dane@UnbutuVirtual:~$ roslaunch pandamoveitconfig demo.launch rviz_tutorial:=true ... logging to /home/dane/.ros/log/da56ead6-9ec5-11ed-9335-080027f64df1/roslaunch-UnbutuVirtual-2919.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://UnbutuVirtual:42655/

SUMMARY

PARAMETERS * /jointstatepublisher/usegui: False * /movegroup/allowtrajectoryexecution: True * /movegroup/controllerlist: [{'joints': ['pan... * /movegroup/hand/plannerconfigs: ['SBLkConfigDefau... * /movegroup/initial: [{'pose': 'ready'... * /movegroup/jigglefraction: 0.05 * /movegroup/maxrange: 5.0 * /movegroup/maxsafepathcost: 1 * /movegroup/moveitcontrollermanager: moveitfakecontr... * /movegroup/moveitmanagecontrollers: True * /movegroup/octomapframe: camerargboptica... * /movegroup/octomapresolution: 0.05 * /movegroup/pandaarm/plannerconfigs: ['SBLkConfigDefau... * /movegroup/pandaarmhand/plannerconfigs: ['SBLkConfigDefau... * /movegroup/plannerconfigs/BFMTkConfigDefault/balanced: 0 * /movegroup/plannerconfigs/BFMTkConfigDefault/cachecc: 1 * /movegroup/plannerconfigs/BFMTkConfigDefault/extendedfmt: 1 * /movegroup/plannerconfigs/BFMTkConfigDefault/heuristics: 1 * /movegroup/plannerconfigs/BFMTkConfigDefault/nearestk: 1 * /movegroup/plannerconfigs/BFMTkConfigDefault/numsamples: 1000 * /movegroup/plannerconfigs/BFMTkConfigDefault/optimality: 1 * /movegroup/plannerconfigs/BFMTkConfigDefault/radiusmultiplier: 1.0 * /movegroup/plannerconfigs/BFMTkConfigDefault/type: geometric::BFMT * /movegroup/plannerconfigs/BKPIECEkConfigDefault/borderfraction: 0.9 * /movegroup/plannerconfigs/BKPIECEkConfigDefault/failedexpansionscorefactor: 0.5 * /movegroup/plannerconfigs/BKPIECEkConfigDefault/minvalidpathfraction: 0.5 * /movegroup/plannerconfigs/BKPIECEkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /movegroup/plannerconfigs/BiESTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/BiESTkConfigDefault/type: geometric::BiEST * /movegroup/plannerconfigs/BiTRRTkConfigDefault/costthreshold: 1e300 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/frountiernoderatio: 0.1 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/frountierthreshold: 0.0 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/inittemperature: 100 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/tempchangefactor: 0.1 * /movegroup/plannerconfigs/BiTRRTkConfigDefault/type: geometric::BiTRRT * /movegroup/plannerconfigs/ESTkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/ESTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/ESTkConfigDefault/type: geometric::EST * /movegroup/plannerconfigs/FMTkConfigDefault/cachecc: 1 * /movegroup/plannerconfigs/FMTkConfigDefault/extendedfmt: 1 * /movegroup/plannerconfigs/FMTkConfigDefault/heuristics: 0 * /movegroup/plannerconfigs/FMTkConfigDefault/nearestk: 1 * /movegroup/plannerconfigs/FMTkConfigDefault/numsamples: 1000 * /movegroup/plannerconfigs/FMTkConfigDefault/radiusmultiplier: 1.1 * /movegroup/plannerconfigs/FMTkConfigDefault/type: geometric::FMT * /movegroup/plannerconfigs/KPIECEkConfigDefault/borderfraction: 0.9 * /movegroup/plannerconfigs/KPIECEkConfigDefault/failedexpansionscorefactor: 0.5 * /movegroup/plannerconfigs/KPIECEkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/KPIECEkConfigDefault/minvalidpathfraction: 0.5 * /movegroup/plannerconfigs/KPIECEkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/KPIECEkConfigDefault/type: geometric::KPIECE * /movegroup/plannerconfigs/LBKPIECEkConfigDefault/borderfraction: 0.9 * /movegroup/plannerconfigs/LBKPIECEkConfigDefault/minvalidpathfraction: 0.5 * /movegroup/plannerconfigs/LBKPIECEkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /movegroup/plannerconfigs/LBTRRTkConfigDefault/epsilon: 0.4 * /movegroup/plannerconfigs/LBTRRTkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/LBTRRTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/LBTRRTkConfigDefault/type: geometric::LBTRRT * /movegroup/plannerconfigs/LazyPRMkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/LazyPRMkConfigDefault/type: geometric::LazyPRM * /movegroup/plannerconfigs/LazyPRMstarkConfigDefault/type: geometric::LazyPR... * /movegroup/plannerconfigs/PDSTkConfigDefault/type: geometric::PDST * /movegroup/plannerconfigs/PRMkConfigDefault/maxnearestneighbors: 10 * /movegroup/plannerconfigs/PRMkConfigDefault/type: geometric::PRM * /movegroup/plannerconfigs/PRMstarkConfigDefault/type: geometric::PRMstar * /movegroup/plannerconfigs/ProjESTkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/ProjESTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/ProjESTkConfigDefault/type: geometric::ProjEST * /movegroup/plannerconfigs/RRTConnectkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /movegroup/plannerconfigs/RRTkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/RRTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/RRTkConfigDefault/type: geometric::RRT * /movegroup/plannerconfigs/RRTstarkConfigDefault/delaycollisionchecking: 1 * /movegroup/plannerconfigs/RRTstarkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/RRTstarkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/RRTstarkConfigDefault/type: geometric::RRTstar * /movegroup/plannerconfigs/SBLkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/SBLkConfigDefault/type: geometric::SBL * /movegroup/plannerconfigs/SPARSkConfigDefault/densedeltafraction: 0.001 * /movegroup/plannerconfigs/SPARSkConfigDefault/maxfailures: 1000 * /movegroup/plannerconfigs/SPARSkConfigDefault/sparsedeltafraction: 0.25 * /movegroup/plannerconfigs/SPARSkConfigDefault/stretchfactor: 3.0 * /movegroup/plannerconfigs/SPARSkConfigDefault/type: geometric::SPARS * /movegroup/plannerconfigs/SPARStwokConfigDefault/densedeltafraction: 0.001 * /movegroup/plannerconfigs/SPARStwokConfigDefault/maxfailures: 5000 * /movegroup/plannerconfigs/SPARStwokConfigDefault/sparsedeltafraction: 0.25 * /movegroup/plannerconfigs/SPARStwokConfigDefault/stretchfactor: 3.0 * /movegroup/plannerconfigs/SPARStwokConfigDefault/type: geometric::SPARStwo * /movegroup/plannerconfigs/STRIDEkConfigDefault/degree: 16 * /movegroup/plannerconfigs/STRIDEkConfigDefault/estimateddimension: 0.0 * /movegroup/plannerconfigs/STRIDEkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/STRIDEkConfigDefault/maxdegree: 18 * /movegroup/plannerconfigs/STRIDEkConfigDefault/maxptsperleaf: 6 * /movegroup/plannerconfigs/STRIDEkConfigDefault/mindegree: 12 * /movegroup/plannerconfigs/STRIDEkConfigDefault/minvalidpathfraction: 0.2 * /movegroup/plannerconfigs/STRIDEkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/STRIDEkConfigDefault/type: geometric::STRIDE * /movegroup/plannerconfigs/STRIDEkConfigDefault/useprojecteddistance: 0 * /movegroup/plannerconfigs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /movegroup/plannerconfigs/TRRTkConfigDefault/frountierthreshold: 0.0 * /movegroup/plannerconfigs/TRRTkConfigDefault/goalbias: 0.05 * /movegroup/plannerconfigs/TRRTkConfigDefault/inittemperature: 10e-6 * /movegroup/plannerconfigs/TRRTkConfigDefault/kconstant: 0.0 * /movegroup/plannerconfigs/TRRTkConfigDefault/maxstatesfailed: 10 * /movegroup/plannerconfigs/TRRTkConfigDefault/mintemperature: 10e-10 * /movegroup/plannerconfigs/TRRTkConfigDefault/range: 0.0 * /movegroup/plannerconfigs/TRRTkConfigDefault/tempchangefactor: 2.0 * /movegroup/plannerconfigs/TRRTkConfigDefault/type: geometric::TRRT * /movegroup/plannerconfigs/TrajOptDefault/type: geometric::TrajOpt * /movegroup/planningplugin: omplinterface/OM... * /movegroup/planningscenemonitor/publishgeometryupdates: True * /movegroup/planningscenemonitor/publishplanningscene: True * /movegroup/planningscenemonitor/publishstateupdates: True * /movegroup/planningscenemonitor/publishtransformsupdates: True * /movegroup/requestadapters: defaultplannerr... * /movegroup/sensors: [{'pointsubsampl... * /movegroup/startstatemaxboundserror: 0.1 * /movegroup/trajectoryexecution/allowedexecutiondurationscaling: 1.2 * /movegroup/trajectoryexecution/allowedgoaldurationmargin: 0.5 * /movegroup/trajectoryexecution/allowedstarttolerance: 0.01 * /robotdescription: <?xml version="1.... * /robotdescriptionkinematics/pandaarm/kinematicssolver: kdlkinematicspl... * /robotdescriptionkinematics/pandaarm/kinematicssolversearchresolution: 0.005 * /robotdescriptionkinematics/pandaarm/kinematicssolvertimeout: 0.05 * /robotdescriptionplanning/jointlimits/pandafingerjoint1/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/pandafingerjoint1/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandafingerjoint1/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/pandafingerjoint1/maxvelocity: 0.1 * /robotdescriptionplanning/jointlimits/pandafingerjoint2/hasaccelerationlimits: False * /robotdescriptionplanning/jointlimits/pandafingerjoint2/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandafingerjoint2/maxacceleration: 0 * /robotdescriptionplanning/jointlimits/pandafingerjoint2/maxvelocity: 0.1 * /robotdescriptionplanning/jointlimits/pandajoint1/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint1/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint1/maxacceleration: 3.75 * /robotdescriptionplanning/jointlimits/pandajoint1/maxvelocity: 2.175 * /robotdescriptionplanning/jointlimits/pandajoint2/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint2/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint2/maxacceleration: 1.875 * /robotdescriptionplanning/jointlimits/pandajoint2/maxvelocity: 2.175 * /robotdescriptionplanning/jointlimits/pandajoint3/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint3/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint3/maxacceleration: 2.5 * /robotdescriptionplanning/jointlimits/pandajoint3/maxvelocity: 2.175 * /robotdescriptionplanning/jointlimits/pandajoint4/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint4/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint4/maxacceleration: 3.125 * /robotdescriptionplanning/jointlimits/pandajoint4/maxvelocity: 2.175 * /robotdescriptionplanning/jointlimits/pandajoint5/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint5/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint5/maxacceleration: 3.75 * /robotdescriptionplanning/jointlimits/pandajoint5/maxvelocity: 2.61 * /robotdescriptionplanning/jointlimits/pandajoint6/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint6/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint6/maxacceleration: 5 * /robotdescriptionplanning/jointlimits/pandajoint6/maxvelocity: 2.61 * /robotdescriptionplanning/jointlimits/pandajoint7/hasaccelerationlimits: True * /robotdescriptionplanning/jointlimits/pandajoint7/hasvelocitylimits: True * /robotdescriptionplanning/jointlimits/pandajoint7/maxacceleration: 5 * /robotdescriptionplanning/jointlimits/pandajoint7/maxvelocity: 2.61 * /robotdescriptionsemantic: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.17 * /rvizUnbutuVirtual29196079426774820272074/pandaarm/kinematicssolver: kdlkinematicspl... * /rvizUnbutuVirtual29196079426774820272074/pandaarm/kinematicssolversearchresolution: 0.005 * /rvizUnbutuVirtual29196079426774820272074/pandaarm/kinematicssolvertimeout: 0.05 * /sourcelist: ['/movegroup/fak...

