Exception while loading planner ‘ompl_interface/OMPLPlanner

最新推荐文章于 2023-07-12 23:22:16 发布
原创 最新推荐文章于 2023-07-12 23:22:16 发布 · 1k 阅读 · 3 ·
CC 4.0 BY-SA版权
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。

博客聚焦于解决ompl_interface/OMPLPlanner加载时出现的异常问题，虽内容简略，但核心围绕此异常的解决展开，为相关技术问题提供了解决方向。
缺少依赖包引起的Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:
小小探索者
10-16 1646
一、问题描述 公司要把已有的代码迁移到云道平台，以前的纯javaWeb工程中的依赖包要改成maven仓库，代码的改造方面，除了添加pom.xml文件外，也没多大变化，但是在构建war文件时，提示了好多缺少依赖包的错误，一个个添加后，最后报了这个错 [ERROR] Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:3.1:compile (default-compile) on project httpjsoncuvd
Exception while loading planner ‘ompl_interface/OMPLPlanner‘: According to the loaded plugin descrip
liuyuekelejic的博客
10-13 2753
问题描述 在启动moveit后出现以下报错 [ERROR] [1602577636.143933306]: 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
解决Failed to execute goal org.apache.maven.plugins:maven-
热门推荐
oZuoShen123的博客
09-24 5万+
文章目录 　　引言 　　解决过程：（1、报错的具体内容 　2、具体的解决方案） 　　结语
maven项目启动报错：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:2.0.2
韧
10-27 5679
相信很多人启动maven项目都遇到过这种类型的错。me too！   原因1：jdk版本跟maven版本不一致导致的。举个例子，jdk1.6是不支持maven 2.0.2的，jdk1.7才行。 解决方案：这个得自己查询，jdk 与 maven 版本的对应，再去java build path和pom.xml文件改配置。 原因2：maven编译时，系统默认将文件看成资源文件，而不是java文件...
maven打包的时候出现如下错误：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:2.2
leidi384559667的博客
08-05 2164
共有两个方法解决此问题： 一、使用maven打jar包的时候出现这种错误 在项目构建的时候遇到了这样的问题:Failedto execute goal org.apache.maven.plugins:maven-compiler-plugin:3.2:compile(default-compile) on project taotao-manager-pojo: Compilation failure 这里把jre修改成jdk 这里选择的其实是JAVA_HOME路径，jdk中包含jre 二、在pom
Eclipse中使用maven打包的时候出现如下错误：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:2.2
qq_42449963的博客
01-06 4362
一、使用maven打jar包的时候出现这种错误 在项目构建的时候遇到了这样的问题:Failedto execute goal org.apache.maven.plugins:maven-compiler-plugin:3.2:compile(default-compile) on project taotao-manager-pojo: Compilation failure 检查了一下Inst...
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 pilz_industrial_motion_planner::CommandPlanner Available plugins: pilz_industrial_motion_planner::CommandPlanner 怎么解决
10-12
[ERROR] [1620889941.382904614]: Exception while loading planner 'pilz_industrial_motion_planner::CommandPlanner': According to the loaded plugin descriptions the class pilz_industrial_motion_planner::...
[move_group-5] [ERROR] [1741700510.805509154] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'lerp_interface/LERPPlanner': According to the loaded plugin descriptions the class lerp_interface/LERPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are chomp_interface/CHOMPPlanner ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
03-12
- plugin: ompl_interface/OMPLPlanner # 使用OMPL规划器 # - plugin: chomp_interface/CHOMPPlanner # 或CHOMP # - plugin: pilz_industrial_motion_planner/CommandPlanner # 或Pilz ``` #### **(2) 检查插件...
[INFO] [1757313137.581731109]: Loading planning pipeline 'ompl' [INFO] [1757313137.640136885]: Using planning interface 'OMPL' [ERROR] [1757313137.640725512]: Exception while loading planning adapter plugin 'industrial_trajectory_filters/UniformSampleFilter': According to the loaded plugin descriptions the class industrial_trajectory_filters/UniformSampleFilter with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddRuckigTrajectorySmoothing default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/LimitMaxCartesianLinkSpeed default_planner_request_adapters/ResolveConstraintFrames 怎么解决
09-09
- **检查声明类型**：虽然声明类型有 `default_planner_request_adapters/AddIterativeSplineParameterization` 等，但要保证没有冲突或者错误。确保描述文件中没有遗漏或者错误的声明。 ### 环境配置检查 - **检查...
