感谢关注,以下为moveit 和 launc demo两个指令窗口的输出$ rosrun double_arm_demo moveit_fk_demo.py
[ INFO] [1631499068.205603662]: Loading robot model 'double_arm'...
[ INFO] [1631499068.206893983]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1631499068.337507424]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1631499068.352476170]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1631499068.365280379]: Group 'right_effectors' is not a chain
[ERROR] [1631499068.365810688]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_effectors'
[ERROR] [1631499068.366446298]: Kinematics solver could not be instantiated for joint group right_effectors.
[ERROR] [1631499068.368526333]: Group 'left_effectors' is not a chain
[ERROR] [1631499068.369171443]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_effectors'
[ERROR] [1631499068.369833754]: Kinematics solver could not be instantiated for joint group left_effectors.
[ INFO] [1631499069.387436536]: Ready to take commands for planning group left_arm.
[ INFO] [1631499069.865918580]: Ready to take commands for planning group right_arm.
$ roslaunch double_arm_moveit_config demo.launch
... logging to /home/yanfeiyu/.ros/log/bfc69898-1437-11ec-becb-000c29d94366/roslaunch-yanfeiyu-virtual-machine-31578.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://yanfeiyu-virtual-machine:45669/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/source_list: ['move_group/fake...
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities:
* /move_group/controller_list: [{'joints': ['joi...
* /move_group/default_planning_pipeline: ompl
* /move_group/disable_capabilities:
* /move_group/initial: [{'pose': 'right_...
* /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_fake_contr...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planning_pipelines/chomp/collision_clearence: 0.2
* /move_group/planning_pipelines/chomp/collision_threshold: 0.07
* /move_group/planning_pipelines/chomp/enable_failure_recovery: True
* /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: 0.01
* /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/left_arm/default_planner_config: RRT
* /move_group/planning_pipelines/ompl/left_arm/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/left_arm/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/left_arm/projection_evaluator: joints(joint8,joi...
* /move_group/planning_pipelines/ompl/left_effectors/default_planner_config: RRT
* /move_group/planning_pipelines/ompl/left_effectors/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/left_effectors/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/left_effectors/projection_evaluator: joints(joint12,jo...
* /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/right_arm/default_planner_config: RRT
* /move_group/planning_pipelines/ompl/right_arm/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/right_arm/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/right_arm/projection_evaluator: joints(joint1,joi...
* /move_group/planning_pipelines/ompl/right_effectors/default_planner_config: RRT
* /move_group/planning_pipelines/ompl/right_effectors/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/right_effectors/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/right_effectors/projection_evaluator: joints(joint5,joi...
* /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
* /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_pipelines/pilz_industrial_motion_planner/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/sensors: [{}]
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /robot_description: <...>
* /robot_description_kinematics/left_arm/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/left_arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/left_arm/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/left_effectors/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/left_effectors/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/left_effectors/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/right_effectors/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/right_effectors/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/right_effectors/kinematics_solver_timeout: 0.005
* /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/joint1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint1/has_velocity_limits: False
* /robot_description_planning/joint_limits/joint1/max_acceleration: 0
* /robot_description_planning/joint_limits/joint1/max_velocity: 0
* /robot_description_planning/joint_limits/joint10/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint10/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint10/max_acceleration: 0
* /robot_description_planning/joint_limits/joint10/max_velocity: 1
* /robot_description_planning/joint_limits/joint11/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint11/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint11/max_acceleration: 0
* /robot_description_planning/joint_limits/joint11/max_velocity: 1
* /robot_description_planning/joint_limits/joint12/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint12/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint12/max_acceleration: 0
* /robot_description_planning/joint_limits/joint12/max_velocity: 1
* /robot_description_planning/joint_limits/joint13/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint13/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint13/max_acceleration: 0
* /robot_description_planning/joint_limits/joint13/max_velocity: 1
