Gazebo hangs up on launch
I am trying to complete assignment 6 for the EdX class called Hello (Real) World with ROS – Robot Operating System. When I launch Gazebo using 'roslaunch hrwrosweek6 hrwrosfinal_project.launch' It hangs up with the logo on the screen forever. I can't seem to figure it out. I am running it on Ubuntu 16.04 64 bit using ROS Kinetic. I have had Gazebo working for the other assignments and my other classmates have not posted about having this issue. I am using a singularity image of ROS provided by the instructors and have had Gazebo working for all other exercises. Here is the output when I try to run the launch file:
roslaunch hrwros_gazebo hrwros_pick_demo.launch
... logging to /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/roslaunch-michael-HP-Elite-x2-1011-G1-Tablet-20087.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.
inconsistent namespace redefinitions for xmlns:xacro:
old: http://www.ros.org/wiki/xacro
new: http://ros.org/wiki/xacro (/opt/ros/kinetic/share/ur_description/urdf/ur10.urdf.xacro)
inconsistent namespace redefinitions for xmlns:xacro:
old: http://www.ros.org/wiki/xacro
new: http://ros.org/wiki/xacro (/opt/ros/kinetic/share/ur_description/urdf/ur5.urdf.xacro)
started roslaunch server http://michael-HP-Elite-x2-1011-G1-Tablet:46337/
SUMMARY
========
PARAMETERS
* /bin_1_description: <?xml version="1....
* /break_beam_description: <?xml version="1....
* /conveyor_spawner/spawner/objects: [{'lateral_placem...
* /conveyor_spawner/spawner/randomization_seed: 0
* /conveyor_spawner/spawner/reference_frame: world
* /conveyor_spawner/spawner/spawn_period: 3.0
* /joint_state_publisher/source_list: ['/robot1/joint_s...
* /logical_camera1_description: <?xml version="1....
* /move_group/allow_trajectory_execution: True
* /move_group/controller_list: [{'action_ns': 'f...
* /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/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: default_planner_r...
* /move_group/robot1/default_planner_config: RRTConnect
* /move_group/robot1/longest_valid_segment_fraction: 0.005
* /move_group/robot1/planner_configs: ['SBL', 'EST', 'L...
* /move_group/robot1/projection_evaluator: joints(robot1_sho...
* /move_group/robot2/default_planner_config: RRTConnect
* /move_group/robot2/longest_valid_segment_fraction: 0.005
* /move_group/robot2/planner_configs: ['SBL', 'EST', 'L...
* /move_group/robot2/projection_evaluator: joints(robot2_sho...
* /move_group/sensors: [{}]
* /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
* /robot1/r1_joint_state_controller/publish_rate: 50
* /robot1/r1_joint_state_controller/type: joint_state_contr...
* /robot1/robot1_controller/action_monitor_rate: 10
* /robot1/robot1_controller/constraints/goal_time: 0.6
* /robot1/robot1_controller/constraints/robot1_elbow_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_elbow_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/robot1_shoulder_lift_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_shoulder_lift_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/robot1_shoulder_pan_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_shoulder_pan_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_1_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_1_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_2_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_2_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_3_joint/goal: 0.1
* /robot1/robot1_controller/constraints/robot1_wrist_3_joint/trajectory: 0.1
* /robot1/robot1_controller/constraints/stopped_velocity_tolerance: 0.05
* /robot1/robot1_controller/joints: ['robot1_elbow_jo...
* /robot1/robot1_controller/state_publish_rate: 50
* /robot1/robot1_controller/stop_trajectory_duration: 0.5
* /robot1/robot1_controller/type: position_controll...
* /robot1/robot1_description: <?xml version="1....
* /robot1/tf_prefix: robot1
* /robot1_pedestal_description: <?xml version="1....
* /robot2/r2_joint_state_controller/publish_rate: 50
* /robot2/r2_joint_state_controller/type: joint_state_contr...
