ROS cpp api issues #116

HebiMigrator · 2024-07-10T16:30:56Z

HebiMigrator
Jul 10, 2024

I am trying to set up a new simulation under ROS Melodic.
Following these instructions http://wiki.ros.org/hebi_cpp_api_examples , which seem to supersede http://wiki.ros.org/hebiros

Can you confirm this is the latest setup?

Everything builds fine, but when I try to run

roslaunch hebi_cpp_api_examples arm_moveit_node.launch arm_type:=A-2085-04

I get several errors on startup:

 INFO] [1594241603.604862358]: Found and successfully read 'hrdf_file' parameter
[ INFO] [1594241603.605599262]: Found and successfully read 'home_position' parameter
process[robot_state_publisher-3]: started with pid [30121]
process[move_group-4]: started with pid [30123]
process[rviz_L221_0000_30083_6042537302737999125-5]: started with pid [30124]
[ERROR] [1594241604.110096586]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.110990006]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.111023670]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241604.111053563]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594241604.111085480]: Group 'hebi_arm' is empty.
[ERROR] [1594241604.111130529]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111156230]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111183958]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241604.111211545]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594241604.111261832]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111290537]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111316658]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111348296]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111372462]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111398792]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111424634]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241604.111449986]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594241604.111528629]: Loading robot model 'A-2085-04'...
[ INFO] [1594241604.392845055]: rviz version 1.13.12
[ INFO] [1594241604.392904211]: compiled against Qt version 5.9.5

...

[ INFO] [1594241604.396564567]: Forcing OpenGl version 0.
[ WARN] [1594241604.626297842]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594241604.626358116]: Failed to add group 'hebi_arm'
[ERROR] [1594241604.626401488]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[ WARN] [1594241604.823843610]: Could not initialize arm, trying again...
[ INFO] [1594241604.883178119]: Stereo is NOT SUPPORTED
[ INFO] [1594241604.883265770]: OpenGl version: 3.1 (GLSL 1.4).
[ WARN] [1594241606.424392311]: Could not initialize arm, trying again...
[ INFO] [1594241606.537922066]: Publishing maintained planning scene on 'monitored_planning_scene'

...

[ INFO] [1594241606.546815551]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1594241606.547449089]: No sensor plugin specified for octomap updater 0; ignoring.
[ WARN] [1594241608.024872148]: Could not initialize arm, trying again...
[ERROR] [1594241608.529430933]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529484711]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529517258]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594241608.529547150]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594241608.529574808]: Group 'hebi_arm' is empty.
[ERROR] [1594241608.529634802]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529668955]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529699057]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594241608.529727413]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594241608.529812830]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529847332]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529876805]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529903764]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529927650]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529951606]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.529980032]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594241608.530009226]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594241608.530157780]: Loading robot model 'A-2085-04'...
[ERROR] [1594241609.025066270]: Failed to find the following modules in family: Arm
[ERROR] [1594241609.025182487]: > J1_base
[ERROR] [1594241609.025214894]: > J2_shoulder
[ERROR] [1594241609.025244717]: > J3_elbow
[ERROR] [1594241609.025274609]: > J4_wrist
[ERROR] [1594241609.025319937]: Could not initialize arm! Check for modules on the network, and ensure good connection (e.g., check packet loss plot in Scope). Shutting down...
[ WARN] [1594241609.126107067]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594241609.126162312]: Failed to add group 'hebi_arm'
[ERROR] [1594241609.126220561]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[arm_moveit_node-2] process has died [pid 30115, exit code 255, cmd /home/cpsc472_10/hebi-test/devel/lib/hebi_cpp_api_examples/arm_moveit_node __name:=arm_moveit_node __log:=/home/cpsc472_10/.ros/log/0f5cdbb2-c15d-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-2.log].
log file: /home/cpsc472_10/.ros/log/0f5cdbb2-c15d-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-2*.log
[ INFO] [1594241611.137035883]: Starting planning scene monitor
[ INFO] [1594241611.139616200]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1594241611.633278428]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1594241611.656916701]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1594241611.735268449]: Initializing OMPL interface using ROS parameters
[ INFO] [1594241611.743975247]: Using planning interface 'OMPL'
[ INFO] [1594241611.751154807]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1594241611.751597955]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1594241611.751954289]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594241611.752383539]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594241611.752773747]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1594241611.753140069]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1594241611.753209422]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1594241611.753243365]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1594241611.753269626]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1594241611.753292255]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1594241611.753316071]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1594241611.756300843]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager

Please confirm which demos I should be running
Is this something wrong in development, or something wrong in my setup?

