[BUG]无法运行gazebo仿真 #8
Description
Description / 描述
无法运行gazebo仿真，仿真中机械臂模型不正确
Steps to Reproduce / 复现步骤
Steps to reproduce the behavior / 描述复现这个 bug 的步骤
- roslaunch alicia_duo_moveit demo_gazebo.launch
Screenshots / 报错截图
终端日志：
(arm) chen@chen-Legion-Y7000P-IRX9:~/my_code/arm2$ roslaunch alicia_duo_moveit demo_gazebo.launch
... logging to /home/chen/.ros/log/f477dcde-65da-11f0-8026-efef0e92b076/roslaunch-chen-Legion-Y7000P-IRX9-547029.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://chen-Legion-Y7000P-IRX9:46631/
SUMMARY
========
PARAMETERS
* /arm_pos_controller/gains/Joint1/d: 0.0
* /arm_pos_controller/gains/Joint1/i: 0.0
* /arm_pos_controller/gains/Joint1/p: 0.2
* /arm_pos_controller/gains/Joint2/d: 0.0
* /arm_pos_controller/gains/Joint2/i: 0.0
* /arm_pos_controller/gains/Joint2/p: 0.2
* /arm_pos_controller/gains/Joint3/d: 0.0
* /arm_pos_controller/gains/Joint3/i: 0.0
* /arm_pos_controller/gains/Joint3/p: 0.2
* /arm_pos_controller/gains/Joint4/d: 0.0
* /arm_pos_controller/gains/Joint4/i: 0.0
* /arm_pos_controller/gains/Joint4/p: 0.2
* /arm_pos_controller/gains/Joint5/d: 0.0
* /arm_pos_controller/gains/Joint5/i: 0.0
* /arm_pos_controller/gains/Joint5/p: 0.2
* /arm_pos_controller/gains/Joint6/d: 0.0
* /arm_pos_controller/gains/Joint6/i: 0.0
* /arm_pos_controller/gains/Joint6/p: 0.2
* /arm_pos_controller/joints: ['Joint1', 'Joint...
* /arm_pos_controller/type: position_controll...
* /controller_list: [{'name': 'arm_po...
* /gazebo/enable_ros_network: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities:
* /move_group/default_planning_pipeline: ompl
* /move_group/disable_capabilities:
* /move_group/max_range: 5.0
* /move_group/monitor_dynamics: False
* /move_group/moveit_controller_manager: moveit_ros_contro...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planning_pipelines/chomp/collision_clearance: 0.2
* /move_group/planning_pipelines/chomp/collision_threshold: 0.07
* /move_group/planning_pipelines/chomp/enable_failure_recovery: False
* /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
* /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
* /move_group/planning_pipelines/chomp/learning_rate: 0.01
* /move_group/planning_pipelines/chomp/max_iterations: 200
* /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
* /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
* /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
* /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
* /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
* /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
* /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
* /move_group/planning_pipelines/chomp/ridge_factor: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
* /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
* /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
* /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
* /move_group/planning_pipelines/chomp/use_stochastic_descent: True
* /move_group/planning_pipelines/ompl/alicia/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/alicia/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/alicia/projection_evaluator: joints(Joint1,Joi...
* /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
* /move_group/planning_pipelines/ompl/manipulator/longest_valid_segment_fraction: 0.005
* /move_group/planning_pipelines/ompl/manipulator/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/manipulator/projection_evaluator: joints(Joint1,Joi...
