Hi all hope you all are fine.

I am using this repository :

https://github.com/murtazabasu/Coordinating-Two-UR5-Robots-for-a-Pick-and-Place-Task

while using this I fixed few of its errors. installing Moveit, intalling ros_controller etc. after awhile I am now at a point I had a error: p gain not specified, I fixed this error and added my own .yaml file:

enablenone: true /gazeboroscontrol: pidgains: shoulderpanjoint: p: 100.0 i: 0.01 d: 10.0 shoulderliftjoint: p: 100.0 i: 0.01 d: 10.0 elbowjoint: p: 100.0 i: 0.01 d: 10.0 wrist1joint: p: 100.0 i: 0.01 d: 10.0 wrist2joint: p: 100.0 i: 0.01 d: 10.0 wrist3_joint: p: 100.0 i: 0.01 d: 10.0

now the p gain error is no more but I have this error: loadparameters: unable to set parameters (last param was [/slave/movegroup/plannerconfigs/RRTstar/type=geometric::RRTstar]): cannot marshal None unless allownone is enabled

I don't know how to set allow_none to true or how to remove this error, following are the parameters when I launch my initialize.launch file:

SUMMARY

PARAMETERS * /d: 10.0 * /elbowjoint: None * /enablenone: True * /gazebo/enablerosnetwork: True * /gazeboroscontrol: None * /i: 0.01 * /master/armcontroller/actionmonitorrate: 10 * /master/armcontroller/constraints/elbowjoint/goal: 0.1 * /master/armcontroller/constraints/elbowjoint/trajectory: 0.1 * /master/armcontroller/constraints/goaltime: 0.6 * /master/armcontroller/constraints/shoulderliftjoint/goal: 0.1 * /master/armcontroller/constraints/shoulderliftjoint/trajectory: 0.1 * /master/armcontroller/constraints/shoulderpanjoint/goal: 0.1 * /master/armcontroller/constraints/shoulderpanjoint/trajectory: 0.1 * /master/armcontroller/constraints/stoppedvelocitytolerance: 0.05 * /master/armcontroller/constraints/wrist1joint/goal: 0.1 * /master/armcontroller/constraints/wrist1joint/trajectory: 0.1 * /master/armcontroller/constraints/wrist2joint/goal: 0.1 * /master/armcontroller/constraints/wrist2joint/trajectory: 0.1 * /master/armcontroller/constraints/wrist3joint/goal: 0.1 * /master/armcontroller/constraints/wrist3joint/trajectory: 0.1 * /master/armcontroller/joints: ['shoulderpanjo... * /master/armcontroller/statepublishrate: 25 * /master/armcontroller/stoptrajectoryduration: 0.5 * /master/armcontroller/type: positioncontroll... * /master/grippercontroller/actionmonitorrate: 10 * /master/grippercontroller/goaltolerance: 0.002 * /master/grippercontroller/joint: robotiq85leftk... * /master/grippercontroller/maxeffort: 100 * /master/grippercontroller/stalltimeout: 1.0 * /master/grippercontroller/stallvelocitythreshold: 0.001 * /master/grippercontroller/type: positioncontroll... * /master/jointgrouppositioncontroller/joints: ['shoulderpanjo... * /master/jointgrouppositioncontroller/type: positioncontroll... * /master/jointstatecontroller/publishrate: 50 * /master/jointstatecontroller/type: jointstatecontr... * /master/movegroup/allowtrajectoryexecution: True * /master/movegroup/capabilities: movegroup/MoveGr... * /master/movegroup/controllerlist: [{'actionns': 'f... * /master/movegroup/endeffector/defaultplannerconfig: * /master/movegroup/endeffector/plannerconfigs: ['SBL', 'EST', 'L... * /master/movegroup/jigglefraction: 0.05 * /master/movegroup/manipulator/defaultplannerconfig: * /master/movegroup/manipulator/longestvalidsegmentfraction: 0.005 * /master/movegroup/manipulator/plannerconfigs: ['SBL', 'EST', 'L... * /master/movegroup/maxrange: 5.0 * /master/movegroup/maxsafepathcost: 1 * /master/movegroup/moveitcontrollermanager: moveitsimplecon... * /master/movegroup/moveitmanagecontrollers: True * /master/movegroup/octomapresolution: 0.025 * /master/movegroup/plannerconfigs/BFMT/balanced: 0 * /master/movegroup/plannerconfigs/BFMT/cachecc: 1 * /master/movegroup/plannerconfigs/BFMT/extendedfmt: 1 * /master/movegroup/plannerconfigs/BFMT/heuristics: 1 * /master/movegroup/plannerconfigs/BFMT/nearestk: 1 * /master/movegroup/plannerconfigs/BFMT/numsamples: 1000 * /master/movegroup/plannerconfigs/BFMT/optimality: 1 * /master/movegroup/plannerconfigs/BFMT/radiusmultiplier: 1.0 * /master/movegroup/plannerconfigs/BFMT/type: geometric::BFMT * /master/movegroup/plannerconfigs/BKPIECE/borderfraction: 0.9 * /master/movegroup/plannerconfigs/BKPIECE/failedexpansionscorefactor: 0.5 * /master/movegroup/plannerconfigs/BKPIECE/minvalidpathfraction: 0.5 * /master/movegroup/plannerconfigs/BKPIECE/range: 0.0 * /master/movegroup/plannerconfigs/BKPIECE/type: geometric::BKPIECE * /master/movegroup/plannerconfigs/BiEST/range: 0.0 * /master/movegroup/plannerconfigs/BiEST/type: geometric::BiEST * /master/movegroup/plannerconfigs/BiTRRT/costthreshold: 1e300 * /master/movegroup/plannerconfigs/BiTRRT/frountiernoderatio: 0.1 * /master/movegroup/plannerconfigs/BiTRRT/frountierthreshold: 0.0 * /master/movegroup/plannerconfigs/BiTRRT/inittemperature: 100 * /master/movegroup/plannerconfigs/BiTRRT/range: 0.0 * /master/movegroup/plannerconfigs/BiTRRT/tempchangefactor: 0.1 * /master/movegroup/plannerconfigs/BiTRRT/type: geometric::BiTRRT * /master/movegroup/plannerconfigs/EST/goalbias: 0.05 * /master/movegroup/plannerconfigs/EST/range: 0.0 * /master/movegroup/plannerconfigs/EST/type: geometric::EST * /master/movegroup/plannerconfigs/FMT/cachecc: 1 * /master/movegroup/plannerconfigs/FMT/extendedfmt: 1 * /master/movegroup/plannerconfigs/FMT/heuristics: 0 * /master/movegroup/plannerconfigs/FMT/nearestk: 1 * /master/movegroup/plannerconfigs/FMT/numsamples: 1000 * /master/movegroup/plannerconfigs/FMT/radiusmultiplier: 1.1 * /master/movegroup/plannerconfigs/FMT/type: geometric::FMT * /master/movegroup/plannerconfigs/KPIECE/borderfraction: 0.9 * /master/movegroup/plannerconfigs/KPIECE/failedexpansionscorefactor: 0.5 * /master/movegroup/plannerconfigs/KPIECE/goalbias: 0.05 * /master/movegroup/plannerconfigs/KPIECE/minvalidpathfraction: 0.5 * /master/movegroup/plannerconfigs/KPIECE/range: 0.0 * /master/movegroup/plannerconfigs/KPIECE/type: geometric::KPIECE * /master/movegroup/plannerconfigs/LBKPIECE/borderfraction: 0.9 * /master/movegroup/plannerconfigs/LBKPIECE/minvalidpathfraction: 0.5 * /master/movegroup/plannerconfigs/LBKPIECE/range: 0.0 * /master/movegroup/plannerconfigs/LBKPIECE/type: geometric::LBKPIECE * /master/movegroup/plannerconfigs/LBTRRT/epsilon: 0.4 * /master/movegroup/plannerconfigs/LBTRRT/goalbias: 0.05 * /master/movegroup/plannerconfigs/LBTRRT/range: 0.0 * /master/movegroup/plannerconfigs/LBTRRT/type: geometric::LBTRRT * /master/movegroup/plannerconfigs/LazyPRM/range: 0.0 * /master/movegroup/plannerconfigs/LazyPRM/type: geometric::LazyPRM * /master/movegroup/plannerconfigs/LazyPRMstar/type: geometric::LazyPR... * /master/movegroup/plannerconfigs/PDST/type: geometric::PDST * /master/movegroup/plannerconfigs/PRM/maxnearestneighbors: 10 * /master/movegroup/plannerconfigs/PRM/type: geometric::PRM * /master/movegroup/plannerconfigs/PRMstar/type: geometric::PRMstar * /master/movegroup/plannerconfigs/ProjEST/goalbias: 