Comment:
If http://wiki.ros.org/hebiros is out of date, please add a note warning us to use the new setup.

Originally posted by dcconner on forums.hebi.us » Wed Jul 08, 2020 5:15 pm

HebiMigrator · 2024-07-10T16:32:48Z

HebiMigrator
Jul 10, 2024
Author

Hello!

Answers to some of the questions you have asked:

I can confirm that the instructions and setup described at http://wiki.ros.org/hebi_cpp_api_examples are the most up to date.
Our 'hebiros' api located at http://wiki.ros.org/hebiros is no longer being developed, and we do not recommend using it. Thank you for highlighting the need for a warning on that page, that will be added promptly.
I have tried to recreate some of the errors you are experiencing, but haven't been able to. Could you answer these questions to help me understand your situation a little better?

Are the modules visible in scope when the simulator is running?
Are your packages all up to date? (specifically hebi_moveit_configs, hebi_description and hebi_cpp_api_examples)

I ask because in our updated standard configs, if there is only a single wrist actuator it is expected to be named J4_wrist and not J4_wrist1 as shows up in your errors.

What arm configuration are you using?

You are trying to load A-2085-04, which is a standard 4-dof config. A 4-dof scara, on the other hand, is A-2084-01.

Have you tested with any of the non-moveit nodes? Doing those tests will help us debug which layer of the system has the issue.
Note: If you are using our simulation tools, have you looked at https://github.com/HebiRobotics/hebi_gazebo? This is especially useful if you don't have physical hardware on hand.

Look forward to your response!

Originally posted by hardik_singh on forums.hebi.us » Thu Jul 09, 2020 2:51 pm

0 replies

HebiMigrator · 2024-07-10T16:33:47Z

HebiMigrator
Jul 10, 2024
Author

I wasn't running hebi_gazebo, so that may have been part of problem.

But, after installing lxml, setting the environment variables, and running

roslaunch hebi_gazebo arm_simulation.launch arm_type:=A-2085-04

and then trying to launch

 roslaunch hebi_cpp_api_examples arm_moveit_node.launch arm_type:=A-2085-04

I get

[ERROR] [1594407456.777769352, 100.106000000]: No sensor plugin specified for octomap updater 0; ignoring.
[ERROR] [1594407457.549153189, 100.274000000]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594407457.549211158, 100.274000000]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594407457.549286098, 100.274000000]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594407457.549349864, 100.274000000]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594407457.549412512, 100.274000000]: Group 'hebi_arm' is empty.
[ERROR] [1594407457.549521396, 100.274000000]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594407457.549556876, 100.274000000]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594407457.549624832, 100.274000000]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594407457.549689785, 100.274000000]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594407457.549843368, 100.274000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.549885273, 100.274000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.549915166, 100.274000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.549947363, 100.274000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.549976417, 100.274000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.550005262, 100.274000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.550032920, 100.274000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594407457.550062253, 100.274000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594407457.550211087, 100.274000000]: Loading robot model 'A-2085-04'...
[ WARN] [1594407458.263063909, 100.404000000]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594407458.263145065, 100.404000000]: Failed to add group 'hebi_arm'
[ERROR] [1594407458.263231111, 100.404000000]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[ INFO] [1594407460.682025125, 100.860000000]: Starting planning scene monitor
[ INFO] [1594407460.684611308, 100.860000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1594407461.148027823, 100.951000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1594407463.971565280, 101.509000000]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1594407464.002363681, 101.514000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1594407464.012077806, 101.516000000]: Using planning interface 'OMPL'
[ INFO] [1594407464.014860385, 101.517000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1594407464.015302625, 101.517000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1594407464.015660565, 101.517000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594407464.016059713, 101.517000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594407464.016434905, 101.517000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1594407464.016772801, 101.517000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1594407464.016842992, 101.517000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1594407464.016875329, 101.517000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1594407464.016900891, 101.517000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1594407464.016926732, 101.517000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1594407464.016957812, 101.517000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1594407464.020380074, 101.518000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1594407464.032298835, 101.521000000]: Trajectory execution is managing controllers