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/delay_rewiring_to_first_solution: 0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/drop_unconnected_samples_on_prune: 0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/find_approximate_solutions: 0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/inflation_scaling_parameter: 10
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/initial_inflation_factor: 1000000
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/prune_threshold_as_fractional_cost_change: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/rewire_factor: 1.001
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/samples_per_batch: 100
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/stop_on_each_solution_improvement: 0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/truncation_scaling_parameter: 5.0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/type: geometric::ABITstar
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/use_graph_pruning: 1
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/use_just_in_time_sampling: 0
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/use_k_nearest: 1
* /move_group/planning_pipelines/ompl/planner_configs/ABITstar/use_strict_queue_ordering: 0
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/find_approximate_solutions: 0
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/rewire_factor: 1.001
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/samples_per_batch: 100
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/set_max_num_goals: 1
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/type: geometric::AITstar
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/use_graph_pruning: 1
* /move_group/planning_pipelines/ompl/planner_configs/AITstar/use_k_nearest: 1
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners:
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/radius_multiplier: 1.0
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/type: geometric::BFMT
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/delay_rewiring_to_first_solution: 0
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/drop_unconnected_samples_on_prune: 0
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/find_approximate_solutions: 0
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/prune_threshold_as_fractional_cost_change: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/rewire_factor: 1.001
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/samples_per_batch: 100
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/stop_on_each_solution_improvement: 0
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/type: geometric::BITstar
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/use_graph_pruning: 1
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/use_just_in_time_sampling: 0
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/use_k_nearest: 1
* /move_group/planning_pipelines/ompl/planner_configs/BITstar/use_strict_queue_ordering: 0
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BKPIECE/type: geometric::BKPIECE
* /move_group/planning_pipelines/ompl/planner_configs/BiEST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiEST/type: geometric::BiEST
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/cost_threshold: 1e300
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frontier_node_ratio: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/frontier_threshold: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/init_temperature: 100
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/temp_change_factor: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/BiTRRT/type: geometric::BiTRRT
* /move_group/planning_pipelines/ompl/planner_configs/EST/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/EST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/EST/type: geometric::EST
* /move_group/planning_pipelines/ompl/planner_configs/FMT/cache_cc: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/extended_fmt: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/heuristics: 0
* /move_group/planning_pipelines/ompl/planner_configs/FMT/nearest_k: 1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/num_samples: 1000
* /move_group/planning_pipelines/ompl/planner_configs/FMT/radius_multiplier: 1.1
* /move_group/planning_pipelines/ompl/planner_configs/FMT/type: geometric::FMT
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/KPIECE/type: geometric::KPIECE
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/border_fraction: 0.9
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LBKPIECE/type: geometric::LBKPIECE
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/epsilon: 0.4
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LBTRRT/type: geometric::LBTRRT
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRM/type: geometric::LazyPRM
* /move_group/planning_pipelines/ompl/planner_configs/LazyPRMstar/type: geometric::LazyPR...
* /move_group/planning_pipelines/ompl/planner_configs/PDST/type: geometric::PDST
* /move_group/planning_pipelines/ompl/planner_configs/PRM/max_nearest_neighbors: 10
* /move_group/planning_pipelines/ompl/planner_configs/PRM/type: geometric::PRM
* /move_group/planning_pipelines/ompl/planner_configs/PRMstar/type: geometric::PRMstar
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/ProjEST/type: geometric::ProjEST
* /move_group/planning_pipelines/ompl/planner_configs/RRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/RRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRT/type: geometric::RRT
* /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRTConnect/type: geometric::RRTCon...
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/delay_collision_checking: 1
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/RRTstar/type: geometric::RRTstar
* /move_group/planning_pipelines/ompl/planner_configs/SBL/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/SBL/type: geometric::SBL
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/dense_delta_fraction: 0.001
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/max_failures: 1000
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/sparse_delta_fraction: 0.25
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/stretch_factor: 3.0
* /move_group/planning_pipelines/ompl/planner_configs/SPARS/type: geometric::SPARS
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/dense_delta_fraction: 0.001
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/max_failures: 5000
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/stretch_factor: 3.0
* /move_group/planning_pipelines/ompl/planner_configs/SPARStwo/type: geometric::SPARStwo
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/degree: 16
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/estimated_dimension: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_degree: 18
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/max_pts_per_leaf: 6
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_degree: 12
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/min_valid_path_fraction: 0.2
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/type: geometric::STRIDE
* /move_group/planning_pipelines/ompl/planner_configs/STRIDE/use_projected_distance: 0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/frontier_node_ratio: 0.1
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/frontier_threshold: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/goal_bias: 0.05
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/init_temperature: 10e-6
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/k_constant: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/max_states_failed: 10
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/min_temperature: 10e-10
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/range: 0.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/temp_change_factor: 2.0
* /move_group/planning_pipelines/ompl/planner_configs/TRRT/type: geometric::TRRT
* /move_group/planning_pipelines/ompl/planning_plugin: ompl_interface/OM...