* /robot2/robot2_controller/action_monitor_rate: 10
* /robot2/robot2_controller/constraints/goal_time: 0.6
* /robot2/robot2_controller/constraints/robot2_elbow_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_elbow_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/robot2_shoulder_lift_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_shoulder_lift_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/robot2_shoulder_pan_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_shoulder_pan_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_1_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_1_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_2_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_2_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_3_joint/goal: 0.1
* /robot2/robot2_controller/constraints/robot2_wrist_3_joint/trajectory: 0.1
* /robot2/robot2_controller/constraints/stopped_velocity_tolerance: 0.05
* /robot2/robot2_controller/joints: ['robot2_elbow_jo...
* /robot2/robot2_controller/state_publish_rate: 50
* /robot2/robot2_controller/stop_trajectory_duration: 0.5
* /robot2/robot2_controller/type: position_controll...
* /robot2/robot2_description: <?xml version="1....
* /robot2/tf_prefix: robot2
* /robot2_pedestal_description: <?xml version="1....
* /robot_description: <?xml version="1....
* /robot_description_kinematics/robot1/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/robot1/kinematics_solver_attempts: 3
* /robot_description_kinematics/robot1/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/robot1/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/robot1/solve_type: Distance
* /robot_description_kinematics/robot2/kinematics_solver: trac_ik_kinematic...
* /robot_description_kinematics/robot2/kinematics_solver_attempts: 3
* /robot_description_kinematics/robot2/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/robot2/kinematics_solver_timeout: 0.005
* /robot_description_kinematics/robot2/solve_type: Distance
* /robot_description_planning/joint_limits/robot1_elbow_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_elbow_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/robot1_shoulder_lift_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_shoulder_lift_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_shoulder_lift_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/robot1_shoulder_pan_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_shoulder_pan_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_shoulder_pan_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/robot1_wrist_1_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_wrist_1_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/robot1_wrist_2_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_wrist_2_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/robot1_wrist_3_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot1_wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot1_wrist_3_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot1_wrist_3_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/robot2_elbow_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_elbow_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/robot2_shoulder_lift_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_shoulder_lift_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_shoulder_lift_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/robot2_shoulder_pan_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_shoulder_pan_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_shoulder_pan_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/robot2_wrist_1_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_wrist_1_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/robot2_wrist_2_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_wrist_2_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/robot2_wrist_3_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/robot2_wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/robot2_wrist_3_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/robot2_wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /robots_state_publisher/publish_frequency: 50.0
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
* /workcell_description: <?xml version="1....
NODES
/robot2/
robot2_controller_spawner (controller_manager/spawner)
robot2_spawner (gazebo_ros/spawn_model)
/robot1/
robot1_controller_spawner (controller_manager/spawner)
robot1_spawner (gazebo_ros/spawn_model)
/
bin_1_spawner (gazebo_ros/spawn_model)
break_beam_spawner (gazebo_ros/spawn_model)
conveyor_spawner (hrwros_gazebo/conveyor_spawner_node)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
map_to_world (tf2_ros/static_transform_publisher)
move_group (moveit_ros_move_group/move_group)
robot1_pedestal_spawner (gazebo_ros/spawn_model)
robot2_pedestal_spawner (gazebo_ros/spawn_model)
robots_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_object_once (hrwros_utilities/spawn_object_once.py)
suppress_psm_warnings (rosservice/rosservice)
workcell_spawner (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [20124]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d245f48c-dbfa-11e8-848e-b808cf040722
process[rosout-1]: started with pid [20137]
started core service [/rosout]
process[gazebo-2]: started with pid [20161]
process[gazebo_gui-3]: started with pid [20166]
process[move_group-4]: started with pid [20171]
process[break_beam_spawner-5]: started with pid [20172]
process[bin_1_spawner-6]: started with pid [20173]
process[robot1_pedestal_spawner-7]: started with pid [20174]
process[robot2_pedestal_spawner-8]: started with pid [20186]
process[workcell_spawner-9]: started with pid [20199]
process[robot1/robot1_spawner-10]: started with pid [20207]
process[robot1/robot1_controller_spawner-11]: started with pid [20208]
process[robot2/robot2_spawner-12]: started with pid [20211]
process[robot2/robot2_controller_spawner-13]: started with pid [20214]
[/move_group] [ INFO] [1540873099.286030348]: Loading robot model 'hrwros'...
