Can't run move_to_start example
Opened this issue · 3 comments
xav12358 commented
Hello,
I try to run move_to_start launch example.
Here is the full log:
roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2
... logging to /home/dev/.ros/log/8d87df00-b4ef-11ec-ba51-1bda6a381553/roslaunch-dev-57548.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://dev:44965/
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: 0.1
* /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
/
controller_spawner (controller_manager/spawner)
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 [57622]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8d87df00-b4ef-11ec-ba51-1bda6a381553
process[rosout-1]: started with pid [57647]
started core service [/rosout]
process[franka_control-2]: started with pid [57654]
process[state_controller_spawner-3]: started with pid [57655]
process[robot_state_publisher-4]: started with pid [57656]
process[joint_state_publisher-5]: started with pid [57657]
process[controller_spawner-6]: started with pid [57658]
process[panda/controller_spawner-7]: started with pid [57664]
process[move_group-8]: started with pid [57669]
process[move_to_start-9]: started with pid [57671]
[ WARN] [1649170151.836047544]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836660706]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836690604]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836711454]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836727705]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836745730]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836764781]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836780657]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836796430]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170151.836818848]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836835420]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836850864]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836865944]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836880152]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836894127]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836908823]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836923989]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836940521]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836956532]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836972506]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.836989031]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.837006462]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170151.837022324]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649170151.837172182]: Loading robot model 'panda'...
[ INFO] [1649170152.023628174]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649170152.025316722]: Listening to 'joint_states' for joint states
[ INFO] [1649170152.027838688]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649170152.027859396]: Starting planning scene monitor
[ INFO] [1649170152.029066611]: Listening to '/planning_scene'
[ INFO] [1649170152.029085803]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649170152.030290328]: Listening to '/collision_object'
[ INFO] [1649170152.031602832]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649170152.032116272]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649170152.032651382]: Loading planning pipeline 'chomp'
[ INFO] [1649170152.042327741]: Using planning interface 'CHOMP'
[ INFO] [1649170152.044622671]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649170152.044950418]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649170152.045094979]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649170152.045241270]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649170152.045459731]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649170152.045643964]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649170152.045666923]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649170152.045678204]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649170152.045688659]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649170152.045698521]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649170152.045707264]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649170152.045717886]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649170152.046272650]: Loading planning pipeline 'ompl'
[ INFO] [1649170152.079741822]: Using planning interface 'OMPL'
[ INFO] [1649170152.081127035]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649170152.081477619]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649170152.081709375]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649170152.081933921]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649170152.082131355]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649170152.082319370]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649170152.082343384]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649170152.082354915]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649170152.082364291]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649170152.082373798]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649170152.082383118]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649170152.082393293]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649170152.082452139]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ INFO] [1649170152.085136741]: Reading limits from namespace /robot_description_planning
[ INFO] [1649170152.097878616]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1649170152.097907166]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
[ INFO] [1649170152.098887899]: Registered Algorithm [CIRC]
[ INFO] [1649170152.098905380]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
[ INFO] [1649170152.099659764]: Registered Algorithm [LIN]
[ INFO] [1649170152.099678382]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1649170152.100500989]: Registered Algorithm [PTP]
[ INFO] [1649170152.100525742]: Using planning interface 'Pilz Industrial Motion Planner'
[INFO] [1649170152.204689]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649170152.206309]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649170152.207616]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649170152.208776]: Loading controller: franka_state_controller
[INFO] [1649170152.214958]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649170152.218869]: Started controllers: franka_state_controller
[INFO] [1649170152.222570]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649170152.236792]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649170152.239285]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649170152.241026]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649170152.242134]: Loading controller: position_joint_trajectory_controller
[INFO] [1649170152.253966]: Controller Spawner: Loaded controllers: position_joint_trajectory_controller
[ INFO] [1649170152.256300357]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=joint_impedance
[INFO] [1649170152.258791]: Started controllers: position_joint_trajectory_controller
[ WARN] [1649170157.107997758]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649170163.108200633]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1649170169.108395059]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649170174.123003416]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649170180.123182617]: Waiting for franka_gripper/gripper_action to come up
[WARN] [1649170182.391641]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-7] process has finished cleanly
log file: /home/dev/.ros/log/8d87df00-b4ef-11ec-ba51-1bda6a381553/panda-controller_spawner-7*.log
[ERROR] [1649170186.123327188]: Action client not connected: franka_gripper/gripper_action
[ INFO] [1649170186.130976888]: Returned 0 controllers in list
[ INFO] [1649170186.135726155]: Trajectory execution is managing controllers
[ INFO] [1649170186.135759205]: 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'...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1649170186.164230957]: initialize move group sequence action
[ INFO] [1649170186.167532483]: Reading limits from namespace /robot_description_planning
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1649170186.177492456]: Reading limits from namespace /robot_description_planning
[ INFO] [1649170186.188664067]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
* - SequenceAction
* - SequenceService
********************************************************
[ INFO] [1649170186.188773053]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649170186.188794331]: MoveGroup context initialization complete
You can start planning now!