I see the arm in Gazebo and RViz, but no planning modules are loaded. I'll dig some more, but any help is appreciated.

Originally posted by dcconner on forums.hebi.us » Thu Jul 09, 2020 4:21 pm

0 replies

HebiMigrator · 2024-07-10T16:35:54Z

HebiMigrator
Jul 10, 2024
Author

Note, tried switching to melodic-devel branches, and got repeated spam of

[ERROR] [1594408114.612986013, 38.013000000]: Joint 'J4_wrist' not found in model 'A-2085-04'
[ERROR] [1594408114.620361826, 38.020000000]: Joint 'J1_base' not found in model 'A-2085-04'
[ERROR] [1594408114.620421122, 38.020000000]: Joint 'J2_shoulder' not found in model 'A-2085-04'
[ERROR] [1594408114.620448081, 38.020000000]: Joint 'J3_elbow' not found in model 'A-2085-04'
[ERROR] [1594408114.620471409, 38.020000000]: Joint 'J4_wrist' not found in model 'A-2085-04'
[ERROR] [1594408114.620499834, 38.020000000]: Joint 'Arm/J1_base/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.620525746, 38.020000000]: Joint 'Arm/J2_shoulder/X5_9' not found in model 'A-2085-04'
[ERROR] [1594408114.620559759, 38.020000000]: Joint 'Arm/J3_elbow/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.620587067, 38.020000000]: Joint 'Arm/J4_wrist/X5_1' not found in model 'A-2085-04'
[ERROR] [1594408114.621017923, 38.020000000]: Joint 'J1_base' not found in model 'A-2085-04'
[ERROR] [1594408114.621058571, 38.020000000]: Joint 'J2_shoulder' not found in model 'A-2085-04'
[ERROR] [1594408114.621091886, 38.020000000]: Joint 'J3_elbow' not found in model 'A-2085-04'
[ERROR] [1594408114.621122337, 38.020000000]: Joint 'J4_wrist' not found in model 'A-2085-04'
[ERROR] [1594408114.621389134, 38.020000000]: Joint 'Arm/J1_base/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.621419864, 38.020000000]: Joint 'Arm/J2_shoulder/X5_9' not found in model 'A-2085-04'
[ERROR] [1594408114.621450664, 38.020000000]: Joint 'Arm/J3_elbow/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.621483490, 38.020000000]: Joint 'Arm/J4_wrist/X5_1' not found in model 'A-2085-04'
[ERROR] [1594408114.626572673, 38.024000000]: Joint 'J1_base' not found in model 'A-2085-04'
[ERROR] [1594408114.626643842, 38.024000000]: Joint 'J2_shoulder' not found in model 'A-2085-04'
[ERROR] [1594408114.626667449, 38.024000000]: Joint 'J3_elbow' not found in model 'A-2085-04'
[ERROR] [1594408114.626697760, 38.024000000]: Joint 'J4_wrist' not found in model 'A-2085-04'
[ERROR] [1594408114.626737361, 38.024000000]: Joint 'Arm/J1_base/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.626765717, 38.024000000]: Joint 'Arm/J2_shoulder/X5_9' not found in model 'A-2085-04'
[ERROR] [1594408114.626798473, 38.024000000]: Joint 'Arm/J3_elbow/X5_4' not found in model 'A-2085-04'
[ERROR] [1594408114.626830041, 38.024000000]: Joint 'Arm/J4_wrist/X5_1' not found in model 'A-2085-04'
[ERROR] [1594408114.631788480, 38.028000000]: Joint 'J1_base' not found in model 'A-2085-04'
[ERROR] [1594408114.631853433, 38.028000000]: Joint 'J2_shoulder' not found in model 'A-2085-04'

Originally posted by dcconner on forums.hebi.us » Fri Jul 10, 2020 3:10 pm

0 replies

HebiMigrator · 2024-07-10T16:36:29Z

HebiMigrator
Jul 10, 2024
Author

When you launch the gazebo simulation or any of the other nodes, are you able to see the arm actuators in Scope? Could you show us what you see in scope?

