Hi everyone, I am facing with problem when I want to execute my trajectory in moveit and see it in Gazebo because of error which says: Controller failed with error PATH_TOLERANCE_VIOLATED what should I do to solve this error and how to do it? Should I somehow decrease path tolerance maybe? if any other information needs to be provided I will be glade to provide it.

Hey everyone, following the current ROS Melodic tutorial for MoveIt! (https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html) I wanted to spawn a specific collision object but not in the shown scene with the Panda robot but in a scene using the Kuka IIWA lbr 7 from the "iiwa_stack" (https://github.com/IFL-CAMP/iiwa_stack). After launching the scene using "roslaunch iiwa_moveit demo.launch" I simply try to spawn the collision objects with the corresponding parts in the MoveIt! tutorial box_pose = geometry_msgs.msg.PoseStamped() box_pose.header.frame_id = "world" box_pose.pose.orientation.w = 1.0 box_name = "box" scene.add_box(box_name, box_pose, size=(0.1, 1.0, 0.5)) using a modified version of the tutorial, simply by running "rosrun moveit_tutorials move_group_python_interface_tutorial.py __ns:="iiwa". The code does not throw any errors but it also does NOT spawn any box. Is it because of the namespace? Anyone has any other idea? Thanks in advance!

Hi I would like to do collision detection/ obstacle avoidance in path planning task. So for that purposes would like to use Moveit or V-REP to build the scene environment. I have my own robot model and the sensors model too, so can build the environment with the objects with there bounding boxes. So , I would like to include some probability in the detected objects with some Gaussian uncertainty . Any help or tutorial how to get idea and do that ? Thanks

I am in kinetic .The model is yumi.[link text](https://github.com/ethz-asl/yumi/tree/yumi-stacking) My robotic arm is a yumi7 DOF dual-arm robot. I fixed his 6 and 7 joints into 5 degrees of freedom. I modified the urdf file and the srdf file. I modified the group to make link6 its end executor. I can use setjointvaluetarget function, but I can't use setposetarget function. This error will occur " Fail: ABORTED: No motion plan found. No execution attempted" . The ball inside rviz can't be dragged either.

Hello, System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic I am following the tutorials on using MoveIt with ROS. I have tried 2 tutorials both [here](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/getting_started/getting_started.html) and [here](https://industrial-training-master.readthedocs.io/en/kinetic/_source/session3/Build-a-Moveit!-Package.html). The problem occurs in both tutorials after creating the MoveIt config file and attempting to launch it with `roslaunch`: roslaunch myworkcell_moveit_config myworkcell_planning_execution.launch The Rviz splashscreen shows up with the initialising status but does not progress from this. There is an error about the planner: [ERROR] [1560344053.702727103]: Could not find the planner configuration 'None' on the param server It even states in the terminal: > You can start planning now. I am able to run `rviz` fine on its own with: rosrun rviz rviz The rest of the output in the terminal is as follows: ` SUMMARY ======== PARAMETERS * /joint_state_publisher/source_list: ['move_group/fake... * /joint_state_publisher/use_gui: False * /move_group/allow_trajectory_execution: True * /move_group/capabilities: * /move_group/controller_list: [{'joints': ['joi... * /move_group/disable_capabilities: * /move_group/jiggle_fraction: 0.05 * /move_group/manipulator/default_planner_config: None * /move_group/manipulator/longest_valid_segment_fraction: 0.005 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L... * /move_group/manipulator/projection_evaluator: joints(joint_a1,j... * /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/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/sensors: [{'point_subsampl... * /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 * /robot_description:

I built a roslaunch config file using the moveit setup assistant. When I attempt to run the package I receive the following: ... logging to /home/sam/.ros/log/5ce21c94-8d24-11e9-ab33-f8165430e512/roslaunch-sam-1155.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. RLException: Invalid tag: kr150_moveit_config ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/sam/catkin_ws/src ROS path [2]=/opt/ros/melodic/share. Arg xml is The traceback for the exception was written to the log file

I'm trying to run the [teleop mode from moveit](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html) I have this running in one terminal: roslaunch panda_moveit_config demo.launch And this in the second one: roslaunch panda_moveit_config joystick_control.launch dev:=/dev/input/js0 but I get this error: [ERROR] [1560376798.477129]: bad callback: > Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 475, in joyCB raise Exception("Unknown joystick") Exception: Unknown joystick If I run `jstsest /dev/input/js0`, I get the correct output. And all my joystick drivers are up to date. I'm using a Sony PS3 controller, which should be supported. Any ideas?

