Hello,

Here is my package https://github.com/moucrob/dbg/tree/master/src

When i run it, here are the errors of the gazebo dedicated terminal :

~$ roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch

deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/user/try/catkin_ws/src/rosbook_arm_description/urdf/deg_to_rad.xacro
included from: /home/user/try/catkin_ws/src/pha9_model/urdf/all.urdf.xacro

started roslaunch server http://user:33493/

SUMMARY
========

PARAMETERS
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/first_arm/default_planner_config: RRTConnectkConfig...
 * /move_group/first_arm/longest_valid_segment_fraction: 0.005
 * /move_group/first_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/first_arm/projection_evaluator: joints(first_base...
 * /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: True
 * /move_group/octomap_resolution: 0.025

 * /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/second_arm/default_planner_config: RRTConnectkConfig...
 * /move_group/second_arm/longest_valid_segment_fraction: 0.005
 * /move_group/second_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/second_arm/projection_evaluator: joints(second_bas...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/use_controller_manager: True
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    default_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    is_already_there (play_motion/is_already_there.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    spawn_table (gazebo_ros/spawn_model)
    spawn_tablet (gazebo_ros/spawn_model)

[ERROR] [1526884191.758178990]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent
[ERROR] [1526884191.758311866]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent

[ INFO] [1526884192.032911436]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1526884192.036766857]: Listening to '/planning_scene_world' for planning scene world geometry
SpawnModel script started
[ INFO] [1526884192.347807698]: Listening to '/rgbd_camera/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.351036393]: Listening to '/rgbd_camera_2/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.353973290]: Listening to '/rgbd_camera_3/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.357021340]: Listening to '/rgbd_camera_4/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.363814829]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.

[ INFO] [1526884192.394141427]: Initializing OMPL interface using ROS parameters
[ INFO] [1526884192.441552187]: Using planning interface 'OMPL'
[ INFO] [1526884192.444198544]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1526884192.444727192]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1526884192.445206128]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1526884192.445693418]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1526884192.446201604]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1526884192.446683629]: Param 'max_sampling_attempts' was not set. Using default value: 100

[INFO] [1526884192.810685, 0.141000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1526884193.511444952, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1526884193.514449062, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ERROR] [1526884193.514653666, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_2/set_camera_info]
[ INFO] [1526884193.515136221, 0.318000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1526884193.516608915, 0.318000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ERROR] [1526884193.516663586, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_2/set_parameters]

[ INFO] [1526884193.691526915, 0.318000000]: Loading gazebo_ros_control plugin
[ INFO] [1526884193.691675417, 0.318000000]: Starting gazebo_ros_control plugin in namespace: /pha9
[ INFO] [1526884193.693571451, 0.318000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[spawn_model-4] process has finished cleanly
log file: /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/spawn_model-4*.log
[ INFO] [1526884193.858062299, 0.318000000]: Loaded gazebo_ros_control.
[ INFO] [1526884193.858279128, 0.318000000]: Loading gazebo_ros_control plugin
[ INFO] [1526884193.858379616, 0.318000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1526884193.861366021, 0.318000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.

[ERROR] [1526884193.978914148, 0.318000000]: No p gain specified for pid.  Namespace: /gains/world_to_first_base_link
[FATAL] [1526884193.978993897, 0.318000000]: Could not initialize robot simulation interface

[ERROR] [1526884194.764322465, 1.013000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1526884194.764385270, 1.013000000]: Transform cache was not updated. Self-filtering may fail.
[ WARN] [1526884205.023693581, 11.183000000]: Waiting for /first_arm_controller/follow_joint_trajectory to come up
[ERROR] [1526884211.067360231, 17.183000000]: Action client not connected: /first_arm_controller/follow_joint_trajectory
[WARN] [1526884222.078376, 28.108000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

[default_controllers_spawner-5] process has finished cleanly
[ INFO] [1526884228.391208321, 34.364000000]: Returned 0 controllers in list
[ INFO] [1526884228.405999332, 34.379000000]: 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] [1526884228.503902499, 34.476000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1526884228.503978292, 34.476000000]: MoveGroup context initialization complete

You can start planning now!

[ERROR] [1526884228.717499317, 34.688000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1526884228.717596679, 34.688000000]: Transform cache was not updated. Self-filtering may fail.

and here are the errors on the MoveIt!/Rviz side :

~$ roslaunch rosbook_arm_moveit_config moveit_rviz.launch config:=true
PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_attempts: 3
 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_timeout: 0.005
 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_attempts: 3
 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_timeout: 0.005

NODES
  /rviz_user_27048_3755512807817573219 (rviz/rviz)

[ INFO] [1526883900.320780558]: rviz version 1.12.16
[ INFO] [1526883900.320839501]: compiled against Qt version 5.5.1
[ INFO] [1526883900.320857339]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1526883900.639798465, 14.191000000]: Stereo is NOT SUPPORTED
[ INFO] [1526883900.639901376, 14.191000000]: OpenGl version: 3 (GLSL 1.3).

[ERROR] [1526883904.367532966, 17.887000000]: Semantic description is not specified for the same robot as the URDF
[ INFO] [1526883904.368341402, 17.887000000]: Loading robot model 'rosbook_arm'...
[ INFO] [1526883904.368405684, 17.887000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1526883904.403913961, 17.923000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent
[ERROR] [1526883904.404041572, 17.923000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent

[ INFO] [1526883904.672795341, 18.188000000]: Starting scene monitor
[ INFO] [1526883904.676943136, 18.195000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1526883904.678205904, 18.196000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1526883909.740033536, 23.214000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.11/planning_scene_monitor/src/planning_scene_monitor.cpp:486
[ INFO] [1526883909.862155182, 23.335000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1526883909.875635999, 23.348000000]: Constructing new MoveGroup connection for group 'both_arms' in namespace ''
[ INFO] [1526883922.098407447, 35.471000000]: Ready to take commands for planning group both_arms.
[ INFO] [1526883922.098522956, 35.471000000]: Looking around: no
[ INFO] [1526883922.098590605, 35.471000000]: Replanning: no

[ WARN] [1526883923.042662593, 36.409000000]: Interactive marker 'EE:goal_second_EE' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ERROR] [1526883942.117398474, 55.325000000]: Unknown marker name: 'EE:goal_first_EE' (not published by RobotInteraction class)

[ INFO] [1526899394.103489156, 51.361000000]: ABORTED: Solution found but controller failed during execution

• Some possibly wrong analysis of these errors :
  • deprecated xacro : not important
  • play_motion : seems to work without it. I tried to add in the workspace its package but i generated a bunch of errors so i removed it... Is it necessary to add it ??
  • semantic description : i believe it's not important
  • end effector and own parent : i believe it's not important
  • rgbd and 'tried to advertise a service that is already advertised' : i believe it's not important, given the fact that it was a time when sensors did were able to sense obstacles.
  • joint limits won't be enforced for worldtofirstbaselink : can't understand this message since those are fixed links which i think i removed from each of the .yaml files
  • No p gain specied for pid. Namespace /gains/worldtofirstbaselink : also strange, they are fixed i said. But anyway i tried to add gains even for those and it seems that ros doesn't recognize it (i compiled)...
  • Transform error ... passed to lookupTransform argument source_frame does not exist : wasn't able to resolve it, they appear somehow each time w.r.t a random new part of the robot...
  • ABORTED Solution found but controller failed during execution : this appears when i move a marker somewhere and then, in the planning tab of moveit, click on 'plan' then 'execute'