Originally posted by hardik_singh on forums.hebi.us » Fri Jul 10, 2020 5:27 pm

0 replies

HebiMigrator · 2024-07-10T16:37:20Z

HebiMigrator
Jul 10, 2024
Author

Here is screen shot of Gazebo and Scope

https://drive.google.com/file/d/1Z8isE1 ... sp=sharing

Originally posted by dcconner on forums.hebi.us » Fri Jul 10, 2020 6:39 pm

0 replies

HebiMigrator · 2024-07-10T16:38:29Z

HebiMigrator
Jul 10, 2024
Author

Thanks for the screenshot. I believe I've been able to replicate your issue, and we're looking into it right now. I will have an answer for your soon!

In the meantime, quick notes:

For the most part, we recommend staying in the master branch at this moment.
You should run arm_moveit_simulation.launch directly from the gazebo package and see if you experience the same issues or if that can get you up and running. At the very least, this should save you the hassle of running two different launch files every time.

Originally posted by hardik_singh on forums.hebi.us » Mon Jul 13, 2020 12:54 pm

0 replies

HebiMigrator · 2024-07-10T16:39:48Z

HebiMigrator
Jul 10, 2024
Author

tried, but didn't work

Command:

cpsc472_10@L221-0000:~/hebi-test/src/hebi_gazebo/launch$ roslaunch hebi_gazebo arm_moveit_simulation.launch arm_type:=A-2085-04

Ran Scope, but didn't display any joints this time. Likely due to "process died" error below:

Output:

... logging to /home/cpsc472_10/.ros/log/2bdc4aac-c53b-11ea-b8e8-f8b156ac0dbe/roslaunch-L221-0000-26766.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://L221-0000:39501/

SUMMARY
========

PARAMETERS
 * /families: ['Arm']
 * /gains_file: config/gains/A-20...
 * /gains_package: hebi_cpp_api_exam...
 * /gazebo/enable_ros_network: True
 * /home_position: [0.01, 2.09439, 2...
 * /hrdf_file: config/hrdf/A-208...
 * /hrdf_package: hebi_cpp_api_exam...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/disable_capabilities: 
 * /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /move_group/generic_hw_control_loop/loop_hz: 300
 * /move_group/hardware_interface/joints: ['Arm/J1_base/X5_...
 * /move_group/hardware_interface/sim_control_mode: 1
 * /move_group/hebi_arm/default_planner_config: RRT
 * /move_group/hebi_arm/longest_valid_segment_fraction: 0.005
 * /move_group/hebi_arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/hebi_arm/projection_evaluator: joints(Arm/J1_bas...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/joint_state_controller/publish_rate: 50
 * /move_group/joint_state_controller/type: joint_state_contr...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/moveit_sim_hw_interface/joint_model_group: controllers_initi...
 * /move_group/moveit_sim_hw_interface/joint_model_group_pose: controllers_initi...
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/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/sensors: [{}]
 * /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
 * /moveit_joints: ['Arm/J1_base', '...
 * /names: ['J1_base', 'J2_s...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/hebi_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/hebi_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/hebi_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/Arm/J1_base/X5_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/Arm/J1_base/X5_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/Arm/J1_base/X5_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/Arm/J1_base/X5_4/max_velocity: 32
 * /robot_description_planning/joint_limits/Arm/J2_shoulder/X5_9/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/Arm/J2_shoulder/X5_9/has_velocity_limits: True
 * /robot_description_planning/joint_limits/Arm/J2_shoulder/X5_9/max_acceleration: 0
 * /robot_description_planning/joint_limits/Arm/J2_shoulder/X5_9/max_velocity: 14
 * /robot_description_planning/joint_limits/Arm/J3_elbow/X5_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/Arm/J3_elbow/X5_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/Arm/J3_elbow/X5_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/Arm/J3_elbow/X5_4/max_velocity: 32
 * /robot_description_planning/joint_limits/Arm/J4_wrist1/X5_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/Arm/J4_wrist1/X5_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/Arm/J4_wrist1/X5_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/Arm/J4_wrist1/X5_1/max_velocity: 90
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /rviz_L221_0000_26766_6787813304597536631/hebi_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_L221_0000_26766_6787813304597536631/hebi_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_L221_0000_26766_6787813304597536631/hebi_arm/kinematics_solver_timeout: 0.005
 * /use_sim_time: True

