ur5_moveit_config unable to connect to move_group action server
I have launched ur5moveitconfig demo.launch and everything looks normally, while a few moment later an error shoot, the following file is my terminal output:
[ERROR] [1542028833.457921844]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
It was pretty weired that the launch file were work several days ago, I'm not sure if the problem comes from the version of Moveit so I purged and reinstall it, but the problem was still there, any idea?
Full terminal text:
sean@sean-GP62-6QE:~$ roslaunch ur5_moveit_config demo.launch
... logging to /home/sean/.ros/log/e7dcf25e-e66e-11e8-b5d6-4ccc6a82b134/roslaunch-sean-GP62-6QE-14231.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://140.113.148.117:34151/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/use_gui: False
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'joints': ['sho...
* /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/longest_valid_segment_fraction: 0.01
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_fake_contr...
* /move_group/moveit_manage_controllers: True
* /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: geometc::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/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /robot_description: <?xml version="1....
* /robot_description_kinematics/manipulator/kinematics_solver: ur_kinematics/UR5...
* /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rviz_sean_GP62_6QE_14231_7368890903020981127/manipulator/kinematics_solver: ur_kinematics/UR5...
* /rviz_sean_GP62_6QE_14231_7368890903020981127/manipulator/kinematics_solver_attempts: 3
* /rviz_sean_GP62_6QE_14231_7368890903020981127/manipulator/kinematics_solver_search_resolution: 0.005
* /rviz_sean_GP62_6QE_14231_7368890903020981127/manipulator/kinematics_solver_timeout: 0.005
* /source_list: ['/move_group/fak...
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_sean_GP62_6QE_14231_7368890903020981127 (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[joint_state_publisher-1]: started with pid [14251]
process[robot_state_publisher-2]: started with pid [14252]
process[move_group-3]: started with pid [14253]
process[rviz_sean_GP62_6QE_14231_7368890903020981127-4]: started with pid [14254]
[ INFO] [1542028799.206632735]: Loading robot model 'ur5'...
[ WARN] [1542028799.206711159]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1542028799.206727299]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1542028799.300424051]: rviz version 1.12.16
[ INFO] [1542028799.300491645]: compiled against Qt version 5.5.1
[ INFO] [1542028799.300505763]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1542028799.304469751]: Loading robot model 'ur5'...
[ WARN] [1542028799.304510890]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1542028799.304568641]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1542028799.373191681]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1542028799.376999826]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1542028799.377034413]: Starting scene monitor
[ INFO] [1542028799.380586348]: Listening to '/planning_scene'
[ INFO] [1542028799.380619778]: Starting world geometry monitor
[ INFO] [1542028799.384767137]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1542028799.388674831]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1542028799.403538264]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1542028799.437096243]: Initializing OMPL interface using ROS parameters
[ INFO] [1542028799.476041527]: Using planning interface 'OMPL'
[ INFO] [1542028799.482229151]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1542028799.482839575]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1542028799.483418079]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542028799.483938597]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542028799.484447471]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1542028799.485024784]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1542028799.485077601]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1542028799.485093339]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1542028799.485106098]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1542028799.485118297]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1542028799.485131775]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1542028799.494016847]: Fake controller 'fake_manipulator_controller' with joints [ shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ INFO] [1542028799.494627504]: Fake controller 'fake_endeffector_controller' with joints [ ]
[ INFO] [1542028799.495143809]: Returned 2 controllers in list
[ INFO] [1542028799.511667647]: Trajectory execution is 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'...
[ INFO] [1542028799.569226606]: Stereo is NOT SUPPORTED
[ INFO] [1542028799.569331145]: OpenGl version: 3 (GLSL 1.3).
0x161ffa0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x7b1e30) ): Attempt to set a screen on a child window.
0x161f1b0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x7b1e30) ): Attempt to set a screen on a child window.
0x161f870 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x7b1e30) ): Attempt to set a screen on a child window.
0x162b640 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x7b1e30) ): Attempt to set a screen on a child window.
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1542028799.647476785]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1542028799.647558749]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1542028799.647584916]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1542028802.945572349]: Loading robot model 'ur5'...
[ WARN] [1542028802.945626211]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1542028802.945644663]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1542028803.003072396]: Loading robot model 'ur5'...
[ WARN] [1542028803.003119535]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1542028803.003154895]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1542028803.092469279]: Starting scene monitor
[ INFO] [1542028803.096731666]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1542028803.447942479]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ERROR] [1542028833.457921844]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
^C[rviz_sean_GP62_6QE_14231_7368890903020981127-4] killing on exit
[move_group-3] killing on exit
[robot_state_publisher-2] killing on exit
[joint_state_publisher-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Asked by sean on 2018-11-12 08:46:38 UTC
Comments