process[conveyor_spawner-14]: started with pid [20218]
process[spawn_object_once-15]: started with pid [20219]
process[suppress_psm_warnings-16]: started with pid [20222]
process[joint_state_publisher-17]: started with pid [20239]
[/conveyor_spawner] [ INFO] [1540873099.451072184]: waitForService: Service [/gazebo/spawn_urdf_model] has not been advertised, waiting...
process[robots_state_publisher-18]: started with pid [20254]
process[map_to_world-19]: started with pid [20271]
[/move_group] [ INFO] [1540873100.272002347]: IK Using joint robot1_shoulder_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272075313]: IK Using joint robot1_upper_arm_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272123870]: IK Using joint robot1_forearm_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272169482]: IK Using joint robot1_wrist_1_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272210877]: IK Using joint robot1_wrist_2_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272249763]: IK Using joint robot1_wrist_3_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.272325278]: Looking in common namespaces for param name: robot1/position_only_ik
[/move_group] [ INFO] [1540873100.285036634]: Looking in common namespaces for param name: robot1/solve_type
[/move_group] [ INFO] [1540873100.316652200]: Using solve type Distance
[/move_group] [ INFO] [1540873100.377319526]: IK Using joint robot2_shoulder_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377423776]: IK Using joint robot2_upper_arm_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377480795]: IK Using joint robot2_forearm_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377527006]: IK Using joint robot2_wrist_1_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377575049]: IK Using joint robot2_wrist_2_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377618506]: IK Using joint robot2_wrist_3_link -3.14159 3.14159
[/move_group] [ INFO] [1540873100.377663973]: Looking in common namespaces for param name: robot2/position_only_ik
[/move_group] [ INFO] [1540873100.412195283]: Looking in common namespaces for param name: robot2/solve_type
[/move_group] [ INFO] [1540873100.453572329]: Using solve type Distance
[/move_group] [ INFO] [1540873100.996745530]: Publishing maintained planning scene on 'monitored_planning_scene'
[/move_group] [ INFO] [1540873101.049123771]: MoveGroup debug mode is OFF
Starting context monitors...
[/move_group] [ INFO] [1540873101.049346868]: Starting scene monitor
[/move_group] [ INFO] [1540873101.096800187]: Listening to '/planning_scene'
[/move_group] [ INFO] [1540873101.097027200]: Starting world geometry monitor
[/move_group] [ INFO] [1540873101.166024385]: Listening to '/collision_object' using message notifier with target frame '/world '
[/move_group] [ INFO] [1540873101.208488696]: Listening to '/planning_scene_world' for planning scene world geometry
[/move_group] [ERROR] [1540873101.217069231]: No sensor plugin specified for octomap updater 0; ignoring.
[/move_group] [ INFO] [1540873101.323608012]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[/move_group] [ INFO] [1540873101.570239232]: Initializing OMPL interface using ROS parameters
[suppress_psm_warnings-16] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/suppress_psm_warnings-16*.log
[/gazebo] [ INFO] [1540873101.753707312]: Finished loading Gazebo ROS API Plugin.
[/gazebo] [ INFO] [1540873101.765530832]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[/gazebo_gui] [ INFO] [1540873101.935036655]: Finished loading Gazebo ROS API Plugin.
