How to solve 'The kinematics plugin (arm) failed to load'?
I followed: http://rtt-lwr.readthedocs.io/en/latest/tutos/moveit-tuto.html
I run:
roslaunch lwr_moveit_config run.launch sim:=true
My error:
sam@sam-RT:~$ roslaunch lwr_moveit_config run.launch sim:=true
... logging to /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/roslaunch-sam-RT-3323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam-RT:41353/
SUMMARY
========
PARAMETERS
* /gazebo/robot_description: <?xml version="1....
* /is_sim: True
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /joint_trajectory_controller/action_monitor_rate: 20
* /joint_trajectory_controller/constraints/goal_time: 0.0
* /joint_trajectory_controller/constraints/joint_0/goal: 0.0
* /joint_trajectory_controller/constraints/joint_0/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_1/goal: 0.0
* /joint_trajectory_controller/constraints/joint_1/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_2/goal: 0.0
* /joint_trajectory_controller/constraints/joint_2/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_3/goal: 0.0
* /joint_trajectory_controller/constraints/joint_3/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_4/goal: 0.0
* /joint_trajectory_controller/constraints/joint_4/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_5/goal: 0.0
* /joint_trajectory_controller/constraints/joint_5/trajectory: 0.0
* /joint_trajectory_controller/constraints/joint_6/goal: 0.0
* /joint_trajectory_controller/constraints/joint_6/trajectory: 0.0
* /joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.0
* /joint_trajectory_controller/gains/joint_0/d: 15
* /joint_trajectory_controller/gains/joint_0/i: 10
* /joint_trajectory_controller/gains/joint_0/i_clamp: 1
* /joint_trajectory_controller/gains/joint_0/p: 450
* /joint_trajectory_controller/gains/joint_1/d: 15
* /joint_trajectory_controller/gains/joint_1/i: 10
* /joint_trajectory_controller/gains/joint_1/i_clamp: 1
* /joint_trajectory_controller/gains/joint_1/p: 450
* /joint_trajectory_controller/gains/joint_2/d: 15
* /joint_trajectory_controller/gains/joint_2/i: 8
* /joint_trajectory_controller/gains/joint_2/i_clamp: 1
* /joint_trajectory_controller/gains/joint_2/p: 350
* /joint_trajectory_controller/gains/joint_3/d: 2
* /joint_trajectory_controller/gains/joint_3/i: 5
* /joint_trajectory_controller/gains/joint_3/i_clamp: 1
* /joint_trajectory_controller/gains/joint_3/p: 200
* /joint_trajectory_controller/gains/joint_4/d: 0.01
* /joint_trajectory_controller/gains/joint_4/i: 5
* /joint_trajectory_controller/gains/joint_4/i_clamp: 1
* /joint_trajectory_controller/gains/joint_4/p: 150
* /joint_trajectory_controller/gains/joint_5/d: 5.0
* /joint_trajectory_controller/gains/joint_5/i: 0.1
* /joint_trajectory_controller/gains/joint_5/i_clamp: 1
* /joint_trajectory_controller/gains/joint_5/p: 50
* /joint_trajectory_controller/gains/joint_6/d: 1.1
* /joint_trajectory_controller/gains/joint_6/i: 0.01
* /joint_trajectory_controller/gains/joint_6/i_clamp: 0.5
* /joint_trajectory_controller/gains/joint_6/p: 20
* /joint_trajectory_controller/joints: ['joint_0', 'join...
* /joint_trajectory_controller/state_publish_rate: 50
* /joint_trajectory_controller/stop_trajectory_duration: 0.0
* /joint_trajectory_controller/type: effort_controller...
* /lwr_sim/joint_limits: ['joint_0', 'join...
* /lwr_sim/kcd_default: [0.7, 0.7, 0.7, 0...
* /lwr_sim/kcp_default: [1000.0, 1000.0, ...
* /lwr_sim/kd_default: [1.0, 1.0, 1.0, 0...
* /lwr_sim/kp_default: [450.0, 450.0, 20...
* /lwr_sim/lower_joint_limits: [-100.0, -100.0, ...