0.05 * /master/movegroup/plannerconfigs/ProjEST/range: 0.0 * /master/movegroup/plannerconfigs/ProjEST/type: geometric::ProjEST * /master/movegroup/plannerconfigs/RRT/goalbias: 0.05 * /master/movegroup/plannerconfigs/RRT/range: 0.0 * /master/movegroup/plannerconfigs/RRT/type: geometric::RRT * /master/movegroup/plannerconfigs/RRTConnect/range: 0.0 * /master/movegroup/plannerconfigs/RRTConnect/type: geometric::RRTCon... * /master/movegroup/plannerconfigs/RRTstar/delaycollisionchecking: 1 * /master/movegroup/plannerconfigs/RRTstar/goalbias: 0.05 * /master/movegroup/plannerconfigs/RRTstar/range: 0.0 * /master/movegroup/plannerconfigs/RRTstar/type: geometric::RRTstar * /master/movegroup/plannerconfigs/SBL/range: 0.0 * /master/movegroup/plannerconfigs/SBL/type: geometric::SBL * /master/movegroup/plannerconfigs/SPARS/densedeltafraction: 0.001 * /master/movegroup/plannerconfigs/SPARS/maxfailures: 1000 * /master/movegroup/plannerconfigs/SPARS/sparsedeltafraction: 0.25 * /master/movegroup/plannerconfigs/SPARS/stretchfactor: 3.0 * /master/movegroup/plannerconfigs/SPARS/type: geometric::SPARS * /master/movegroup/plannerconfigs/SPARStwo/densedeltafraction: 0.001 * /master/movegroup/plannerconfigs/SPARStwo/maxfailures: 5000 * /master/movegroup/plannerconfigs/SPARStwo/sparsedeltafraction: 0.25 * /master/movegroup/plannerconfigs/SPARStwo/stretchfactor: 3.0 * /master/movegroup/plannerconfigs/SPARStwo/type: geometric::SPARStwo * /master/movegroup/plannerconfigs/STRIDE/degree: 16 * /master/movegroup/plannerconfigs/STRIDE/estimateddimension: 0.0 * /master/movegroup/plannerconfigs/STRIDE/goalbias: 0.05 * /master/movegroup/plannerconfigs/STRIDE/maxdegree: 18 * /master/movegroup/plannerconfigs/STRIDE/maxptsperleaf: 6 * /master/movegroup/plannerconfigs/STRIDE/mindegree: 12 * /master/movegroup/plannerconfigs/STRIDE/minvalidpathfraction: 0.2 * /master/movegroup/plannerconfigs/STRIDE/range: 0.0 * /master/movegroup/plannerconfigs/STRIDE/type: geometric::STRIDE * /master/movegroup/plannerconfigs/STRIDE/useprojecteddistance: 0 * /master/movegroup/plannerconfigs/TRRT/frountierNodeRatio: 0.1 * /master/movegroup/plannerconfigs/TRRT/frountierthreshold: 0.0 * /master/movegroup/plannerconfigs/TRRT/goalbias: 0.05 * /master/movegroup/plannerconfigs/TRRT/inittemperature: 10e-6 * /master/movegroup/plannerconfigs/TRRT/kconstant: 0.0 * /master/movegroup/plannerconfigs/TRRT/maxstatesfailed: 10 * /master/movegroup/plannerconfigs/TRRT/mintemperature: 10e-10 * /master/movegroup/plannerconfigs/TRRT/range: 0.0 * /master/movegroup/plannerconfigs/TRRT/tempchangefactor: 2.0 * /master/movegroup/plannerconfigs/TRRT/type: geometric::TRRT * /master/movegroup/planningplugin: omplinterface/OM... * /master/movegroup/planningscenemonitor/publishgeometryupdates: True * /master/movegroup/planningscenemonitor/publishplanningscene: True * /master/movegroup/planningscenemonitor/publishstateupdates: True * /master/movegroup/planningscenemonitor/publishtransformsupdates: True * /master/movegroup/requestadapters: defaultplannerr... * /master/movegroup/sensors: [{'pointsubsampl... * /master/movegroup/startstatemaxboundserror: 0.1 * /master/movegroup/trajectoryexecution/allowedexecutiondurationscaling: 1.2 * /master/movegroup/trajectoryexecution/allowedgoaldurationmargin: 0.5 * /master/movegroup/trajectoryexecution/allowedstarttolerance: 0.01 * /master/movegroup/trajectoryexecution/executiondurationmonitoring: False * /master/movegroup/usecontrollermanager: False * /master/robotdescription: <?xml version="1.... * /master/robotdescriptionkinematics/manipulator/kinematicssolver: kdlkinematicspl... * /master/robotdescriptionkinematics/manipulator/kinematicssolversearchresolution: 0.005 * /master/robotdescriptionkinematics/manipulator/kinematicssolvertimeout: 0.005 * /master/robotdescriptionplanning/jointlimits/elbowjoint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/elbowjoint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/elbowjoint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/elbowjoint/maxvelocity: 3.15 * /master/robotdescriptionplanning/jointlimits/shoulderliftjoint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/shoulderliftjoint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/shoulderliftjoint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/shoulderliftjoint/maxvelocity: 3.15 * /master/robotdescriptionplanning/jointlimits/shoulderpanjoint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/shoulderpanjoint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/shoulderpanjoint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/shoulderpanjoint/maxvelocity: 3.15 * /master/robotdescriptionplanning/jointlimits/wrist1joint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/wrist1joint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/wrist1joint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/wrist1joint/maxvelocity: 3.2 * /master/robotdescriptionplanning/jointlimits/wrist2joint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/wrist2joint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/wrist2joint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/wrist2joint/maxvelocity: 3.2 * /master/robotdescriptionplanning/jointlimits/wrist3joint/hasaccelerationlimits: False * /master/robotdescriptionplanning/jointlimits/wrist3joint/hasvelocitylimits: True * /master/robotdescriptionplanning/jointlimits/wrist3joint/maxacceleration: 0 * /master/robotdescriptionplanning/jointlimits/wrist3joint/maxvelocity: 3.2 * /master/robotdescriptionsemantic: <?xml version="1.... * /master/robotstatepublisher/publishfrequency: 50.0 * /master/robotstatepublisher/tfprefix: robot2tf * /p: 100.0 * /pidgains: None * /redboxpath: /home/rddl/catkin... * /rosdistro: melodic * /rosversion: 1.14.13 * /shoulderliftjoint: None * /shoulderpanjoint: None * /slave/armcontroller/actionmonitorrate: 10 * /slave/armcontroller/constraints/elbowjoint/goal: 0.1 * /slave/armcontroller/constraints/elbowjoint/trajectory: 0.1 * /slave/armcontroller/constraints/goaltime: 0.6 * /slave/armcontroller/constraints/shoulderliftjoint/goal: 0.1 * /slave/armcontroller/constraints/shoulderliftjoint/trajectory: 0.1 * /slave/armcontroller/constraints/shoulderpanjoint/goal: 0.1 * /slave/armcontroller/constraints/shoulderpanjoint/trajectory: 0.1 * /slave/armcontroller/constraints/stoppedvelocitytolerance: 0.05 * /slave/armcontroller/constraints/wrist1joint/goal: 0.1 * /slave/armcontroller/constraints/wrist1joint/trajectory: 0.1 * /slave/armcontroller/constraints/wrist2joint/goal: 0.1 * /slave/armcontroller/constraints/wrist2joint/trajectory: 0.1 * /slave/armcontroller/constraints/wrist3joint/goal: 0.1 * /slave/armcontroller/constraints/wrist3joint/trajectory: 0.1 * /slave/armcontroller/joints: ['shoulderpanjo... * /slave/armcontroller/statepublishrate: 25 * /slave/armcontroller/stoptrajectoryduration: 0.5 * /slave/armcontroller/type: