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@umhan35
Created April 23, 2019 15:41
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started roslaunch server http://10.42.0.1:37181/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/arm/longest_valid_segment_fraction: 0.05
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(shoulder_p...
* /move_group/arm_with_torso/longest_valid_segment_fraction: 0.05
* /move_group/arm_with_torso/planner_configs: ['SBLkConfigDefau...
* /move_group/arm_with_torso/projection_evaluator: joints(torso_lift...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/gripper/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_frame: base_link
* /move_group/octomap_resolution: 0.01
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/sensors: [{'point_subsampl...
* /move_group/start_state_max_bounds_error: 0.1
* /moveit_sensor_manager: fetch
* /robot_description_kinematics/arm/kinematics_solver: fetch_arm/IKFastK...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/arm_with_torso/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/arm_with_torso/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm_with_torso/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm_with_torso/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/elbow_flex_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_flex_joint/max_acceleration: 1.5
* /robot_description_planning/joint_limits/elbow_flex_joint/max_velocity: 1.5
* /robot_description_planning/joint_limits/forearm_roll_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/forearm_roll_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/forearm_roll_joint/max_acceleration: 1.5
* /robot_description_planning/joint_limits/forearm_roll_joint/max_velocity: 1.57
* /robot_description_planning/joint_limits/left_gripper_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/left_gripper_joint/has_velocity_limits: False
* /robot_description_planning/joint_limits/left_gripper_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/left_gripper_joint/max_velocity: 0
* /robot_description_planning/joint_limits/right_gripper_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/right_gripper_joint/has_velocity_limits: False
* /robot_description_planning/joint_limits/right_gripper_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/right_gripper_joint/max_velocity: 0
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 1.0
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 1.0
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 1.5
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 1.256
* /robot_description_planning/joint_limits/torso_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/torso_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/torso_lift_joint/max_acceleration: 0.5
* /robot_description_planning/joint_limits/torso_lift_joint/max_velocity: 0.1
* /robot_description_planning/joint_limits/upperarm_roll_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/upperarm_roll_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/upperarm_roll_joint/max_acceleration: 1.5
* /robot_description_planning/joint_limits/upperarm_roll_joint/max_velocity: 1.57
* /robot_description_planning/joint_limits/wrist_flex_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_flex_joint/max_acceleration: 2.5
* /robot_description_planning/joint_limits/wrist_flex_joint/max_velocity: 2.26
* /robot_description_planning/joint_limits/wrist_roll_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_roll_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_roll_joint/max_acceleration: 2.5
* /robot_description_planning/joint_limits/wrist_roll_joint/max_velocity: 2.26
* /robot_description_semantic: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.3
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://fetch1068:11311/
running rosparam delete /move_group/sensors
process[move_group-1]: started with pid [10328]
[ INFO] [ros.moveit_core.robot_model] [core::RobotModel::buildModel]: Loading robot model 'fetch'...
[ INFO] [ros.moveit_core.robot_model] [core::JointModel* moveit::core::RobotModel::constructJointModel]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [ros.moveit_ros_planning.kinematics_plugin_loader] [core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [ros.kdl_parser] [treeFromUrdfModel]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startPublishingPlanningScene]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [ros.moveit_ros_move_group] [main]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startSceneMonitor]: Starting planning scene monitor
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startSceneMonitor]: Listening to '/planning_scene'
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Listening to '/collision_object' using message notifier with target frame 'base_link '
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startWorldGeometryMonitor]: Listening to '/planning_scene_world' for planning scene world geometry
[DEBUG] [ros.moveit_ros_perception] [OccupancyMapMonitor::initialize]: Using resolution = 0.010000 m for building octomap
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::ClassLoader]: Creating ClassLoader, base = occupancy_map_monitor::OccupancyMapUpdater, address = 0x55f7767e5d30
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [map<std::__cxx11::basic_string<char>, pluginlib::ClassDesc> pluginlib::ClassLoader<T>::determineAvailableClasses]: Entering determineAvailableClasses()...