[/gazebo_gui] [ INFO] [1540873101.940262813]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[/move_group] [ INFO] [1540873102.117735013]: Using planning interface 'OMPL'
[/move_group] [ INFO] [1540873102.127926684]: Param 'default_workspace_bounds' was not set. Using default value: 10
[/move_group] [ INFO] [1540873102.132887486]: Param 'start_state_max_bounds_error' was set to 0.1
[/move_group] [ INFO] [1540873102.138792426]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[/move_group] [ INFO] [1540873102.143704206]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[/move_group] [ INFO] [1540873102.162504835]: Param 'jiggle_fraction' was set to 0.05
[/move_group] [ INFO] [1540873102.168187932]: Param 'max_sampling_attempts' was not set. Using default value: 100
[/move_group] [ INFO] [1540873102.168375421]: Using planning request adapter 'Add Time Parameterization'
[/move_group] [ INFO] [1540873102.168417020]: Using planning request adapter 'Fix Workspace Bounds'
[/move_group] [ INFO] [1540873102.168455351]: Using planning request adapter 'Fix Start State Bounds'
[/move_group] [ INFO] [1540873102.168486561]: Using planning request adapter 'Fix Start State In Collision'
[/move_group] [ INFO] [1540873102.168518687]: Using planning request adapter 'Fix Start State Path Constraints'
Gtk-Message: Failed to load module "gail"
Gtk-Message: Failed to load module "atk-bridge"
Gtk-Message: Failed to load module "unity-gtk-module"
SpawnModel script started
SpawnModel script started
[/break_beam_spawner] [INFO] [1540873103.221670, 0.000000]: Loading model XML from ros parameter
[/break_beam_spawner] [INFO] [1540873103.225944, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
SpawnModel script started
SpawnModel script started
SpawnModel script started
[/bin_1_spawner] [INFO] [1540873103.363695, 0.000000]: Loading model XML from ros parameter
[/bin_1_spawner] [INFO] [1540873103.375467, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
[/robot1/robot1_spawner] [INFO] [1540873103.525482, 0.000000]: Loading model XML from ros parameter
[/robot1/robot1_spawner] [INFO] [1540873103.531124, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[/workcell_spawner] [INFO] [1540873103.553023, 0.000000]: Loading model XML from ros parameter
[/workcell_spawner] [INFO] [1540873103.559323, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[/robot2/robot2_spawner] [INFO] [1540873103.577098, 0.000000]: Loading model XML from ros parameter
[/robot2_pedestal_spawner] [INFO] [1540873103.578582, 0.000000]: Loading model XML from ros parameter
[/robot2_pedestal_spawner] [INFO] [1540873103.581789, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[/robot2/robot2_spawner] [INFO] [1540873103.582411, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[/robot1_pedestal_spawner] [INFO] [1540873103.672096, 0.000000]: Loading model XML from ros parameter
[/robot1_pedestal_spawner] [INFO] [1540873103.673676, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[/robot1/robot1_controller_spawner] [WARN] [1540873131.019304, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[robot1/robot1_controller_spawner-11] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot1-robot1_controller_spawner-11*.log
[/robot2/robot2_controller_spawner] [WARN] [1540873131.270683, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[robot2/robot2_controller_spawner-13] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot2-robot2_controller_spawner-13*.log
Error [parser.cc:581] Unable to find uri[model://conveyor]
Error [parser.cc:581] Unable to find uri[model://deletion_wall]
Warning [parser.cc:614] The manifest.xml for a model is deprecated. Please rename manifest.xml to model.config.
Error [parser.cc:652] Error parsing XML in file [/home/michael/hrwros_ws/src/hrwros_gazebo/models/logical_camera1/manifest.xml]: Failed to open file
Warning [parser.cc:614] The manifest.xml for a model is deprecated. Please rename manifest.xml to model.config.
Error [parser.cc:652] Error parsing XML in file [/home/michael/hrwros_ws/src/hrwros_gazebo/models/logical_camera2/manifest.xml]: Failed to open file
[/break_beam_spawner] [INFO] [1540873155.727022, 0.000000]: Calling service /gazebo/spawn_urdf_model
[/robot1/robot1_spawner] [INFO] [1540873155.729264, 0.000000]: Calling service /gazebo/spawn_urdf_model
[/workcell_spawner] [INFO] [1540873155.740239, 0.001000]: Calling service /gazebo/spawn_urdf_model
[/robot2/robot2_spawner] [INFO] [1540873155.777197, 0.024000]: Calling service /gazebo/spawn_urdf_model
[/robot2_pedestal_spawner] [INFO] [1540873155.778589, 0.023000]: Calling service /gazebo/spawn_urdf_model
[/gazebo] [ INFO] [1540873155.788227865, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[/robot1_pedestal_spawner] [INFO] [1540873155.864117, 0.043000]: Calling service /gazebo/spawn_urdf_model
[/bin_1_spawner] [INFO] [1540873155.864737, 0.043000]: Calling service /gazebo/spawn_urdf_model
[/break_beam_spawner] [INFO] [1540873155.971628, 0.043000]: Spawn status: SpawnModel: Successfully spawned entity
[/conveyor_spawner] [ INFO] [1540873156.039707358, 0.072000000]: waitForService: Service [/gazebo/spawn_urdf_model] is now available.