positioncontroll... * /slave/grippercontroller/actionmonitorrate: 10 * /slave/grippercontroller/goaltolerance: 0.002 * /slave/grippercontroller/joint: robotiq85leftk... * /slave/grippercontroller/maxeffort: 100 * /slave/grippercontroller/stalltimeout: 1.0 * /slave/grippercontroller/stallvelocitythreshold: 0.001 * /slave/grippercontroller/type: positioncontroll... * /slave/jointgrouppositioncontroller/joints: ['shoulderpanjo... * /slave/jointgrouppositioncontroller/type: positioncontroll... * /slave/jointstatecontroller/publishrate: 50 * /slave/jointstatecontroller/type: jointstatecontr... * /slave/movegroup/allowtrajectoryexecution: True * /slave/movegroup/capabilities: movegroup/MoveGr... * /slave/movegroup/controllerlist: [{'actionns': 'f... * /slave/movegroup/endeffector/defaultplannerconfig: * /slave/movegroup/endeffector/plannerconfigs: ['SBL', 'EST', 'L... * /slave/movegroup/jigglefraction: 0.05 * /slave/movegroup/manipulator/defaultplannerconfig: * /slave/movegroup/manipulator/longestvalidsegmentfraction: 0.005 * /slave/movegroup/manipulator/plannerconfigs: ['SBL', 'EST', 'L... * /slave/movegroup/maxrange: 5.0 * /slave/movegroup/maxsafepathcost: 1 * /slave/movegroup/moveitcontrollermanager: moveitsimplecon... * /slave/movegroup/moveitmanagecontrollers: True * /slave/movegroup/octomapresolution: 0.025 * /slave/movegroup/plannerconfigs/BFMT/balanced: 0 * /slave/movegroup/plannerconfigs/BFMT/cachecc: 1 * /slave/movegroup/plannerconfigs/BFMT/extendedfmt: 1 * /slave/movegroup/plannerconfigs/BFMT/heuristics: 1 * /slave/movegroup/plannerconfigs/BFMT/nearestk: 1 * /slave/movegroup/plannerconfigs/BFMT/numsamples: 1000 * /slave/movegroup/plannerconfigs/BFMT/optimality: 1 * /slave/movegroup/plannerconfigs/BFMT/radiusmultiplier: 1.0 * /slave/movegroup/plannerconfigs/BFMT/type: geometric::BFMT * /slave/movegroup/plannerconfigs/BKPIECE/borderfraction: 0.9 * /slave/movegroup/plannerconfigs/BKPIECE/failedexpansionscorefactor: 0.5 * /slave/movegroup/plannerconfigs/BKPIECE/minvalidpathfraction: 0.5 * /slave/movegroup/plannerconfigs/BKPIECE/range: 0.0 * /slave/movegroup/plannerconfigs/BKPIECE/type: geometric::BKPIECE * /slave/movegroup/plannerconfigs/BiEST/range: 0.0 * /slave/movegroup/plannerconfigs/BiEST/type: geometric::BiEST * /slave/movegroup/plannerconfigs/BiTRRT/costthreshold: 1e300 * /slave/movegroup/plannerconfigs/BiTRRT/frountiernoderatio: 0.1 * /slave/movegroup/plannerconfigs/BiTRRT/frountierthreshold: 0.0 * /slave/movegroup/plannerconfigs/BiTRRT/inittemperature: 100 * /slave/movegroup/plannerconfigs/BiTRRT/range: 0.0 * /slave/movegroup/plannerconfigs/BiTRRT/tempchangefactor: 0.1 * /slave/movegroup/plannerconfigs/BiTRRT/type: geometric::BiTRRT * /slave/movegroup/plannerconfigs/EST/goalbias: 0.05 * /slave/movegroup/plannerconfigs/EST/range: 0.0 * /slave/movegroup/plannerconfigs/EST/type: geometric::EST * /slave/movegroup/plannerconfigs/FMT/cachecc: 1 * /slave/movegroup/plannerconfigs/FMT/extendedfmt: 1 * /slave/movegroup/plannerconfigs/FMT/heuristics: 0 * /slave/movegroup/plannerconfigs/FMT/nearestk: 1 * /slave/movegroup/plannerconfigs/FMT/numsamples: 1000 * /slave/movegroup/plannerconfigs/FMT/radiusmultiplier: 1.1 * /slave/movegroup/plannerconfigs/FMT/type: geometric::FMT * /slave/movegroup/plannerconfigs/KPIECE/borderfraction: 0.9 * /slave/movegroup/plannerconfigs/KPIECE/failedexpansionscorefactor: 0.5 * /slave/movegroup/plannerconfigs/KPIECE/goalbias: 0.05 * /slave/movegroup/plannerconfigs/KPIECE/minvalidpathfraction: 