Hello developers! I want to create a application where I have a manipulator on top of a Husky UGV. My idea is the same as in the video: [example](https://www.youtube.com/watch?v=qZiR6vNcmCU). I want to develop this in Moveit! + ROS + Gazebo, so my questions are: 1 - Is it possible to create this aplication using those softwares? 2 - In Moveit!, what is the fatest IK plugin capable to handle such problem? Thanks,

I am trying to convert an xacro file to a urdf so I can use it in Moveit! My process is as follows: First I make a workspace: ws_moveit. Then I download the necessary robot files including the xacro and place them in the source folder of ws_moveit Then I attempt to run: rosrun xacro xacro.py kr150_2.xacro > kr150_2.urdf To receive the following error: No such file or directory: kr150_2.xacro This directory definitely exists. When I instruct the terminal exactly where they are and write: rosrun xacro xacro.py /home/sam/ws_moveit/src/kuka_experimental/kuka_kr150_support/kr150_2.xacro > /home/sam/ws_moveit/src/kuka_experimental/kuka_kr150_support/kr150_2.urdf I receive the following error: No such file or directory: /home/sam/ws_moveit/src/kuka_experimental/kuka_kr150_support/kr150_2.macro.xacro when this definitely exists. Can anyone help? Cheers, Sam When I type catkin_make I get error: The build space at '/home/sam/ws_moveit/build' was previously built by 'catkin build'. Please remove the build space or pick a different build space.

Hello, I am running Ubuntu 16.04.5 LTS 16.04 in WSL with ROS kinetic. While calculating several cartesian paths for a staubli_tx260l (6axes industrial robot) with the compute_cartesian_path service, it happens that sometimes the path is invalid, since the joint positions along the paths are not continuous, see for example picture below.  The flip happens between the 4th and the 5th position, where the robot should move from position [-0.8164353348567588, -1.0937959386772529, 1.4667880334652406, 1.9230484632374774, 0.3627698072434711, 3.9772405581658408] to [2.0767835783263866, -0.4576791782176186, 1.4568906881126429, -2.735827535224531, 1.191242394368736, -0.2624960939982821] This is the MoveIt log: [ INFO] [1560442288.701454600]: Received request to compute Cartesian path [ INFO] [1560442288.707727800]: Attempting to follow 2 waypoints for link 'robotB_speaker_tcp' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame) [ INFO] [1560442288.748145300]: Computed Cartesian path with 15 points (followed 100.000000% of requested trajectory) I am using a custom moveit package for the staubli robot, but the same occurred also with the ur5_moveit_package. So I guess the problem has to do with the planning algorithm rather than the model. Is this a bug or do I miss some setting? Thanks in advance! Best, Romana

Hi to all, I am new to ROS and I am working on schunk_lwa4p arm and pg70 gripper attached at the end of it. I want to create moveit package and give movement to arm. And I have found the urdf file for this arm here as [robot.urdf.xacro](https://github.com/ipa320/schunk_robots/blob/indigo_dev/schunk_lwa4p/urdf/robot.urdf.xacro) and I have converted this file to [robot.urdf](https://github.com/KaushalkumarPatel/robot.urdf/blob/master/robot.urdf) using rosrun xacro xacro --inorder -o robot.urdf robot.urdf.xacro , And I have found the urdf file for this gripper as [pg70.urdf.xacro](https://github.com/SmartRoboticSystems/schunk_grippers/blob/master/schunk_pg70/urdf/pg70.urdf.xacro). My question is how can I edit these two files and create the arm including the gripper at the end ?

Hello, I am currently working on a project where I spawn and control 2 arms independently in the same scene for a robot. I am going off of the OpenManipulator documentation/tutorials and using MoveIt to control their default arm, from this link: http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_operation/#gui-program and http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_simulation/#ros-simulation So the idea is that, in a few different terminals, I am running the following commands to spawn a gazebo and rviz instance that are tied together, and I am able to use the provided GUI to manipulate a single arm or use code. $ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch (spawns gazebo and robot arm with basic topics/nodes) $ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false (spawns rvis, with the same arm, and creates moveit controllers for the arm. I also modified this launch file to turn moveit to true) $ roslaunch open_manipulator_control_gui open_manipulator_control_gui.launch (spawns provided gui) I want to manipulate the launch files somehow to spawn a second arm that I can manipulate independently the same way I can control the first arm. I am finding no luck so far, and I am still working on the gazebo one. Not sure how I will go about the controller one that spawns rviz. I manipulated the gazebo launch file as follows and was able to get 2 arms to show up, but not getting the topics or services to group separately or have their own unique names, or even spawn. open_manipulator_gazebo.launch https://pastebin.com/U26tq515 open_manipulator_controller.launch (the one in the open_manipulator_gazebo package, not open_manipulator_controller package. this one is called by the above launch file) https://pastebin.com/2QPVeAAG This is where the original source code is from so you can compare it to the original launch files: https://github.com/ROBOTIS-GIT/open_manipulator Any help would be appreciated. Since this is my first time posting, and I am quite new to ROS, forgive me if I overlooked something simple or made a mistake in the post formatting. If I left out any important information let me know and I'll be happy to provide it. Thank you for your time Sincerely, Alfred Shaker