[ WARN] [1762076634.614271498]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1762076634.614330146]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1762076635.805948068]: Ready to take commands for planning group manipulator_i5. [INFO] [1762076635.806458]: AUBO安全控制器初始化完成 [INFO] [1762076635.813104]: 使用保守参数: 速度=0.1, 加速度=0.1 roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.192.10 ... logging to /root/.ros/log/69be2d1c-b7d0-11f0-a111-2c9464039e34/roslaunch-tian-28357.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://tian:34027/ SUMMARY ======== PARAMETERS * /aubo_driver/server_host: 192.168.192.10 * /controller_joint_names: ['shoulder_joint'... * /move_group/allow_trajectory_execution: True * /move_group/capabilities: * /move_group/controller_list: [{'default': True... * /move_group/disable_capabilities: * /move_group/jiggle_fraction: 0.05 * /move_group/manipulator_i5/default_planner_config: RRTConnect * /move_group/manipulator_i5/longest_valid_segment_fraction: 0.005 * /move_group/manipulator_i5/planner_configs: ['SBL', 'EST', 'L... * /move_group/manipulator_i5/projection_evaluator: joints(shoulder_j... * /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/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: industrial_trajec... * /move_group/sample_duration: 0.005 * /move_group/sensors: [{'point_subsampl... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 4.0 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01 * /move_group/trajectory_execution/execution_duration_monitoring: False * /robot_description: <?xml version="1.... * /robot_description_kinematics/manipulator_i5/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/manipulator_i5/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/manipulator_i5/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/foreArm_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/foreArm_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/foreArm_joint/max_acceleration: 30 * /robot_description_planning/joint_limits/foreArm_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/shoulder_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/shoulder_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/shoulder_joint/max_acceleration: 30 * /robot_description_planning/joint_limits/shoulder_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/upperArm_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/upperArm_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/upperArm_joint/max_acceleration: 30 * /robot_description_planning/joint_limits/upperArm_joint/max_velocity: 3.14 * /robot_description_planning/joint_limits/wrist1_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/wrist1_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist1_joint/max_acceleration: 25 * /robot_description_planning/joint_limits/wrist1_joint/max_velocity: 2.6 * /robot_description_planning/joint_limits/wrist2_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/wrist2_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist2_joint/max_acceleration: 25 * /robot_description_planning/joint_limits/wrist2_joint/max_velocity: 2.6 * /robot_description_planning/joint_limits/wrist3_joint/has_acceleration_limits: False * /robot_description_planning/joint_limits/wrist3_joint/has_velocity_limits: True * /robot_description_planning/joint_limits/wrist3_joint/max_acceleration: 25 * /robot_description_planning/joint_limits/wrist3_joint/max_velocity: 2.6 * /robot_description_semantic: <?xml version="1.... * /robot_name: aubo_i5 * /rosdistro: melodic * /rosversion: 1.14.13 * /rviz_tian_28357_5613264337159122920/manipulator_i5/kinematics_solver: kdl_kinematics_pl... * /rviz_tian_28357_5613264337159122920/manipulator_i5/kinematics_solver_search_resolution: 0.005 * /rviz_tian_28357_5613264337159122920/manipulator_i5/kinematics_solver_timeout: 0.005 NODES / aubo_driver (aubo_driver/aubo_driver) aubo_joint_trajectory_action (aubo_controller/aubo_joint_trajectory_action) aubo_robot_simulator (aubo_controller/aubo_robot_simulator) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_tian_28357_5613264337159122920 (rviz/rviz) auto-starting new master process[master]: started with pid [28371] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 69be2d1c-b7d0-11f0-a111-2c9464039e34 process[rosout-1]: started with pid [28382] started core service [/rosout] process[aubo_robot_simulator-2]: started with pid [28389] process[aubo_joint_trajectory_action-3]: started with pid [28390] process[aubo_driver-4]: started with pid [28391] process[robot_state_publisher-5]: started with pid [28393] [ INFO] [1762076620.975289494]: Adding shoulder_joint to list parameter [ INFO] [1762076620.976437205]: Adding upperArm_joint to list parameter [ INFO] [1762076620.976450447]: Adding foreArm_joint to list parameter [ INFO] [1762076620.976461219]: Adding wrist1_joint to list parameter [ INFO] [1762076620.976468429]: Adding wrist2_joint to list parameter [ INFO] [1762076620.976475474]: Adding wrist3_joint to list parameter [ INFO] [1762076620.976499775]: Found user-specified joint names in 'controller_joint_names': [shoulder_joint, upperArm_joint, foreArm_joint, wrist1_joint, wrist2_joint, wrist3_joint] [ INFO] [1762076620.976511379]: Filtered joint names to 6 joints process[move_group-6]: started with pid [28402] process[rviz_tian_28357_5613264337159122920-7]: started with pid [28412] log4cplus:ERROR could not open file ./config/tracelog.properties log4cplus:ERROR No appenders could be found for logger (ourrobottrace). log4cplus:ERROR Please initialize the log4cplus system properly. [ INFO] [1762076621.017125306]: Loading robot model 'aubo_i5'... [ WARN] [1762076621.017989247]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1762076621.018004978]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1762076621.068145876]: rviz version 1.13.30 [ INFO] [1762076621.068293956]: compiled against Qt version 5.9.5 [ INFO] [1762076621.068302158]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1762076621.071714956]: Forcing OpenGl version 0. [INFO] [1762076621.293396]: Setting publish rate (hz) based on parameter: 50.000000 [INFO] [1762076621.294459]: Simulating manipulator with 6 joints: shoulder_joint, upperArm_joint, foreArm_joint, wrist1_joint, wrist2_joint, wrist3_joint [INFO] [1762076621.295511]: Setting motion update rate (hz): 200.000000 [WARN] [1762076621.296947]: Invalid initial_joint_state parameter, defaulting to all-zeros [INFO] [1762076621.297546]: Using initial joint state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] [INFO] [1762076621.302005]: Starting motion worker in motion controller simulator [INFO] [1762076621.303133]: The velocity scale factor of the trajetory is: 1.000000 [INFO] [1762076621.306835]: Creating joint trajectory subscriber [INFO] [1762076621.308616]: Enable Switch [INFO] [1762076621.354461]: Clean up init [ INFO] [1762076621.490932917]: Stereo is NOT SUPPORTED [ INFO] [1762076621.490982853]: OpenGL device: NVIDIA GeForce GTX 1050 Ti/PCIe/SSE2 [ INFO] [1762076621.490998617]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1762076621.527283296]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1762076621.528627766]: MoveGroup debug mode is OFF Starting planning scene monitors... [ INFO] [1762076621.528645797]: Starting planning scene monitor [ INFO] [1762076621.529857849]: Listening to '/planning_scene' [ INFO] [1762076621.529872699]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1762076621.530897643]: Listening to '/collision_object' [ INFO] [1762076621.531963313]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1762076622.535972708]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1762076622.538405886]: Listening to '/attached_collision_object' for attached collision objects Planning scene monitors started. [ INFO] [1762076622.554456326]: Initializing OMPL interface using ROS parameters [ INFO] [1762076622.565566122]: Using planning interface 'OMPL' [ INFO] [1762076622.567477284]: Constructing N point filter [ INFO] [1762076622.568748991]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1762076622.569256661]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1762076622.569523339]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1762076622.570007206]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1762076622.570270603]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1762076622.570527226]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1762076622.570586021]: Using planning request adapter 'Trajectory filter 'UniformSampleFilter' of type 'UniformSampleFilter'' [ INFO] [1762076622.570597617]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1762076622.570606717]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1762076622.570622499]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1762076622.570642885]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1762076622.570662345]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1762076622.867106380]: Added FollowJointTrajectory controller for aubo_i5_controller [ INFO] [1762076622.867371382]: Returned 1 controllers in list [ INFO] [1762076622.900353684]: 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] [1762076622.955447007]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1762076622.955481294]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1762076622.955495059]: MoveGroup context initialization complete You can start planning now! [ INFO] [1762076624.756700336]: Loading robot model 'aubo_i5'... [ WARN] [1762076624.756746443]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1762076624.756771581]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1762076625.264448710]: Starting planning scene monitor [ INFO] [1762076625.266530944]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1762076625.686336464]: Constructing new MoveGroup connection for group 'manipulator_i5' in namespace '' [ INFO] [1762076626.877045917]: Ready to take commands for planning group manipulator_i5. [ INFO] [1762076626.877183789]: Looking around: no [ INFO] [1762076626.877245273]: Replanning: no [ INFO] [1762076643.174830115]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1762076643.175277031]: Planning attempt 1 of at most 1 [ INFO] [1762076643.176738253]: Using a sample_duration value of 0.005 [ INFO] [1762076643.180184117]: Planner configuration 'manipulator_i5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1762076643.182625931]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.182831809]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.182985284]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.183155704]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.196664477]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.196880812]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076643.197507341]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076643.197718645]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.198230738]: ParallelPlan::solve(): Solution found by one or more threads in 0.016307 seconds [ INFO] [1762076643.199047044]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.199217949]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.199394720]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.199539848]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.203516801]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076643.203977054]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.204789531]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.205275657]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076643.205579430]: ParallelPlan::solve(): Solution found by one or more threads in 0.006801 seconds [ INFO] [1762076643.206133622]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.206314425]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076643.210023941]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.210188376]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076643.210713824]: ParallelPlan::solve(): Solution found by one or more threads in 0.004754 seconds [ INFO] [1762076643.226914630]: SimpleSetup: Path simplification took 0.015846 seconds and changed from 3 to 2 states [ INFO] [1762076643.229838490]: Interpolated time exceeds original trajectory (quitting), original: 1.64812 final interpolated time: 1.65 [ INFO] [1762076643.229965778]: Uniform sampling, resample duraction: 0.005 input traj. size: 4 output traj. size: 331 [ INFO] [1762076643.241589040]: Disabling trajectory recording [ INFO] [1762076643.249267809]: Received new goal [ INFO] [1762076643.249383221]: Publishing trajectory [INFO] [1762076643.254872]: Received trajectory with 331 points [INFO] [1762076643.257125]: Velocity scale factor: 1.0 [ERROR] [1762076643.263622]: Unexpected exception: int() argument must be a string, a bytes-like object or a number, not 'Duration' [INFO] [1762076643.284360]: Added new trajectory with 331 points [ INFO] [1762076645.072204824]: Inside goal constraints, stopped moving, return success for action [ INFO] [1762076645.073066959]: Controller aubo_i5_controller successfully finished [ INFO] [1762076645.131429419]: Completed trajectory execution with status SUCCEEDED ... [ INFO] [1762076645.141135973]: trajectory execution status: stop1 [ INFO] [1762076645.141144669]: Received event 'stop' [ERROR] [1762076645.141260396]: To transition to an aborted state, the goal must be in a preempting or active state, it is currently in state: 3 [ INFO] [1762076645.390044200]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1762076645.390232795]: Planning attempt 1 of at most 1 [ INFO] [1762076645.391435158]: Planner configuration 'manipulator_i5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1762076645.392501038]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.392765325]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.392996916]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.393232737]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.405152731]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076645.406623163]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.407075831]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076645.407262705]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.407673599]: ParallelPlan::solve(): Solution found by one or more threads in 0.015443 seconds [ INFO] [1762076645.408471126]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.408854773]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.409019127]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.409187565]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.410172203]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076645.414208863]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1762076645.414576171]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.415038020]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.415411858]: ParallelPlan::solve(): Solution found by one or more threads in 0.007207 seconds [ INFO] [1762076645.415915443]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.416264033]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1762076645.420120818]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.420431203]: RRTConnect: Created 5 states (2 start + 3 goal) [ INFO] [1762076645.420816818]: ParallelPlan::solve(): Solution found by one or more threads in 0.005031 seconds [ INFO] [1762076645.428721527]: SimpleSetup: Path simplification took 0.007722 seconds and changed from 3 to 2 states [ INFO] [1762076645.431648243]: Interpolated time exceeds original trajectory (quitting), original: 2.78717 final interpolated time: 2.79 [ INFO] [1762076645.431751832]: Uniform sampling, resample duraction: 0.005 input traj. size: 4 output traj. size: 559 [ INFO] [1762076645.450663603]: Received new goal [ INFO] [1762076645.450732490]: Publishing trajectory [INFO] [1762076645.467334]: Received trajectory with 559 points [INFO] [1762076645.469154]: Velocity scale factor: 1.0 [ERROR] [1762076645.480497]: Unexpected exception: int() argument must be a string, a bytes-like object or a number, not 'Duration' [ERROR] [1762076645.492113]: Unexpected exception: int() argument must be a string, a bytes-like object or a number, not 'Duration' [INFO] [1762076645.493956]: Added new trajectory with 559 points [ERROR] [1762076645.494570]: Unexpected exception: int() argument must be a string, a bytes-like object or a number, not 'Duration'
最新发布
11-03
我们有两个主要问题需要解决： 1. 警告: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world' 2. 错误: 'int() argument must be a string, a bytes-...
idea报错Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:
qq_34823218的博客
08-18 5533
仅供参考 原文链接 https://blog.csdn.net/fanrenxiang/article/details/80864908 今天项目用maven命令打包时候抛出错误: Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:3.7.0:compile (default-compile) on project springbootdemo: Fatal error compiling: 无效的标记: -
idea中maven-web项目打包报错: Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin
o_nianchenzi_o的博客
07-20 5670
maven项目打包报错: 原因:    未知...(知道的说下!) 解决方案:  XML Code  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 2...
Eclipse运行Maven出现[ERROR] Failed to execute goal org.apache.maven.pluginsmaven-compiler-plugin
geejkse_seff的博客
04-18 3008
使用 eclipse JavaEE 版编译 Maven 项目，有可能出现了下面的错误： [ERROR] Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:3.6.0:compile (default-compile) on project jcseg-core: Compilation failure [ERROR] No compiler is provided in this environment. Perhap
解决Maven test时报错:Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin
galen2016的博客
08-15 9274
选中项目-右键-run as-Maven test时报错：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin，如下图：造成原因：新建maven项目时，jre默认使用的1.5，改成1.8后，没把Installed JREs改成jdk1.8解决1、window-preferences 2、Java-Installe
解决maven工程compile failure的问题
m0_67390788的博客
04-29 1170
今天之前，项目使用tomcat进行运行时一直没有问题的，但是开发之后，需要将项目运行在虚拟机上，在虚拟机上搭建好jdk+tomcat+mongodb之后，需要将maven工程打包，将war包放入虚拟机的tomcat的webapps目录下，但是在利用maven打包的过程中，项目一直出错，频繁报出compile failure的问题，后来我主要改了以下几个方面，项目打包成功。 1.修改项目的pom文件： <build> <finalName>aaa</finalNa
解决：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin
Asbringer的博客
03-30 1万+
解决：Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin
Maven IDEA打包Maven时出现Failed to execute goal org.apache.maven.pluginsmaven-compiler-plugin解决
m0_67400973的博客
04-06 834
一、准备工作 <dependency> <groupId>lan</groupId> <artifactId>lan</artifactId> <version>1.0.0</version> <scope>system</scope> <systemPath>${project.basedir}/src/main/resources/lib/xxx.jar
Maven IDEA打包Maven时出现Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin解决方法
weixin_38068605的博客
01-15 5740
一、准备工作 <dependency> <groupId>lan</groupId> <artifactId>lan</artifactId> <version>1.0.0</version> <scope>system</scope> <systemP...
Maven报错处理Failed to execute goal org.apache.maven.plugins:maven-compiler- Fatal error compiling
Bychanense的博客
07-12 2261
maven打包报错需要注意的事项
评论 1
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值