Roslaunch pro_moveit_config demo.launch

vlon · March 13, 2018, 3:32am

SUMMARY

PARAMETERS

/joint_state_publisher/use_gui: False
/move_group/allow_trajectory_execution: True
/move_group/arm/planner_configs: ['SBLkConfigDefau…
/move_group/controller_list: [{‘joints’: ['Joi…
/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/planner_configs/BFMTkConfigDefault/balanced: 0
/move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
/move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
/move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
/move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
/move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
/move_group/planner_configs/BFMTkConfigDefault/optimality: 1
/move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
/move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
/move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
/move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
/move_group/planner_configs/BiESTkConfigDefault/range: 0.0
/move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
/move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
/move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
/move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
/move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
/move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
/move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
/move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
/move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/ESTkConfigDefault/range: 0.0
/move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
/move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
/move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
/move_group/planner_configs/FMTkConfigDefault/heuristics: 0
/move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
/move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
/move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
/move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
/move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
/move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
/move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
/move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
/move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
/move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
/move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
/move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
/move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR…
/move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
/move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
/move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
/move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
/move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
/move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
/move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
/move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon…
/move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/RRTkConfigDefault/range: 0.0
/move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
/move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
/move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
/move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
/move_group/planner_configs/SBLkConfigDefault/range: 0.0
/move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
/move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
/move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
/move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
/move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
/move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
/move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
/move_group/planner_configs/STRIDEkConfigDefault/degree: 16
/move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
/move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
/move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
/move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
/move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
/move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
/move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
/move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
/move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
/move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
/move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
/move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
/move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
/move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
/move_group/planner_configs/TRRTkConfigDefault/range: 0.0
/move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
/move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
/move_group/planning_plugin: ompl_interface/OM…
/move_group/planning_scene_monitor/publish_geometry_updates: True
/move_group/planning_scene_monitor/publish_planning_scene: True
/move_group/planning_scene_monitor/publish_state_updates: True
/move_group/planning_scene_monitor/publish_transforms_updates: True
/move_group/request_adapters: default_planner_r…
/move_group/start_state_max_bounds_error: 0.1
/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/move_group/trajectory_execution/allowed_start_tolerance: 0.01
/robot_description: <?xml version="1…
/robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl…
/robot_description_kinematics/arm/kinematics_solver_attempts: 10
/robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
/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/Joint2/has_acceleration_limits: False
/robot_description_planning/joint_limits/Joint2/has_velocity_limits: False
/robot_description_planning/joint_limits/Joint2/max_acceleration: 0
/robot_description_planning/joint_limits/Joint2/max_velocity: 0
/robot_description_planning/joint_limits/Joint3/has_acceleration_limits: False
/robot_description_planning/joint_limits/Joint3/has_velocity_limits: False
/robot_description_planning/joint_limits/Joint3/max_acceleration: 0
/robot_description_planning/joint_limits/Joint3/max_velocity: 0
/robot_description_planning/joint_limits/Joint8/has_acceleration_limits: False
/robot_description_planning/joint_limits/Joint8/has_velocity_limits: False
/robot_description_planning/joint_limits/Joint8/max_acceleration: 0
/robot_description_planning/joint_limits/Joint8/max_velocity: 0
/robot_description_semantic: <?xml version="1…
/rosdistro: kinetic
/rosversion: 1.12.12
/rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver: kdl_kinematics_pl…
/rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_attempts: 10
/rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_search_resolution: 0.005
/rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_timeout: 0.005
/source_list: ['/move_group/fak…

