Dangerous move after apply force
Opened this issue · 0 comments
dev4l commented
Hello
I try to apply force on robot arm. So I achieve to apply the force up to 35 N (according to /franka_state_controller/F_ext).
After that move I use the movegroup and the stop function to stop it. But when I rqt_plot the F_ext the force is still apply event after the stop command.
Right after when I try the other move and the arm get an elastic feedback and oscillation.
My question is how to stop properly the force apply before doing an other move ?
Here is the launch log:
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/tot/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://tot:36949/
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: [50.0, 50.0, 50.0...
* /franka_control/collision_config/lower_force_thresholds_nominal: [50.0, 50.0, 50.0...
* /franka_control/collision_config/lower_torque_thresholds_acceleration: [50.0, 50.0, 50.0...
* /franka_control/collision_config/lower_torque_thresholds_nominal: [50.0, 50.0, 50.0...
* /franka_control/collision_config/upper_force_thresholds_acceleration: [50.0, 50.0, 50.0...
* /franka_control/collision_config/upper_force_thresholds_nominal: [50.0, 50.0, 50.0...
* /franka_control/collision_config/upper_torque_thresholds_acceleration: [50.0, 50.0, 50.0...
* /franka_control/collision_config/upper_torque_thresholds_nominal: [50.0, 50.0, 50.0...
* /franka_control/cutoff_frequency: 100
* /franka_control/internal_controller: cartesian_impedance
* /franka_control/joint_limit_warning_threshold: 5
* /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': 'positi...
* /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)
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)
rviz_tot_2454938_8140913206311614123 (rviz/rviz)
state_controller_spawner (controller_manager/spawner)
virtual_joint_broadcaster_0 (tf2_ros/static_transform_publisher)
auto-starting new master
process[master]: started with pid [2454995]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 65bae582-4480-11ed-b13a-dd6ef78a3a35
process[rosout-1]: started with pid [2455020]
started core service [/rosout]
process[franka_gripper-2]: started with pid [2455027]
process[franka_control-3]: started with pid [2455028]
process[state_controller_spawner-4]: started with pid [2455029]
process[robot_state_publisher-5]: started with pid [2455030]
[ INFO] [1664955378.068866946]: franka_gripper_node: Found default_speed 0.1
process[joint_state_publisher-6]: started with pid [2455032]
[ INFO] [1664955378.069863322]: franka_gripper_node: Found default_grasp_epsilon inner: 0.005, outer: 0.005
terminate called after throwing an instance of 'franka::NetworkException'
what(): libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk.
process[controller_spawner-7]: started with pid [2455039]
process[virtual_joint_broadcaster_0-8]: started with pid [2455044]
process[move_group-9]: started with pid [2455050]
process[rviz_tot_2454938_8140913206311614123-10]: started with pid [2455052]
[ WARN] [1664955378.125550405]: FrankaHW:
panda_joint1: 69.488491 degrees to joint limits (limits: [-2.897300, 2.897300] q: 1.684497)
panda_joint2: 97.236650 degrees to joint limits (limits: [-1.762800, 1.762800] q: -0.065700)
panda_joint3: 1.489955 degrees to joint limits (limits: [-2.897300, 2.897300] q: -2.871295)
panda_joint4: 82.872345 degrees to joint limits (limits: [-3.071800, -0.069800] q: -1.516195)
panda_joint5: 164.814703 degrees to joint limits (limits: [-2.897300, 2.897300] q: -0.020741)
panda_joint6: 94.537140 degrees to joint limits (limits: [-0.017500, 3.752500] q: 1.632484)
panda_joint7: 155.681988 degrees to joint limits (limits: [-2.897300, 2.897300] q: 0.180137)
[ WARN] [1664955378.156893097]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157605532]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157623735]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157634315]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157643760]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157653236]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157662561]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157671941]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157681037]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157691153]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1664955378.157705457]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157714961]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157756972]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157815378]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157866776]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157919557]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.157969633]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158019819]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158070931]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158121215]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158170865]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158220534]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158271460]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158322585]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158372983]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158423880]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158473528]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1664955378.158524233]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1664955378.158757250]: Loading robot model 'panda'...
[ WARN] [1664955378.159001153]: 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] [1664955378.159072713]: 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] [1664955378.237652613]: rviz version 1.14.14
[ INFO] [1664955378.237792461]: compiled against Qt version 5.12.8
[ INFO] [1664955378.237840411]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1664955378.249253052]: Forcing OpenGl version 0.
