Hi,
I have a new Doosan A0509s arm. I am trying to run it using ROS.
The virtual mode works and launches properly when using the following -
roslaunch dsr_launcher dsr_moveit.launch model:=a0509
The problem arises when I am connecting the Real robot. I am running the following -
roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.137.100 mode:=real
But, I am getting the following errors -
Connection refused [ERROR] [1674121841.041127378]: [dsr_control] Error initializing robot
[dsr01a0509-3] process has died [pid 40413, exit code 255, cmd /home/anirban/catkin_ws/devel/lib/dsr_control/dsr_control_node __name:=dsr01a0509 __log:=/home/anirban/.ros/log/bb3cbe20-97de-11ed-9a96-67be539470cf/dsr01a0509-3.log]. log file: /home/anirban/.ros/log/bb3cbe20-97de-11ed-9a96-67be539470cf/dsr01a0509-3*.log
I am able to ping to 192.168.127.100 when using the real robot, but ROS is unable to connect to it.
System details - Ubuntu 20.04 Ros Noetic
Can you please help me debug this issue? Thank you.
Update : What I tried till now -
Ping - Pinging the ip 192.168.137.100 works. But error still exists.
Tried running with admin privilages sudo i -
$sudo -i
then cd into catkin workspace, then source. Then run the roslaunch. Did not work.
- Checked firewall using ufw.
$sudo ufw
status Shows inactive. My Laptop is connected directly to the Robot Controller via Ethernet cable.
Update : I am adding the images of the robot, system and errors.
- Ros -
--
- Error -
- Wired connection -
- Robot Teaching pendant -
Entire terminal when I run
roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.137.100 mode:=real port:=12345
anirban@anirban-X556UQK:~/catkin_ws$ roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.137.100 mode:=real port:=12345
... logging to /home/anirban/.ros/log/83c6d0ae-9e26-11ed-8965-8fa9bb3397d0/roslaunch-anirban-X556UQK-6161.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.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://anirban-X556UQK:45415/
SUMMARY
========
PARAMETERS
* /dsr01a0509/command: True
* /dsr01a0509/dsr_joint1_position/joint: joint1
* /dsr01a0509/dsr_joint1_position/pid/d: 200.0
* /dsr01a0509/dsr_joint1_position/pid/i: 100.0
* /dsr01a0509/dsr_joint1_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint1_position/pid/p: 500.0
* /dsr01a0509/dsr_joint1_position/type: position_controll...
* /dsr01a0509/dsr_joint2_position/joint: joint2
* /dsr01a0509/dsr_joint2_position/pid/d: 250.0
* /dsr01a0509/dsr_joint2_position/pid/i: 100.0
* /dsr01a0509/dsr_joint2_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint2_position/pid/p: 500.0
* /dsr01a0509/dsr_joint2_position/type: position_controll...
* /dsr01a0509/dsr_joint3_position/joint: joint3
* /dsr01a0509/dsr_joint3_position/pid/d: 40.0
* /dsr01a0509/dsr_joint3_position/pid/i: 20.0
* /dsr01a0509/dsr_joint3_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint3_position/pid/p: 300.0
* /dsr01a0509/dsr_joint3_position/type: position_controll...
* /dsr01a0509/dsr_joint4_position/joint: joint4
* /dsr01a0509/dsr_joint4_position/pid/d: 40.0
* /dsr01a0509/dsr_joint4_position/pid/i: 0.0
* /dsr01a0509/dsr_joint4_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint4_position/pid/p: 100.0
* /dsr01a0509/dsr_joint4_position/type: position_controll...
* /dsr01a0509/dsr_joint5_position/joint: joint5
* /dsr01a0509/dsr_joint5_position/pid/d: 25.0
* /dsr01a0509/dsr_joint5_position/pid/i: 20.0
* /dsr01a0509/dsr_joint5_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint5_position/pid/p: 200.0
* /dsr01a0509/dsr_joint5_position/type: position_controll...
* /dsr01a0509/dsr_joint6_position/joint: joint6
* /dsr01a0509/dsr_joint6_position/pid/d: 25.0
* /dsr01a0509/dsr_joint6_position/pid/i: 20.0
* /dsr01a0509/dsr_joint6_position/pid/i_clamp: 500
* /dsr01a0509/dsr_joint6_position/pid/p: 300.0
* /dsr01a0509/dsr_joint6_position/type: position_controll...
* /dsr01a0509/dsr_joint_position_controller/joints: ['joint1', 'joint...