* /robot_description_planning/joint_limits/joint14/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint14/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint14/max_acceleration: 0
* /robot_description_planning/joint_limits/joint14/max_velocity: 1
* /robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint2/max_acceleration: 0
* /robot_description_planning/joint_limits/joint2/max_velocity: 1
* /robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint3/max_acceleration: 0
* /robot_description_planning/joint_limits/joint3/max_velocity: 1
* /robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint4/max_acceleration: 0
* /robot_description_planning/joint_limits/joint4/max_velocity: 1
* /robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint5/max_acceleration: 0
* /robot_description_planning/joint_limits/joint5/max_velocity: 1
* /robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint6/max_acceleration: 0
* /robot_description_planning/joint_limits/joint6/max_velocity: 1
* /robot_description_planning/joint_limits/joint7/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint7/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint7/max_acceleration: 0
* /robot_description_planning/joint_limits/joint7/max_velocity: 1
* /robot_description_planning/joint_limits/joint8/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint8/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint8/max_acceleration: 0
* /robot_description_planning/joint_limits/joint8/max_velocity: 1
* /robot_description_planning/joint_limits/joint9/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint9/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint9/max_acceleration: 0
* /robot_description_planning/joint_limits/joint9/max_velocity: 1
* /robot_description_semantic: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.11
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_yanfeiyu_virtual_machine_31578_7194736868036421674 (rviz/rviz)
auto-starting new master
process[master]: started with pid [31589]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bfc69898-1437-11ec-becb-000c29d94366
process[rosout-1]: started with pid [31600]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [31607]
process[robot_state_publisher-3]: started with pid [31608]
process[move_group-4]: started with pid [31609]
process[rviz_yanfeiyu_virtual_machine_31578_7194736868036421674-5]: started with pid [31611]
[ WARN] [1631499022.423417221]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1631499022.482288086]: Loading robot model 'double_arm'...
[ INFO] [1631499022.483559407]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1631499022.594484226]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1631499022.608701959]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1631499022.618939626]: Group 'right_effectors' is not a chain
[ERROR] [1631499022.619344233]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_effectors'
[ERROR] [1631499022.619733139]: Kinematics solver could not be instantiated for joint group right_effectors.
[ERROR] [1631499022.620683655]: Group 'left_effectors' is not a chain
[ERROR] [1631499022.621055061]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_effectors'
[ERROR] [1631499022.621415767]: Kinematics solver could not be instantiated for joint group left_effectors.
[ INFO] [1631499022.677168581]: rviz version 1.13.18
[ INFO] [1631499022.677238082]: compiled against Qt version 5.9.5
[ INFO] [1631499022.677277783]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1631499022.684492001]: Forcing OpenGl version 0.
[ INFO] [1631499022.769657297]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1631499022.775782097]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1631499022.775972500]: Starting planning scene monitor
[ INFO] [1631499022.781067484]: Listening to '/planning_scene'
[ INFO] [1631499022.781165186]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1631499022.791420154]: Listening to '/collision_object'
[ INFO] [1631499022.799675389]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1631499022.801826025]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1631499022.829217774]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1631499022.833304740]: Multiple planning plugins available. You should specify the '~planning_plugin' parameter. Using 'chomp_interface/CHOMPPlanner' for now.
[ INFO] [1631499022.876103042]: Using planning interface 'CHOMP'
[ INFO] [1631499022.889527662]: Loading robot model 'double_arm'...
[ INFO] [1631499022.889616463]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1631499022.985116029]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1631499022.999188860]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1631499023.012668380]: Group 'right_effectors' is not a chain
[ERROR] [1631499023.012765282]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_effectors'
[ERROR] [1631499023.012805583]: Kinematics solver could not be instantiated for joint group right_effectors.
[ERROR] [1631499023.012854284]: Group 'left_effectors' is not a chain
[ERROR] [1631499023.012930085]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_effectors'
[ERROR] [1631499023.012974985]: Kinematics solver could not be instantiated for joint group left_effectors.
[ INFO] [1631499023.013176389]: Set joints of group 'right_arm' to pose 'right_home'.
[ INFO] [1631499023.013223690]: Set joints of group 'left_arm' to pose 'left_home'.
[ INFO] [1631499023.013322191]: Set joints of group 'right_effectors' to pose 'right_open'.
[ INFO] [1631499023.013487294]: Set joints of group 'left_effectors' to pose 'left_close'.
