Error when I use move_to_start #107

xav12358 · 2022-04-07T12:38:18Z

hello

Following the previous discussion on that issue:
#97

I work on Noetic on Ubuntu 20.04. I have trouble to use move_to_start.launch from franka_ros. I modified the move_to_start.launch file according to @rhaschke advice.

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/move_group.launch">
    <arg name="load_gripper" value="false" />
  </include>
  <node name="move_to_start" pkg="franka_example_controllers" type="move_to_start.py" output="screen" required="true" />
</launch>

I get that log:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 debug:=true
... logging to /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/roslaunch-dac-19458.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://dac:42491/

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: 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
  /
    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 [19532]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 601ef3f6-b66f-11ec-bcad-33cf265bcff1
process[rosout-1]: started with pid [19557]
started core service [/rosout]
process[franka_control-2]: started with pid [19564]
process[state_controller_spawner-3]: started with pid [19565]
process[robot_state_publisher-4]: started with pid [19566]
process[joint_state_publisher-5]: started with pid [19567]
process[panda/controller_spawner-6]: started with pid [19573]
process[move_group-7]: started with pid [19574]
process[move_to_start-8]: started with pid [19580]
[ WARN] [1649335002.618870000]: FrankaHW: 
	panda_joint2: 36.872732 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119249) 
	panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335002.653540769]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655220766]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655248969]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655261096]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655270429]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655282948]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655292166]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655302375]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655311302]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335002.655342018]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655352429]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655362264]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655371960]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655383261]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655392779]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655402890]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655412873]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655423346]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655433047]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655443699]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655453343]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655464078]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335002.655473379]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649335002.655680452]: Loading robot model 'panda'...
[ INFO] [1649335002.727216907]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649335002.728735527]: Listening to 'joint_states' for joint states
[ INFO] [1649335002.731041873]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649335002.731126872]: Starting planning scene monitor
[ INFO] [1649335002.732159932]: Listening to '/planning_scene'
[ INFO] [1649335002.732243296]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649335002.733327013]: Listening to '/collision_object'
[ INFO] [1649335002.734439911]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649335002.735021693]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649335002.735591586]: Loading planning pipeline 'chomp'
[ INFO] [1649335002.747575246]: Using planning interface 'CHOMP'
[ INFO] [1649335002.749993288]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649335002.750262831]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649335002.750550366]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.750790514]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.750986638]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649335002.751331053]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649335002.751390496]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649335002.751400542]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649335002.751449948]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649335002.751486652]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649335002.751522095]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649335002.751556498]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649335002.752236835]: Loading planning pipeline 'ompl'
[ INFO] [1649335002.796883743]: Using planning interface 'OMPL'
[ INFO] [1649335002.797835457]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649335002.798026619]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649335002.798194284]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.798363706]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649335002.798520468]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649335002.798672883]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649335002.798695804]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649335002.798705081]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649335002.798713734]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649335002.798724866]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649335002.798733791]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649335002.798742716]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649335002.798772423]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ERROR] [1649335002.799708890]: 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] [1649335002.799746603]: Failed to initialize planning pipeline 'pilz_industrial_motion_planner'.
[INFO] [1649335002.972501]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649335002.975731]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649335002.978577]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649335002.980432]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649335002.981693]: Loading controller: franka_state_controller
[INFO] [1649335002.987293]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649335002.992823]: Started controllers: franka_state_controller
[ WARN] [1649335007.619526998]: FrankaHW: 
	panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
	panda_joint6: 54.567382 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335007.809224793]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649335012.620404847]: FrankaHW: 
	panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
	panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335013.809377367]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649335017.621354393]: FrankaHW: 
	panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
	panda_joint6: 54.567422 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800119) 
[ERROR] [1649335019.809656907]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649335022.622148900]: FrankaHW: 
	panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
	panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335024.824275104]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649335027.623094338]: FrankaHW: 
	panda_joint2: 36.872798 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119248) 
	panda_joint6: 54.567341 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800120) 
[ WARN] [1649335030.824435241]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649335032.623922547]: FrankaHW: 
	panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
	panda_joint6: 54.567300 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800121) 
[WARN] [1649335033.180827]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly
log file: /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/panda-controller_spawner-6*.log
[ERROR] [1649335036.824595450]: Action client not connected: franka_gripper/gripper_action
[ INFO] [1649335036.835446355]: Returned 0 controllers in list
[ INFO] [1649335036.840764066]: Trajectory execution is managing controllers
[ INFO] [1649335036.840786235]: 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] [1649335036.870248189]: 

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

[ INFO] [1649335036.870333486]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649335036.870351545]: MoveGroup context initialization complete

You can start planning now!