* /dsr01a0509/dsr_joint_position_controller/publish_rate: 20
* /dsr01a0509/dsr_joint_position_controller/type: position_controll...
* /dsr01a0509/dsr_joint_publisher/publish_rate: 150
* /dsr01a0509/dsr_joint_publisher/type: joint_state_contr...
* /dsr01a0509/dsr_joint_trajectory_controller/joints: ['joint1', 'joint...
* /dsr01a0509/dsr_joint_trajectory_controller/publish_rate: 20
* /dsr01a0509/dsr_joint_trajectory_controller/type: position_controll...
* /dsr01a0509/dsr_velocity_controller/angular/z/has_acceleration_limits: True
* /dsr01a0509/dsr_velocity_controller/angular/z/has_velocity_limits: True
* /dsr01a0509/dsr_velocity_controller/angular/z/max_acceleration: 6.0
* /dsr01a0509/dsr_velocity_controller/angular/z/max_velocity: 2.0
* /dsr01a0509/dsr_velocity_controller/base_frame_id: base_link
* /dsr01a0509/dsr_velocity_controller/cmd_vel_timeout: 0.25
* /dsr01a0509/dsr_velocity_controller/enable_odom_tf: False
* /dsr01a0509/dsr_velocity_controller/estimate_velocity_from_position: False
* /dsr01a0509/dsr_velocity_controller/left_wheel: ['front_left_whee...
* /dsr01a0509/dsr_velocity_controller/linear/x/has_acceleration_limits: True
* /dsr01a0509/dsr_velocity_controller/linear/x/has_velocity_limits: True
* /dsr01a0509/dsr_velocity_controller/linear/x/max_acceleration: 3.0
* /dsr01a0509/dsr_velocity_controller/linear/x/max_velocity: 1.0
* /dsr01a0509/dsr_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /dsr01a0509/dsr_velocity_controller/publish_rate: 50
* /dsr01a0509/dsr_velocity_controller/right_wheel: ['front_right_whe...
* /dsr01a0509/dsr_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /dsr01a0509/dsr_velocity_controller/type: diff_drive_contro...
* /dsr01a0509/dsr_velocity_controller/wheel_radius_multiplier: 1.0
* /dsr01a0509/dsr_velocity_controller/wheel_separation_multiplier: 1.875
* /dsr01a0509/gripper: none
* /dsr01a0509/host: 192.168.137.100
* /dsr01a0509/mobile: none
* /dsr01a0509/mode: real
* /dsr01a0509/model: a0509
* /dsr01a0509/move_group/allow_trajectory_execution: True
* /dsr01a0509/move_group/arm/longest_valid_segment_fraction: 0.005
* /dsr01a0509/move_group/arm/planner_configs: ['SBL', 'EST', 'L...
* /dsr01a0509/move_group/arm/projection_evaluator: joints(joint1,joi...
* /dsr01a0509/move_group/capabilities:
* /dsr01a0509/move_group/controller_list: [{'name': 'dsr_jo...
* /dsr01a0509/move_group/controller_manager_name: /
* /dsr01a0509/move_group/controller_manager_ns: /
* /dsr01a0509/move_group/disable_capabilities:
* /dsr01a0509/move_group/jiggle_fraction: 0.05
* /dsr01a0509/move_group/max_range: 5.0
* /dsr01a0509/move_group/max_safe_path_cost: 1
* /dsr01a0509/move_group/moveit_controller_manager: moveit_simple_con...
