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Published 20 hours ago • verified publisher icon murtazabasu

load_parameters: unable to set parameters (last param was [/slave/move_group/planner_configs/RRTstar/type=geometric::RRTstar]): cannot marshal None unless allow_none is enabled

Open MuhammadUmarAnjum opened this issue 2 years ago • 0 comments

I had a error: p gain not specified, I fixed this error and added my own .yaml file:

enable_none: true /gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 100.0 i: 0.01 d: 10.0 shoulder_lift_joint: p: 100.0 i: 0.01 d: 10.0 elbow_joint: p: 100.0 i: 0.01 d: 10.0 wrist_1_joint: p: 100.0 i: 0.01 d: 10.0 wrist_2_joint: p: 100.0 i: 0.01 d: 10.0 wrist_3_joint: p: 100.0 i: 0.01 d: 10.0

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

and theses are my parameters:

PARAMETERS

  • /d: 10.0
  • /elbow_joint: None
  • /enable_none: True
  • /gazebo/enable_ros_network: True
  • /gazebo_ros_control: None
  • /i: 0.01
  • /master/arm_controller/action_monitor_rate: 10
  • /master/arm_controller/constraints/elbow_joint/goal: 0.1
  • /master/arm_controller/constraints/elbow_joint/trajectory: 0.1
  • /master/arm_controller/constraints/goal_time: 0.6
  • /master/arm_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /master/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /master/arm_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /master/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /master/arm_controller/constraints/stopped_velocity_tolerance: 0.05
  • /master/arm_controller/constraints/wrist_1_joint/goal: 0.1
  • /master/arm_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /master/arm_controller/constraints/wrist_2_joint/goal: 0.1
  • /master/arm_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /master/arm_controller/constraints/wrist_3_joint/goal: 0.1
  • /master/arm_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /master/arm_controller/joints: ['shoulder_pan_jo...
  • /master/arm_controller/state_publish_rate: 25
  • /master/arm_controller/stop_trajectory_duration: 0.5
  • /master/arm_controller/type: position_controll...
  • /master/gripper_controller/action_monitor_rate: 10
  • /master/gripper_controller/goal_tolerance: 0.002
  • /master/gripper_controller/joint: robotiq_85_left_k...
  • /master/gripper_controller/max_effort: 100
  • /master/gripper_controller/stall_timeout: 1.0
  • /master/gripper_controller/stall_velocity_threshold: 0.001
  • /master/gripper_controller/type: position_controll...
  • /master/joint_group_position_controller/joints: ['shoulder_pan_jo...
  • /master/joint_group_position_controller/type: position_controll...
  • /master/joint_state_controller/publish_rate: 50
  • /master/joint_state_controller/type: joint_state_contr...
  • /master/move_group/allow_trajectory_execution: True
  • /master/move_group/capabilities: move_group/MoveGr...
  • /master/move_group/controller_list: [{'action_ns': 'f...
  • /master/move_group/endeffector/default_planner_config:
  • /master/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
  • /master/move_group/jiggle_fraction: 0.05
  • /master/move_group/manipulator/default_planner_config:
  • /master/move_group/manipulator/longest_valid_segment_fraction: 0.005
  • /master/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
  • /master/move_group/max_range: 5.0
  • /master/move_group/max_safe_path_cost: 1
  • /master/move_group/moveit_controller_manager: moveit_simple_con...
  • /master/move_group/moveit_manage_controllers: True
  • /master/move_group/octomap_resolution: 0.025
  • /master/move_group/planner_configs/BFMT/balanced: 0
  • /master/move_group/planner_configs/BFMT/cache_cc: 1
  • /master/move_group/planner_configs/BFMT/extended_fmt: 1
  • /master/move_group/planner_configs/BFMT/heuristics: 1
  • /master/move_group/planner_configs/BFMT/nearest_k: 1
  • /master/move_group/planner_configs/BFMT/num_samples: 1000
  • /master/move_group/planner_configs/BFMT/optimality: 1
  • /master/move_group/planner_configs/BFMT/radius_multiplier: 1.0
  • /master/move_group/planner_configs/BFMT/type: geometric::BFMT
  • /master/move_group/planner_configs/BKPIECE/border_fraction: 0.9
  • /master/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
  • /master/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
  • /master/move_group/planner_configs/BKPIECE/range: 0.0
  • /master/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
  • /master/move_group/planner_configs/BiEST/range: 0.0
