errors when launching franka_example_controllers in latest franka_ros version

[kmerckae]

Hello everyone,

I already tried launching several franka_example_controllers, but I always get some errors because of which the examples don't work.

For example, when I run roslaunch franka_example_controllers move_to_start.launch robot_ip:=192.168.2.106 load_gripper:=true, I get

... logging to /home/kmerckae/.ros/log/a1eb4d20-57a8-11ea-9522-7085c2dbe2ca/roslaunch-franka-desktop-19604.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://franka-desktop:43801/

SUMMARY
========

PARAMETERS
 * /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: 192.168.2.106
 * /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_desired_publisher/rate: 30
 * /joint_state_desired_publisher/source_list: ['franka_state_co...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'default': True...
 * /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: [{'point_subsampl...
 * /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
 * /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/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: melodic
 * /rosversion: 1.14.3

NODES
  /
    controller_spawner (controller_manager/spawner)
    franka_control (franka_control/franka_control_node)
    joint_state_desired_publisher (joint_state_publisher/joint_state_publisher)
    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)

auto-starting new master
process[master]: started with pid [19620]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a1eb4d20-57a8-11ea-9522-7085c2dbe2ca
process[rosout-1]: started with pid [19631]
started core service [/rosout]
process[franka_control-2]: started with pid [19638]
process[state_controller_spawner-3]: started with pid [19639]
process[robot_state_publisher-4]: started with pid [19640]
process[joint_state_publisher-5]: started with pid [19642]
process[joint_state_desired_publisher-6]: started with pid [19647]
process[controller_spawner-7]: started with pid [19653]
process[move_group-8]: started with pid [19655]
process[move_to_start-9]: started with pid [19657]
[ INFO] [1582619238.032183716]: Loading robot model 'panda'...
[ INFO] [1582619238.078723282]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1582619238.079739351]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1582619238.079758751]: Starting planning scene monitor
[ INFO] [1582619238.080562869]: Listening to '/planning_scene'
[ INFO] [1582619238.080579069]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1582619238.081382786]: Listening to '/collision_object'
[ INFO] [1582619238.082186103]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1582619238.087089658]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1582619238.088830365]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1582619238.105163644]: Initializing OMPL interface using ROS parameters
[ INFO] [1582619238.118439915]: Using planning interface 'OMPL'
[ INFO] [1582619238.120568555]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1582619238.120796087]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1582619238.120984209]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1582619238.121190581]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1582619238.121376373]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1582619238.121561674]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ERROR] [1582619238.121652805]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds
[ INFO] [1582619238.121689785]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1582619238.121703946]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1582619238.121716926]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1582619238.121729476]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1582619238.121742456]: Using planning request adapter 'Add Time Parameterization'
[INFO] [1582619238.224376]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1582619238.227157]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1582619238.229245]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1582619238.231116]: Loading controller: franka_state_controller
[INFO] [1582619238.237890]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1582619238.241739]: Started controllers: franka_state_controller
[INFO] [1582619238.284184]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1582619238.287408]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1582619238.290033]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1582619238.292350]: Loading controller: position_joint_trajectory_controller
[ WARN] [1582619238.320272934]: Unable to update multi-DOF joint 'virtual_joint': Failure to lookup transform between 'world' and 'panda_link0' with TF exception: "world" passed to lookupTransform argument target_frame does not exist. 
[INFO] [1582619238.321797]: Controller Spawner: Loaded controllers: position_joint_trajectory_controller
[ INFO] [1582619238.323788407]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=joint_impedance
[INFO] [1582619238.324820]: Started controllers: position_joint_trajectory_controller
[ INFO] [1582619238.583189903]: Added FollowJointTrajectory controller for position_joint_trajectory_controller
[ INFO] [1582619238.583289184]: Returned 1 controllers in list
[ INFO] [1582619238.590796362]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1582619238.623231299]: 

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

[ INFO] [1582619238.623274160]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1582619238.623290960]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1582619239.151446038]: Loading robot model 'panda'...
[ INFO] [1582619240.393647706]: Ready to take commands for planning group panda_arm.
[ WARN] [1582619240.418634344]: Unable to transform object from frame 'panda_EE' to planning frame 'world' ("world" passed to lookupTransform argument target_frame does not exist. )
[ WARN] [1582619240.418694645]: Unable to transform object from frame 'panda_K' to planning frame 'world' ("world" passed to lookupTransform argument target_frame does not exist. )
[ INFO] [1582619240.418767106]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1582619240.418949927]: Planning attempt 1 of at most 1
[ INFO] [1582619240.419299721]: Found a contact between 'panda_link8' (type 'Robot link') and 'panda_link7' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1582619240.419330081]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1582619240.419362771]: Start state appears to be in collision with respect to group panda_arm
[ WARN] [1582619240.440120341]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
[ INFO] [1582619240.440633316]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1582619240.440851068]: RRTConnect: Skipping invalid start state (invalid state)
[ERROR] [1582619240.440884048]: RRTConnect: Motion planning start tree could not be initialized!
[ INFO] [1582619240.440896848]: No solution found after 0.000102 seconds
[ WARN] [1582619240.450748339]: Goal sampling thread never did any work.
[ INFO] [1582619240.450841199]: Unable to solve the planning problem
[ INFO] [1582619240.451077001]: ABORTED: No motion plan found. No execution attempted.
================================================================================REQUIRED process [move_to_start-9] has died!
process has finished cleanly
log file: /home/kmerckae/.ros/log/a1eb4d20-57a8-11ea-9522-7085c2dbe2ca/move_to_start-9*.log
Initiating shutdown!
================================================================================
[move_to_start-9] killing on exit
[move_group-8] killing on exit
[controller_spawner-7] killing on exit
[joint_state_desired_publisher-6] killing on exit
[joint_state_publisher-5] killing on exit
[robot_state_publisher-4] killing on exit
[INFO] [1582619241.540032]: Shutting down spawner. Stopping and unloading controllers...
[state_controller_spawner-3] killing on exit
[franka_control-2] killing on exit
[INFO] [1582619241.541110]: Stopping all controllers...
[INFO] [1582619241.542237]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1582619241.543892]: Stopping all controllers...
[WARN] [1582619241.611134]: Controller Spawner error while taking down controllers: unable to connect to service: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[WARN] [1582619241.611655]: 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

The only way I could solve this problem, was by going back to franka_ros release version 0.6.0 with git checkout 49e5ac1, in which I can launch all the franka_example_controllers.

Can this problem be solved in the latest franka_ros version?

Thanks a lot,
Kelly

[gollth]

Found a contact between 'panda_link8' (type 'Robot link') and 'panda_link7' (type 'Robot link'), which constitutes a collision. Contact information is not stored.

Seems to be related to the MoveIT upgrade in #193 & moveit/panda_moveit_config#66

[samarth-robo]

@kmerckae a simple temporary workaround for franka_ros 0.9.0 is here: #243 (comment).