collision_object'
[ INFO] [1649316666.616089744]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649316666.617051730]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649316666.618192252]: Loading planning pipeline 'chomp'
[ INFO] [1649316666.638050388]: Using planning interface 'CHOMP'
[ INFO] [1649316666.640483337]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649316666.641007021]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649316666.641471693]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649316666.641955485]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649316666.642416174]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649316666.642868441]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649316666.642937975]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649316666.642982644]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649316666.643025497]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649316666.643066555]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649316666.643108760]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649316666.643150208]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649316666.644450757]: Loading planning pipeline 'ompl'
[ INFO] [1649316666.705686779]: Using planning interface 'OMPL'
[ INFO] [1649316666.706819365]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649316666.707034604]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649316666.707186130]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649316666.707336804]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649316666.707491935]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649316666.707647884]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649316666.707675116]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649316666.707683653]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649316666.707690843]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649316666.707697573]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649316666.707704345]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649316666.707711964]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649316666.707748844]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1649316666.708755716]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1649316666.708794956]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1649316666.870655]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649316666.879216]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649316666.888184]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649316666.898035]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649316666.905046]: Loading controller: franka_state_controller
[INFO] [1649316666.936496]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649316666.957546]: Started controllers: franka_state_controller
[ WARN] [1649316671.532623932]: FrankaHW:
panda_joint2: 24.396454 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337002)
[ WARN] [1649316671.715398977]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649316676.533476363]: FrankaHW:
panda_joint2: 24.396081 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337008)
[ WARN] [1649316677.715547503]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649316681.534249267]: FrankaHW:
panda_joint2: 24.396331 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337004)
[ERROR] [1649316683.715760866]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649316686.535226563]: FrankaHW:
panda_joint2: 24.396449 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337002)
[ WARN] [1649316688.731530845]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649316691.536979576]: FrankaHW:
panda_joint2: 24.396468 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337001)
[ WARN] [1649316694.731687521]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649316696.537818662]: FrankaHW:
panda_joint2: 24.396163 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337007)
[WARN] [1649316697.072075]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly
log file: /home/dac/.ros/log/af27d34e-b644-11ec-9197-5f75f7ec2368/panda-controller_spawner-6*.log
[ERROR] [1649316700.731979665]: Action client not connected: franka_gripper/gripper_action
[ INFO] [1649316700.741448179]: Returned 0 controllers in list
[ INFO] [1649316700.747041074]: Trajectory execution is managing controllers
[ INFO] [1649316700.747083397]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1649316700.782127835]:

********************************************************
* MoveGroup using:
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1649316700.782164620]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649316700.782174878]: MoveGroup context initialization complete

You can start planning now!

[ WARN] [1649316701.538673398]: FrankaHW:
panda_joint2: 24.396372 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337003)
[ WARN] [1649316706.539538923]: FrankaHW:
panda_joint2: 24.396302 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337004)
[ INFO] [1649316708.396510768]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1649316708.396593956]: Using planning pipeline 'ompl'
[ INFO] [1649316708.406640754]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1649316708.408216381]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.408251332]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.408315497]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.408352358]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.419700264]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649316708.420930446]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.420983655]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.421029698]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649316708.421097413]: ParallelPlan::solve(): Solution found by one or more threads in 0.013347 seconds
[ INFO] [1649316708.421243016]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.421262357]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.421284711]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.421308718]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.422759267]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.422934630]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.423671182]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.423704264]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649316708.423772429]: ParallelPlan::solve(): Solution found by one or more threads in 0.002596 seconds
[ INFO] [1649316708.423887550]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.423928552]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649316708.425431401]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.425500088]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1649316708.425555054]: ParallelPlan::solve(): Solution found by one or more threads in 0.001729 seconds
[ INFO] [1649316708.425642634]: SimpleSetup: Path simplification took 0.000003 seconds and changed from 2 to 2 states
[ INFO] [1649316710.575133729]: Execution request received
[ INFO] [1649316710.575202382]: Returned 0 controllers in list
[ERROR] [1649316710.575224828]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1649316710.575238790]: Known controllers and their joints:

[ WARN] [1649316711.541385503]: FrankaHW:
panda_joint2: 24.396427 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337002)
[ WARN] [1649316716.542302310]: FrankaHW:
panda_joint2: 24.396165 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337007)
[ WARN] [1649316721.543119992]: FrankaHW:
panda_joint2: 24.396245 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337005)
[ WARN] [1649316726.544009665]: FrankaHW:
panda_joint2: 24.396202 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.337006)
^C[move_group-7] killing on exit
[joint_state_publisher-5] killing on exit
[robot_state_publisher-4] killing on exit
[franka_control-2] killing on exit
[state_controller_spawner-3] killing on exit
[INFO] [1649316730.665925]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649316730.666959]: Stopping all controllers...
[WARN] [1649316730.788713]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
^C^C^C^C^C[rosout-1] killing on exit
^C[master] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done

In rviz terminal:

rviz
[ INFO] [1649316668.124811065]: rviz version 1.14.14
[ INFO] [1649316668.124860330]: compiled against Qt version 5.12.8
[ INFO] [1649316668.124869968]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1649316668.130692603]: Forcing OpenGl version 0.
[ INFO] [1649316668.250770873]: Stereo is NOT SUPPORTED
[ INFO] [1649316668.250813454]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1649316668.250826933]: OpenGl version: 3,1 (GLSL 1,4).
[ WARN] [1649316675.400261540]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400288441]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400295350]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400300885]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400306680]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400312125]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400319086]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400325416]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400331738]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649316675.400343055]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400349986]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400355348]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400360658]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400367048]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400374073]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400380658]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400387269]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400393738]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400400079]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400406332]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400412976]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400419455]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649316675.400426127]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649316675.400531886]: Loading robot model 'panda'...
[ INFO] [1649316675.430598397]: Starting planning scene monitor
[ INFO] [1649316675.431765231]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1649316675.639176124]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1649316680.654255710]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1649316680.654355926]: Constructing new MoveGroup connection for group 'panda_arm' in namespace ''
[ INFO] [1649316701.766022162]: Ready to take commands for planning group panda_arm.
[ INFO] [1649316710.608907396]: ABORTED: Solution found but controller failed during execution

And the echo seems to work properly:


rostopic echo /move_group/status
header:
  seq: 58
  stamp:
    secs: 1649316965
    nsecs: 597271210
  frame_id: ''
status_list: []
---
header:
  seq: 59
  stamp:
    secs: 1649316965
    nsecs: 797292258
  frame_id: ''
status_list: []
---

xav12358 · Answer 17 · Thu Apr 07 2022 16:15:22 GMT+0800 (China Standard Time)

I also try to launch the move_to_start.py script in an other terminal and I get that error:

python3 ./move_to_start.py 
[ WARN] [1649319197.675937688]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676368812]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676382001]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676388838]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676394999]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676402036]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676408988]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676414390]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676420183]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676429410]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649319197.676439753]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676448024]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676454929]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676461893]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676469211]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676474614]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676480563]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676487518]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676494033]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676500727]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676507102]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676514243]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676521013]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676527276]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676535759]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676543101]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676549331]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649319197.676555744]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649319197.676645355]: Loading robot model 'panda'...
[ WARN] [1649319197.676703177]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1649319197.676715256]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ INFO] [1649319198.717395917]: Ready to take commands for planning group panda_arm.
[ INFO] [1649319198.768777494]: ABORTED: Solution found but controller failed during execution

Robert Haschke · Answer 18 · Thu Apr 07 2022 16:30:39 GMT+0800 (China Standard Time)

You are missing controllers:

[ERROR] [1649316710.575224828]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1649316710.575238790]: Known controllers and their joints:

because the corresponding controller_spawner fails:

[WARN] [1649316697.072075]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly

The reason for this is in panda_moveit_config/ros_controllers.launch, where the controller spawner is started within the namespace ns="/$(arg arm_id)":

  <!-- Load and start the controllers -->
  <node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
        args="$(arg transmission)_joint_trajectory_controller" />

The root cause of that problem is that @frankaemika uses a namespace (arm_id = panda) for Gazebo to run ROS control in, but doesn't use that namespace for the real robot. Please remove the namespace attribute.

xav12358 · Answer 19 · Thu Apr 07 2022 17:26:09 GMT+0800 (China Standard Time)

Thank you. SO I remove in ros_controller.launch that line:


<!-- Load and start the controllers -->
  <node ns="/$(arg arm_id)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
        args="$(arg transmission)_joint_trajectory_controller" />

And I get that error:

[ERROR] [1649322376.865258245]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1649322376.865276988]: Known controllers and their joints:
controller 'franka_gripper' controls joints:
  panda_finger_joint1