* /lwr_sim/upper_joint_limits: [100.0, 100.0, 10...
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/arm/longest_valid_segment_fraction: 0.005
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(joint_0,jo...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/controller_manager_name: controller_manager
* /move_group/jiggle_fraction: 0.05
* /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: False
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/use_controller_manager: True
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.01
* /robot_description_kinematics/arm/solve_type: Distance
* /robot_description_planning/joint_limits/joint_0/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_0/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_0/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_0/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_1/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_2/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_3/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_4/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_5/max_velocity: 0.5
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.0
* /robot_description_planning/joint_limits/joint_6/max_velocity: 0.5
* /robot_description_semantic: <?xml version="1....
* /robot_name: lwr_sim
* /robot_ns: /
* /robot_state_publisher/publish_frequency: 1000
* /root_link: link_0
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver: trac_ik_kinematic...
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_attempts: 3
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_search_resolution: 0.005
* /rviz_sam_RT_3323_5014441435028785204/arm/kinematics_solver_timeout: 0.01
* /rviz_sam_RT_3323_5014441435028785204/arm/solve_type: Distance
* /start_paused: False
* /tf_prefix: /
* /tip_link: link_7
* /use_sim_time: True
NODES
/
Deployer (rtt_ros/deployer)
controller_spawner (controller_manager/spawner)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_sam_RT_3323_5014441435028785204 (rviz/rviz)
spawn_lwr_sim (gazebo_ros/spawn_model)
world_to_lwr_sim_world (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[world_to_lwr_sim_world-1]: started with pid [3348]
process[robot_state_publisher-2]: started with pid [3349]
process[spawn_lwr_sim-3]: started with pid [3351]
process[Deployer-4]: started with pid [3359]
process[move_group-5]: started with pid [3372]
process[rviz_sam_RT_3323_5014441435028785204-6]: started with pid [3397]
process[controller_spawner-7]: started with pid [3408]
Real-time memory: 517888 bytes free of 524288 allocated.
[ INFO] [1502895238.747227903]: Loading robot model 'lwr'...
[ INFO] [1502895238.747361971]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1502895238.764229489]: Could not identify parent group for end-effector 'effector'
[ INFO] [1502895238.784889280]: rviz version 1.12.11
[ INFO] [1502895238.784926255]: compiled against Qt version 5.5.1
[ INFO] [1502895238.784934863]: compiled against OGRE version 1.9.0 (Ghadamon)
[ERROR] [1502895238.796039053]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin lwr_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1502895238.796200342]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1502895238.824489318]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1502895238.827935280]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1502895238.828044624]: Starting scene monitor
[ INFO] [1502895238.835044058]: Listening to '/planning_scene'
[ INFO] [1502895238.835198772]: Starting world geometry monitor
[ INFO] [1502895238.839743509]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1502895238.842841973]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1502895238.853615959]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
0.253 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] No such package or directory found in search path: lwr_utils. Search path is: /home/sam/isir/lwr_ws/devel/lib/orocos:/home/sam/code/ros_kinetic/devel/lib/orocos:/opt/ros/kinetic/lib/orocos:.
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] Directories searched include the following:
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/isir/lwr_ws/devel/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/isir/lwr_ws/devel/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/code/ros_kinetic/devel/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /home/sam/code/ros_kinetic/devel/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /opt/ros/kinetic/lib/orocos/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - /opt/ros/kinetic/lib/orocos/gnulinux/lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - ./lwr_utils
0.254 [ ERROR ][ComponentLoader::importInstalledPackage(package, path_list)] - ./gnulinux/lwr_utils
[ INFO] [1502895238.945599402]: Initializing OMPL interface using ROS parameters
[ INFO] [1502895238.979415497]: Using planning interface 'OMPL'
[ INFO] [1502895239.032294916, 13.863000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1502895239.032918045, 13.863000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1502895239.033409272, 13.863000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1502895239.034083965, 13.864000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1502895239.034592089, 13.865000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1502895239.035122138, 13.865000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1502895239.035192813, 13.866000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1502895239.035222494, 13.866000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1502895239.035246109, 13.866000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1502895239.035327854, 13.866000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1502895239.035351163, 13.866000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1502895239.037876414, 13.868000000]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1502895239.038381842, 13.869000000]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
0.451 [ ERROR ][ScriptingService] No such service or plugin: 'ros_helper'
0.452 [ ERROR ][ScriptingService] /home/sam/isir/lwr_ws/src/rtt_lwr/lwr_utils/scripts/utils.ops :Parse error at line 17: Service or Task "Deployer" has no Peer or Service ros_helper (or Deployer was not found at all).