0.5 * /slave/movegroup/plannerconfigs/KPIECE/range: 0.0 * /slave/movegroup/plannerconfigs/KPIECE/type: geometric::KPIECE * /slave/movegroup/plannerconfigs/LBKPIECE/borderfraction: 0.9 * /slave/movegroup/plannerconfigs/LBKPIECE/minvalidpathfraction: 0.5 * /slave/movegroup/plannerconfigs/LBKPIECE/range: 0.0 * /slave/movegroup/plannerconfigs/LBKPIECE/type: geometric::LBKPIECE * /slave/movegroup/plannerconfigs/LBTRRT/epsilon: 0.4 * /slave/movegroup/plannerconfigs/LBTRRT/goalbias: 0.05 * /slave/movegroup/plannerconfigs/LBTRRT/range: 0.0 * /slave/movegroup/plannerconfigs/LBTRRT/type: geometric::LBTRRT * /slave/movegroup/plannerconfigs/LazyPRM/range: 0.0 * /slave/movegroup/plannerconfigs/LazyPRM/type: geometric::LazyPRM * /slave/movegroup/plannerconfigs/LazyPRMstar/type: geometric::LazyPR... * /slave/movegroup/plannerconfigs/PDST/type: geometric::PDST * /slave/movegroup/plannerconfigs/PRM/maxnearestneighbors: 10 * /slave/movegroup/plannerconfigs/PRM/type: geometric::PRM * /slave/movegroup/plannerconfigs/PRMstar/type: geometric::PRMstar * /slave/movegroup/plannerconfigs/ProjEST/goalbias: 0.05 * /slave/movegroup/plannerconfigs/ProjEST/range: 0.0 * /slave/movegroup/plannerconfigs/ProjEST/type: geometric::ProjEST * /slave/movegroup/plannerconfigs/RRT/goalbias: 0.05 * /slave/movegroup/plannerconfigs/RRT/range: 0.0 * /slave/movegroup/plannerconfigs/RRT/type: geometric::RRT * /slave/movegroup/plannerconfigs/RRTConnect/range: 0.0 * /slave/movegroup/plannerconfigs/RRTConnect/type: geometric::RRTCon... * /slave/movegroup/plannerconfigs/RRTstar/delaycollisionchecking: 1 * /slave/movegroup/plannerconfigs/RRTstar/goalbias: 0.05 * /slave/movegroup/plannerconfigs/RRTstar/range: 0.0 * /slave/movegroup/plannerconfigs/RRTstar/type: geometric::RRTstar * /slave/movegroup/plannerconfigs/SBL/range: 0.0 * /slave/movegroup/plannerconfigs/SBL/type: geometric::SBL * /slave/movegroup/plannerconfigs/SPARS/densedeltafraction: 0.001 * /slave/movegroup/plannerconfigs/SPARS/maxfailures: 1000 * /slave/movegroup/plannerconfigs/SPARS/sparsedeltafraction: 0.25 * /slave/movegroup/plannerconfigs/SPARS/stretchfactor: 3.0 * /slave/movegroup/plannerconfigs/SPARS/type: geometric::SPARS * /slave/movegroup/plannerconfigs/SPARStwo/densedeltafraction: 0.001 * /slave/movegroup/plannerconfigs/SPARStwo/maxfailures: 5000 * /slave/movegroup/plannerconfigs/SPARStwo/sparsedeltafraction: 0.25 * /slave/movegroup/plannerconfigs/SPARStwo/stretchfactor: 3.0 * /slave/movegroup/plannerconfigs/SPARStwo/type: geometric::SPARStwo * /slave/movegroup/plannerconfigs/STRIDE/degree: 16 * /slave/movegroup/plannerconfigs/STRIDE/estimateddimension: 0.0 * /slave/movegroup/plannerconfigs/STRIDE/goalbias: 0.05 * /slave/movegroup/plannerconfigs/STRIDE/maxdegree: 18 * /slave/movegroup/plannerconfigs/STRIDE/maxptsperleaf: 6 * /slave/movegroup/plannerconfigs/STRIDE/mindegree: 12 * /slave/movegroup/plannerconfigs/STRIDE/minvalidpathfraction: 0.2 * /slave/movegroup/plannerconfigs/STRIDE/range: 0.0 * /slave/movegroup/plannerconfigs/STRIDE/type: geometric::STRIDE * /slave/movegroup/plannerconfigs/STRIDE/useprojecteddistance: 0 * /slave/movegroup/plannerconfigs/TRRT/frountierNodeRatio: 0.1 * /slave/movegroup/plannerconfigs/TRRT/frountierthreshold: 0.0 * /slave/movegroup/plannerconfigs/TRRT/goalbias: 0.05 * /slave/movegroup/plannerconfigs/TRRT/inittemperature: 10e-6 * /slave/movegroup/plannerconfigs/TRRT/kconstant: 0.0 * /slave/movegroup/plannerconfigs/TRRT/maxstatesfailed: 