[ WARN] [1649170186.206575633]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.206991457]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207002874]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207010556]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207017493]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207023506]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207029760]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207036079]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207042652]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649170186.207049987]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207057014]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207063154]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207069637]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207076158]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207082731]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207089666]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207096023]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207102434]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207108881]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207115092]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207121570]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207128118]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649170186.207134509]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649170186.207197948]: Loading robot model 'panda'...
[ INFO] [1649170187.397566461]: Ready to take commands for planning group panda_arm.
[ INFO] [1649170187.421143929]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1649170187.421378088]: Planning attempt 1 of at most 1
[ INFO] [1649170187.422796759]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1649170187.423185072]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649170187.435007246]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649170187.435056855]: Solution found in 0.011969 seconds
[ INFO] [1649170187.440324965]: SimpleSetup: Path simplification took 0.005171 seconds and changed from 3 to 2 states
[ INFO] [1649170187.440859466]: Returned 0 controllers in list
[ERROR] [1649170187.440883418]: 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] [1649170187.440897266]: Known controllers and their joints:
[ERROR] [1649170187.440916690]: Apparently trajectory initialization failed
[ INFO] [1649170187.441057297]: ABORTED: Solution found but controller failed during execution
================================================================================REQUIRED process [move_to_start-9] has died!
process has finished cleanly
log file: /home/dev/.ros/log/8d87df00-b4ef-11ec-ba51-1bda6a381553/move_to_start-9*.log
Initiating shutdown!
================================================================================
[move_to_start-9] killing on exit
[move_group-8] killing on exit
[controller_spawner-6] 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] [1649170188.439770]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649170188.440090]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649170188.440994]: Stopping all controllers...
[INFO] [1649170188.441619]: Stopping all controllers...
[WARN] [1649170188.519227]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[WARN] [1649170188.519233]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
After a few secs, it crashes. I am on ubuntu 20.04 and I use Neotic version of franka_ros.
Here are the topic list during the execution:
rostopic list
/attached_collision_object
/collision_object
/effort_joint_trajectory_controller/follow_joint_trajectory/cancel
/effort_joint_trajectory_controller/follow_joint_trajectory/feedback
/effort_joint_trajectory_controller/follow_joint_trajectory/goal
/effort_joint_trajectory_controller/follow_joint_trajectory/result
/effort_joint_trajectory_controller/follow_joint_trajectory/status
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/joint_states
/move_group/display_contacts
/move_group/display_planned_path
/move_group/monitored_planning_scene
/move_group/planning_pipelines/ompl/ompl/parameter_descriptions
/move_group/planning_pipelines/ompl/ompl/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/status
/planning_scene
/planning_scene_world
/position_joint_trajectory_controller/command
/position_joint_trajectory_controller/follow_joint_trajectory/cancel
/position_joint_trajectory_controller/follow_joint_trajectory/feedback
/position_joint_trajectory_controller/follow_joint_trajectory/goal
/position_joint_trajectory_controller/follow_joint_trajectory/result
/position_joint_trajectory_controller/follow_joint_trajectory/status
/position_joint_trajectory_controller/state
/rosout
/rosout_agg
/tf
/tf_static
moshuilanting commented
hello，I meet the same problem, when I roslaunch the move_to_start example on Ubuntu 18.04 with ros melodic.
Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
Action client not connected: franka_gripper/gripper_action
marcbone commented
Did you install franka_ros from source or over apt?
Maverobot commented
@moshuilanting @xav12358 Does this issue still exist for you?