[ INFO] [1631499023.014044103]: Fake controller 'fake_right_arm_controller' with joints [ joint1 joint2 joint3 joint4 joint5 ]
[ INFO] [1631499023.014696214]: Fake controller 'fake_left_arm_controller' with joints [ joint8 joint9 joint10 joint11 joint12 ]
[ INFO] [1631499023.015294324]: Fake controller 'fake_right_effectors_controller' with joints [ joint5 joint6 joint7 ]
[ INFO] [1631499023.016046236]: Fake controller 'fake_left_effectors_controller' with joints [ joint12 joint13 joint14 ]
[ INFO] [1631499023.016753248]: Returned 4 controllers in list
[ INFO] [1631499023.032333203]: 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] [1631499023.106565920]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1631499023.106890226]: MoveGroup context using planning plugin chomp_interface/CHOMPPlanner
[ INFO] [1631499023.107262732]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1631499024.039725718]: Stereo is NOT SUPPORTED
[ INFO] [1631499024.039835920]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1631499024.039882421]: OpenGl version: 3.3 (GLSL 3.3) limited to GLSL 1.4 on Mesa system.
[ INFO] [1631499027.485462106]: Loading robot model 'double_arm'...
[ INFO] [1631499027.485579909]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1631499027.608320021]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1631499027.622755157]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1631499027.640483648]: Group 'right_effectors' is not a chain
[ERROR] [1631499027.640928755]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_effectors'
[ERROR] [1631499027.641354162]: Kinematics solver could not be instantiated for joint group right_effectors.
[ERROR] [1631499027.641778369]: Group 'left_effectors' is not a chain
[ERROR] [1631499027.642353978]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_effectors'
[ERROR] [1631499027.642776785]: Kinematics solver could not be instantiated for joint group left_effectors.
[ INFO] [1631499027.822813737]: Starting planning scene monitor
[ INFO] [1631499027.826596099]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1631499027.960961002]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1631499027.961265907]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1631499027.976003248]: Constructing new MoveGroup connection for group 'left_arm' in namespace ''
[ INFO] [1631499029.168127691]: Ready to take commands for planning group left_arm.
[ INFO] [1631499029.168385695]: Looking around: no
[ INFO] [1631499029.168453197]: Replanning: no
[ INFO] [1631499069.921313588]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499069.921845097]: Goal constraints are already satisfied. No need to plan or execute any motions
[ INFO] [1631499071.021819229]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499071.021942631]: Goal constraints are already satisfied. No need to plan or execute any motions
[ INFO] [1631499072.121106451]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499072.121357155]: Planning attempt 1 of at most 1
[ INFO] [1631499072.918295020]: Start is 0 end 0 short 0
[ INFO] [1631499072.918507923]: Start is 0 end -0.8 short -0.8
[ INFO] [1631499072.918591525]: Start is 0 end 1.44 short 1.44
[ INFO] [1631499072.918664426]: Start is 0 end 0.98 short 0.98
[ INFO] [1631499072.918720227]: Start is 0 end 0 short 0
[ INFO] [1631499072.918933930]: CHOMP trajectory initialized using method: quintic-spline
[ INFO] [1631499072.919240035]: The following collision detectors are available in the planning scene.
[ INFO] [1631499072.919323837]: HYBRID
[ INFO] [1631499072.919370537]: Active collision detector is: HYBRID
[ INFO] [1631499073.465512891]: First coll check took 0.546020952
[ INFO] [1631499073.488053161]: iteration: 0
[ INFO] [1631499073.492502234]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[ INFO] [1631499073.492616835]: Chomp path is collision free
[ INFO] [1631499073.492685637]: Terminated after 1 iterations, using path from iteration 0
[ INFO] [1631499073.492762138]: Optimization core finished in 0.008891 sec
[ INFO] [1631499073.492844939]: Time per iteration 0.00898795
[ERROR] [1631499073.493199145]: Found empty JointState message
[ INFO] [1631499073.495860089]: Disabling trajectory recording
[ INFO] [1631499073.523209937]: Fake execution of trajectory
[ INFO] [1631499073.922091676]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1631499075.021167794]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499075.021307896]: Planning attempt 1 of at most 1
[ INFO] [1631499075.673059581]: Start is 0 end 0 short 0
[ INFO] [1631499075.673190383]: Start is 0 end 0.8 short 0.8
[ INFO] [1631499075.673230784]: Start is 0 end -1.44 short -1.44
[ INFO] [1631499075.673268384]: Start is 0 end -0.98 short -0.98
[ INFO] [1631499075.673319585]: Start is 0 end 0 short 0
[ INFO] [1631499075.673430287]: CHOMP trajectory initialized using method: quintic-spline
[ INFO] [1631499075.673607090]: The following collision detectors are available in the planning scene.
