解决metricbeat报错ERROR [publisher_pipeline_output] pipeline/output.go:154 问题

这篇博客主要讲述了在遇到Metricbeat无法连接到Elasticsearch,并报错'不能从/_license endpoint获取Elasticsearch许可证'的问题时,如何通过检查服务器时间并进行调整来解决问题。错误的根本原因是服务器时间不准确导致连接失败。解决方案是同步服务器时间,然后重启Elasticsearch服务。

完整报错如下:

2018-03-21T20:02:29.180+0800 ERROR [publisher_pipeline_output] pipeline/output.go:154 Failed to connect to backoff(elasticsearch(http://xx.xx.xx.xx:9200)): Connection marked as failed because the onConnect callback failed: cannot retrieve the elasticsearch license from the /_license endpoint, Metricbeat requires the default distribution of Elasticsearch. Please make the endpoint accessible to Metricbeat so it can verify the license.: could not extract license information from the server response: unknown state, received: 'invalid'

解决方法:通过日志可以发现服务器时间不对,修改服务器时间并重启es即可,下图为正常的情况:

注:重启es需使用su es命令切换至es账户,然后执行命令nohup /xxx/elasticsearch/bin/elasticsearch & > nohup.out

yuan@yuan-virtual-machine:~/catkin_ws$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.1.120 ... logging to /home/yuan/.ros/log/a5368822-6eb4-11f0-afbe-05d467d6740f/roslaunch-yuan-virtual-machine-9380.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://yuan-virtual-machine:37881/ SUMMARY ======== PARAMETERS * /controller_stopper/consistent_controllers: ['joint_state_con... * /force_torque_sensor_controller/publish_rate: 125 * /force_torque_sensor_controller/type: force_torque_sens... * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /forward_cartesian_traj_controller/type: pass_through_cont... * /forward_joint_traj_controller/joints: ['shoulder_pan_jo... * /forward_joint_traj_controller/type: pass_through_cont... * /hardware_control_loop/loop_hz: 125 * /joint_based_cartesian_traj_controller/base: base * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /joint_based_cartesian_traj_controller/tip: tool0 * /joint_based_cartesian_traj_controller/type: position_controll... * /joint_group_vel_controller/joints: ['shoulder_pan_jo... * /joint_group_vel_controller/type: velocity_controll... * /joint_state_controller/publish_rate: 125 * /joint_state_controller/type: joint_state_contr... * /pos_joint_traj_controller/action_monitor_rate: 20 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/goal_time: 0.6 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /pos_joint_traj_controller/state_publish_rate: 125 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /pos_joint_traj_controller/type: position_controll... * /pose_based_cartesian_traj_controller/base: base * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /pose_based_cartesian_traj_controller/tip: tool0_controller * /pose_based_cartesian_traj_controller/type: pose_controllers/... * /robot_description: <?xml version="1.... * /robot_status_controller/handle_name: industrial_robot_... * /robot_status_controller/publish_rate: 10 * /robot_status_controller/type: industrial_robot_... * /rosdistro: noetic * /rosversion: 1.17.4 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_pos_joint_traj_controller/state_publish_rate: 125 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_pos_joint_traj_controller/type: position_controll... * /scaled_vel_joint_traj_controller/action_monitor_rate: 20 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_vel_joint_traj_controller/state_publish_rate: 125 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_vel_joint_traj_controller/type: velocity_controll... * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 * /speed_scaling_state_controller/publish_rate: 125 * /speed_scaling_state_controller/type: scaled_controller... * /twist_controller/frame_id: tool0_controller * /twist_controller/joints: ['shoulder_pan_jo... * /twist_controller/publish_rate: 125 * /twist_controller/type: ros_controllers_c... * /ur_hardware_interface/headless_mode: False * /ur_hardware_interface/input_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/joints: ['shoulder_pan_jo... * /ur_hardware_interface/kinematics/forearm/pitch: 0 * /ur_hardware_interface/kinematics/forearm/roll: 0 * /ur_hardware_interface/kinematics/forearm/x: -0.425 * /ur_hardware_interface/kinematics/forearm/y: 0 * /ur_hardware_interface/kinematics/forearm/yaw: 0 * /ur_hardware_interface/kinematics/forearm/z: 0 * /ur_hardware_interface/kinematics/hash: calib_20954911754... * /ur_hardware_interface/kinematics/shoulder/pitch: 0 * /ur_hardware_interface/kinematics/shoulder/roll: 