[ WARN] [1649335036.926319662]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927240843]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927261158]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927270307]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927277050]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927283843]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927291515]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927298350]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927305067]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649335036.927313048]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927319887]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927325996]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927332367]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927338947]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927345315]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927351964]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927358451]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927364949]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927371325]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927377615]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927384225]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927391032]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649335036.927397397]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649335036.927483767]: Loading robot model 'panda'...
[ WARN] [1649335037.624869521]: FrankaHW: 
	panda_joint2: 36.872894 degrees to joint limits (limits: [-1.762800, 1.762800] q: 1.119247) 
	panda_joint6: 54.567300 degrees to joint limits (limits: [-0.017500, 3.752500] q: 2.800121) 
[ INFO] [1649335038.016295289]: Ready to take commands for planning group panda_arm.
[ INFO] [1649335038.044585380]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1649335038.044802327]: Planning attempt 1 of at most 1
[ INFO] [1649335038.045961950]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1649335038.046291058]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649335038.057683745]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649335038.057714371]: Solution found in 0.011511 seconds
[ INFO] [1649335038.070130055]: SimpleSetup: Path simplification took 0.012316 seconds and changed from 3 to 2 states
[ INFO] [1649335038.072428992]: Returned 0 controllers in list
[ERROR] [1649335038.072462523]: 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] [1649335038.072478020]: Known controllers and their joints:

[ERROR] [1649335038.072503930]: Apparently trajectory initialization failed
[ INFO] [1649335038.072742030]: ABORTED: Solution found but controller failed during execution
================================================================================REQUIRED process [move_to_start-8] has died!
process has finished cleanly
log file: /home/dac/.ros/log/601ef3f6-b66f-11ec-bcad-33cf265bcff1/move_to_start-8*.log
Initiating shutdown!
================================================================================
[move_to_start-8] killing on exit
[move_group-7] killing on exit
[robot_state_publisher-4] killing on exit
[state_controller_spawner-3] killing on exit
[franka_control-2] killing on exit
[joint_state_publisher-5] killing on exit
[INFO] [1649335039.122425]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1649335039.123570]: Stopping all controllers...
[WARN] [1649335039.240186]: 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 text was updated successfully, but these errors were encountered:

arnauddomes · 2022-04-07T13:50:17Z

I have modify the move_to_start_launch file like this:

<?xml version="1.0" ?>
<launch>
  <arg name="robot_ip" />

  <include file="$(find franka_control)/launch/franka_control.launch">
    <arg name="robot_ip" value="$(arg robot_ip)" />
    <arg name="load_gripper" value="false" />
  </include>
  <include file="$(find panda_moveit_config)/launch/move_group.launch">
    <arg name="load_gripper" value="true" />
  </include>
 
</launch>

And then run the move_to_start.py in an other terminal.
In the first terminal I get that error:

roslaunch franka_example_controllers move_to_start.launch robot_ip:=172.16.0.2 debug:=true
... logging to /home/arnaud/.ros/log/cd8188ba-b678-11ec-bcad-33cf265bcff1/roslaunch-arnaud-25310.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://arnaud:39745/