  • /master/move_group/planner_configs/BiEST/type: geometric::BiEST
  • /master/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
  • /master/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
  • /master/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
  • /master/move_group/planner_configs/BiTRRT/init_temperature: 100
  • /master/move_group/planner_configs/BiTRRT/range: 0.0
  • /master/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
  • /master/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
  • /master/move_group/planner_configs/EST/goal_bias: 0.05
  • /master/move_group/planner_configs/EST/range: 0.0
  • /master/move_group/planner_configs/EST/type: geometric::EST
  • /master/move_group/planner_configs/FMT/cache_cc: 1
  • /master/move_group/planner_configs/FMT/extended_fmt: 1
  • /master/move_group/planner_configs/FMT/heuristics: 0
  • /master/move_group/planner_configs/FMT/nearest_k: 1
  • /master/move_group/planner_configs/FMT/num_samples: 1000
  • /master/move_group/planner_configs/FMT/radius_multiplier: 1.1
  • /master/move_group/planner_configs/FMT/type: geometric::FMT
  • /master/move_group/planner_configs/KPIECE/border_fraction: 0.9
  • /master/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
  • /master/move_group/planner_configs/KPIECE/goal_bias: 0.05
  • /master/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
  • /master/move_group/planner_configs/KPIECE/range: 0.0
  • /master/move_group/planner_configs/KPIECE/type: geometric::KPIECE
  • /master/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
  • /master/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
  • /master/move_group/planner_configs/LBKPIECE/range: 0.0
  • /master/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
  • /master/move_group/planner_configs/LBTRRT/epsilon: 0.4
  • /master/move_group/planner_configs/LBTRRT/goal_bias: 0.05
  • /master/move_group/planner_configs/LBTRRT/range: 0.0
  • /master/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
  • /master/move_group/planner_configs/LazyPRM/range: 0.0
  • /master/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
  • /master/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
  • /master/move_group/planner_configs/PDST/type: geometric::PDST
  • /master/move_group/planner_configs/PRM/max_nearest_neighbors: 10
  • /master/move_group/planner_configs/PRM/type: geometric::PRM
  • /master/move_group/planner_configs/PRMstar/type: geometric::PRMstar
  • /master/move_group/planner_configs/ProjEST/goal_bias: 0.05
  • /master/move_group/planner_configs/ProjEST/range: 0.0
  • /master/move_group/planner_configs/ProjEST/type: geometric::ProjEST
  • /master/move_group/planner_configs/RRT/goal_bias: 0.05
  • /master/move_group/planner_configs/RRT/range: 0.0
  • /master/move_group/planner_configs/RRT/type: geometric::RRT
  • /master/move_group/planner_configs/RRTConnect/range: 0.0
  • /master/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
  • /master/move_group/planner_configs/RRTstar/delay_collision_checking: 1
  • /master/move_group/planner_configs/RRTstar/goal_bias: 0.05
  • /master/move_group/planner_configs/RRTstar/range: 0.0
  • /master/move_group/planner_configs/RRTstar/type: geometric::RRTstar
  • /master/move_group/planner_configs/SBL/range: 0.0
  • /master/move_group/planner_configs/SBL/type: geometric::SBL
  • /master/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
  • /master/move_group/planner_configs/SPARS/max_failures: 1000
  • /master/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
  • /master/move_group/planner_configs/SPARS/stretch_factor: 3.0
  • /master/move_group/planner_configs/SPARS/type: geometric::SPARS
  • /master/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
  • /master/move_group/planner_configs/SPARStwo/max_failures: 5000
  • /master/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
  • /master/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
  • /master/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
  • /master/move_group/planner_configs/STRIDE/degree: 16
  • /master/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
  • /master/move_group/planner_configs/STRIDE/goal_bias: 0.05
  • /master/move_group/planner_configs/STRIDE/max_degree: 18
  • /master/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
  • /master/move_group/planner_configs/STRIDE/min_degree: 12
  • /master/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
  • /master/move_group/planner_configs/STRIDE/range: 0.0
  • /master/move_group/planner_configs/STRIDE/type: geometric::STRIDE