0.452 [ ERROR ][ScriptingService] /home/sam/isir/lwr_ws/src/rtt_lwr/lwr_moveit_config/scripts/run.ops :Parse error at line 4: No method "loadRobot" registered for the object or task "Deployer".
Switched to : Deployer
This console reader allows you to browse and manipulate TaskContexts.
You can type in an operation, expression, create or change variables.
(type 'help' for instructions and 'ls' for context info)
TAB completion and HISTORY is available ('bash' like)
Use 'Ctrl-D' or type 'quit' to exit this program.
Deployer [R]> SpawnModel script started
[INFO] [1502895239.392861, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1502895239.476711, 0.000000]: Loading model XML from ros parameter
[INFO] [1502895239.479773, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1502895239.481209, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1502895239.579567493, 14.365000000]: Stereo is NOT SUPPORTED
[ INFO] [1502895239.579661564, 14.365000000]: OpenGl version: 4.5 (GLSL 4.5).
[INFO] [1502895239.627515, 14.365000]: Spawn status: SpawnModel: Successfully spawned model
[spawn_lwr_sim-3] process has finished cleanly
log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/spawn_lwr_sim-3*.log
[ WARN] [1502895243.327955570, 17.746000000]: The STL file 'package://lwr_description/meshes/handle/handle.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ WARN] [1502895243.336998482, 17.755000000]: The STL file 'package://lwr_description/meshes/head_cam/head_cam.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ INFO] [1502895243.450199742, 17.867000000]: Loading robot model 'lwr'...
[ INFO] [1502895243.450240316, 17.867000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1502895243.457098966, 17.874000000]: Could not identify parent group for end-effector 'effector'
[ERROR] [1502895243.494562834, 17.908000000]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin lwr_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1502895243.494608168, 17.908000000]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1502895243.553218305, 17.968000000]: Starting scene monitor
[ INFO] [1502895243.556054673, 17.971000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1502895243.556992412, 17.972000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1502895244.518850488, 18.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[ INFO] [1502895248.580590359, 22.984000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.9/planning_scene_monitor/src/planning_scene_monitor.cpp:486
[ INFO] [1502895248.627771045, 23.032000000]: No active joints or end effectors found for group 'arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1502895248.630112829, 23.034000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1502895249.530641901, 23.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up
[ERROR] [1502895254.545444147, 28.933000000]: Action client not connected: joint_trajectory_controller/follow_joint_trajectory
[ INFO] [1502895254.607825515, 28.996000000]: Returned 0 controllers in list
[ INFO] [1502895254.617929135, 29.007000000]: Trajectory execution is not managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
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] [1502895254.755511974, 29.144000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1502895254.755655931, 29.145000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1502895254.755678631, 29.145000000]: MoveGroup context initialization complete
You can start planning now!
[ WARN] [1502895255.518071495, 29.906000000]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1502895255.520419717, 29.908000000]: Ready to take commands for planning group arm.
[ INFO] [1502895255.520470571, 29.908000000]: Looking around: no
[ INFO] [1502895255.520490323, 29.908000000]: Replanning: no
[WARN] [1502895269.519665, 43.882000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_spawner-7] process has finished cleanly
log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/controller_spawner-7*.log
How to solve it?
Thank you~
Asked by sam on 2017-08-16 09:56:17 UTC
Comments
As this is a really specific problem with a package from a specific repository I would suggest you post an issue over at kuka-isir/rtt_lwr/issues.
Asked by gvdhoorn on 2017-08-16 10:13:23 UTC