* /move_group/planning_pipelines/ompl/request_adapters: default_planner_r...
* /move_group/planning_pipelines/ompl/start_state_max_bounds_error: 0.1
* /move_group/planning_pipelines/pilz_industrial_motion_planner/capabilities: pilz_industrial_m...
* /move_group/planning_pipelines/pilz_industrial_motion_planner/default_planner_config: PTP
* /move_group/planning_pipelines/pilz_industrial_motion_planner/planning_plugin: pilz_industrial_m...
* /move_group/planning_pipelines/pilz_industrial_motion_planner/request_adapters:
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/sense_for_plan/max_safe_path_cost: 1
* /move_group/sensors: []
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /robot_description: <?xml version="1....
* /robot_description_kinematics/alicia/goal_joint_tolerance: 0.0001
* /robot_description_kinematics/alicia/goal_orientation_tolerance: 0.001
* /robot_description_kinematics/alicia/goal_position_tolerance: 0.0001
* /robot_description_kinematics/alicia/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/alicia/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/alicia/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/manipulator/goal_joint_tolerance: 0.0001
* /robot_description_kinematics/manipulator/goal_orientation_tolerance: 0.001
* /robot_description_kinematics/manipulator/goal_position_tolerance: 0.0001
* /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
* /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
* /robot_description_planning/cartesian_limits/max_trans_dec: -5
* /robot_description_planning/cartesian_limits/max_trans_vel: 1
* /robot_description_planning/default_acceleration_scaling_factor: 0.1
* /robot_description_planning/default_velocity_scaling_factor: 0.1
* /robot_description_planning/joint_limits/Joint1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint1/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint1/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint1/max_velocity: 5
* /robot_description_planning/joint_limits/Joint2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint2/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint2/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint2/max_velocity: 5
* /robot_description_planning/joint_limits/Joint3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint3/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint3/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint3/max_velocity: 5
* /robot_description_planning/joint_limits/Joint4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint4/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint4/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint4/max_velocity: 5
* /robot_description_planning/joint_limits/Joint5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint5/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint5/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint5/max_velocity: 5
* /robot_description_planning/joint_limits/Joint6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/Joint6/has_velocity_limits: True
* /robot_description_planning/joint_limits/Joint6/max_acceleration: 0
* /robot_description_planning/joint_limits/Joint6/max_velocity: 5
* /robot_description_semantic: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.17.0
* /use_sim_time: True
NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_controller_spawner (controller_manager/spawner)
gazebo_gui (gazebo_ros/gzclient)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_chen_Legion_Y7000P_IRX9_547029_2125517093754578524 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)
virtual_joint_broadcaster_0 (tf2_ros/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [547066]
process[gazebo_gui-2]: started with pid [547070]
process[spawn_gazebo_model-3]: started with pid [547075]
process[controller_spawner-4]: started with pid [547077]
process[gazebo_controller_spawner-5]: started with pid [547078]
process[robot_state_publisher-6]: started with pid [547079]
process[virtual_joint_broadcaster_0-7]: started with pid [547080]
process[move_group-8]: started with pid [547081]
process[rviz_chen_Legion_Y7000P_IRX9_547029_2125517093754578524-9]: started with pid [547082]
[ERROR] [1753065973.675816886]: Could not parse collision element for Link [tool0]
[ WARN] [1753065973.676781095]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1753065973.701072565]: Could not parse collision element for Link [tool0]
[ INFO] [1753065973.702276006]: Loading robot model 'alicia_duo_descriptions'...
[ INFO] [1753065973.801054173]: rviz version 1.14.25
[ INFO] [1753065973.801088605]: compiled against Qt version 5.12.8
[ INFO] [1753065973.801098198]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1753065973.814963584]: Forcing OpenGl version 0.