* /dsr01a0509/move_group/moveit_manage_controllers: True
* /dsr01a0509/move_group/octomap_resolution: 0.025
* /dsr01a0509/move_group/planner_configs/BFMT/balanced: 0
* /dsr01a0509/move_group/planner_configs/BFMT/cache_cc: 1
* /dsr01a0509/move_group/planner_configs/BFMT/extended_fmt: 1
* /dsr01a0509/move_group/planner_configs/BFMT/heuristics: 1
* /dsr01a0509/move_group/planner_configs/BFMT/nearest_k: 1
* /dsr01a0509/move_group/planner_configs/BFMT/num_samples: 1000
* /dsr01a0509/move_group/planner_configs/BFMT/optimality: 1
* /dsr01a0509/move_group/planner_configs/BFMT/radius_multiplier: 1.0
* /dsr01a0509/move_group/planner_configs/BFMT/type: geometric::BFMT
* /dsr01a0509/move_group/planner_configs/BKPIECE/border_fraction: 0.9
* /dsr01a0509/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /dsr01a0509/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /dsr01a0509/move_group/planner_configs/BKPIECE/range: 0.0
* /dsr01a0509/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
* /dsr01a0509/move_group/planner_configs/BiEST/range: 0.0
* /dsr01a0509/move_group/planner_configs/BiEST/type: geometric::BiEST
* /dsr01a0509/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
* /dsr01a0509/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
* /dsr01a0509/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
* /dsr01a0509/move_group/planner_configs/BiTRRT/init_temperature: 100
* /dsr01a0509/move_group/planner_configs/BiTRRT/range: 0.0
* /dsr01a0509/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
* /dsr01a0509/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
* /dsr01a0509/move_group/planner_configs/EST/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/EST/range: 0.0
* /dsr01a0509/move_group/planner_configs/EST/type: geometric::EST
* /dsr01a0509/move_group/planner_configs/FMT/cache_cc: 1
* /dsr01a0509/move_group/planner_configs/FMT/extended_fmt: 1
* /dsr01a0509/move_group/planner_configs/FMT/heuristics: 0
* /dsr01a0509/move_group/planner_configs/FMT/nearest_k: 1
* /dsr01a0509/move_group/planner_configs/FMT/num_samples: 1000
* /dsr01a0509/move_group/planner_configs/FMT/radius_multiplier: 1.1
* /dsr01a0509/move_group/planner_configs/FMT/type: geometric::FMT
* /dsr01a0509/move_group/planner_configs/KPIECE/border_fraction: 0.9
* /dsr01a0509/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
* /dsr01a0509/move_group/planner_configs/KPIECE/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
* /dsr01a0509/move_group/planner_configs/KPIECE/range: 0.0
* /dsr01a0509/move_group/planner_configs/KPIECE/type: geometric::KPIECE
* /dsr01a0509/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
* /dsr01a0509/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
* /dsr01a0509/move_group/planner_configs/LBKPIECE/range: 0.0
* /dsr01a0509/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
* /dsr01a0509/move_group/planner_configs/LBTRRT/epsilon: 0.4
* /dsr01a0509/move_group/planner_configs/LBTRRT/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/LBTRRT/range: 0.0
* /dsr01a0509/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
* /dsr01a0509/move_group/planner_configs/LazyPRM/range: 0.0
* /dsr01a0509/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
* /dsr01a0509/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
* /dsr01a0509/move_group/planner_configs/PDST/type: geometric::PDST
* /dsr01a0509/move_group/planner_configs/PRM/max_nearest_neighbors: 10
* /dsr01a0509/move_group/planner_configs/PRM/type: geometric::PRM
* /dsr01a0509/move_group/planner_configs/PRMstar/type: geometric::PRMstar
* /dsr01a0509/move_group/planner_configs/ProjEST/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/ProjEST/range: 0.0
* /dsr01a0509/move_group/planner_configs/ProjEST/type: geometric::ProjEST
* /dsr01a0509/move_group/planner_configs/RRT/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/RRT/range: 0.0
* /dsr01a0509/move_group/planner_configs/RRT/type: geometric::RRT
* /dsr01a0509/move_group/planner_configs/RRTConnect/range: 0.0
* /dsr01a0509/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
* /dsr01a0509/move_group/planner_configs/RRTstar/delay_collision_checking: 1
* /dsr01a0509/move_group/planner_configs/RRTstar/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/RRTstar/range: 0.0
* /dsr01a0509/move_group/planner_configs/RRTstar/type: geometric::RRTstar
* /dsr01a0509/move_group/planner_configs/SBL/range: 0.0
* /dsr01a0509/move_group/planner_configs/SBL/type: geometric::SBL
* /dsr01a0509/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
* /dsr01a0509/move_group/planner_configs/SPARS/max_failures: 1000
* /dsr01a0509/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
* /dsr01a0509/move_group/planner_configs/SPARS/stretch_factor: 3.0
* /dsr01a0509/move_group/planner_configs/SPARS/type: geometric::SPARS
* /dsr01a0509/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
* /dsr01a0509/move_group/planner_configs/SPARStwo/max_failures: 5000
* /dsr01a0509/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
* /dsr01a0509/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
* /dsr01a0509/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
* /dsr01a0509/move_group/planner_configs/STRIDE/degree: 16
* /dsr01a0509/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
* /dsr01a0509/move_group/planner_configs/STRIDE/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/STRIDE/max_degree: 18
* /dsr01a0509/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
* /dsr01a0509/move_group/planner_configs/STRIDE/min_degree: 12
* /dsr01a0509/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
* /dsr01a0509/move_group/planner_configs/STRIDE/range: 0.0
* /dsr01a0509/move_group/planner_configs/STRIDE/type: geometric::STRIDE
* /dsr01a0509/move_group/planner_configs/STRIDE/use_projected_distance: 0
* /dsr01a0509/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
* /dsr01a0509/move_group/planner_configs/TRRT/frountier_threshold: 0.0
* /dsr01a0509/move_group/planner_configs/TRRT/goal_bias: 0.05
* /dsr01a0509/move_group/planner_configs/TRRT/init_temperature: 10e-6
* /dsr01a0509/move_group/planner_configs/TRRT/k_constant: 0.0
* /dsr01a0509/move_group/planner_configs/TRRT/max_states_failed: 10
* /dsr01a0509/move_group/planner_configs/TRRT/min_temperature: 10e-10
* /dsr01a0509/move_group/planner_configs/TRRT/range: 0.0
* /dsr01a0509/move_group/planner_configs/TRRT/temp_change_factor: 2.0
* /dsr01a0509/move_group/planner_configs/TRRT/type: geometric::TRRT
* /dsr01a0509/move_group/planning_plugin: ompl_interface/OM...
