Panda Robot ROS Melodic Setup
Hi all,
I am setting up my labs Panda Robot with ROS Melodic. We previously had it working with ROS Kinetic. I have frankaros, libfranka and moveit installed from source. I also have the pandamoveitconfig cloned from the git repo and compiled in my ws.
When I try to run the following command: roslaunch frankaexamplecontrollers movetostart.launch robotip:=172.16.0.2 loadgripper:=false
I get the following error:
Exception while loading planning adapter plugin 'defaultplannerrequestadapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class defaultplannerrequestadapters/ResolveConstraintFrames with base class type planningrequestadapter::PlanningRequestAdapter does not exist. Declared types are chomp/OptimizerAdapter defaultplannerrequestadapters/AddIterativeSplineParameterization defaultplannerrequestadapters/AddTimeOptimalParameterization defaultplannerrequestadapters/AddTimeParameterization defaultplannerrequestadapters/Empty defaultplannerrequestadapters/FixStartStateBounds defaultplannerrequestadapters/FixStartStateCollision defaultplannerrequestadapters/FixStartStatePathConstraints defaultplannerrequestadapters/FixWorkspaceBounds
I have seen an issue on github that is related to this error but it did not help: https://github.com/ros-planning/moveit/issues/1655
Any suggestions on how to get the robot working?
Here is the entire console output incase I'm missing something:
roslaunch frankaexamplecontrollers movetostart.launch robotip:=172.16.0.2 loadgripper:=false ... logging to /home/pandarobot/.ros/log/19336d10-ed48-11ea-b6d3-6c2b59dc4ff6/roslaunch-pandarobot-25110.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://pandarobot:44733/
SUMMARY
PARAMETERS * /frankacontrol/armid: panda * /frankacontrol/collisionconfig/lowerforcethresholdsacceleration: [20.0, 20.0, 20.0... * /frankacontrol/collisionconfig/lowerforcethresholdsnominal: [20.0, 20.0, 20.0... * /frankacontrol/collisionconfig/lowertorquethresholdsacceleration: [20.0, 20.0, 18.0... * /frankacontrol/collisionconfig/lowertorquethresholdsnominal: [20.0, 20.0, 18.0... * /frankacontrol/collisionconfig/upperforcethresholdsacceleration: [20.0, 20.0, 20.0... * /frankacontrol/collisionconfig/upperforcethresholdsnominal: [20.0, 20.0, 20.0... * /frankacontrol/collisionconfig/uppertorquethresholdsacceleration: [20.0, 20.0, 18.0... * /frankacontrol/collisionconfig/uppertorquethresholdsnominal: [20.0, 20.0, 18.0... * /frankacontrol/cutofffrequency: 100 * /frankacontrol/internalcontroller: jointimpedance * /frankacontrol/jointlimitwarningthreshold: 0.1 * /frankacontrol/jointnames: ['pandajoint1', ... * /frankacontrol/ratelimiting: True * /frankacontrol/realtimeconfig: enforce * /frankacontrol/robotip: 172.16.0.2 * /frankastatecontroller/armid: panda * /frankastatecontroller/jointnames: ['pandajoint1', ... * /frankastatecontroller/publishrate: 30 * /frankastatecontroller/type: frankacontrol/Fr... * /jointstatedesiredpublisher/rate: 30 * /jointstatedesiredpublisher/sourcelist: ['frankastateco... * /jointstatepublisher/rate: 30 * /jointstatepublisher/sourcelist: ['frankastateco... * /movegroup/allowtrajectoryexecution: True * /movegroup/controllerlist: [{'default': True... * /movegroup/hand/plannerconfigs: ['SBLkConfigDefau... * /movegroup/jigglefraction: 0.05 * /movegroup/maxrange: 5.0 * /movegroup/maxsafepathcost: 1 * /movegroup/moveitcontrollermanager: moveitsimplecon... * /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 * /positionjointtrajectorycontroller/constraints/goaltime: 0.5 * /positionjointtrajectorycontroller/constraints/pandajoint1/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint2/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint3/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint4/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint5/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint6/goal: 0.05 * /positionjointtrajectorycontroller/constraints/pandajoint7/goal: 0.05 * /positionjointtrajectorycontroller/joints: ['pandajoint1', ... * /positionjointtrajectorycontroller/type: positioncontroll... * /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 * /robotdescription_semantic: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.9
NODES / controllerspawner (controllermanager/spawner) frankacontrol (frankacontrol/frankacontrolnode) jointstatedesiredpublisher (jointstatepublisher/jointstatepublisher) jointstatepublisher (jointstatepublisher/jointstatepublisher) movegroup (moveitrosmovegroup/movegroup) movetostart (frankaexamplecontrollers/movetostart.py) robotstatepublisher (robotstatepublisher/robotstatepublisher) statecontrollerspawner (controller_manager/spawner)
auto-starting new master process[master]: started with pid [25126] ROSMASTERURI=http://localhost:11311
setting /runid to 19336d10-ed48-11ea-b6d3-6c2b59dc4ff6
process[rosout-1]: started with pid [25137]
started core service [/rosout]
process[frankacontrol-2]: started with pid [25144]
process[statecontrollerspawner-3]: started with pid [25145]
process[robotstatepublisher-4]: started with pid [25146]
process[jointstatepublisher-5]: started with pid [25151]
process[jointstatedesiredpublisher-6]: started with pid [25153]
process[controllerspawner-7]: started with pid [25159]
process[movegroup-8]: started with pid [25161]
process[movetostart-9]: started with pid [25162]
[ INFO] [1599070451.686531847]: Loading robot model 'panda'...