  • /master/move_group/planner_configs/STRIDE/use_projected_distance: 0
  • /master/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
  • /master/move_group/planner_configs/TRRT/frountier_threshold: 0.0
  • /master/move_group/planner_configs/TRRT/goal_bias: 0.05
  • /master/move_group/planner_configs/TRRT/init_temperature: 10e-6
  • /master/move_group/planner_configs/TRRT/k_constant: 0.0
  • /master/move_group/planner_configs/TRRT/max_states_failed: 10
  • /master/move_group/planner_configs/TRRT/min_temperature: 10e-10
  • /master/move_group/planner_configs/TRRT/range: 0.0
  • /master/move_group/planner_configs/TRRT/temp_change_factor: 2.0
  • /master/move_group/planner_configs/TRRT/type: geometric::TRRT
  • /master/move_group/planning_plugin: ompl_interface/OM...
  • /master/move_group/planning_scene_monitor/publish_geometry_updates: True
  • /master/move_group/planning_scene_monitor/publish_planning_scene: True
  • /master/move_group/planning_scene_monitor/publish_state_updates: True
  • /master/move_group/planning_scene_monitor/publish_transforms_updates: True
  • /master/move_group/request_adapters: default_planner_r...
  • /master/move_group/sensors: [{'point_subsampl...
  • /master/move_group/start_state_max_bounds_error: 0.1
  • /master/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
  • /master/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
  • /master/move_group/trajectory_execution/allowed_start_tolerance: 0.01
  • /master/move_group/trajectory_execution/execution_duration_monitoring: False
  • /master/move_group/use_controller_manager: False
  • /master/robot_description: <?xml version="1....
  • /master/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
  • /master/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
  • /master/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
  • /master/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
  • /master/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
  • /master/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
  • /master/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
  • /master/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
  • /master/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
  • /master/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
  • /master/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
  • /master/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
  • /master/robot_description_semantic: <?xml version="1....
  • /master/robot_state_publisher/publish_frequency: 50.0
  • /master/robot_state_publisher/tf_prefix: robot2_tf
  • /p: 100.0
  • /pid_gains: None
  • /red_box_path: /home/rddl/catkin...
  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /shoulder_lift_joint: None
  • /shoulder_pan_joint: None
  • /slave/arm_controller/action_monitor_rate: 10
  • /slave/arm_controller/constraints/elbow_joint/goal: 0.1
  • /slave/arm_controller/constraints/elbow_joint/trajectory: 0.1
  • /slave/arm_controller/constraints/goal_time: 0.6
  • /slave/arm_controller/constraints/shoulder_lift_joint/goal: 0.1
  • /slave/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
  • /slave/arm_controller/constraints/shoulder_pan_joint/goal: 0.1
  • /slave/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
  • /slave/arm_controller/constraints/stopped_velocity_tolerance: 0.05
  • /slave/arm_controller/constraints/wrist_1_joint/goal: 0.1
  • /slave/arm_controller/constraints/wrist_1_joint/trajectory: 0.1
  • /slave/arm_controller/constraints/wrist_2_joint/goal: 0.1
  • /slave/arm_controller/constraints/wrist_2_joint/trajectory: 0.1
  • /slave/arm_controller/constraints/wrist_3_joint/goal: 0.1
  • /slave/arm_controller/constraints/wrist_3_joint/trajectory: 0.1
  • /slave/arm_controller/joints: ['shoulder_pan_jo...
  • /slave/arm_controller/state_publish_rate: 25
  • /slave/arm_controller/stop_trajectory_duration: 0.5
  • /slave/arm_controller/type: position_controll...
  • /slave/gripper_controller/action_monitor_rate: 10
  • /slave/gripper_controller/goal_tolerance: 0.002
  • /slave/gripper_controller/joint: robotiq_85_left_k...
  • /slave/gripper_controller/max_effort: 100
  • /slave/gripper_controller/stall_timeout: 1.0
  • /slave/gripper_controller/stall_velocity_threshold: 0.001
  • /slave/gripper_controller/type: position_controll...
  • /slave/joint_group_position_controller/joints: ['shoulder_pan_jo...
  • /slave/joint_group_position_controller/type: position_controll...
  • /slave/joint_state_controller/publish_rate: 50