NODES / jointstatedesiredpublisher (topictools/relay) jointstatepublisher (jointstatepublisher/jointstatepublisher) movegroup (moveitrosmovegroup/movegroup) robotstatepublisher (robotstatepublisher/robotstatepublisher) rvizUnbutuVirtual29196079426774820272074 (rviz/rviz) virtualjointbroadcaster1 (tf2ros/statictransformpublisher)

ROSMASTERURI=http://localhost:11311

process[virtualjointbroadcaster1-1]: started with pid [2945] process[jointstatepublisher-2]: started with pid [2946] process[jointstatedesiredpublisher-3]: started with pid [2952] process[robotstatepublisher-4]: started with pid [2959] process[movegroup-5]: started with pid [2975] process[rvizUnbutuVirtual29196079426774820272074-6]: started with pid [2978] [ WARN] [1674880983.728704428]: Shutdown request received. [ WARN] [1674880983.728765278]: Reason given for shutdown: [new node registered with same name] No protocol specified QXcbConnection: Could not connect to display :0 [ INFO] [1674880983.906004957]: Loading robot model 'panda'... [ WARN] [1674880983.941557608]: Shutdown request received. [ WARN] [1674880983.941587819]: Reason given for shutdown: [new node registered with same name] [ INFO] [1674880984.474593298]: Loading robot model 'panda'... [ INFO] [1674880984.635526821]: Publishing maintained planning scene on 'monitoredplanningscene' [ INFO] [1674880984.645727996]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1674880984.645809516]: Starting scene monitor [ INFO] [1674880984.659932331]: Listening to '/planningscene' [ INFO] [1674880984.660024142]: Starting world geometry monitor [ INFO] [1674880984.676572190]: Listening to '/collisionobject' using message notifier with target frame '/world ' [rvizUnbutuVirtual29196079426774820272074-6] process has died [pid 2978, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /opt/ros/kinetic/share/pandamoveitconfig/launch/moveitempty.rviz _name:=rvizUnbutuVirtual29196079426774820272074 _log:=/home/dane/.ros/log/da56ead6-9ec5-11ed-9335-080027f64df1/rvizUnbutuVirtual29196079426774820272074-6.log]. log file: /home/dane/.ros/log/da56ead6-9ec5-11ed-9335-080027f64df1/rvizUnbutuVirtual2919_6079426774820272074-6*.log [ INFO] [1674880984.684445801]: Listening to '/planningsceneworld' for planning scene world geometry [ INFO] [1674880984.742213345]: Listening to '/camera/depthregistered/points' using message filter with target frame '/world ' [ INFO] [1674880984.794184622]: Listening to '/attachedcollisionobject' for attached collision objects Context monitors started. [ INFO] [1674880984.861738402]: Initializing OMPL interface using ROS parameters [ INFO] [1674880985.035142869]: Using planning interface 'OMPL' [ INFO] [1674880985.037798532]: Param 'defaultworkspacebounds' was not set. Using default value: 10 [ INFO] [1674880985.038402596]: Param 'startstatemaxboundserror' was set to 0.1 [ INFO] [1674880985.039349891]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1674880985.040365986]: Param 'startstatemaxdt' was not set. Using default value: 0.5 [ INFO] [1674880985.040911999]: Param 'jigglefraction' was set to 0.05 [ INFO] [1674880985.042790039]: Param 'maxsamplingattempts' was not set. Using default value: 100 [ INFO] [1674880985.042988900]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1674880985.043158180]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1674880985.043295102]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1674880985.043416523]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1674880985.043532743]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1674880985.061599419]: Loading robot model 'panda'... [ INFO] [1674880985.189232122]: Loading robot model 'panda'... [ INFO] [1674880985.201682118]: Set joints of group 'pandaarmhand' to pose 'ready'. [ INFO] [1674880985.202304711]: Fake controller 'fakepandaarmcontroller' with joints [ pandajoint1 pandajoint2 pandajoint3 pandajoint4 pandajoint5 pandajoint6 panda_joint7 ] [ INFO] [1674880985.203926130]: Fake controller 'fakehandcontroller' with joints [ pandafingerjoint1 pandafingerjoint2 ] [ INFO] [1674880985.204485693]: Returned 2 controllers in list [ INFO] [1674880985.252137669]: Trajectory execution is managing controllers Loading 'movegroup/ApplyPlanningSceneService'... Loading 'movegroup/ClearOctomapService'... Loading 'movegroup/MoveGroupCartesianPathService'... Loading 'movegroup/MoveGroupExecuteTrajectoryAction'... Loading 'movegroup/MoveGroupGetPlanningSceneService'... Loading 'movegroup/MoveGroupKinematicsService'... Loading 'movegroup/MoveGroupMoveAction'... Loading 'movegroup/MoveGroupPickPlaceAction'... Loading 'movegroup/MoveGroupPlanService'... Loading 'movegroup/MoveGroupQueryPlannersService'... Loading 'movegroup/MoveGroupStateValidationService'... [ INFO] [1674880985.390815196]:

---

• MoveGroup using:
• - ApplyPlanningSceneService
• - ClearOctomapService
• - CartesianPathService
• - ExecuteTrajectoryAction
• - GetPlanningSceneService
• - KinematicsService
• - MoveAction
• - PickPlaceAction
• - MotionPlanService
• - QueryPlannersService
• - StateValidationService ********************************************************

[ INFO] [1674880985.390920217]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1674880985.390964787]: MoveGroup context initialization complete

You can start planning now!

When running ~$roslaunch pandamoveitconfig demo.launch rviz_tutorial:=true on my Ubuntu 16.04 Kinetic VM, the program stops at "You can start planning now!" and doesn't open the RVIZ launcher. I tried looking into any solution including the exit error code -6 issue I found when running the program and could not find a solution.

Anything helps, thanks.