[/gazebo_gui] [ INFO] [1540873156.047369242, 0.072000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
[break_beam_spawner-5] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/break_beam_spawner-5*.log
[/robot1/robot1_spawner] [INFO] [1540873156.380145, 0.233000]: Spawn status: SpawnModel: Successfully spawned entity
[/gazebo] [ INFO] [1540873156.465412264, 0.233000000]: Loading gazebo_ros_control plugin
[/gazebo] [ INFO] [1540873156.465763121, 0.233000000]: Starting gazebo_ros_control plugin in namespace: /robot1/
[/gazebo] [ INFO] [1540873156.467164707, 0.233000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot1/robot1_description] on the ROS param server.
[/gazebo] [ INFO] [1540873156.601223401, 0.233000000]: Loaded gazebo_ros_control.
[/gazebo] [ WARN] [1540873156.602433011, 0.234000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[/gazebo] [ WARN] [1540873156.602491992, 0.234000000]: As a result, gravity will not be simulated correctly for your model.
[/gazebo] [ WARN] [1540873156.602552340, 0.234000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[/gazebo] [ WARN] [1540873156.602603060, 0.234000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[/workcell_spawner] [INFO] [1540873156.847585, 0.427000]: Spawn status: SpawnModel: Successfully spawned entity
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [false] with [true].
Warning [parser_urdf.cc:1232] multiple inconsistent <gravity> exists due to fixed joint reduction overwriting previous value [true] with [false].
[/robot2/robot2_spawner] [INFO] [1540873157.191006, 0.588000]: Spawn status: SpawnModel: Successfully spawned entity
[/gazebo] [ INFO] [1540873157.217698155, 0.588000000]: Loading gazebo_ros_control plugin
[/gazebo] [ INFO] [1540873157.217906103, 0.588000000]: Starting gazebo_ros_control plugin in namespace: /robot2/
[/gazebo] [ INFO] [1540873157.342946481, 0.588000000]: Loaded gazebo_ros_control.
[workcell_spawner-9] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/workcell_spawner-9*.log
[/robot2_pedestal_spawner] [INFO] [1540873157.599131, 0.728000]: Spawn status: SpawnModel: Successfully spawned entity
[/robot1_pedestal_spawner] [INFO] [1540873157.870469, 0.859000]: Spawn status: SpawnModel: Successfully spawned entity
[robot2_pedestal_spawner-8] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot2_pedestal_spawner-8*.log
[/bin_1_spawner] [INFO] [1540873158.147797, 0.988000]: Spawn status: SpawnModel: Successfully spawned entity
[robot1_pedestal_spawner-7] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot1_pedestal_spawner-7*.log
[/gazebo_gui] [ INFO] [1540873158.316434072, 1.048000000]: Physics dynamic reconfigure ready.
[/gazebo] [ INFO] [1540873158.323101476, 1.050000000]: Physics dynamic reconfigure ready.