[ INFO] [1664955378.255336723]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1664955378.257110081]: Listening to 'joint_states' for joint states
[ INFO] [1664955378.260302858]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1664955378.260335781]: Starting planning scene monitor
[ INFO] [1664955378.261698967]: Listening to '/planning_scene'
[ INFO] [1664955378.261727972]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1664955378.263046771]: Listening to '/collision_object'
[ INFO] [1664955378.264299368]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1664955378.264845944]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1664955378.265436699]: Loading planning pipeline 'chomp'
[franka_gripper-2] process has died [pid 2455027, exit code -6, cmd /home/tot/dev/3003-tot/catkin/devel/lib/franka_gripper/franka_gripper_node __name:=franka_gripper __log:=/home/tot/.ros/log/65bae582-4480-11ed-b13a-dd6ef78a3a35/franka_gripper-2.log].
log file: /home/tot/.ros/log/65bae582-4480-11ed-b13a-dd6ef78a3a35/franka_gripper-2*.log
[ INFO] [1664955378.297941113]: Using planning interface 'CHOMP'
[ INFO] [1664955378.300341894]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1664955378.300645106]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1664955378.300883497]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1664955378.301153470]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1664955378.301451947]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1664955378.301710780]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1664955378.301755025]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1664955378.301777908]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1664955378.301794592]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1664955378.301810570]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1664955378.301825932]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1664955378.301840910]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1664955378.302685223]: Loading planning pipeline 'ompl'
[ INFO] [1664955378.345970548]: Using planning interface 'OMPL'
[ INFO] [1664955378.347140026]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1664955378.347385179]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1664955378.347605420]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1664955378.347783642]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1664955378.347936491]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1664955378.348094491]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1664955378.348119542]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1664955378.348132787]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1664955378.348146240]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1664955378.348157612]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1664955378.348167866]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1664955378.348178758]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1664955378.348218660]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1664955378.349092924]: 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] [1664955378.349125772]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1664955378.366956]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1664955378.369163]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1664955378.371013]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1664955378.373316]: Loading controller: position_joint_trajectory_controller
[INFO] [1664955378.389746]: Controller Spawner: Loaded controllers: position_joint_trajectory_controller
[ INFO] [1664955378.392237409]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=cartesian_impedance
[INFO] [1664955378.392626]: Started controllers: position_joint_trajectory_controller
[ INFO] [1664955378.435726126]: Stereo is NOT SUPPORTED
[ INFO] [1664955378.435780155]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1664955378.435796908]: OpenGl version: 3,1 (GLSL 1,4).
[INFO] [1664955378.461051]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1664955378.463162]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1664955378.464435]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1664955378.465585]: Loading controller: franka_state_controller
[INFO] [1664955378.471952]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1664955378.474619]: Started controllers: franka_state_controller
[ INFO] [1664955378.652998238]: Added FollowJointTrajectory controller for position_joint_trajectory_controller
And my launch files:
move_to_start.launch:
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" />
<include file="$(find panda_moveit_config)/launch/franka_control.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)"/>
</include>
</launch>
In panda_moveit_config/launch/franka_control.launch
<?xml version="1.0"?>
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" />
<!-- Launch real-robot control -->
<include file="$(find franka_control)/launch/franka_control.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
</include>
<!-- By default use joint position controllers -->
<arg name="transmission" default="position" />
<!-- Start ROS controllers -->
<include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
<!-- as well as MoveIt demo -->
<include file="$(dirname)/demo.launch" pass_all_args="true">
<!-- robot description is loaded by franka_control.launch -->
<arg name="load_robot_description" value="false" />
<!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
as well as GripperCommand actions -->
<arg name="moveit_controller_manager" value="simple" />
</include>
</launch>
in demo.launch
<launch>
<arg name="arm_id" default="panda" />
<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- By default we will load the gripper -->
<arg name="load_gripper" default="true" />
<!-- By default, we will load or override the robot_description -->
<arg name="load_robot_description" default="true"/>
<!-- Choose controller manager: fake, simple, or ros_control -->
<arg name="moveit_controller_manager" default="fake" />
<!-- Set execution mode for fake execution controllers -->
<arg name="fake_execution_type" default="interpolate" />
<!-- Transmission used for joint control: position, velocity, or effort -->
<arg name="transmission" />
<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
<arg name="use_gui" default="false" />
<arg name="use_rviz" default="true" />
<!-- Use rviz config for MoveIt tutorial -->
<arg name="rviz_tutorial" default="false" />
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world $(arg arm_id)_link0" />
<group if="$(eval arg('moveit_controller_manager') == 'fake')">
<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
This corresponds to moving around the real robot without the use of MoveIt. -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</group>
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(dirname)/move_group.launch" pass_all_args="true">
<arg name="allow_trajectory_execution" value="true" />
<arg name="info" value="true" />
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
<arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
<arg name="debug" value="$(arg debug)"/>
</include>
</launch>