* /dsr01a0509/move_group/planning_scene_monitor/publish_geometry_updates: True
* /dsr01a0509/move_group/planning_scene_monitor/publish_planning_scene: True
* /dsr01a0509/move_group/planning_scene_monitor/publish_state_updates: True
* /dsr01a0509/move_group/planning_scene_monitor/publish_transforms_updates: True
* /dsr01a0509/move_group/request_adapters: default_planner_r...
* /dsr01a0509/move_group/start_state_max_bounds_error: 0.1
* /dsr01a0509/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /dsr01a0509/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /dsr01a0509/move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /dsr01a0509/move_group/use_controller_manager: True
* /dsr01a0509/name: dsr01
* /dsr01a0509/port: 12345
* /dsr01a0509/rate: 10
* /dsr01a0509/robot_description: <?xml version="1....
* /dsr01a0509/robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
* /dsr01a0509/robot_description_kinematics/arm/kinematics_solver_attempts: 5
* /dsr01a0509/robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /dsr01a0509/robot_description_kinematics/arm/kinematics_solver_timeout: 0.05
* /dsr01a0509/robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint1/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint1/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint1/max_velocity: 2.094
* /dsr01a0509/robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint2/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint2/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint2/max_velocity: 2.094
* /dsr01a0509/robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint3/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint3/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint3/max_velocity: 3.142
* /dsr01a0509/robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint4/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint4/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint4/max_velocity: 3.927
* /dsr01a0509/robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint5/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint5/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint5/max_velocity: 3.927
* /dsr01a0509/robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
* /dsr01a0509/robot_description_planning/joint_limits/joint6/has_velocity_limits: True
* /dsr01a0509/robot_description_planning/joint_limits/joint6/max_acceleration: 0
* /dsr01a0509/robot_description_planning/joint_limits/joint6/max_velocity: 3.927
* /dsr01a0509/robot_description_semantic: <?xml version="1....
* /dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615/arm/kinematics_solver: kdl_kinematics_pl...
* /dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615/arm/kinematics_solver_attempts: 5
* /dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615/arm/kinematics_solver_search_resolution: 0.005
* /dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615/arm/kinematics_solver_timeout: 0.05
* /dsr01a0509/standby: 5000
* /rosdistro: noetic
* /rosversion: 1.15.15
NODES
/
dsr01a0509 (dsr_control/dsr_control_node)
/dsr01a0509/
controller_spawner (controller_manager/spawner)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_anirban_X556UQK_6161_3195294438742091615 (rviz/rviz)
auto-starting new master
process[master]: started with pid [6171]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 83c6d0ae-9e26-11ed-8965-8fa9bb3397d0
process[rosout-1]: started with pid [6181]
started core service [/rosout]
process[dsr01a0509/controller_spawner-2]: started with pid [6188]
process[dsr01a0509-3]: started with pid [6189]
process[dsr01a0509/robot_state_publisher-4]: started with pid [6190]
process[dsr01a0509/move_group-5]: started with pid [6191]
[ INFO] [1674812378.633075970]: rate is 10
[ INFO] [1674812378.640493720]: name_space is dsr01, a0509
[ INFO] [1674812378.640541798]: [dsr_hw_interface] constructed
process[dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615-6]: started with pid [6197]
[ WARN] [1674812378.707470299]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1674812378.719049842]: Loading robot model 'a0509'...
