解决:Qt中启动错误,msg如下:The process could not be started!

本文解决了 Qt Creator 中无法启动程序的问题,提供了两种方法:一是清理项目并重新生成配置文件;二是修改 .pro 文件来指定正确的编译目录。

问题描述:

程序无法通过 creator 运行,一直提示 The process could not be started! 错误,但直接双击可执行文件可以运行。


方法1:

I managed to fix it by:

erase all make files and debug files and also the .pro file (I had to save the configuration of this .pro) also the ".project"
well i erase almost everything except my ".cpp" and .h" files

then

Use command line : "qmake -project" to recreate the .pro file

and rebuild everthing inside qt creator
which remade all make file and other stuff.

and it is working now. and it is now calling the right directory /debug for the .exe

 

 

方法2:(不一定可行)

解决办法:在程序 pro 文件中贴入下列代码

debug {
     DESTDIR=./debug
     LIBS += -L./debug
} else:release {
     DESTDIR=./release
     LIBS += -L./release
}

[gzserver-2] This version of Gazebo, now called Gazebo classic, reaches end-of-life [gzserver-2] in January 2025. Users are highly encouraged to migrate to the new Gazebo [gzserver-2] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli) [gzserver-2] [gzserver-2] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170ca0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170ca0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.058932200] [spawn_entity]: Spawn Entity started [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.059525917] [spawn_entity]: Loading entity published on topic /robot_description [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.061265958] [spawn_entity]: Waiting for entity xml on /robot_description [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.074732860] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.075182701] [spawn_entity]: Waiting for service /spawn_entity [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674989.578820856] [spawn_entity]: Calling service /spawn_entity [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [INFO] [1753674989.830262048] [IMU_plugin]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference) [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x70f46d4eb370>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x70f46d4eb370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Msg] Waiting for master. [gzclient-3] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzclient-3] [Msg] Publicized address: 192.168.10.5 [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [Msg] Waiting for master. [gzserver-2] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gzserver-2] [Msg] Publicized address: 192.168.10.5 [gzserver-2] [Msg] Loading world file [/home/yxc/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world] [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d170c10>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [INFO] [1753674990.378487123] [depth_camera]: Publishing camera info to [/camera_sensor/camera_info] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d4eb370>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [INFO] [1753674990.378940166] [depth_camera]: Publishing depth camera info to [/camera_sensor/depth/camera_info] [gzserver-2] [INFO] [1753674990.379235333] [depth_camera]: Publishing pointcloud to [/camera_sensor/points] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d517d30>' [spawn_entity.py-4] [INFO] [1753674990.466041980] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [fishbot] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [INFO] [1753674990.477751490] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d0faa10>' [gzserver-2] [Err] [Model.cc:1160] Exception occured in the Load function of plugin with name[gazebo_ros2_control] and filename[libgazebo_ros2_control.so]. This plugin will not run. [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 6428] [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x70f46d171e70>' [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x70f46d171f90>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d16bbe0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Err] [Connection.cc:547] Connection[17] Closed during Read [gzclient-3] [Err] [TransportIface.cc:385] Unable to read from master [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [ERROR] [gzserver-2]: process has died [pid 6424, exit code -11, cmd 'gzserver /home/yxc/chapt6/chapt6_ws/install/fishbot_description/share/fishbot_description/world/custom_room.world --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so']. [DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Err] [GLWidget.cc:900] Unable to connect to a running Gazebo master. [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d169d50>' [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d169d50>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x70f46d0faad0>' [gzserver-2] [gzserver-2] [DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x70f46d169d50>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x70f46d0fac80>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x70f46d517100>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x70f46d172230>' [gzclient-3] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.
07-29