This is a question about terminology regarding MoveIt!. I thought that the OMPL, STOMP and CHOMP are 'planning libraries' and RRT, PRM, SPARS etc. are 'planners'. But the MoveIt! website lists the OMLP, STOMP etc. in the ['Planners' tab](https://moveit.ros.org/documentation/planners/). So now I'm confused. Which is which and what is the difference?

I have a problem reading joint states from my robot arm in moveit. I have a robot arm that works within RVIZ, I can move the arm around and plan paths, but every time I do I receive an error: [ERROR] [1560760011.563298414]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_a1 joint_a2 joint_a3 joint_a4 joint_a5 joint_a6 ] [ERROR] [1560760011.563447792]: Known controllers and their joints: [ERROR] [1560760011.563601675]: Apparently trajectory initialization failed What do I need to check and or change? I believe this has something to do with the controller configuration. I have several launch files relating to controller manager: `kr150_moveit_controller_manager.launch` and `kr150_moveit_controller_manager.launch.xml`. What is the difference between `.launch` and `.launch.xml`? My `controllers.yaml` file and my `joint_names.yaml` look correct according to the tutorial I have been following: http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot Any help will be greatly appreciated!

Hi, I want to simulate human shaving behaviour with a ur5 arm + a robotiq 2-finger gripper holding a shaver. The end goal of this project is to make the shaver move in circles like a human would do while shaving in circles (using mostly wrist movement). Right now I can make the robot move in a 2D circle using the MoveIt python interface for planning a Cartesian path. The planning group is the total ur5 arm with the robotiq gripper as the end-effector group. Using mostly the shoulder and elbow joint the end-effector moves in circles. However, I would like the movement to be more from the wrist joints of the robot. Therefore, I would like the shoulder and elbow joint to be "passive". If I set these joints as passive using the setup assistant, would this mean that the move group node plans a trajectory without using the shoulder and elbow joint? Because if Iaunch: > $ roslaunch lau_moveit_config moveit_rviz.launch (generated by the setup assistant of moveit) it plans and executes trajectories with all joints.

I wanted to know how the developers are checking if the code of a framework like moveit or some other core ros related code works/compiles after changing them. These are big software which is installed from Debian. Hence, it is not easy to carry out changes to its code and check its working like other ros packages locally. So how do the developers carry out this task? How do I check if the code of moveit is working/compiling properly locally in a PC, after making changes? One way I could guess is by using an online CI platform like travis. But using travis to see if the whole code is compiling properly is tough because we have to push it to the GitHub repo each time to test something. Is it done maybe through the use of a docker image? This might be a general software development related question but it would be really helpful to know how the experts carry it out.

Hi, I am using **Jetson TX1** board which is **arm64** based processor and I have installed Ubuntu 16.04 and **ROS-Kinetic** on it. When I try installing **Moveit** Packages, I am facing some errors and unable to install those packages. ( Image attached here -- > https://drive.google.com/open?id=1Flc6zqiuV-Gm6x_04loIg1GEd3b9EA20) How can I resolve these errors and install the MoveIt Packages in the Jetson Board. Kindly help. Thanks, Radesh

