UR5-with-Robotiq-Gripper-and-Kinect
UR5-with-Robotiq-Gripper-and-Kinect copied to clipboard
Published
20 hours ago •
philwall3
philwall3
Cannot control gripper
Hi, I try to build your repo. I can load the arm + gripper with Kinect. However, when I launch the simulation, I got the following error. It seems the "gripper" group is empy. Any idea how to fix this?
Thanks!
ERROR] [1527665597.501734467]: Link 'simple_gripper_robotiq_85_base_link' declared as part of a chain in group 'gripper' is not known to the URDF
[ WARN] [1527665597.501782218]: Group 'gripper' is empty.
[ERROR] [1527665597.501875675]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'open' is not known to the URDF
[ERROR] [1527665597.501892192]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'closed' is not known to the URDF
[ERROR] [1527665597.501904140]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'almost closed' is not known to the URDF
[ WARN] [1527665597.501940962]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.501954604]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.501966116]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.501978910]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.501990313]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502001471]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502012661]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502024495]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502036810]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502055732]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502067204]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502077971]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502088773]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502100199]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502111517]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502122397]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502133082]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502143952]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502155427]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502166570]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502177015]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502187863]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502198777]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502209301]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502220254]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502231635]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502242078]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502252821]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502263447]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502273885]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502284369]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502294854]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502305243]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502315685]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502326332]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502336715]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502347046]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502357344]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502367659]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502377856]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502388319]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502398664]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502408817]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502419074]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502429513]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502449291]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502460879]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502471470]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502481813]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502492209]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502502548]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502512924]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502524521]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502535011]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502545537]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502556233]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502566554]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502576848]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502587198]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502597400]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502607769]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502618550]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502628740]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502639762]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502650233]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502660418]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502670749]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502681126]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502691391]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502701615]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.502712131]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1527665597.502726450]: Joint 'simple_gripper_robotiq_85_left_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.502737502]: Joint 'simple_gripper_robotiq_85_left_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.502748110]: Joint 'simple_gripper_robotiq_85_right_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.502758624]: Joint 'simple_gripper_robotiq_85_right_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.502768936]: Joint 'simple_gripper_robotiq_85_right_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ INFO] [1527665597.502832588]: Loading robot model 'myrobot2'...
[ WARN] [1527665597.502850372]: Skipping virtual joint 'fixed_base' because its child frame 'simple_arm_base_link' does not match the URDF frame 'world'
[ INFO] [1527665597.502860778]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1527665597.559386913]: Group 'gripper' must have at least one valid joint
[ WARN] [1527665597.559443393]: Failed to add group 'gripper'
[ERROR] [1527665597.559555653]: Group state 'open' specified for group 'gripper', but that group does not exist
[ERROR] [1527665597.559569228]: Group state 'closed' specified for group 'gripper', but that group does not exist
[ERROR] [1527665597.559577877]: Group state 'almost closed' specified for group 'gripper', but that group does not exist
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[ERROR] [1527665597.609726748]: Link 'simple_gripper_robotiq_85_base_link' declared as part of a chain in group 'gripper' is not known to the URDF
[ WARN] [1527665597.609750418]: Group 'gripper' is empty.
[ERROR] [1527665597.609809159]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'open' is not known to the URDF
[ERROR] [1527665597.609826395]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'closed' is not known to the URDF
[ERROR] [1527665597.609842278]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'almost closed' is not known to the URDF
[ WARN] [1527665597.609873485]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609891220]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609905861]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609922100]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609936570]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609950564]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609964227]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609978147]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.609991733]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610015394]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610029335]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610042658]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610057277]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610070342]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610083730]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610097280]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610111014]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610124400]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610138407]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610151159]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610163992]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610176562]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610189207]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610201759]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610214473]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610227128]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610239703]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610252353]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610265137]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610277824]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610290418]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610302944]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610315560]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610328009]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610340480]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610353327]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610365900]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610378074]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610390739]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610402866]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610415281]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610427746]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610447573]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610460631]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610472925]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610486671]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610498790]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610511328]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610523640]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610536146]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610548765]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610561571]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610573986]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610586305]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610598636]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610611193]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610623620]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610636181]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610648512]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610661030]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610673472]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610686078]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610698681]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610711138]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610723389]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610735951]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610748520]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610760820]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610773332]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610786154]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665597.610798311]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1527665597.610812731]: Joint 'simple_gripper_robotiq_85_left_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.610825651]: Joint 'simple_gripper_robotiq_85_left_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.610838132]: Joint 'simple_gripper_robotiq_85_right_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.610850800]: Joint 'simple_gripper_robotiq_85_right_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665597.610863198]: Joint 'simple_gripper_robotiq_85_right_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ INFO] [1527665597.610906265]: Loading robot model 'myrobot2'...