NODES
  /
    arm_moveit_node (hebi_cpp_api_examples/arm_moveit_node)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_L221_0000_26766_6787813304597536631 (rviz/rviz)
    spawn_model (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [26809]
process[gazebo_gui-2]: started with pid [26813]
process[spawn_model-3]: started with pid [26817]
process[arm_moveit_node-4]: started with pid [26818]
process[robot_state_publisher-5]: started with pid [26821]
[ INFO] [1594666938.831016873]: Found and successfully read 'families' parameter
[ INFO] [1594666938.832603196]: Found and successfully read 'names' parameter
[ INFO] [1594666938.833416297]: Found and successfully read 'gains_package' parameter
[ INFO] [1594666938.834170173]: Found and successfully read 'gains_file' parameter
process[move_group-6]: started with pid [26827]
[ INFO] [1594666938.838463295]: Found and successfully read 'hrdf_package' parameter
[ INFO] [1594666938.839372220]: Found and successfully read 'hrdf_file' parameter
[ INFO] [1594666938.840031739]: Found and successfully read 'home_position' parameter
process[rviz_L221_0000_26766_6787813304597536631-7]: started with pid [26833]
[ERROR] [1594666939.077580575]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666939.078143852]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666939.078166900]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666939.078183732]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594666939.078202938]: Group 'hebi_arm' is empty.
[ERROR] [1594666939.078231992]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666939.078251339]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666939.078268380]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666939.078285282]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594666939.078322159]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078343181]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078361689]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078382083]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078399264]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078416166]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078433487]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666939.078450598]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594666939.078512758]: Loading robot model 'A-2085-04'...
[ WARN] [1594666939.598130496]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594666939.598180014]: Failed to add group 'hebi_arm'
[ERROR] [1594666939.598204878]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[ WARN] [1594666940.054988979]: Could not initialize arm, trying again...
[ INFO] [1594666940.127143251]: rviz version 1.13.12
[ INFO] [1594666940.127204293]: compiled against Qt version 5.9.5
[ INFO] [1594666940.127227271]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1594666940.132350048]: Forcing OpenGl version 0.
[ INFO] [1594666940.599499482]: Stereo is NOT SUPPORTED
[ INFO] [1594666940.599585947]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1594666940.705851509]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1594666940.707170895]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1594666940.777901715]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1594666940.779475886]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1594666941.182309426]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1594666941.205028915, 0.011000000]: Physics dynamic reconfigure ready.
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[ INFO] [1594666941.480148250]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1594666941.482155092]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1594666941.482193436]: Starting planning scene monitor
[ INFO] [1594666941.484093350]: Listening to '/planning_scene'
[ INFO] [1594666941.484131833]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1594666941.485744905]: Listening to '/collision_object'
[ INFO] [1594666941.487319495]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1594666941.487868105]: No sensor plugin specified for octomap updater 0; ignoring.
[spawn_model-3] process has finished cleanly
log file: /home/cpsc472_10/.ros/log/2bdc4aac-c53b-11ea-b8e8-f8b156ac0dbe/spawn_model-3*.log
[ WARN] [1594666943.929846478, 1.372000000]: Could not initialize arm, trying again...
[ERROR] [1594666945.432659036, 2.481000000]: Joint 'Arm/J1_base/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666945.432743615, 2.481000000]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666945.432771482, 2.481000000]: Joint 'Arm/J3_elbow/X5_4' declared as part of group 'hebi_arm' is not known to the URDF
[ERROR] [1594666945.432795578, 2.481000000]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group 'hebi_arm' is not known to the URDF
[ WARN] [1594666945.432823724, 2.481000000]: Group 'hebi_arm' is empty.
[ERROR] [1594666945.432896849, 2.481000000]: Joint 'Arm/J1_base/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666945.432928627, 2.481000000]: Joint 'Arm/J2_shoulder/X5_9' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666945.432950138, 2.481000000]: Joint 'Arm/J3_elbow/X5_4' declared as part of group state 'home' is not known to the URDF
[ERROR] [1594666945.432965713, 2.481000000]: Joint 'Arm/J4_wrist1/X5_1' declared as part of group state 'home' is not known to the URDF
[ WARN] [1594666945.433087378, 2.481000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433121950, 2.481000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433150725, 2.481000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433182643, 2.481000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433206948, 2.481000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433228948, 2.481000000]: Link 'Arm/J4_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433251577, 2.481000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ WARN] [1594666945.433273786, 2.481000000]: Link 'elbow_wrist1/INPUT_INTERFACE' is not known to URDF. Cannot disable collisons.
[ INFO] [1594666945.433435750, 2.481000000]: Loading robot model 'A-2085-04'...
[ WARN] [1594666945.549557846, 2.506000000]: Could not initialize arm, trying again...
[ WARN] [1594666946.152212508, 2.785000000]: Group 'hebi_arm' must have at least one valid joint
[ WARN] [1594666946.152310427, 2.785000000]: Failed to add group 'hebi_arm'
[ERROR] [1594666946.152419939, 2.785000000]: Group state 'home' specified for group 'hebi_arm', but that group does not exist
[ INFO] [1594666947.792741286, 3.281000000]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1594666947.835501680, 3.290000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1594666947.845522063, 3.292000000]: Using planning interface 'OMPL'
[ INFO] [1594666947.848836838, 3.293000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1594666947.849427981, 3.293000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1594666947.849872806, 3.293000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594666947.850322309, 3.293000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594666947.850783826, 3.293000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1594666947.851233329, 3.293000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1594666947.851338930, 3.293000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1594666947.851398645, 3.293000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1594666947.851453402, 3.293000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1594666947.851510113, 3.293000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1594666947.851559492, 3.293000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1594666947.855118295, 3.294000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1594666947.866340520, 3.297000000]: 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] [1594666947.939111008, 3.310000000]: 