I have a robot configuration with an UR10 robot and a Robotiq 2F-140 gripper in ROS and Gazebo and when I try to control the gripper to open or close it, it does not work. I am a new ROS user and maybe I am making a mistake when I declare the properties of the robot when using MoveIt Setup Assistant. Here I leave the terminal report: PARAMETERS * /arm_controller/action_monitor_rate: 10 * /arm_controller/constraints/elbow_joint/goal: 0.1 * /arm_controller/constraints/elbow_joint/trajectory: 0.1 * /arm_controller/constraints/goal_time: 0.6 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /arm_controller/constraints/wrist_1_joint/goal: 0.1 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_2_joint/goal: 0.1 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_3_joint/goal: 0.1 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /arm_controller/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /joint_group_position_controller/joints: ['shoulder_pan_jo... * /joint_group_position_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /move_group/allow_trajectory_execution: True * /move_group/capabilities: * /move_group/controller_list: [{'default': True... * /move_group/disable_capabilities: * /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/sensors: [{'point_subsampl... * /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 * /move_group/trajectory_execution/execution_duration_monitoring: False * /move_group/ur10e_arm/default_planner_config: RRTConnect * /move_group/ur10e_arm/longest_valid_segment_fraction: 0.005 * /move_group/ur10e_arm/planner_configs: ['SBL', 'EST', 'L... * /move_group/ur10e_arm/projection_evaluator: joints(shoulder_p... * /move_group/ur10e_gripper/default_planner_config: RRTConnect * /move_group/ur10e_gripper/planner_configs: ['SBL', 'EST', 'L... * /move_group/use_controller_manager: False * /robot_description: tag in joint 'finger_joint'. [ERROR] [1561032479.096457640, 0.083000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/finger_joint [ INFO] [1561032479.112312095, 0.083000000]: Loaded gazebo_ros_control. [ WARN] [1561032479.112940713, 0.084000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity. [ WARN] [1561032479.113049065, 0.084000000]: As a result, gravity will not be simulated correctly for your model. [ WARN] [1561032479.113099199, 0.084000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9. [ WARN] [1561032479.113144206, 0.084000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 [ INFO] [1561032479.187684932, 0.108000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1561032479.311193956, 0.170000000]: Physics dynamic reconfigure ready. Loaded arm_controller Loaded joint_state_controller Started ['arm_controller'] successfully Started ['joint_state_controller'] successfully [joint_state_controller_spawner-7] process has finished cleanly log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/joint_state_controller_spawner-7*.log [arm_controller_spawner-8] process has finished cleanly log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/arm_controller_spawner-8*.log [ INFO] [1561032479.587987487, 0.365000000]: Added FollowJointTrajectory controller for arm_controller Segmentation fault (core dumped) [gazebo_gui-3] process has died [pid 115421, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/gazebo_gui-3.log]. log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/gazebo_gui-3*.log [ WARN] [1561032485.851045572, 5.397000000]: Waiting for gripper_controller/gripper_action to come up [ WARN] [1561032492.718325250, 11.397000000]: Waiting for gripper_controller/gripper_action to come up [ERROR] [1561032499.837589740, 17.397000000]: Action client not connected: gripper_controller/gripper_action [ INFO] [1561032499.843780305, 17.401000000]: Returned 1 controllers in list [ INFO] [1561032499.885161792, 17.421000000]: 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'... [ INFO] [1561032500.157115019, 17.613000000]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1561032500.157269490, 17.613000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1561032500.157324467, 17.613000000]: MoveGroup context initialization complete You can start planning now! [ INFO] [1561032510.229610320, 25.758000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ WARN] [1561032510.230002294, 25.758000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.230079960, 25.758000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.230100518, 25.758000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ INFO] [1561032510.230413128, 25.759000000]: Planning attempt 1 of at most 1 [ INFO] [1561032510.230552682, 25.759000000]: Starting state is just outside bounds (joint 'left_inner_knuckle_joint'). Assuming within bounds. [ INFO] [1561032510.230588009, 25.759000000]: Starting state is just outside bounds (joint 'right_inner_knuckle_joint'). Assuming within bounds. [ INFO] [1561032510.230601645, 25.759000000]: Starting state is just outside bounds (joint 'right_outer_knuckle_joint'). Assuming within bounds. [ WARN] [1561032510.232152786, 25.760000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.232207289, 25.760000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.232296257, 25.760000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.232438415, 25.760000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.232472637, 25.760000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ WARN] [1561032510.232486297, 25.760000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead. [ INFO] [1561032510.232883208, 25.760000000]: Planner configuration 'ur10e_gripper[RRTConnect]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1561032510.234086879, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1561032510.234259498, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1561032510.234433875, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1561032510.234561504, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure [ WARN] [1561032510.243289923, 25.770000000]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly? [ INFO] [1561032510.243955822, 25.770000000]: Constraint satisfied:: Joint name: 'finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1561032510.244069136, 25.770000000]: Constraint satisfied:: Joint name: 'left_inner_finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100 [ INFO] [1561032510.244174373, 25.770000000]: Constraint violated:: Joint name: 'left_inner_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100 [ INFO] [1561032510.244226625, 25.770000000]: Constraint violated:: Joint name: 'right_inner_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100 [ INFO] [1561032510.244268859, 25.770000000]: Constraint violated:: Joint name: 'right_outer_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100 [ INFO] [1561032510.244310213, 25.770000000]: Constraint satisfied:: Joint name: 'right_inner_finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100 [ERROR] [1561032510.246288109, 25.770000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree [ INFO] [1561032510.246455329, 25.770000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal) [ERROR] [1561032510.255698286, 25.776000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree [ INFO] [1561032510.255818869, 25.776000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal) [ERROR] [1561032510.257170039, 25.777000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree [ INFO] [1561032510.257420105, 25.777000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal) [ERROR] [1561032510.257765953, 25.777000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree [ INFO] [1561032510.257873591, 25.777000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal) [ WARN] [1561032510.258319088, 25.777000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.024953 seconds [ERROR] [1561032510.258777717, 25.778000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ERROR] [1561032510.262231037, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ERROR] [1561032510.263260474, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ERROR] [1561032510.265613493, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ WARN] [1561032510.266783149, 25.779000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.007731 seconds [ERROR] [1561032510.268548449, 25.782000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ERROR] [1561032510.268695780, 25.782000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region [ WARN] [1561032510.268841497, 25.782000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001890 seconds [ INFO] [1561032510.269628636, 25.783000000]: Unable to solve the planning problem Thanks in advance for your help.