[ INFO] [1631499075.673665891]: HYBRID
[ INFO] [1631499075.673701491]: Active collision detector is: HYBRID
[ INFO] [1631499076.278496106]: First coll check took 0.604734813
[ INFO] [1631499076.297791723]: iteration: 0
[ INFO] [1631499076.306669968]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[ INFO] [1631499076.307035774]: Chomp path is collision free
[ INFO] [1631499076.307483881]: Terminated after 1 iterations, using path from iteration 0
[ INFO] [1631499076.308039890]: Optimization core finished in 0.013665 sec
[ INFO] [1631499076.308684401]: Time per iteration 0.0143246
[ERROR] [1631499076.309215209]: Found empty JointState message
[ INFO] [1631499076.322543528]: Fake execution of trajectory
[ INFO] [1631499076.722175179]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1631499077.821162996]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499077.821449401]: Planning attempt 1 of at most 1
[ INFO] [1631499078.494773639]: Start is 0 end 0 short 0
[ INFO] [1631499078.494891241]: Start is -0.8 end 0 short 0.8
[ INFO] [1631499078.494931742]: Start is 1.44 end 0 short -1.44
[ INFO] [1631499078.494970542]: Start is 0.98 end 0 short -0.98
[ INFO] [1631499078.495008243]: Start is 0 end 0 short 0
[ INFO] [1631499078.495125545]: CHOMP trajectory initialized using method: quintic-spline
[ INFO] [1631499078.495179846]: The following collision detectors are available in the planning scene.
[ INFO] [1631499078.495268147]: HYBRID
[ INFO] [1631499078.495385549]: Active collision detector is: HYBRID
[ INFO] [1631499078.593899564]: First coll check took 0.098380912
[ INFO] [1631499078.605658957]: iteration: 0
[ INFO] [1631499078.607922294]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[ INFO] [1631499078.608080497]: Chomp path is collision free
[ INFO] [1631499078.608191698]: Terminated after 1 iterations, using path from iteration 0
[ INFO] [1631499078.608575805]: Optimization core finished in 0.006687 sec
[ INFO] [1631499078.608687406]: Time per iteration 0.00680021
[ERROR] [1631499078.608978011]: Found empty JointState message
[ INFO] [1631499078.622936140]: Fake execution of trajectory
[ INFO] [1631499079.020876164]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1631499080.121919114]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1631499080.122355421]: Planning attempt 1 of at most 1
[ INFO] [1631499080.297775097]: Start is 0 end 0 short 0
[ INFO] [1631499080.298126103]: Start is 0.8 end 0 short -0.8
[ INFO] [1631499080.298398208]: Start is -1.44 end 0 short 1.44
[ INFO] [1631499080.298690112]: Start is -0.98 end 0 short 0.98
[ INFO] [1631499080.299167020]: Start is 0 end 0 short 0
[ INFO] [1631499080.299449225]: CHOMP trajectory initialized using method: quintic-spline
[ INFO] [1631499080.299937533]: The following collision detectors are available in the planning scene.
[ INFO] [1631499080.300247538]: HYBRID
[ INFO] [1631499080.300532343]: Active collision detector is: HYBRID
[ INFO] [1631499080.387590270]: First coll check took 0.086747622
[ INFO] [1631499080.399729269]: iteration: 0
[ INFO] [1631499080.405991071]: Chomp Got mesh to mesh safety at iter 0. Breaking out early.
[ INFO] [1631499080.406340277]: Chomp path is collision free
[ INFO] [1631499080.406628682]: Terminated after 1 iterations, using path from iteration 0
[ INFO] [1631499080.406936587]: Optimization core finished in 0.010992 sec
[ INFO] [1631499080.407213992]: Time per iteration 0.0112777
[ERROR] [1631499080.407907002]: Found empty JointState message
[ INFO] [1631499080.421587327]: Fake execution of trajectory
[ INFO] [1631499080.822818705]: Completed trajectory execution with status SUCCEEDED ...
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