[ INFO] [1599070451.753383429]: Publishing maintained planning scene on 'monitoredplanningscene'
[ INFO] [1599070451.754962996]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1599070451.755114100]: Starting planning scene monitor
[ INFO] [1599070451.756436278]: Listening to '/planningscene'
[ INFO] [1599070451.756514149]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1599070451.757843317]: Listening to '/collisionobject'
[ INFO] [1599070451.759129428]: Listening to '/planningsceneworld' for planning scene world geometry
[ INFO] [1599070451.767837481]: Listening to '/camera/depthregistered/points' using message filter with target frame 'world '
[ INFO] [1599070451.770584008]: Listening to '/attachedcollisionobject' for attached collision objects
Planning scene monitors started.
[ INFO] [1599070451.792111921]: Initializing OMPL interface using ROS parameters
[ INFO] [1599070451.804779090]: Using planning interface 'OMPL'
[ERROR] [1599070451.806741645]: Exception while loading planning adapter plugin 'defaultplannerrequestadapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class defaultplannerrequestadapters/ResolveConstraintFrames with base class type planningrequestadapter::PlanningRequestAdapter does not exist. Declared types are defaultplannerrequestadapters/AddIterativeSplineParameterization defaultplannerrequestadapters/AddTimeOptimalParameterization defaultplannerrequestadapters/AddTimeParameterization defaultplannerrequestadapters/Empty defaultplannerrequestadapters/FixStartStateBounds defaultplannerrequestadapters/FixStartStateCollision defaultplannerrequestadapters/FixStartStatePathConstraints defaultplannerrequestadapters/FixWorkspaceBounds
[ INFO] [1599070451.807246652]: Param 'defaultworkspacebounds' was not set. Using default value: 10
[ INFO] [1599070451.807591944]: Param 'startstatemaxboundserror' was set to 0.1
[ INFO] [1599070451.807866788]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1599070451.808159087]: Param 'startstatemaxdt' was not set. Using default value: 0.5
[ INFO] [1599070451.808433581]: Param 'jigglefraction' was set to 0.05
[ INFO] [1599070451.808708204]: Param 'maxsamplingattempts' was not set. Using default value: 100
[ INFO] [1599070451.808780002]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1599070451.808842584]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1599070451.808904926]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1599070451.808960089]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1599070451.809015844]: Using planning request adapter 'Fix Start State Path Constraints'
Traceback (most recent call last):
File "/home/pandarobot/robotws/src/frankaros/frankaexamplecontrollers/scripts/movetostart.py", line 4, in
Initiating shutdown!
[movetostart-9] killing on exit [movegroup-8] killing on exit [controllerspawner-7] killing on exit [jointstatedesiredpublisher-6] killing on exit [jointstatepublisher-5] killing on exit [robotstatepublisher-4] killing on exit [statecontrollerspawner-3] killing on exit [INFO] [1599070452.146389]: Shutting down spawner. Stopping and unloading controllers... [frankacontrol-2] killing on exit [INFO] [1599070452.147186]: Stopping all controllers... [INFO] [1599070452.147434]: Shutting down spawner. Stopping and unloading controllers... [INFO] [1599070452.148915]: Stopping all controllers... [WARN] [1599070452.238295]: Controller Spawner error while taking down controllers: unable to connect to service: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details. [WARN] [1599070452.239787]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer 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 'move_group/MoveGroupStateValidationService'...
You can start planning now!
[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done pandarobot@pandarobot:~/robot_ws$ ^C
Asked by Abhinavgandhi09 on 2020-09-02 13:42:47 UTC
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