ros-industrial/universal_robot

[ WARN] [1626421306.304272050]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'

Closed this issue · 2 comments

Art3miss233 commented

Hi! I have been searching everywhere and cannot find a solution to this error. I am trying to control a panda robot, and get the following error with both the simulator and the real robot when I use the command: roslaunch panda_sim_moveit sim_move_group.launch to launch the simulator. I think this error is the source of why the gripper of my panda arm doesn't work. Other than the gripper everything else seems to be working.

The entire output of my terminal is:

SUMMARY

PARAMETERS

  • /move_group/allow_trajectory_execution: True
  • /move_group/controller_list: [{'name': 'positi...
  • /move_group/hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/jiggle_fraction: 0.05
  • /move_group/max_range: 5.0
  • /move_group/max_safe_path_cost: 1
  • /move_group/moveit_controller_manager: moveit_simple_con...
  • /move_group/moveit_manage_controllers: True
  • /move_group/octomap_frame: camera_rgb_optica...
  • /move_group/octomap_resolution: 0.05
  • /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
  • /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
  • /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
  • /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
  • /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
  • /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
  • /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
  • /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
  • /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
  • /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
  • /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
  • /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
  • /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
  • /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
  • /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
  • /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
  • /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
  • /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
  • /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
  • /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/ESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
  • /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
  • /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
  • /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
  • /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
  • /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
  • /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
  • /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
  • /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
  • /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
  • /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
  • /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
  • /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
  • /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
  • /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
  • /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
  • /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
  • /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
  • /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
  • /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
  • /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
  • /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
  • /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
  • /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
  • /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
  • /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
  • /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
  • /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
  • /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
  • /move_group/planner_configs/SBLkConfigDefault/range: 0.0
  • /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
  • /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
  • /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
  • /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
  • /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
  • /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
  • /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
  • /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
  • /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
  • /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
  • /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
  • /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
  • /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
  • /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
  • /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
  • /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
  • /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
  • /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
  • /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
  • /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
  • /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
  • /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
  • /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
  • /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
  • /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
  • /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
  • /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
  • /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: [{'sensor_plugin'...
  • /move_group/start_state_max_bounds_error: 0.1
  • /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
  • /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/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: 1.15.11

NODES
/
move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [74863]
[ WARN] [1626421306.289361218]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1626421306.290587754]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1626421306.304185890]: Loading robot model 'panda'...
[ WARN] [1626421306.304272050]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1626421306.304304336]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1626421306.427181077]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1626421306.432403724]: Listening to 'joint_states' for joint states
[ INFO] [1626421306.440116988]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1626421306.440178566]: Starting planning scene monitor
[ INFO] [1626421306.442343649]: Listening to '/planning_scene'
[ INFO] [1626421306.442392052]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1626421306.446617024]: Listening to '/collision_object'
[ INFO] [1626421306.451860303]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1626421306.483964403]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1626421306.484033319]: Loading planning pipeline ''
[ INFO] [1626421306.578297409, 11.317000000]: Using planning interface 'OMPL'
[ INFO] [1626421306.582175881, 11.321000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1626421306.582617919, 11.322000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1626421306.583102406, 11.322000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1626421306.583527715, 11.322000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1626421306.583966730, 11.323000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1626421306.584385171, 11.323000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1626421306.584467788, 11.323000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1626421306.584501346, 11.323000000]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1626421306.584526209, 11.323000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1626421306.584551665, 11.323000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1626421306.584576786, 11.323000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1626421306.584599853, 11.323000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1626421306.834577895, 11.574000000]: Added FollowJointTrajectory controller for position_joint_trajectory_controller
[ INFO] [1626421306.986554202, 11.725000000]: Added GripperCommand controller for franka_gripper
[ INFO] [1626421306.986662590, 11.725000000]: Returned 2 controllers in list
[ INFO] [1626421307.002722899, 11.742000000]: Trajectory execution is managing controllers
[ INFO] [1626421307.002793663, 11.742000000]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1626421307.083377651, 11.820000000]:

  • MoveGroup using:
  • - ApplyPlanningSceneService

  • - ClearOctomapService

  • - CartesianPathService

  • - ExecuteTrajectoryAction

  • - GetPlanningSceneService

  • - KinematicsService

  • - MoveAction

  • - PickPlaceAction

  • - MotionPlanService

  • - QueryPlannersService

  • - StateValidationService

[ INFO] [1626421307.083452212, 11.820000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1626421307.083478762, 11.820000000]: MoveGroup context initialization complete

You can start planning now!

lianghongzhuo commented

This is the universal robot repository, not panda robot

RobertWilbrandt commented

As this is not related to UR robots i'll go ahead and close this