  • /slave/joint_state_controller/type: joint_state_contr...
  • /slave/move_group/allow_trajectory_execution: True
  • /slave/move_group/capabilities: move_group/MoveGr...
  • /slave/move_group/controller_list: [{'action_ns': 'f...
  • /slave/move_group/endeffector/default_planner_config:
  • /slave/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
  • /slave/move_group/jiggle_fraction: 0.05
  • /slave/move_group/manipulator/default_planner_config:
  • /slave/move_group/manipulator/longest_valid_segment_fraction: 0.005
  • /slave/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
  • /slave/move_group/max_range: 5.0
  • /slave/move_group/max_safe_path_cost: 1
  • /slave/move_group/moveit_controller_manager: moveit_simple_con...
  • /slave/move_group/moveit_manage_controllers: True
  • /slave/move_group/octomap_resolution: 0.025
  • /slave/move_group/planner_configs/BFMT/balanced: 0
  • /slave/move_group/planner_configs/BFMT/cache_cc: 1
  • /slave/move_group/planner_configs/BFMT/extended_fmt: 1
  • /slave/move_group/planner_configs/BFMT/heuristics: 1
  • /slave/move_group/planner_configs/BFMT/nearest_k: 1
  • /slave/move_group/planner_configs/BFMT/num_samples: 1000
  • /slave/move_group/planner_configs/BFMT/optimality: 1
  • /slave/move_group/planner_configs/BFMT/radius_multiplier: 1.0
  • /slave/move_group/planner_configs/BFMT/type: geometric::BFMT
  • /slave/move_group/planner_configs/BKPIECE/border_fraction: 0.9
  • /slave/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
  • /slave/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
  • /slave/move_group/planner_configs/BKPIECE/range: 0.0
  • /slave/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
  • /slave/move_group/planner_configs/BiEST/range: 0.0
  • /slave/move_group/planner_configs/BiEST/type: geometric::BiEST
  • /slave/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
  • /slave/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
  • /slave/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
  • /slave/move_group/planner_configs/BiTRRT/init_temperature: 100
  • /slave/move_group/planner_configs/BiTRRT/range: 0.0
  • /slave/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
  • /slave/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
  • /slave/move_group/planner_configs/EST/goal_bias: 0.05
  • /slave/move_group/planner_configs/EST/range: 0.0
  • /slave/move_group/planner_configs/EST/type: geometric::EST
  • /slave/move_group/planner_configs/FMT/cache_cc: 1
  • /slave/move_group/planner_configs/FMT/extended_fmt: 1
  • /slave/move_group/planner_configs/FMT/heuristics: 0
  • /slave/move_group/planner_configs/FMT/nearest_k: 1
  • /slave/move_group/planner_configs/FMT/num_samples: 1000
  • /slave/move_group/planner_configs/FMT/radius_multiplier: 1.1
  • /slave/move_group/planner_configs/FMT/type: geometric::FMT
  • /slave/move_group/planner_configs/KPIECE/border_fraction: 0.9
  • /slave/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
  • /slave/move_group/planner_configs/KPIECE/goal_bias: 0.05
  • /slave/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
  • /slave/move_group/planner_configs/KPIECE/range: 0.0
  • /slave/move_group/planner_configs/KPIECE/type: geometric::KPIECE
  • /slave/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
  • /slave/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
  • /slave/move_group/planner_configs/LBKPIECE/range: 0.0
  • /slave/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
  • /slave/move_group/planner_configs/LBTRRT/epsilon: 0.4
  • /slave/move_group/planner_configs/LBTRRT/goal_bias: 0.05
  • /slave/move_group/planner_configs/LBTRRT/range: 0.0
  • /slave/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
  • /slave/move_group/planner_configs/LazyPRM/range: 0.0
  • /slave/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
  • /slave/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
  • /slave/move_group/planner_configs/PDST/type: geometric::PDST
  • /slave/move_group/planner_configs/PRM/max_nearest_neighbors: 10
  • /slave/move_group/planner_configs/PRM/type: geometric::PRM
  • /slave/move_group/planner_configs/PRMstar/type: geometric::PRMstar
  • /slave/move_group/planner_configs/ProjEST/goal_bias: 0.05
  • /slave/move_group/planner_configs/ProjEST/range: 0.0
  • /slave/move_group/planner_configs/ProjEST/type: geometric::ProjEST
  • /slave/move_group/planner_configs/RRT/goal_bias: 0.05
  • /slave/move_group/planner_configs/RRT/range: 0.0
  • /slave/move_group/planner_configs/RRT/type: geometric::RRT