[ERROR] [1649322376.865314632]: Apparently trajectory initialization failed

xav12358 · Answer 20 · Thu Apr 07 2022 17:44:42 GMT+0800 (China Standard Time)

I also juste remove ns="/$(arg arm_id)" in ros_controller.launch

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2
... logging to /home/dac/.ros/log/8e190288-b656-11ec-bcad-33cf265bcff1/roslaunch-dac-8793.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dac:36445/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/arm_id: panda
 * /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
 * /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
 * /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: joint_impedance
 * /franka_control/joint_limit_warning_threshold: 1
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/realtime_config: enforce
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_gripper/default_grasp_epsilon/inner: 0.005
 * /franka_gripper/default_grasp_epsilon/outer: 0.005
 * /franka_gripper/default_speed: 0.1
 * /franka_gripper/joint_names: ['panda_finger_jo...
 * /franka_gripper/publish_rate: 30
 * /franka_gripper/robot_ip: 172.16.0.2
 * /franka_gripper/stop_at_shutdown: False
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'effort...
 * /move_group/default_planning_pipeline: ompl
 * /move_group/disable_capabilities: 
 * /move_group/max_range: 5.0
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_pipelines/chomp/collision_clearance: 0.2
 * /move_group/planning_pipelines/chomp/collision_threshold: 0.07
 * /move_group/planning_pipelines/chomp/enable_failure_recovery: False
 * /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
 * /move_group/planning_pipelines/chomp/learning_rate: 0.01
 * /move_group/planning_pipelines/chomp/max_iterations: 200
 * /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
 * /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
 * /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
 * /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
 * /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
 * /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
 * /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/chomp/ridge_factor: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
 * /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
 * /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
 * /move_group/planning_pipelines/chomp/use_stochastic_descent: True
 * /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
 * /move_group/planning_pipelines/ompl/panda_arm/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_arm/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/panda_hand/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/planning_pipelines/ompl/panda_manipulator/planner_configs: ['AnytimePathShor...
 * /move_group/planning_pipelines/ompl/panda_manipulator/projection_evaluator: joints(panda_join...
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
 * /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
 * /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
 * /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
 * /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters: 
 * /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/sense_for_plan/max_safe_path_cost: 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
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.05
 * /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/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/default_acceleration_scaling_factor: 0.1
 * /robot_description_planning/default_velocity_scaling_factor: 0.1
 * /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: noetic
 * /rosversion: 1.15.14

NODES
  /
    franka_control (franka_control/franka_control_node)
    franka_gripper (franka_gripper/franka_gripper_node)
    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)
    state_controller_spawner (controller_manager/spawner)
  /move_group/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [8867]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8e190288-b656-11ec-bcad-33cf265bcff1
process[rosout-1]: started with pid [8893]
started core service [/rosout]
process[franka_gripper-2]: started with pid [8900]
process[franka_control-3]: started with pid [8901]
process[state_controller_spawner-4]: started with pid [8902]
[ INFO] [1649324342.283909797]: franka_gripper_node: Found default_speed 0.1
[ INFO] [1649324342.284724558]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
process[robot_state_publisher-5]: started with pid [8908]
process[joint_state_publisher-6]: started with pid [8915]
process[move_group/controller_spawner-7]: started with pid [8921]
process[move_group-8]: started with pid [8922]
[ WARN] [1649324342.366358345]: FrankaHW: 
	panda_joint2: 4.301865 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687718) 
[ WARN] [1649324342.421065484]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421734791]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421755275]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421768219]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421780868]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421793315]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421805489]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421817580]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421829804]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421844527]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649324342.421863963]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421876791]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421888582]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421900623]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421912752]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421924702]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421936656]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421948387]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421960667]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421972622]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421984327]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.421996209]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422008635]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422020155]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422033214]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422044856]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422056826]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649324342.422068601]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649324342.422242502]: Loading robot model 'panda'...
[ WARN] [1649324342.422389265]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1649324342.422412016]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ INFO] [1649324342.518571894]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649324342.520313529]: Listening to 'joint_states' for joint states
[ INFO] [1649324342.523012814]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649324342.523058648]: Starting planning scene monitor
[ INFO] [1649324342.524269097]: Listening to '/planning_scene'
[ INFO] [1649324342.524353432]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649324342.525622230]: Listening to '/collision_object'
[ INFO] [1649324342.527234137]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649324342.527824944]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649324342.528658679]: Loading planning pipeline 'chomp'
[ INFO] [1649324342.561078985]: Using planning interface 'CHOMP'
[ INFO] [1649324342.566161874]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649324342.567907846]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649324342.568596633]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649324342.569070653]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649324342.569289974]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649324342.569629785]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649324342.569714624]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649324342.569746170]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649324342.569766714]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649324342.569789453]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649324342.569812673]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649324342.569831904]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649324342.571063063]: Loading planning pipeline 'ompl'
[ INFO] [1649324342.634950146]: Using planning interface 'OMPL'
[ INFO] [1649324342.636548552]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649324342.637081146]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649324342.637337325]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649324342.637623958]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649324342.637860147]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649324342.638047687]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649324342.638088737]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649324342.638102786]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649324342.638116640]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649324342.638127294]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649324342.638138460]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649324342.638149646]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649324342.638224849]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1649324342.639712789]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::CommandPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
[ERROR] [1649324342.639806729]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1649324342.747269]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649324342.762748]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649324342.764892]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649324342.767349]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649324342.770147]: Loading controller: franka_state_controller
[INFO] [1649324342.783572]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649324342.787963]: Started controllers: franka_state_controller
[ WARN] [1649324347.366686215]: FrankaHW: 
	panda_joint2: 4.301770 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687720) 
[ WARN] [1649324347.650315842]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649324352.367511715]: FrankaHW: 
	panda_joint2: 4.302172 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687713) 
[ WARN] [1649324353.652482737]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649324357.371514357]: FrankaHW: 
	panda_joint2: 4.301923 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687717) 
[ERROR] [1649324359.652781465]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory

[ INFO] [1649324359.969324187]: Added GripperCommand controller for franka_gripper
[ INFO] [1649324359.969533308]: Returned 1 controllers in list
[ INFO] [1649324359.975800579]: Trajectory execution is managing controllers
[ INFO] [1649324359.975855187]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1649324360.010474267]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1649324360.010538149]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649324360.010561935]: MoveGroup context initialization complete

You can start planning now!



[ WARN] [1649324362.372331076]: FrankaHW: 
	panda_joint2: 4.302033 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687715) 
[ WARN] [1649324367.373192772]: FrankaHW: 
	panda_joint2: 4.302147 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687713) 



[ WARN] [1649324372.374095409]: FrankaHW: 
	panda_joint2: 4.302033 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.687715) 
^C[move_group-8] killing on exit
[move_group/controller_spawner-7] killing on exit
[joint_state_publisher-6] killing on exit
[robot_state_publisher-5] killing on exit
[state_controller_spawner-4] killing on exit
[franka_control-3] killing on exit
[franka_gripper-2] killing on exit
[INFO] [1649324372.632870]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649324372.634642]: Stopping all controllers...
^C[WARN] [1649324372.827723]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
^C^C^C[WARN] [1649324373.237522]: Controller Spawner couldn't find the expected controller_manager ROS interface.
^C^C[rosout-1] killing on exit
^C^C[master] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done

Robert Haschke · Answer 21 · Thu Apr 07 2022 17:58:09 GMT+0800 (China Standard Time)

Controllers still seem not active yet. Please check controller status via http://wiki.ros.org/rqt_controller_manager and http://wiki.ros.org/rqt_joint_trajectory_controller.

xav12358 · Answer 22 · Thu Apr 07 2022 18:06:06 GMT+0800 (China Standard Time)

Here is the result:

In log it is written:

[ERROR] [1649325896.065172693]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory

Robert Haschke · Answer 23 · Thu Apr 07 2022 18:42:19 GMT+0800 (China Standard Time)

Please start the desired controller manually. I don‘t understand, why the controller isn‘t started by the controller spawner in ros_controllers.launch. You should investigate this command.

arnauddomes · Answer 24 · Thu Apr 07 2022 18:53:34 GMT+0800 (China Standard Time)

What could I find the list of controller? and how could I launch it?

xav12358 · Answer 25 · Thu Apr 07 2022 19:04:04 GMT+0800 (China Standard Time)

Is it roslaunch that example?
roslaunch franka_example_controllers cartesian_pose_example_controller.launch robot_ip:=172.16.0.2 debug:=true

In my franka-ros_franka_control.launch file I get:


<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />
  <arg name="load_gripper" default="true" />

  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />

  <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
    <arg name="robot_ip" value="$(arg robot_ip)" />
  </include>