Hi All, I wish to connect my ros rviz simulation to a kuka rsi simulator, so I can practice robot control. I have added the following to my launch file: but each time I run the code it reads 2019-06-24T11:17:43.489+0100 warning: Failed to connect to 127.0.0.1:33829, reason: errno:111 Connection refused [WARN] [1561371464.261223]: kuka_rsi_simulation: Socket timed out [ERROR] [1561371464.489483928]: Unable to connect to the database at 'localhost:33829'. If you just created the database, it could take a while for initial setup. [ERROR] [1561371464.489757759]: Not connected to the database. Cannot drop database Any thoughts or advice? Best regards, Sam

Hello, I want to use two robot group in a moveit configuration and I follow this [repo](https://github.com/ros-industrial/motoman/tree/kinetic-devel/motoman_sda10f_moveit_config) to setup. But when I launch it, I got some errors below: 1st part: [ERROR] [1561381793.673494508]: Client [/motion_streaming_interface] wants topic /joint_path_command to have datatype/md5sum [motoman_msgs/DynamicJointTrajectory/81bfbf2d02070fdef3a528bd72b49257], but our version has [trajectory_msgs/JointTrajectory/65b4f94a94d1ed67169da35a02f33d3f]. Dropping connection. 2nd part: [ INFO] [1561381797.737253621]: Starting scene monitor [ INFO] [1561381797.741169725]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1561381797.742239299]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ WARN] [1561381799.094229861]: Waiting for mh5/r1/joint_trajectory_action to come up [ INFO] [1561381802.758199851]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.15/planning_scene_monitor/src/planning_scene_monitor.cpp:498 [ INFO] [1561381803.239068841]: Constructing new MoveGroup connection for group 'r1_manipulator' in namespace '' [ WARN] [1561381805.094440152]: Waiting for mh5/r1/joint_trajectory_action to come up [ERROR] [1561381811.094635485]: Action client not connected: mh5/r1/joint_trajectory_action [ WARN] [1561381816.123840402]: Waiting for mh5/r2/joint_trajectory_action to come up [ WARN] [1561381822.124058908]: Waiting for mh5/r2/joint_trajectory_action to come up [ERROR] [1561381828.124273610]: Action client not connected: mh5/r2/joint_trajectory_action Here is my controllers.yaml : controller_list: - name: "" action_ns: joint_trajectory_action type: FollowJointTrajectory joints: [r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t, r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t] - name: mh5/r1 action_ns: joint_trajectory_action type: FollowJointTrajectory joints: [r1_joint_s, r1_joint_l, r1_joint_u, r1_joint_r, r1_joint_b, r1_joint_t] - name: mh5/r2 action_ns: joint_trajectory_action type: FollowJointTrajectory joints: [r2_joint_s, r2_joint_l, r2_joint_u, r2_joint_r, r2_joint_b, r2_joint_t] and motoman_mh5_planning_execution.launch: Hope you could help me to deal with these errors, Thank a lot!