  • /slave/move_group/planner_configs/RRTConnect/range: 0.0
  • /slave/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
  • /slave/move_group/planner_configs/RRTstar/delay_collision_checking: 1
  • /slave/move_group/planner_configs/RRTstar/goal_bias: 0.05
  • /slave/move_group/planner_configs/RRTstar/range: 0.0
  • /slave/move_group/planner_configs/RRTstar/type: geometric::RRTstar
  • /slave/move_group/planner_configs/SBL/range: 0.0
  • /slave/move_group/planner_configs/SBL/type: geometric::SBL
  • /slave/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
  • /slave/move_group/planner_configs/SPARS/max_failures: 1000
  • /slave/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
  • /slave/move_group/planner_configs/SPARS/stretch_factor: 3.0
  • /slave/move_group/planner_configs/SPARS/type: geometric::SPARS
  • /slave/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
  • /slave/move_group/planner_configs/SPARStwo/max_failures: 5000
  • /slave/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
  • /slave/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
  • /slave/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
  • /slave/move_group/planner_configs/STRIDE/degree: 16
  • /slave/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
  • /slave/move_group/planner_configs/STRIDE/goal_bias: 0.05
  • /slave/move_group/planner_configs/STRIDE/max_degree: 18
  • /slave/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
  • /slave/move_group/planner_configs/STRIDE/min_degree: 12
  • /slave/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
  • /slave/move_group/planner_configs/STRIDE/range: 0.0
  • /slave/move_group/planner_configs/STRIDE/type: geometric::STRIDE
  • /slave/move_group/planner_configs/STRIDE/use_projected_distance: 0
  • /slave/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
  • /slave/move_group/planner_configs/TRRT/frountier_threshold: 0.0
  • /slave/move_group/planner_configs/TRRT/goal_bias: 0.05
  • /slave/move_group/planner_configs/TRRT/init_temperature: 10e-6
  • /slave/move_group/planner_configs/TRRT/k_constant: 0.0
  • /slave/move_group/planner_configs/TRRT/max_states_failed: 10
  • /slave/move_group/planner_configs/TRRT/min_temperature: 10e-10
  • /slave/move_group/planner_configs/TRRT/range: 0.0
  • /slave/move_group/planner_configs/TRRT/temp_change_factor: 2.0
  • /slave/move_group/planner_configs/TRRT/type: geometric::TRRT
  • /slave/move_group/planning_plugin: ompl_interface/OM...
  • /slave/move_group/planning_scene_monitor/publish_geometry_updates: True
  • /slave/move_group/planning_scene_monitor/publish_planning_scene: True
  • /slave/move_group/planning_scene_monitor/publish_state_updates: True
  • /slave/move_group/planning_scene_monitor/publish_transforms_updates: True
  • /slave/move_group/request_adapters: default_planner_r...
  • /slave/move_group/sensors: [{'point_subsampl...
  • /slave/move_group/start_state_max_bounds_error: 0.1
  • /slave/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
  • /slave/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
  • /slave/move_group/trajectory_execution/allowed_start_tolerance: 0.01
  • /slave/move_group/trajectory_execution/execution_duration_monitoring: False
  • /slave/move_group/use_controller_manager: False
  • /slave/robot_description: <?xml version="1....
  • /slave/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
  • /slave/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
  • /slave/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
  • /slave/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
  • /slave/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
  • /slave/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
  • /slave/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
  • /slave/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
  • /slave/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
  • /slave/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
  • /slave/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
  • /slave/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
  • /slave/robot_description_semantic: <?xml version="1....
  • /slave/robot_state_publisher/publish_frequency: 50.0
  • /slave/robot_state_publisher/tf_prefix: robot1_tf
  • /use_sim_time: True
  • /wrist_1_joint: None
  • /wrist_2_joint: None
  • /wrist_3_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? where are these values ? Please advise

MuhammadUmarAnjum avatar Mar 30 '22 08:03 MuhammadUmarAnjum