10 * /slave/movegroup/plannerconfigs/TRRT/mintemperature: 10e-10 * /slave/movegroup/plannerconfigs/TRRT/range: 0.0 * /slave/movegroup/plannerconfigs/TRRT/tempchangefactor: 2.0 * /slave/movegroup/plannerconfigs/TRRT/type: geometric::TRRT * /slave/movegroup/planningplugin: omplinterface/OM... * /slave/movegroup/planningscenemonitor/publishgeometryupdates: True * /slave/movegroup/planningscenemonitor/publishplanningscene: True * /slave/movegroup/planningscenemonitor/publishstateupdates: True * /slave/movegroup/planningscenemonitor/publishtransformsupdates: True * /slave/movegroup/requestadapters: defaultplannerr... * /slave/movegroup/sensors: [{'pointsubsampl... * /slave/movegroup/startstatemaxboundserror: 0.1 * /slave/movegroup/trajectoryexecution/allowedexecutiondurationscaling: 1.2 * /slave/movegroup/trajectoryexecution/allowedgoaldurationmargin: 0.5 * /slave/movegroup/trajectoryexecution/allowedstarttolerance: 0.01 * /slave/movegroup/trajectoryexecution/executiondurationmonitoring: False * /slave/movegroup/usecontrollermanager: False * /slave/robotdescription: <?xml version="1.... * /slave/robotdescriptionkinematics/manipulator/kinematicssolver: kdlkinematicspl... * /slave/robotdescriptionkinematics/manipulator/kinematicssolversearchresolution: 0.005 * /slave/robotdescriptionkinematics/manipulator/kinematicssolvertimeout: 0.005 * /slave/robotdescriptionplanning/jointlimits/elbowjoint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/elbowjoint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/elbowjoint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/elbowjoint/maxvelocity: 3.15 * /slave/robotdescriptionplanning/jointlimits/shoulderliftjoint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/shoulderliftjoint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/shoulderliftjoint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/shoulderliftjoint/maxvelocity: 3.15 * /slave/robotdescriptionplanning/jointlimits/shoulderpanjoint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/shoulderpanjoint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/shoulderpanjoint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/shoulderpanjoint/maxvelocity: 3.15 * /slave/robotdescriptionplanning/jointlimits/wrist1joint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/wrist1joint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/wrist1joint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/wrist1joint/maxvelocity: 3.2 * /slave/robotdescriptionplanning/jointlimits/wrist2joint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/wrist2joint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/wrist2joint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/wrist2joint/maxvelocity: 3.2 * /slave/robotdescriptionplanning/jointlimits/wrist3joint/hasaccelerationlimits: False * /slave/robotdescriptionplanning/jointlimits/wrist3joint/hasvelocitylimits: True * /slave/robotdescriptionplanning/jointlimits/wrist3joint/maxacceleration: 0 * /slave/robotdescriptionplanning/jointlimits/wrist3joint/maxvelocity: 3.2 * /slave/robotdescriptionsemantic: <?xml version="1.... * /slave/robotstatepublisher/publishfrequency: 50.0 * /slave/robotstatepublisher/tfprefix: robot1tf * /usesimtime: True * /wrist1joint: None * /wrist2joint: None * /wrist3_joint: None

I know error is due to these parameters having None as the parameter value but how can I fix these values to? and from where?