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: 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_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
  /
    franka_control (franka_control/franka_control_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)
    state_controller_spawner (controller_manager/spawner)
  /panda/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [25384]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cd8188ba-b678-11ec-bcad-33cf265bcff1
process[rosout-1]: started with pid [25409]
started core service [/rosout]
process[franka_control-2]: started with pid [25416]
process[state_controller_spawner-3]: started with pid [25417]
process[robot_state_publisher-4]: started with pid [25418]
process[joint_state_publisher-5]: started with pid [25419]
process[panda/controller_spawner-6]: started with pid [25425]
process[move_group-7]: started with pid [25427]
[ WARN] [1649339051.452743554]: FrankaHW: 
	panda_joint4: 44.948125 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287307) 
[ WARN] [1649339051.484291784]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485071913]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485140850]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485170171]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485199566]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485240101]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485268636]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485295624]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485332133]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485361581]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339051.485396234]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485434084]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485470782]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485498732]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485538766]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485573466]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485613872]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485645361]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485676163]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485686400]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485695582]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485704606]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485713868]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485722582]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485733010]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485742305]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485751129]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339051.485759768]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649339051.485971860]: Loading robot model 'panda'...
[ WARN] [1649339051.486147592]: 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] [1649339051.486207585]: 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] [1649339051.563289329]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1649339051.567462739]: Listening to 'joint_states' for joint states
[ INFO] [1649339051.577409675]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1649339051.577449112]: Starting planning scene monitor
[ INFO] [1649339051.581139078]: Listening to '/planning_scene'
[ INFO] [1649339051.581270517]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1649339051.585297078]: Listening to '/collision_object'
[ INFO] [1649339051.589412546]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1649339051.592943046]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1649339051.595527766]: Loading planning pipeline 'chomp'
[ INFO] [1649339051.646567007]: Using planning interface 'CHOMP'
[ INFO] [1649339051.650414341]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649339051.651219075]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649339051.651596893]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649339051.651889764]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649339051.652134309]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649339051.652406182]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649339051.652452682]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649339051.652468103]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649339051.652478683]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649339051.652489258]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649339051.652499140]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649339051.652509579]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1649339051.653473848]: Loading planning pipeline 'ompl'
[ INFO] [1649339051.706058892]: Using planning interface 'OMPL'
[ INFO] [1649339051.706838522]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1649339051.707018879]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1649339051.707165814]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649339051.707313646]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1649339051.707453407]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1649339051.707596060]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1649339051.707616002]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1649339051.707628898]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1649339051.707638892]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1649339051.707645857]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1649339051.707653375]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1649339051.707661239]: Using planning request adapter 'Fix Start State Path Constraints'
[INFO] [1649339051.800712]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649339051.810473]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1649339051.811759]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1649339051.812881]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1649339051.813884]: Loading controller: franka_state_controller
[INFO] [1649339051.821151]: Controller Spawner: Loaded controllers: franka_state_controller
[INFO] [1649339051.824491]: Started controllers: franka_state_controller


[ WARN] [1649339056.453268062]: FrankaHW: 
	panda_joint4: 44.947618 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287316) 
[ WARN] [1649339056.722648749]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649339061.454086202]: FrankaHW: 
	panda_joint4: 44.948262 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287305) 
[ WARN] [1649339062.722804008]: Waiting for effort_joint_trajectory_controller/follow_joint_trajectory to come up
[ WARN] [1649339066.454788088]: FrankaHW: 
	panda_joint4: 44.947752 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287314) 
[ERROR] [1649339068.722980713]: Action client not connected: effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1649339071.454896627]: FrankaHW: 
	panda_joint4: 44.947824 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312) 
[ WARN] [1649339073.730004154]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649339076.455780978]: FrankaHW: 
	panda_joint4: 44.948016 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287309) 
[ WARN] [1649339079.730204210]: Waiting for franka_gripper/gripper_action to come up
[ WARN] [1649339081.456534767]: FrankaHW: 
	panda_joint4: 44.947920 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287311) 
[WARN] [1649339082.011617]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[panda/controller_spawner-6] process has finished cleanly
log file: /home/arnaud/.ros/log/cd8188ba-b678-11ec-bcad-33cf265bcff1/panda-controller_spawner-6*.log
[ERROR] [1649339085.730378659]: Action client not connected: franka_gripper/gripper_action
[ INFO] [1649339085.741640338]: Returned 0 controllers in list
[ INFO] [1649339085.746451971]: Trajectory execution is managing controllers
[ INFO] [1649339085.746480904]: 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] [1649339085.776876349]: 

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

[ INFO] [1649339085.777014472]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1649339085.777058339]: MoveGroup context initialization complete

You can start planning now!

[ WARN] [1649339086.457482321]: FrankaHW: 
	panda_joint4: 44.948224 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287305) 
[ WARN] [1649339091.458294908]: FrankaHW: 
	panda_joint4: 44.947826 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312) 
[ WARN] [1649339096.459222658]: FrankaHW: 
	panda_joint4: 44.947826 degrees to joint limits (limits: [-3.071800, -0.069800] q: -2.287312)

When I run move_to_start.py I get that in the first terminal:


[ INFO] [1649339252.799235817]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1649339252.799424808]: Planning attempt 1 of at most 1
[ INFO] [1649339252.800601760]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1649339252.801001656]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
[ INFO] [1649339252.813537674]: panda_arm/panda_arm: Created 4 states (2 start + 2 goal)
[ INFO] [1649339252.813627354]: Solution found in 0.012729 seconds
[ INFO] [1649339252.824490827]: SimpleSetup: Path simplification took 0.010698 seconds and changed from 3 to 2 states
[ INFO] [1649339252.825572234]: Returned 0 controllers in list
[ERROR] [1649339252.825597232]: 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] [1649339252.825608387]: Known controllers and their joints:

[ERROR] [1649339252.825627239]: Apparently trajectory initialization failed

And in the second one I get that:

python3 ./franka_example_controllers/scripts/move_to_start.py
[ WARN] [1649339251.738701104]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739064645]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739073971]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739079963]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739085777]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739091581]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739096446]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739102196]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739108989]: Link 'panda_link8_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739114987]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1649339251.739121864]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739128870]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739135359]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739141608]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739148231]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739154697]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739161370]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739167612]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739174273]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739180786]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739187176]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739193205]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739199643]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739206205]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739213296]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739219697]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739225923]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1649339251.739232452]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1649339251.739336531]: Loading robot model 'panda'...
[ WARN] [1649339251.739398368]: 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] [1649339251.739411965]: 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] [1649339252.782120718]: Ready to take commands for planning group panda_arm.
[ INFO] [1649339252.825843862]: ABORTED: Solution found but controller failed during execution

arnauddomes · 2022-04-07T15:25:33Z

In fact the effort_joint_trajectory_controller and position_joint_trajectory_controller are only generate with franka_ros default_controllers.yaml file but this file is never used in move_group.launch

rhaschke · 2022-04-07T15:47:10Z

For both of you, the controller_spawner is started within the wrong namespace as stated in #97 (comment):

NODES
  /
    ...
  /panda/
    controller_spawner (controller_manager/spawner)

Looks like this is a bug only recently introduced by #106. Please try the previous commit cfe7d44, or alternatively the fixup #108.

arnauddomes · 2022-04-08T07:25:30Z

I try that fix:
https://github.com/ros-planning/panda_moveit_config/pull/108/files

But the panda_moveit_config/config/ros_controller.yaml is empty.

arnauddomes · 2022-04-08T07:39:20Z

Here is the diff I made to make it work

diff --git a/franka_example_controllers/launch/move_to_start.launch b/franka_example_controllers/launch/move_to_start.launch
index 636dafd..3045afe 100644
--- a/franka_example_controllers/launch/move_to_start.launch
+++ b/franka_example_controllers/launch/move_to_start.launch
@@ -2,12 +2,8 @@
 <launch>
   <arg name="robot_ip" />
 
-  <include file="$(find franka_control)/launch/franka_control.launch">
+  <include file="$(find panda_moveit_config)/launch/franka_control.launch">
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="load_gripper" value="false" />
   </include>
-  <include file="$(find panda_moveit_config)/launch/move_group.launch">
-    <arg name="load_gripper" value="true" />
-  </include>
- 
+
 </launch>

and

diff --git a/launch/franka_control.launch b/launch/franka_control.launch
index de71abb..a3e7be3 100644
--- a/launch/franka_control.launch
+++ b/launch/franka_control.launch
@@ -1,7 +1,11 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="robot_ip" />
+
   <!-- Launch real-robot control -->
-  <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
+  <include file="$(find franka_control)/launch/franka_control.launch">
+        <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
 
   <!-- By default use joint position controllers -->
   <arg name="transmission" default="position" />
diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch
index 47806e5..0362601 100644
--- a/launch/ros_controllers.launch
+++ b/launch/ros_controllers.launch
@@ -2,8 +2,10 @@
 <launch>
 
   <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"  subst_value="true"/>
+<!--   <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"  subst_value="true"/>
+ -->
 
+  <rosparam file="$(find franka_control)/config/default_controllers.yaml" command="load"  subst_value="true"/>
   <!-- Load and start the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
         args="$(arg transmission)_joint_trajectory_controller" />

xav12358 · 2022-04-08T11:19:58Z

It seems it worls for me also. Thank you @arnauddomes

rhaschke closed this as completed Apr 10, 2022

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Error when I use move_to_start #107

Error when I use move_to_start #107

xav12358 commented Apr 7, 2022

arnauddomes commented Apr 7, 2022

arnauddomes commented Apr 7, 2022

rhaschke commented Apr 7, 2022

arnauddomes commented Apr 8, 2022

arnauddomes commented Apr 8, 2022 •

edited

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xav12358 commented Apr 8, 2022

Error when I use move_to_start #107

Error when I use move_to_start #107

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xav12358 commented Apr 7, 2022

arnauddomes commented Apr 7, 2022

arnauddomes commented Apr 7, 2022

rhaschke commented Apr 7, 2022

arnauddomes commented Apr 8, 2022

arnauddomes commented Apr 8, 2022 • edited Loading

xav12358 commented Apr 8, 2022

arnauddomes commented Apr 8, 2022 •

edited

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