[INFO] [1753065974.005741, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1753065974.007463, 0.000000]: wait_for_service(/controller_manager/load_controller): failed to contact, will keep trying
[INFO] [1753065974.008923, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [1753065974.010082, 0.000000]: wait_for_service(/controller_manager/load_controller): failed to contact, will keep trying
[INFO] [1753065974.035816, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1753065974.039662, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[WARN] [1753065974.041422, 0.000000]: wait_for_service(/gazebo/spawn_urdf_model): failed to contact, will keep trying
[ INFO] [1753065974.080875645]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1753065974.081698446]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1753065974.130955151]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1753065974.131836439]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ WARN] [1753065974.269486078]: Link Grasp_base has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1753065974.269511053]: Link tool0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1753065974.281966297]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1753065974.284304245]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1753065974.716160004]: Stereo is NOT SUPPORTED
[ INFO] [1753065974.716204388]: OpenGL device: NVIDIA GeForce RTX 4060 Laptop GPU/PCIe/SSE2
[ INFO] [1753065974.716217427]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1753065975.056221142]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1753065975.069681915]: Physics dynamic reconfigure ready.
[INFO] [1753065975.245999, 0.000000]: wait_for_service(/gazebo/spawn_urdf_model): finally were able to contact [rosrpc://chen-Legion-Y7000P-IRX9:37343]
[INFO] [1753065975.247059, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1753065975.462494, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1753065975.463581, 0.000000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1753065975.465426, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1753065975.589801966]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1753065975.590685227]: Listening to 'joint_states' for joint states
[ INFO] [1753065975.591932459]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1753065975.591940819]: Starting planning scene monitor
[ INFO] [1753065975.592606295]: Listening to '/planning_scene'
[ INFO] [1753065975.592614380]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1753065975.593200667]: Listening to '/collision_object'
[ INFO] [1753065975.593809958]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1753065975.911395439]: Loading gazebo_ros_control plugin
[ INFO] [1753065975.911451403]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1753065975.911983129]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1753065976.023481334]: Loaded gazebo_ros_control.
[INFO] [1753065976.114454, 0.000000]: wait_for_service(/controller_manager/load_controller): finally were able to contact [rosrpc://chen-Legion-Y7000P-IRX9:37343]
[INFO] [1753065976.115231, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1753065976.116679, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1753065976.117627, 0.000000]: wait_for_service(/controller_manager/load_controller): finally were able to contact [rosrpc://chen-Legion-Y7000P-IRX9:37343]
[INFO] [1753065976.118025, 0.000000]: Loading controller: arm_pos_controller
[INFO] [1753065976.118510, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1753065976.120213, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1753065976.121241, 0.000000]: Loading controller: joint_state_controller
[ERROR] [1753065976.130733747]: Could not find joint 'Joint1' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1753065976.130785377]: Failed to initialize the controller
[ERROR] [1753065976.130798553]: Initializing controller 'arm_pos_controller' failed
[INFO] [1753065976.133795, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1753065976.467175, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1753065976.469736, 0.000000]: Set model configuration status: SetModelConfiguration: success
[INFO] [1753065976.470364, 0.000000]: Unpausing physics
[INFO] [1753065976.473908, 0.001000]: Started controllers: joint_state_controller
[ERROR] [1753065977.132099, 0.595000]: Failed to load arm_pos_controller
[INFO] [1753065977.133130, 0.596000]: Loading controller: gripper_controller
[ERROR] [1753065977.135681111, 0.598000000]: Could not load controller 'gripper_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/gripper_controller')?