[ INFO] [1674812378.719103631]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1674812378.719174720]: Link base_0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812378.719265361]: Link link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812378.719295289]: Link link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812378.742293413]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/dsr01a0509/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1674812378.805409208]: [dsr_hw_interface] init() ==> setup callback fucntion
[ INFO] [1674812378.805450706]: INIT@@@@@@@@@@@@@@@@@@@@@@@@@
[ INFO] [1674812378.805469254]: [dsr_hw_interface] init() ==> arm is standby
[ INFO] [1674812378.825407692]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1674812378.828823888]: host 192.168.137.100, port=12345 bCommand: 1, mode: real
Connection refused
[ERROR] [1674812378.829097250]: [dsr_control] Error initializing robot
[ INFO] [1674812378.829458459]: Listening to 'joint_states' for joint states
[ INFO] [1674812378.840566307]: Listening to '/dsr01a0509/attached_collision_object' for attached collision objects
[ INFO] [1674812378.840657679]: Starting planning scene monitor
[ INFO] [1674812378.843513825]: Listening to '/dsr01a0509/planning_scene'
[ INFO] [1674812378.843581176]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1674812378.845703507]: Listening to '/dsr01a0509/collision_object'
[ INFO] [1674812378.847755078]: Listening to '/dsr01a0509/planning_scene_world' for planning scene world geometry
[ INFO] [1674812378.848611374]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1674812378.849754565]: Loading planning pipeline ''
[dsr01a0509-3] process has died [pid 6189, exit code 255, cmd /home/anirban/catkin_ws/devel/lib/dsr_control/dsr_control_node __name:=dsr01a0509 __log:=/home/anirban/.ros/log/83c6d0ae-9e26-11ed-8965-8fa9bb3397d0/dsr01a0509-3.log].
log file: /home/anirban/.ros/log/83c6d0ae-9e26-11ed-8965-8fa9bb3397d0/dsr01a0509-3*.log
[ INFO] [1674812378.907974174]: rviz version 1.14.19
[ INFO] [1674812378.908026003]: compiled against Qt version 5.12.8
[ INFO] [1674812378.908055888]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1674812378.911719435]: Using planning interface 'OMPL'
[ INFO] [1674812378.916463332]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1674812378.917006591]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1674812378.917779770]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1674812378.918430042]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1674812378.919572173]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1674812378.920528155]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1674812378.920646468]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1674812378.920694836]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1674812378.920732625]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1674812378.920774423]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1674812378.920820114]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1674812378.922042981]: Forcing OpenGl version 0.
[INFO] [1674812379.068318]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1674812379.359125451]: Stereo is NOT SUPPORTED
[ INFO] [1674812379.359261255]: OpenGL device: Mesa Intel(R) HD Graphics 620 (KBL GT2)
[ INFO] [1674812379.359367437]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1674812382.690787682]: Loading robot model 'a0509'...
[ INFO] [1674812382.690941669]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1674812382.691338338]: Link base_0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812382.691590195]: Link link3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812382.691863317]: Link link6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1674812382.710910562]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1674812382.782024968]: Starting planning scene monitor
[ INFO] [1674812382.784485349]: Listening to '/dsr01a0509/move_group/monitored_planning_scene'
[ INFO] [1674812382.997369147]: waitForService: Service [/dsr01a0509/get_planning_scene] has not been advertised, waiting...
[ WARN] [1674812383.941784903]: Waiting for dsr_joint_trajectory_controller/follow_joint_trajectory to come up
[ INFO] [1674812388.011057199]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1674812388.011613888]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1674812389.942170994]: Waiting for dsr_joint_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1674812395.942670551]: Action client not connected: dsr_joint_trajectory_controller/follow_joint_trajectory
[ INFO] [1674812395.960345668]: Returned 0 controllers in list
[ INFO] [1674812395.977766825]: Trajectory execution is managing controllers
[ INFO] [1674812395.977804800]: MoveGroup debug mode is ON
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] [1674812396.037792111]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1674812396.038301816]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1674812396.038343971]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1674812397.207668856]: Ready to take commands for planning group arm.
[WARN] [1674812409.075185]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[dsr01a0509/controller_spawner-2] process has finished cleanly
log file: /home/anirban/.ros/log/83c6d0ae-9e26-11ed-8965-8fa9bb3397d0/dsr01a0509-controller_spawner-2*.log
^C[dsr01a0509/rviz_anirban_X556UQK_6161_3195294438742091615-6] killing on exit
[dsr01a0509/move_group-5] killing on exit
[dsr01a0509/robot_state_publisher-4] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Originally posted by Anirban on ROS Answers with karma: 23 on 2023-01-20
Post score: 1