  <node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
    <rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
    <param name="robot_ip" value="$(arg robot_ip)" />
  </node>

  <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
  <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
    <param name="rate" value="30"/>
  </node>
</launch>

franka_control_node is used. I try to modify with default_controllers.yaml but I get that error:

roslaunch franka_control franka_control.launch robot_ip:=172.16.0.2
... logging to /home/mdt/.ros/log/a451cf0a-b663-11ec-bcad-33cf265bcff1/roslaunch-mdt-14834.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mdt:36767/

SUMMARY
========

PARAMETERS
 * /effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/effort_joint_trajectory_controller/constraints/goal_time: 0.5
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint1/d: 30
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint1/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint1/p: 600
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint2/d: 30
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint2/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint2/p: 600
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint3/d: 30
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint3/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint3/p: 600
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint4/d: 30
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint4/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint4/p: 600
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint5/d: 10
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint5/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint5/p: 250
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint6/d: 10
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint6/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint6/p: 150
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint7/d: 5
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint7/i: 0
 * /franka_control/effort_joint_trajectory_controller/gains/panda_joint7/p: 50
 * /franka_control/effort_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /franka_control/effort_joint_trajectory_controller/type: effort_controller...
 * /franka_control/franka_state_controller/arm_id: panda
 * /franka_control/franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_control/franka_state_controller/publish_rate: 30
 * /franka_control/franka_state_controller/type: franka_control/Fr...
 * /franka_control/position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /franka_control/position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /franka_control/position_joint_trajectory_controller/type: position_controll...
 * /franka_control/robot_ip: 172.16.0.2
 * /franka_gripper/default_grasp_epsilon/inner: 0.005
 * /franka_gripper/default_grasp_epsilon/outer: 0.005
 * /franka_gripper/default_speed: 0.1
 * /franka_gripper/joint_names: ['panda_finger_jo...
 * /franka_gripper/publish_rate: 30
 * /franka_gripper/robot_ip: 172.16.0.2
 * /franka_gripper/stop_at_shutdown: False
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    franka_control (franka_control/franka_control_node)
    franka_gripper (franka_gripper/franka_gripper_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [14874]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a451cf0a-b663-11ec-bcad-33cf265bcff1
process[rosout-1]: started with pid [14899]
started core service [/rosout]
process[franka_gripper-2]: started with pid [14906]
process[franka_control-3]: started with pid [14907]
process[state_controller_spawner-4]: started with pid [14908]
[ INFO] [1649329962.522934031]: franka_gripper_node: Found default_speed 0.1
[ INFO] [1649329962.523793445]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
process[robot_state_publisher-5]: started with pid [14913]
process[joint_state_publisher-6]: started with pid [14920]
[ERROR] [1649329962.533041660]: Invalid or no joint_names parameters provided
[ERROR] [1649329962.534046410]: FrankaHW: Failed to parse all required parameters.
[ERROR] [1649329962.534076046]: franka_control_node: Failed to initialize FrankaHW class. Shutting down!
[INFO] [1649329962.881370]: Controller Spawner: Waiting for service controller_manager/load_controller
================================================================================REQUIRED process [franka_control-3] has died!
process has died [pid 14907, exit code 1, cmd /home/mdt/dev/catkin_ws/devel/lib/franka_control/franka_control_node __name:=franka_control __log:=/home/mdt/.ros/log/a451cf0a-b663-11ec-bcad-33cf265bcff1/franka_control-3.log].
log file: /home/mdt/.ros/log/a451cf0a-b663-11ec-bcad-33cf265bcff1/franka_control-3*.log
Initiating shutdown!
================================================================================
[joint_state_publisher-6] killing on exit
[robot_state_publisher-5] killing on exit
[state_controller_spawner-4] killing on exit
[franka_control-3] killing on exit
[franka_gripper-2] killing on exit
[WARN] [1649329963.590286]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Robert Haschke · Answer 26 · Thu Apr 07 2022 20:03:29 GMT+0800 (China Standard Time)

@arnauddomes and @xav12358, please open a new issue to continue the conversation. You kind of hijacked this thread...

xav12358 · Answer 27 · Thu Apr 07 2022 20:14:09 GMT+0800 (China Standard Time)

Ok I will create a new issue

Rick Staa · Answer 28 · Tue Nov 21 2023 17:11:05 GMT+0800 (China Standard Time)

@rhaschke This issue is also being tracked at moveit/moveit_tutorials#525. Let's close it here?