[robot1/robot1_spawner-10] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot1-robot1_spawner-10*.log
[robot2/robot2_spawner-12] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/robot2-robot2_spawner-12*.log
[bin_1_spawner-6] process has finished cleanly
log file: /home/michael/.ros/log/d245f48c-dbfa-11e8-848e-b808cf040722/bin_1_spawner-6*.log
[/move_group] [ WARN] [1540873163.223717934, 5.101000000]: Waiting for robot1/robot1_controller/follow_joint_trajectory to come up
[/move_group] [ WARN] [1540873170.126589090, 11.102000000]: Waiting for robot1/robot1_controller/follow_joint_trajectory to come up
[/move_group] [ERROR] [1540873177.136171107, 17.102000000]: Action client not connected: robot1/robot1_controller/follow_joint_trajectory
[/move_group] [ WARN] [1540873183.155109025, 22.167000000]: Waiting for robot2/robot2_controller/follow_joint_trajectory to come up
[/move_group] [ WARN] [1540873190.263647674, 28.167000000]: Waiting for robot2/robot2_controller/follow_joint_trajectory to come up
[/move_group] [ERROR] [1540873197.200060907, 34.167000000]: Action client not connected: robot2/robot2_controller/follow_joint_trajectory
[/move_group] [ INFO] [1540873197.223760379, 34.182000000]: Returned 0 controllers in list
[/move_group] [ INFO] [1540873197.307026881, 34.233000000]: 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'...
[/move_group] [ INFO] [1540873197.759545891, 34.492000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[/move_group] [ INFO] [1540873197.759688434, 34.492000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[/move_group] [ INFO] [1540873197.759802857, 34.492000000]: MoveGroup context initialization complete
You can start planning now!
I have ran the following commands to check that the controllers are running:
rosservice list | grep controller_manager
/robot1/controller_manager/list_controller_types
/robot1/controller_manager/list_controllers
/robot1/controller_manager/load_controller
/robot1/controller_manager/reload_controller_libraries
/robot1/controller_manager/switch_controller
/robot1/controller_manager/unload_controller
/robot2/controller_manager/list_controller_types
/robot2/controller_manager/list_controllers
/robot2/controller_manager/load_controller
/robot2/controller_manager/reload_controller_libraries
/robot2/controller_manager/switch_controller
/robot2/controller_manager/unload_controller
Here are my environment variables:
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/michael/hrwros_ws/src/hrwros_factory_behaviors/behaviors/behavior_final_project:/home/michael/hrwros_ws/src/hrwros_factory_behaviors/behaviors/behavior_pick_part_from_conveyor:/home/michael/hrwros_ws/src/hrwros_factory_behaviors/flexbe_behaviors:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_core:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_input:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_mirror:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_msgs:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_onboard:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_states:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_testing:/home/michael/hrwros_ws/src/flexbe_behavior_engine/flexbe_widget:/home/michael/hrwros_ws/src/hrwros_factory_states:/home/michael/hrwros_ws/src/hrwros_gazebo:/home/michael/hrwros_ws/src/hrwros/hrwros_msgs:/home/michael/hrwros_ws/src/hrwros_support:/home/michael/hrwros_ws/src/hrwros/hrwros_moveit_config:/home/michael/hrwros_ws/src/hrwros/hrwros_utilities:/home/michael/hrwros_ws/src/hrwros/hrwros_week1:/home/michael/hrwros_ws/src/hrwros_week2:/home/michael/hrwros_ws/src/hrwros_week3:/home/michael/hrwros_ws/src/hrwros_week4:/home/michael/hrwros_ws/src/hrwros_week5:/home/michael/hrwros_ws/src/hrwros_week6:/home/michael/hrwros_ws/src/week4_dependencies/moveit_setup_assistant:/home/michael/hrwros_ws/src/week5_dependencies/tf2_geometry_msgs:/home/michael/hrwros_ws/src/urdf_tutorial:/home/michael/hrwros_ws/src/week4_moveit_config:/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSCONSOLE_FORMAT=[${node}] [${severity}] [${time}]: ${message}
ROSLISP_PACKAGE_DIRECTORIES=/home/michael/hrwros_ws/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
Any help as soon as possible would be greatly appreciated. The class ends today. Thank you.
Asked by mewescott on 2018-10-30 05:32:47 UTC
Comments
Have you posted this on the moocs forum?
Asked by gvdhoorn on 2018-10-30 05:51:37 UTC
If you are refering to the forum for that class then yes.
Asked by mewescott on 2018-10-30 21:41:47 UTC