0 * /ur_hardware_interface/kinematics/shoulder/x: 0 * /ur_hardware_interface/kinematics/shoulder/y: 0 * /ur_hardware_interface/kinematics/shoulder/yaw: 0 * /ur_hardware_interface/kinematics/shoulder/z: 0.089159 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 * /ur_hardware_interface/kinematics/upper_arm/x: 0 * /ur_hardware_interface/kinematics/upper_arm/y: 0 * /ur_hardware_interface/kinematics/upper_arm/yaw: 0 * /ur_hardware_interface/kinematics/upper_arm/z: 0 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0 * /ur_hardware_interface/kinematics/wrist_1/roll: 0 * /ur_hardware_interface/kinematics/wrist_1/x: -0.39225 * /ur_hardware_interface/kinematics/wrist_1/y: 0 * /ur_hardware_interface/kinematics/wrist_1/yaw: 0 * /ur_hardware_interface/kinematics/wrist_1/z: 0.10915 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 * /ur_hardware_interface/kinematics/wrist_2/x: 0 * /ur_hardware_interface/kinematics/wrist_2/y: -0.09465 * /ur_hardware_interface/kinematics/wrist_2/yaw: 0 * /ur_hardware_interface/kinematics/wrist_2/z: -1.94130395089760... * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793 * /ur_hardware_interface/kinematics/wrist_3/x: 0 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0823 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/z: -1.68800121668117... * /ur_hardware_interface/output_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/reverse_ip: * /ur_hardware_interface/reverse_port: 50001 * /ur_hardware_interface/robot_ip: 192.168.1.120 * /ur_hardware_interface/robot_receive_timeout: 0.02 * /ur_hardware_interface/script_command_port: 50004 * /ur_hardware_interface/script_file: /opt/ros/noetic/s... * /ur_hardware_interface/script_sender_port: 50002 * /ur_hardware_interface/servoj_gain: 2000 * /ur_hardware_interface/servoj_lookahead_time: 0.03 * /ur_hardware_interface/tf_prefix: * /ur_hardware_interface/tool_baud_rate: 115200 * /ur_hardware_interface/tool_parity: 0 * /ur_hardware_interface/tool_rx_idle_chars: 1.5 * /ur_hardware_interface/tool_stop_bits: 1 * /ur_hardware_interface/tool_tx_idle_chars: 3.5 * /ur_hardware_interface/tool_voltage: 0 * /ur_hardware_interface/trajectory_port: 50003 * /ur_hardware_interface/use_spline_interpolation: True * /ur_hardware_interface/use_tool_communication: False * /vel_joint_traj_controller/action_monitor_rate: 20 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/goal_time: 0.6 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /vel_joint_traj_controller/state_publish_rate: 125 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /vel_joint_traj_controller/type: velocity_controll... * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 NODES / controller_stopper (ur_robot_driver/controller_stopper_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper) auto-starting new master process[master]: started with pid [9390] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a5368822-6eb4-11f0-afbe-05d467d6740f process[rosout-1]: started with pid [9400] started core service [/rosout] process[robot_state_publisher-2]: started with pid [9407] process[ur_hardware_interface-3]: started with pid [9408] process[ros_control_controller_spawner-4]: started with pid [9409] process[ros_control_stopped_spawner-5]: started with pid [9411] process[controller_stopper-6]: started with pid [9416] [INFO] [1754038260.481594732]: Initializing dashboard client [INFO] [1754038260.487405631]: Connected: Universal Robots Dashboard Server process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [9425] [INFO] [1754038260.506479611]: Waiting for controller manager service to come up on /controller_manager/switch_controller [INFO] [1754038260.508678646]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [INFO] [1754038260.510850350]: Initializing urdriver [WARN] [1754038260.515403691]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038260.758709]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.858406]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.872882426]: Negotiated RTDE protocol version to 2. [INFO] [1754038260.874552649]: Setting up RTDE communication with frequency 125.000000 [INFO] [1754038261.909298599]: Starting primary client pipeline [INFO] [1754038261.911420659]: Checking if calibration data matches connected robot. [ERROR] [1754038262.911943409]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details. [WARN] [1754038262.924839016]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038262.926228217]: Loaded ur_robot_driver hardware_interface [INFO] [1754038262.968037918]: waitForService: Service [/controller_manager/switch_controller] is now available. [INFO] [1754038262.968304438]: Service available. [INFO] [1754038262.968342370]: Waiting for controller list service to come up on /controller_manager/list_controllers [INFO] [1754038262.969123410]: Service available. [INFO] [1754038262.977452]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038262.980766]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038262.983952]: Loading controller: pos_joint_traj_controller [INFO] [1754038263.034800]: Loading controller: joint_group_vel_controller [INFO] [1754038263.049548]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller [INFO] [1754038263.181526427]: Robot mode is now POWER_OFF [INFO] [1754038263.183844862]: Robot's safety mode is now NORMAL [INFO] [1754038263.184011]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038263.187691]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038263.191352]: Loading controller: joint_state_controller [INFO] [1754038263.209029]: Loading controller: scaled_pos_joint_traj_controller [INFO] [1754038263.257595]: Loading controller: speed_scaling_state_controller [INFO] [1754038263.273802]: Loading controller: force_torque_sensor_controller [INFO] [1754038263.289856]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1754038263.297306]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
08-02
cjh@ASUS:~/ur5e_ws$ roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=192.168.56.101 ... logging to /home/cjh/.ros/log/c741816e-d1ac-11f0-972e-a7fb13f9bfc6/roslaunch-ASUS-39643.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://ASUS:36277/ SUMMARY ======== PARAMETERS * /controller_stopper/consistent_controllers: ['joint_state_con... * /force_torque_sensor_controller/publish_rate: 125 * /force_torque_sensor_controller/type: force_torque_sens... * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /forward_cartesian_traj_controller/type: pass_through_cont... * /forward_joint_traj_controller/joints: ['shoulder_pan_jo... * /forward_joint_traj_controller/type: pass_through_cont... * /hardware_control_loop/loop_hz: 125 * /joint_based_cartesian_traj_controller/base: base * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /joint_based_cartesian_traj_controller/tip: tool0 * /joint_based_cartesian_traj_controller/type: position_controll... * /joint_group_vel_controller/joints: ['shoulder_pan_jo... * /joint_group_vel_controller/type: velocity_controll... * /joint_state_controller/publish_rate: 125 * /joint_state_controller/type: joint_state_contr... * /pos_joint_traj_controller/action_monitor_rate: 20 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/goal_time: 0.6 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /pos_joint_traj_controller/state_publish_rate: 125 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /pos_joint_traj_controller/type: position_controll... * /pose_based_cartesian_traj_controller/base: base * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /pose_based_cartesian_traj_controller/tip: tool0_controller * /pose_based_cartesian_traj_controller/type: pose_controllers/... * /robot_description: <?xml version="1.... * /robot_status_controller/handle_name: industrial_robot_... * /robot_status_controller/publish_rate: 10 * /robot_status_controller/type: industrial_robot_... * /rosdistro: noetic * /rosversion: 1.17.4 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_pos_joint_traj_controller/state_publish_rate: 125 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_pos_joint_traj_controller/type: position_controll... * /scaled_vel_joint_traj_controller/action_monitor_rate: 20 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_vel_joint_traj_controller/state_publish_rate: 125 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_vel_joint_traj_controller/type: velocity_controll... * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 * /speed_scaling_state_controller/publish_rate: 125 * /speed_scaling_state_controller/type: scaled_controller... * /twist_controller/frame_id: tool0_controller * /twist_controller/joints: ['shoulder_pan_jo... * /twist_controller/publish_rate: 125 * /twist_controller/type: ros_controllers_c... * /ur_hardware_interface/headless_mode: False * /ur_hardware_interface/input_recipe_file: /home/cjh/ur5e_ws... * /ur_hardware_interface/joints: ['shoulder_pan_jo... * /ur_hardware_interface/kinematics/forearm/pitch: 0 * /ur_hardware_interface/kinematics/forearm/roll: 0 * /ur_hardware_interface/kinematics/forearm/x: -0.612 * /ur_hardware_interface/kinematics/forearm/y: 0 * /ur_hardware_interface/kinematics/forearm/yaw: 0 * /ur_hardware_interface/kinematics/forearm/z: 0 * /ur_hardware_interface/kinematics/hash: calib_17227329492... * /ur_hardware_interface/kinematics/shoulder/pitch: 0 * /ur_hardware_interface/kinematics/shoulder/roll: 0 * /ur_hardware_interface/kinematics/shoulder/x: 0 * /ur_hardware_interface/kinematics/shoulder/y: 0 * /ur_hardware_interface/kinematics/shoulder/yaw: 0 * /ur_hardware_interface/kinematics/shoulder/z: 0.1273 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 * /ur_hardware_interface/kinematics/upper_arm/x: 0 * /ur_hardware_interface/kinematics/upper_arm/y: 0 * /ur_hardware_interface/kinematics/upper_arm/yaw: 0 * /ur_hardware_interface/kinematics/upper_arm/z: 0 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0 * /ur_hardware_interface/kinematics/wrist_1/roll: 0 * /ur_hardware_interface/kinematics/wrist_1/x: -0.5723 * /ur_hardware_interface/kinematics/wrist_1/y: 0 * /ur_hardware_interface/kinematics/wrist_1/yaw: 0 * /ur_hardware_interface/kinematics/wrist_1/z: 0.163941 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 * /ur_hardware_interface/kinematics/wrist_2/x: 0 * /ur_hardware_interface/kinematics/wrist_2/y: -0.1157 * /ur_hardware_interface/kinematics/wrist_2/yaw: 0 * /ur_hardware_interface/kinematics/wrist_2/z: -2.37304666792238... * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793 * /ur_hardware_interface/kinematics/wrist_3/x: 0 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0922 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/z: -1.89105361091135... * /ur_hardware_interface/output_recipe_file: /home/cjh/ur5e_ws... * /ur_hardware_interface/reverse_ip: * /ur_hardware_interface/reverse_port: 50001 * /ur_hardware_interface/robot_ip: 192.168.56.101 * /ur_hardware_interface/robot_receive_timeout: 0.02 * /ur_hardware_interface/script_command_port: 50004 * /ur_hardware_interface/script_file: /opt/ros/noetic/s... * /ur_hardware_interface/script_sender_port: 50002 * /ur_hardware_interface/servoj_gain: 2000 * /ur_hardware_interface/servoj_lookahead_time: 0.03 * /ur_hardware_interface/tf_prefix: * /ur_hardware_interface/tool_baud_rate: 115200 * /ur_hardware_interface/tool_parity: 0 * /ur_hardware_interface/tool_rx_idle_chars: 1.5 * /ur_hardware_interface/tool_stop_bits: 1 * /ur_hardware_interface/tool_tx_idle_chars: 3.5 * /ur_hardware_interface/tool_voltage: 0 * /ur_hardware_interface/trajectory_port: 50003 * /ur_hardware_interface/use_spline_interpolation: True * /ur_hardware_interface/use_tool_communication: False * /vel_joint_traj_controller/action_monitor_rate: 20 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/goal_time: 0.6 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /vel_joint_traj_controller/state_publish_rate: 125 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /vel_joint_traj_controller/type: velocity_controll... * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 NODES / controller_stopper (ur_robot_driver/controller_stopper_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper) auto-starting new master process[master]: started with pid [39676] ROS_MASTER_URI=http://localhost:11311 setting /run_id to c741816e-d1ac-11f0-972e-a7fb13f9bfc6 process[rosout-1]: started with pid [39697] started core service [/rosout] process[robot_state_publisher-2]: started with pid [39700] process[ur_hardware_interface-3]: started with pid [39701] process[ros_control_controller_spawner-4]: started with pid [39705] process[ros_control_stopped_spawner-5]: started with pid [39707] process[controller_stopper-6]: started with pid [39708] process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [39709] [INFO] [1764920046.778635809]: Waiting for controller manager service to come up on /controller_manager/switch_controller [INFO] [1764920046.781284140]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [INFO] [1764920046.785299298]: waitForService: Service [/ur_hardware_interface/dashboard/play] has not been advertised, waiting... [INFO] [1764920046.823334251]: Initializing urdriver [WARN] [1764920046.825634581]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1764920046.847294748]: Negotiated RTDE protocol version to 2. [INFO] [1764920046.848984727]: Setting up RTDE communication with frequency 125.000000 INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/cjh/.ros/log/latest' [INFO] [1764920047.158009]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1764920047.158084]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1764920047.888104678]: Starting primary client pipeline [INFO] [1764920047.888343400]: Checking if calibration data matches connected robot. [INFO] [1764920048.888495202]: Calibration checked successfully. [INFO] [1764920048.888534652]: Initializing dashboard client [INFO] [1764920048.889529021]: Connected: Universal Robots Dashboard Server [WARN] [1764920048.899956764]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1764920048.900069962]: Loaded ur_robot_driver hardware_interface [INFO] [1764920048.910638874]: waitForService: Service [/ur_hardware_interface/dashboard/play] is now available. [INFO] [1764920048.930356146]: waitForService: Service [/controller_manager/switch_controller] is now available. [INFO] [1764920048.930374725]: Service available. [INFO] [1764920048.930384931]: Waiting for controller list service to come up on /controller_manager/list_controllers [INFO] [1764920048.930891012]: Service available. [DEBUG] [1764920048.949826235]: Invalid robot package type recieved: 5 [INFO] [1764920048.966082]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1764920048.966234]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1764920048.967955]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1764920048.968168]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1764920048.969711]: Loading controller: joint_state_controller [INFO] [1764920048.969893]: Loading controller: pos_joint_traj_controller [INFO] [1764920048.974830]: Loading controller: scaled_pos_joint_traj_controller [INFO] [1764920048.998878]: Loading controller: joint_group_vel_controller [INFO] [1764920049.014910]: Loading controller: speed_scaling_state_controller [INFO] [1764920049.022789]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller [INFO] [1764920049.030777]: Loading controller: force_torque_sensor_controller [INFO] [1764920049.062786]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1764920049.070739]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1764920049.157379882]: Robot mode is now RUNNING [INFO] [1764920049.157612152]: Robot's safety mode is now NORMAL [INFO] [1764920070.448252993]: Robot requested program [INFO] [1764920070.449193846]: Sent program to robot [INFO] [1764920070.867426635]: Robot connected to reverse interface. Ready to receive control commands. [INFO] [1764920524.946960694]: Connection to reverse interface dropped. [ERROR] [1764920524.982626390]: Sending data through socket failed. [INFO] [1764920524.984212103]: Robot connected to reverse interface. Ready to receive control commands. [INFO] [1764920525.041894751]: Connection to reverse interface dropped. [ERROR] [1764920525.049856852]: Sending data through socket failed. [INFO] [1764920525.049895864]: Robot connected to reverse interface. Ready to receive control commands. [DEBUG] [1764920525.112915369]: Invalid robot package type recieved: 25 [INFO] [1764921139.409715057]: Connection to reverse interface dropped. [ERROR] [1764921139.417127854]: Sending data through socket failed. [INFO] [1764921139.417650014]: Robot connected to reverse interface. Ready to receive control commands. [INFO] [1764921384.895780001]: Connection to reverse interface dropped. [ERROR] [1764921384.897034888]: Sending data through socket failed. [INFO] [1764921384.900863281]: Robot connected to reverse interface. Ready to receive control commands. [DEBUG] [1764921384.980181088]: Invalid robot package type recieved: 25 [INFO] [1764921498.100054229]: Connection to reverse interface dropped. [ERROR] [1764921498.102120385]: Sending data through socket failed. [INFO] [1764921498.105283427]: Robot connected to reverse interface. Ready to receive control commands. [INFO] [1764921498.745088814]: Connection to reverse interface dropped. [INFO] [1764921498.745205409]: Robot connected to reverse interface. Ready to receive control commands.
最新发布
12-06
[ 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'
11-03
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