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

[ INFO] [1594666947.940427881, 3.310000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1594666947.940543260, 3.310000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1594666948.569939617, 3.436000000]: Starting planning scene monitor
[ INFO] [1594666948.572218215, 3.437000000]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1594666948.871733109, 3.506000000]: Failed to find the following modules in family: Arm
[ERROR] [1594666948.871831517, 3.506000000]: > J1_base
[ERROR] [1594666948.871956464, 3.506000000]: > J2_shoulder
[ERROR] [1594666948.872059342, 3.506000000]: > J3_elbow
[ERROR] [1594666948.872103272, 3.506000000]: > J4_wrist
[ERROR] [1594666948.872216975, 3.506000000]: Could not initialize arm! Check for modules on the network, and ensure good connection (e.g., check packet loss plot in Scope). Shutting down...
[arm_moveit_node-4] process has died [pid 26818, exit code 255, cmd /home/cpsc472_10/hebi-test/devel/lib/hebi_cpp_api_examples/arm_moveit_node __name:=arm_moveit_node __log:=/home/cpsc472_10/.ros/log/2bdc4aac-c53b-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-4.log].
log file: /home/cpsc472_10/.ros/log/2bdc4aac-c53b-11ea-b8e8-f8b156ac0dbe/arm_moveit_node-4*.log
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.

Originally posted by dcconner on forums.hebi.us » Mon Jul 13, 2020 3:07 pm

0 replies

HebiMigrator · 2024-07-10T16:40:51Z

HebiMigrator
Jul 10, 2024
Author

Same basic result running with A-2084-01 model.