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_tang_ThinkPad_22909_5286547428447043303 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [22930]
process[robot_state_publisher-2]: started with pid [22931]
process[move_group-3]: started with pid [22932]
process[rviz_tang_ThinkPad_22909_5286547428447043303-4]: started with pid [22938]
[ WARN] [1520908013.137921170]: The root link Base 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] [1520908013.223298082]: Loading robot model ‘swiftpro’…
[ INFO] [1520908013.223375513]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1520908013.301789224]: rviz version 1.12.15
[ INFO] [1520908013.301844542]: compiled against Qt version 5.5.1
[ INFO] [1520908013.301863075]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1520908013.456591443]: Loading robot model ‘swiftpro’…
[ INFO] [1520908013.456652770]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1520908013.477135637]: Stereo is NOT SUPPORTED
[ INFO] [1520908013.477249635]: OpenGl version: 3 (GLSL 1.3).
[ERROR] [1520908013.563223119]: PluginlibFactory: The plugin for class ‘moveit_rviz_plugin/MotionPlanning’ failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are rtabmap_ros/Info rtabmap_ros/MapCloud rtabmap_ros/MapGraph rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
[ WARN] [1520908013.629066670]: The root link Base 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] [1520908014.301894737]: Publishing maintained planning scene on ‘monitored_planning_scene’
[ INFO] [1520908014.313398745]: MoveGroup debug mode is ON
Starting context monitors…
[ INFO] [1520908014.313519435]: Starting scene monitor
[ INFO] [1520908014.321216582]: Listening to ‘/planning_scene’
[ INFO] [1520908014.321349134]: Starting world geometry monitor
[ INFO] [1520908014.327087565]: Listening to ‘/collision_object’ using message notifier with target frame '/Base ’
[ INFO] [1520908014.333998170]: Listening to ‘/planning_scene_world’ for planning scene world geometry
[ INFO] [1520908015.594585981]: Listening to ‘/attached_collision_object’ for attached collision objects
Context monitors started.
[ERROR] [1520908015.599949948]: Exception while loading planner ‘ompl_interface/OMPLPlanner’: According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are
Available plugins:
[ INFO] [1520908015.604387098]: Param ‘default_workspace_bounds’ was not set. Using default value: 10
[ INFO] [1520908015.605690929]: Param ‘start_state_max_bounds_error’ was set to 0.1
[ INFO] [1520908015.606641617]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1520908015.607803687]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1520908015.608829409]: Param ‘jiggle_fraction’ was set to 0.05
[ INFO] [1520908015.609844194]: Param ‘max_sampling_attempts’ was not set. Using default value: 100
[ INFO] [1520908015.609943452]: Using planning request adapter ‘Add Time Parameterization’
[ INFO] [1520908015.609978038]: Using planning request adapter ‘Fix Workspace Bounds’
[ INFO] [1520908015.610018922]: Using planning request adapter ‘Fix Start State Bounds’
[ INFO] [1520908015.610047174]: Using planning request adapter ‘Fix Start State In Collision’
[ INFO] [1520908015.610074140]: Using planning request adapter ‘Fix Start State Path Constraints’
[FATAL] [1520908015.618704758]: Exception while loading controller manager ‘moveit_fake_controller_manager/MoveItFakeControllerManager’: According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are
[ INFO] [1520908015.651739743]: 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’…
[ERROR] [1520908015.756061033]: Exception while loading move_group capability ‘move_group/MoveGroupPickPlaceAction’: According to the loaded plugin descriptions the class move_group/MoveGroupPickPlaceAction with base class type move_group::MoveGroupCapability does not exist. Declared types are move_group/ApplyPlanningSceneService move_group/ClearOctomapService move_group/MoveGroupCartesianPathService move_group/MoveGroupExecuteService move_group/MoveGroupExecuteTrajectoryAction move_group/MoveGroupGetPlanningSceneService move_group/MoveGroupKinematicsService move_group/MoveGroupMoveAction move_group/MoveGroupPlanService move_group/MoveGroupQueryPlannersService move_group/MoveGroupStateValidationService
Available capabilities: move_group/ApplyPlanningSceneService, move_group/ClearOctomapService, move_group/MoveGroupCartesianPathService, move_group/MoveGroupExecuteService, move_group/MoveGroupExecuteTrajectoryAction, move_group/MoveGroupGetPlanningSceneService, move_group/MoveGroupKinematicsService, move_group/MoveGroupMoveAction, move_group/MoveGroupPlanService, move_group/MoveGroupQueryPlannersService, move_group/MoveGroupStateValidationService
Loading ‘move_group/MoveGroupPlanService’…
Loading ‘move_group/MoveGroupQueryPlannersService’…
Loading ‘move_group/MoveGroupStateValidationService’…
[ INFO] [1520908015.763614302]:

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

[ WARN] [1520908015.763744706]: MoveGroup running was unable to load ompl_interface/OMPLPlanner

patherceve · October 19, 2018, 10:51pm

Hello, I had the same issue while executing: roslaunch pro_moveit_config demo.launch
What fixed the problem was to install MoveIt! with the following command:
sudo apt-get install ros-kinetic-moveit

source: MoveIt 1 Binary Install | MoveIt

Daniel · October 26, 2018, 11:12am

Hi, it seems that moveit did not install correctly, please check the FAQ on ROS official.
Here are two link for your reference:

Thanks