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/chen/.ros/log/f477dcde-65da-11f0-8026-efef0e92b076/spawn_gazebo_model-3*.log
[ERROR] [1753065978.136133, 1.147000]: Failed to load gripper_controller
[INFO] [1753065978.137068, 1.147000]: Controller Spawner: Loaded controllers:
[INFO] [1753065978.141679, 1.150000]: Started controllers:
[ INFO] [1753065978.549127388, 1.293000000]: Loading planning pipeline 'chomp'
[ INFO] [1753065978.561232150, 1.296000000]: Using planning interface 'CHOMP'
[ INFO] [1753065978.562788537, 1.297000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1753065978.562908876, 1.297000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1753065978.563009743, 1.297000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1753065978.563115111, 1.297000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1753065978.563215618, 1.297000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1753065978.563317353, 1.297000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1753065978.563331007, 1.297000000]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1753065978.563338163, 1.297000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1753065978.563346660, 1.297000000]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1753065978.563352828, 1.297000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1753065978.563360261, 1.297000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1753065978.563366111, 1.297000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1753065978.563371492, 1.297000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1753065978.563759441, 1.297000000]: Loading planning pipeline 'ompl'
[ INFO] [1753065978.589825516, 1.303000000]: Using planning interface 'OMPL'
[ INFO] [1753065978.590526120, 1.304000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1753065978.590644248, 1.304000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1753065978.590745016, 1.304000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1753065978.590852353, 1.304000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1753065978.590957326, 1.304000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1753065978.591066404, 1.304000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1753065978.591080108, 1.304000000]: Using planning request adapter 'Limiting Max Cartesian Speed'
[ INFO] [1753065978.591086760, 1.304000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1753065978.591092553, 1.304000000]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1753065978.591098849, 1.304000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1753065978.591104633, 1.304000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1753065978.591111011, 1.304000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1753065978.591117576, 1.304000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1753065978.591145304, 1.304000000]: Loading planning pipeline 'pilz_industrial_motion_planner'
[ INFO] [1753065978.592581088, 1.304000000]: Reading limits from namespace /robot_description_planning
[ INFO] [1753065978.600391798, 1.306000000]: Available plugins: pilz_industrial_motion_planner::PlanningContextLoaderCIRC pilz_industrial_motion_planner::PlanningContextLoaderLIN pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1753065978.600407958, 1.306000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderCIRC
[ INFO] [1753065978.601286822, 1.306000000]: Registered Algorithm [CIRC]
[ INFO] [1753065978.601297025, 1.306000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderLIN
[ INFO] [1753065978.602022414, 1.306000000]: Registered Algorithm [LIN]
[ INFO] [1753065978.602031152, 1.306000000]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1753065978.602723881, 1.307000000]: Registered Algorithm [PTP]
[ INFO] [1753065978.602732812, 1.307000000]: Using planning interface 'Pilz Industrial Motion Planner'
[ INFO] [1753065978.604415232, 1.307000000]: Started moveit_ros_control_interface::MoveItControllerManager for namespace /
[ INFO] [1753065978.609852534, 1.308000000]: Trajectory execution is managing controllers
[ INFO] [1753065978.609869728, 1.308000000]: 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'...
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1753065978.631260834, 1.314000000]: initialize move group sequence action
[ INFO] [1753065978.633511723, 1.314000000]: Reading limits from namespace /robot_description_planning
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1753065978.639769349, 1.316000000]: Reading limits from namespace /robot_description_planning
[ INFO] [1753065978.645617658, 1.317000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
* - SequenceAction
* - SequenceService
********************************************************
[ INFO] [1753065978.645830266, 1.317000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1753065978.645840824, 1.317000000]: MoveGroup context initialization complete
You can start planning now!
[ERROR] [1753065979.574309790, 1.568000000]: Could not parse collision element for Link [tool0]
[ INFO] [1753065979.574879540, 1.568000000]: Loading robot model 'alicia_duo_descriptions'...
[ WARN] [1753065980.059410280, 1.730000000]: Link Grasp_base has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1753065980.059437078, 1.730000000]: Link tool0 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1753065980.073709870, 1.734000000]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1753065980.076547174, 1.735000000]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1753065981.398520935, 2.067000000]: Starting planning scene monitor
[ INFO] [1753065981.399901598, 2.067000000]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1753065981.975315307, 2.210000000]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1753065981.975386665, 2.210000000]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1753065981.990245986, 2.214000000]: Constructing new MoveGroup connection for group 'alicia' in namespace ''
[ INFO] [1753065982.919836135, 2.447000000]: Ready to take commands for planning group alicia.
Environment / 环境信息
- OS / 操作系统:ubuntu20.04
- ROS version / ROS 版本: ROS1 Noetic
- Python version / Python 版本:Python 3.8.10
- GPU: NVIDIA RTX 4060