Also, I note that the arm_moveit_node-4*.log file is not created even though indicated by the error message above.

Thanks for your help in tracking down these issues.

Originally posted by dcconner on forums.hebi.us » Mon Jul 13, 2020 3:12 pm

0 replies

HebiMigrator · 2024-07-10T16:42:10Z

HebiMigrator
Jul 10, 2024
Author

I tried running this code:

roslaunch hebi_gazebo arm_simulation.launch arm_type:=A-2085-04

but I got some errors in the output

... logging to /home/summer/.ros/log/60f39bfa-c77a-11ea-a9cf-c48e8ff32227/roslaunch-chrisM2-5787.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://localhost:41241/

SUMMARY
========

PARAMETERS
 * /families: ['Arm']
 * /gains_file: config/gains/A-20...
 * /gains_package: hebi_cpp_api_exam...
 * /gazebo/enable_ros_network: True
 * /home_position: [0.01, 2.09439, 2...
 * /hrdf_file: config/hrdf/A-208...
 * /hrdf_package: hebi_cpp_api_exam...
 * /moveit_joints: ['Arm/J1_base', '...
 * /names: ['J1_base', 'J2_s...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /use_sim_time: True

NODES
  /
    arm_node (hebi_cpp_api_examples/arm_node)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_model (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [5827]
process[gazebo_gui-2]: started with pid [5832]
process[spawn_model-3]: started with pid [5837]
process[arm_node-4]: started with pid [5838]
[ INFO] [1594922676.139682517]: Found and successfully read 'families' parameter
process[robot_state_publisher-5]: started with pid [5843]
[ INFO] [1594922676.148536641]: Found and successfully read 'names' parameter
[ INFO] [1594922676.149887016]: Found and successfully read 'gains_package' parameter
[ INFO] [1594922676.151418542]: Found and successfully read 'gains_file' parameter
[ INFO] [1594922676.152772757]: Found and successfully read 'hrdf_package' parameter
[ INFO] [1594922676.154664494]: Found and successfully read 'hrdf_file' parameter
[ INFO] [1594922676.161310179]: Found and successfully read 'home_position' parameter
[ WARN] [1594922677.407711805]: Could not initialize arm, trying again...
[ INFO] [1594922677.532322460]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1594922677.534090689]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1594922677.836921301]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1594922677.839406485]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1594922678.080666913]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1594922678.122056993, 0.025000000]: Physics dynamic reconfigure ready.
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[spawn_model-3] process has finished cleanly
log file: /home/summer/.ros/log/60f39bfa-c77a-11ea-a9cf-c48e8ff32227/spawn_model-3*.log
[ WARN] [1594922681.560408495, 1.291000000]: Could not initialize arm, trying again...
[ WARN] [1594922684.995400085, 2.564000000]: Could not initialize arm, trying again...
[ERROR] [1594922692.974203961, 3.564000000]: Failed to find the following modules in family: Arm
[ERROR] [1594922692.974397773, 3.564000000]: > J1_base
[ERROR] [1594922692.974445688, 3.564000000]: > J2_shoulder
[ERROR] [1594922692.974508246, 3.564000000]: > J3_elbow
[ERROR] [1594922692.974544571, 3.564000000]: > J4_wrist
[ERROR] [1594922692.974642535, 3.564000000]: Could not initialize arm! Check for modules on the network, and ensure good connection (e.g., check packet loss plot in Scope). Shutting down...
[arm_node-4] process has died [pid 5838, exit code 255, cmd /home/summer/Documents/CHRISLab/chris_install/devel/lib/hebi_cpp_api_examples/arm_node __name:=arm_node __log:=/home/summer/.ros/log/60f39bfa-c77a-11ea-a9cf-c48e8ff32227/arm_node-4.log].
log file: /home/summer/.ros/log/60f39bfa-c77a-11ea-a9cf-c48e8ff32227/arm_node-4*.log

Originally posted by nhongoc on forums.hebi.us » Thu Jul 16, 2020 2:34 pm

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