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: Processing xml file /opt/ros/melodic/share/moveit_ros_perception/pointcloud_octomap_updater_plugin_description.xml...
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: XML file specifies lookup name (i.e. magic name) = occupancy_map_monitor/PointCloudOctomapUpdater.
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: Processing xml file /opt/ros/melodic/share/moveit_ros_perception/depth_image_octomap_updater_plugin_description.xml...
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::processSingleXMLPluginFile]: XML file specifies lookup name (i.e. magic name) = occupancy_map_monitor/DepthImageOctomapUpdater.
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [map<std::__cxx11::basic_string<char>, pluginlib::ClassDesc> pluginlib::ClassLoader<T>::determineAvailableClasses]: Exiting determineAvailableClasses()...
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [ClassLoader<T>::ClassLoader]: Finished constructring ClassLoader, base = occupancy_map_monitor::OccupancyMapUpdater, address = 0x55f7767e5d30
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: Attempting to create managed (unique) instance for class occupancy_map_monitor/PointCloudOctomapUpdater.
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Class occupancy_map_monitor/PointCloudOctomapUpdater maps to library libmoveit_pointcloud_octomap_updater in classes_available_.
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Iterating through all possible paths where libmoveit_pointcloud_octomap_updater could be located...
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /home/zhao/Dropbox/fetchit/catkin_ws/devel/lib/libmoveit_pointcloud_octomap_updater.so
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /home/zhao/Dropbox/fetchit/catkin_ws/devel/lib/libmoveit_pointcloud_octomap_updater.so
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Checking path /opt/ros/melodic/lib/libmoveit_pointcloud_octomap_updater.so
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [__cxx11::string pluginlib::ClassLoader<T>::getClassLibraryPath]: Library libmoveit_pointcloud_octomap_updater found at explicit path /opt/ros/melodic/lib/libmoveit_pointcloud_octomap_updater.so.
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: occupancy_map_monitor/PointCloudOctomapUpdater maps to real class type occupancy_map_monitor::PointCloudOctomapUpdater
[DEBUG] [ros.moveit_ros_perception.pluginlib.ClassLoader] [UniquePtr<T> pluginlib::ClassLoader<T>::createUniqueInstance]: std::unique_ptr to object of real type occupancy_map_monitor::PointCloudOctomapUpdater created.
[ INFO] [ros.moveit_ros_perception] [PointCloudOctomapUpdater::start]: Listening to '/rh/points_for_moveit_octomap' using message filter with target frame 'base_link '
[ INFO] [ros.moveit_ros_planning.planning_scene_monitor] [PlanningSceneMonitor::startStateMonitor]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [ros.moveit_planners_ompl] [OMPLInterface::OMPLInterface]: Initializing OMPL interface using ROS parameters
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning interface 'OMPL'
[ INFO] [ros.moveit_ros_planning] [FixWorkspaceBounds::FixWorkspaceBounds]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [ros.moveit_ros_planning] [FixStartStateBounds::FixStartStateBounds]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [ros.moveit_ros_planning] [FixStartStateBounds::FixStartStateBounds]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [ros.moveit_ros_planning] [FixStartStateCollision::FixStartStateCollision]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [ros.moveit_ros_planning] [PlanningPipeline::configure]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added FollowJointTrajectory controller for arm_with_torso_controller
[ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::MoveItSimpleControllerManager]: Added GripperCommand controller for gripper_controller
[ INFO] [ros.moveit_simple_controller_manager.SimpleControllerManager] [MoveItSimpleControllerManager::getControllersList]: Returned 3 controllers in list
[ INFO] [ros.moveit_ros_planning.trajectory_execution_manager] [TrajectoryExecutionManager::initialize]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [ros.moveit_ros_move_group] [MoveGroupExe::configureCapabilities]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [ros.moveit_ros_move_group] [MoveGroupContext::status]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [ros.moveit_ros_move_group] [MoveGroupContext::status]: MoveGroup context initialization complete
You can start planning now!
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