gazebo无法显示(能运行但里面是一片空白),如何解决 报错:robot@robot-virtual-machine:~/桌面/final_homework$ ros2 launch fishbot_description display_robot.launch.py [INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-06-24-00-20-49-599928-robot-virtual-machine-9501 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gazebo-1]: process started with pid [9502] [INFO] [ros2-2]: process started with pid [9504] [INFO] [robot_state_publisher-3]: process started with pid [9506] [INFO] [joint_state_publisher_gui-4]: process started with pid [9508] [INFO] [rviz2-5]: process started with pid [9510] [rviz2-5] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in "" [robot_state_publisher-3] [WARN] [1750695649.813319615] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [robot_state_publisher-3] [WARN] [1750695649.826852862] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-3] [INFO] [1750695649.827031936] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1750695649.827101073] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1750695649.827120086] [robot_state_publisher]: got segment lidar_link [joint_state_publisher_gui-4] qt.qpa.plugin: Could not find the Qt platform plugin "wayland" in "" [gazebo-1] Gazebo multi-robot simulator, version 11.10.2 [gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation. [gazebo-1] Released under the Apache 2 License. [gazebo-1] http://gazebosim.org [gazebo-1] [rviz2-5] [INFO] [1750695650.682274084] [rviz2]: Stereo is NOT SUPPORTED [rviz2-5] [INFO] [1750695650.682997533] [rviz2]: OpenGl version: 4.1 (GLSL 4.1) [gazebo-1] Gazebo multi-robot simulator, version 11.10.2 [gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation. [gazebo-1] Released under the Apache 2 License. [gazebo-1] http://gazebosim.org [gazebo-1] [rviz2-5] [INFO] [1750695650.787656132] [rviz2]: Stereo is NOT SUPPORTED [rviz2-5] [ERROR] [1750695651.002030871] [rviz2]: PluginlibFactory: The plugin for class 'rviz_default_plugins/Imu' failed to load. Error: According to the loaded plugin descriptions the class rviz_default_plugins/Imu with base class type rviz_common::Display does not exist. Declared types are nav2_rviz_plugins/ParticleCloud rviz_default_plugins/AccelStamped rviz_default_plugins/Axes rviz_default_plugins/Camera rviz_default_plugins/DepthCloud rviz_default_plugins/Effort rviz_default_plugins/FluidPressure rviz_default_plugins/Grid rviz_default_plugins/GridCells rviz_default_plugins/Illuminance rviz_default_plugins/Image rviz_default_plugins/InteractiveMarkers rviz_default_plugins/LaserScan rviz_default_plugins/Map rviz_default_plugins/Marker rviz_default_plugins/MarkerArray rviz_default_plugins/Odometry rviz_default_plugins/Path rviz_default_plugins/PointCloud rviz_default_plugins/PointCloud2 rviz_default_plugins/PointStamped rviz_default_plugins/Polygon rviz_default_plugins/Pose rviz_default_plugins/PoseArray rviz_default_plugins/PoseWithCovariance rviz_default_plugins/Range rviz_default_plugins/RelativeHumidity rviz_default_plugins/RobotModel rviz_default_plugins/TF rviz_default_plugins/Temperature rviz_default_plugins/TwistStamped rviz_default_plugins/Wrench [joint_state_publisher_gui-4] [INFO] [1750695651.012208224] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic... [gazebo-1] [Wrn] [gazebo_ros_init.cpp:178] [gazebo-1] # # ####### ####### ### ##### ####### [gazebo-1] ## # # # # # # # # [gazebo-1] # # # # # # # # # [gazebo-1] # # # # # # # # ##### [gazebo-1] # # # # # # # # # [gazebo-1] # ## # # # # # # # [gazebo-1] # # ####### # ### ##### ####### [gazebo-1] [gazebo-1] This version of Gazebo, now called Gazebo classic, reaches end-of-life [gazebo-1] in January 2025. Users are highly encouraged to migrate to the new Gazebo [gazebo-1] using our migration guides (https://gazebosim.org/docs/latest/gazebo_classic_migration?utm_source=gazebo_ros_pkgs&utm_medium=cli) [gazebo-1] [gazebo-1] [joint_state_publisher_gui-4] [INFO] [1750695651.076499270] [joint_state_publisher_gui]: Centering [ros2-2] [INFO] [1750695651.294862637] [spawn_entity]: Spawn Entity started [ros2-2] [INFO] [1750695651.296018549] [spawn_entity]: Loading entity XML from file /home/robot/桌面/final_homework/install/fishbot_description/share/fishbot_description/urdf/first_robot.urdf [ros2-2] [INFO] [1750695651.298336590] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [ros2-2] [INFO] [1750695651.299681322] [spawn_entity]: Waiting for service /spawn_entity [joint_state_publisher_gui-4] [INFO] [1750695651.411230857] [joint_state_publisher_gui]: Centering [gazebo-1] [Msg] Waiting for master. [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gazebo-1] [Msg] Publicized address: 192.168.150.128 [gazebo-1] [Wrn] [GuiIface.cc:120] Could not find the Qt platform plugin "wayland" in "" [gazebo-1] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/robot/.gazebo/models/wpr_simulation2" [gazebo-1] context mismatch in svga_surface_destroy [gazebo-1] context mismatch in svga_surface_destroy [gazebo-1] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once. [ros2-2] [ERROR] [1750695681.462499528] [spawn_entity]: Service /spawn_entity unavailable. Was Gazebo started with GazeboRosFactory? [ros2-2] [ERROR] [1750695681.464526737] [spawn_entity]: Spawn service failed. Exiting. [ros2-2] [ros2run]: Process exited with failure 1 [ERROR] [ros2-2]: process has died [pid 9504, exit code 1, cmd 'ros2 run gazebo_ros spawn_entity.py -entity first_robot -file /home/robot/桌面/final_homework/install/fishbot_description/share/fishbot_description/urdf/first_robot.urdf']. 除此之外,imu也无法显示
06-24
[ 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
评论 2
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