[ WARN] [1527665597.610920804]: Skipping virtual joint 'fixed_base' because its child frame 'simple_arm_base_link' does not match the URDF frame 'world'
[ INFO] [1527665597.610932622]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1527665597.661310753]: Group 'gripper' must have at least one valid joint
[ WARN] [1527665597.661341340]: Failed to add group 'gripper'
[ERROR] [1527665597.661370882]: Group state 'open' specified for group 'gripper', but that group does not exist
[ERROR] [1527665597.661387971]: Group state 'closed' specified for group 'gripper', but that group does not exist
[ERROR] [1527665597.661400549]: Group state 'almost closed' specified for group 'gripper', but that group does not exist
[ INFO] [1527665597.979041792]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffcb9c1700 (LWP 29307)]
[ INFO] [1527665597.982054564]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1527665597.982085122]: Starting scene monitor
[ INFO] [1527665597.984545312]: Listening to '/planning_scene'
[ INFO] [1527665597.984570818]: Starting world geometry monitor
[New Thread 0x7fffcb1c0700 (LWP 29325)]
[ INFO] [1527665597.987320234]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1527665597.990337638]: Listening to '/planning_scene_world' for planning scene world geometry
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[ INFO] [1527665598.091320639]: Stereo is NOT SUPPORTED
[ INFO] [1527665598.091396502]: OpenGl version: 4.5 (GLSL 4.5).
[ INFO] [1527665598.443155068]: Listening to '/camera/depth_registered/points' using message filter with target frame '/world '
[New Thread 0x7fffca348700 (LWP 29390)]
[ INFO] [1527665598.449059102]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[ INFO] [1527665598.583833179, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1527665598.616804062, 0.053000000]: Physics dynamic reconfigure ready.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[ INFO] [1527665598.628828026]: Initializing OMPL interface using ROS parameters
[INFO] [1527665598.640363, 0.076000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1527665598.654427007]: Using planning interface 'OMPL'
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[ INFO] [1527665598.661415622]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1527665598.662066945]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1527665598.662538947]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1527665598.663026061]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1527665598.663482204]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1527665598.663903170]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1527665598.663951972]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1527665598.663970988]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1527665598.663986712]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1527665598.664001528]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1527665598.664016615]: Using planning request adapter 'Fix Start State Path Constraints'
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
Python Exception <class 'NameError'> Installation error: gdb.execute_unwinders function is missing:
[New Thread 0x7fffbbfff700 (LWP 29599)]
[INFO] [1527665598.841850, 0.156000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1527665599.032507405, 0.156000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1527665599.036004870, 0.156000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[spawn_urdf-4] process has finished cleanly
log file: /home/anh/.ros/log/b7134b20-63db-11e8-bd04-02420b0a5d99/spawn_urdf-4*.log
[ INFO] [1527665599.103181674, 0.156000000]: Loading gazebo_ros_control plugin
[ INFO] [1527665599.103288637, 0.156000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1527665599.104360221, 0.156000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ WARN] [1527665599.213902612, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_shoulder_pan_joint'.
[ WARN] [1527665599.215191448, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_shoulder_lift_joint'.
[ WARN] [1527665599.216180020, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_elbow_joint'.
[ WARN] [1527665599.216993181, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_wrist_1_joint'.
[ WARN] [1527665599.217917907, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_wrist_2_joint'.
[ WARN] [1527665599.218724712, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_arm_wrist_3_joint'.
[ WARN] [1527665599.219549076, 0.156000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'simple_gripper_gripper_finger1_joint'.
[ INFO] [1527665599.224469709, 0.156000000]: Loaded gazebo_ros_control.
Loaded arm_controller
[ERROR] [1527665599.421994794, 0.352000000]: Could not find joint 'simple_gripper_robotiq_85_left_knuckle_joint' in URDF model.
[ERROR] [1527665599.422095468, 0.352000000]: Failed to initialize the controller
[ERROR] [1527665599.422434309, 0.353000000]: Initializing controller 'gripper' failed
Started ['arm_controller'] successfully
[arm_controller_spawner-9] process has finished cleanly
log file: /home/anh/.ros/log/b7134b20-63db-11e8-bd04-02420b0a5d99/arm_controller_spawner-9*.log
[ERROR] [1527665600.423179, 1.349000]: Failed to load gripper
[ERROR] [1527665602.450531318, 3.374000000]: Link 'simple_gripper_robotiq_85_base_link' declared as part of a chain in group 'gripper' is not known to the URDF
[ WARN] [1527665602.450590904, 3.374000000]: Group 'gripper' is empty.
