Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

MoveIt! Benchmarking issue

Hi all,

I have faced a problem when trying to apply the benchmarking to my robot (UR5). Initially I followed the tutorial which is on Fanuc and it works because you don't have to create packages or launch files since everything is already there. I copied the "benchmarks" folder which contains -> examples -> demo1.yaml and demo_fanuc.launch (and I modified them properly to adapt to my robot). After that I was able to connect to database and saving scene and query. Everything works until I run the benchmark [roslaunch moveit_ros_benchmarks demo_fanuc.launch]. The error is the following:

[ INFO] [1527089331.704758889]: Loaded queries successfully
[ INFO] [1527089331.704794510]: Benchmark loaded 1 starts, 0 goals, 0 path constraints, 0 trajectory constraints, and 1 
queries
[ INFO] [1527089331.704935837]: Benchmarking query 'Start2_Pick2' (1 of 1)

0%   10   20   30   40   50   60   70   80   90   100%
|----|----|----|----|----|----|----|----|----|----|
Debug:   Starting goal sampling thread
Debug:   Waiting for space information to be set up before the sampling thread can begin computation...
[ INFO] [1527089331.705864397]: Planner configuration 'manipulator[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
Debug:   The value of parameter 'longest_valid_segment_fraction' is now: '0.01'
Debug:   The value of parameter 'range' is now: '0'
Debug:   manipulator[RRTConnectkConfigDefault]: Planner range detected to be 13.823008
Info:    manipulator[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
Debug:   manipulator[RRTConnectkConfigDefault]: Waiting for goal region samples ...
Debug:   Beginning sampling thread computation
Debug:   Stopped goal sampling thread after 10 sampling attempts
Debug:   manipulator[RRTConnectkConfigDefault]: Waited 0.010097 seconds for the first goal sample.
Info:    manipulator[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
Info:    Solution found in 0.013512 seconds
Info:    SimpleSetup: Path simplification took 0.005666 seconds and changed from 4 to 2 states

    ================================================================================REQUIRED process [moveit_run_benchmark-3] has died!
process has died [pid 22641, exit code -11, cmd /home/arscontrol/nuovo_ws/devel/lib/moveit_ros_benchmarks/moveit_run_benchmark __name:=moveit_run_benchmark __log:=/home/arscontrol/.ros/log/fdd3e3c8-5e9d-11e8-a63f-d07e3591555f/moveit_run_benchmark-3.log].
log file: /home/arscontrol/.ros/log/fdd3e3c8-5e9d-11e8-a63f-d07e3591555f/moveit_run_benchmark-3*.log
Initiating shutdown!
================================================================================
[moveit_run_benchmark-3] killing on exit
[mongo_wrapper_ros_Kazar_22597_4042277702145717894-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

arscontrol@Kazar:~/nuovo_ws$

Has someone faced this issue before or was able to make the benchmarking for his own robot?

My Ubuntu version: 16.04 ROS Kinetic