[ERROR] [1527665602.450957712, 3.374000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'open' is not known to the URDF
[ERROR] [1527665602.450978291, 3.374000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'closed' is not known to the URDF
[ERROR] [1527665602.450997320, 3.374000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'almost closed' is not known to the URDF
[ WARN] [1527665602.451069271, 3.374000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451084101, 3.374000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451098752, 3.374000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451110466, 3.374000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451120935, 3.374000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451132459, 3.374000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451144217, 3.374000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451154965, 3.374000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451177586, 3.374000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451193680, 3.374000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451208516, 3.374000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451232188, 3.374000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451254227, 3.374000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451275702, 3.374000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451291721, 3.374000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451314419, 3.374000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451327741, 3.375000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451339419, 3.375000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451351597, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451361980, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451419515, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451443202, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451458385, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451477681, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451489282, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451498982, 3.375000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451508694, 3.375000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451518485, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451528301, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451539174, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451549733, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451559514, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451569450, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451579792, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451590060, 3.375000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451599869, 3.375000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451610034, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451619651, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451629500, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451639149, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451649072, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451659045, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451669162, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451679673, 3.375000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451694015, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451704341, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451714596, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451724498, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451734641, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451744914, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451754613, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451764340, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451774330, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451784272, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451793867, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451803608, 3.375000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451813923, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451823931, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451833715, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451843596, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451853234, 3.375000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451862905, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451874598, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451886099, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451895784, 3.375000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451905630, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451915213, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451924961, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451946922, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451957773, 3.375000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.451968406, 3.375000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1527665602.452012366, 3.375000000]: Joint 'simple_gripper_robotiq_85_left_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.452026349, 3.375000000]: Joint 'simple_gripper_robotiq_85_left_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.452036478, 3.375000000]: Joint 'simple_gripper_robotiq_85_right_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.452048809, 3.375000000]: Joint 'simple_gripper_robotiq_85_right_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.452063025, 3.375000000]: Joint 'simple_gripper_robotiq_85_right_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ INFO] [1527665602.452216769, 3.375000000]: Loading robot model 'myrobot2'...
[ WARN] [1527665602.452265309, 3.375000000]: Skipping virtual joint 'fixed_base' because its child frame 'simple_arm_base_link' does not match the URDF frame 'world'
[ INFO] [1527665602.452285580, 3.375000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1527665602.515918905, 3.439000000]: Group 'gripper' must have at least one valid joint
[ WARN] [1527665602.515949463, 3.439000000]: Failed to add group 'gripper'
[ERROR] [1527665602.516062755, 3.439000000]: Group state 'open' specified for group 'gripper', but that group does not exist
[ERROR] [1527665602.516078880, 3.439000000]: Group state 'closed' specified for group 'gripper', but that group does not exist
[ERROR] [1527665602.516106425, 3.439000000]: Group state 'almost closed' specified for group 'gripper', but that group does not exist
[ERROR] [1527665602.570067563, 3.493000000]: Link 'simple_gripper_robotiq_85_base_link' declared as part of a chain in group 'gripper' is not known to the URDF
[ WARN] [1527665602.570111618, 3.493000000]: Group 'gripper' is empty.
[ERROR] [1527665602.570183380, 3.493000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'open' is not known to the URDF
[ERROR] [1527665602.570213607, 3.493000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'closed' is not known to the URDF
[ERROR] [1527665602.570235829, 3.493000000]: Joint 'simple_gripper_robotiq_85_left_knuckle_joint' declared as part of group state 'almost closed' is not known to the URDF
[ WARN] [1527665602.570274261, 3.493000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570394449, 3.493000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570414180, 3.493000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570432515, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570456567, 3.494000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570474546, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570488513, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570504456, 3.494000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570521290, 3.494000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570553336, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570571682, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570598365, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570617583, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570637870, 3.494000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570657113, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570675592, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570693804, 3.494000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570712550, 3.494000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570732525, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570749863, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570768098, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570785847, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570804712, 3.494000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570822132, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570840091, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570858751, 3.494000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570875967, 3.494000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570893259, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570911302, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570930164, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570948079, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570966617, 3.494000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.570984905, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571002106, 3.494000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571019383, 3.494000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571036404, 3.494000000]: Link 'simple_gripper_robotiq_85_right_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571052985, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571069412, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571086037, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571102511, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571118768, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571135026, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571151065, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571167038, 3.494000000]: Link 'simple_gripper_robotiq_85_base_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571183226, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571199681, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571215684, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571233107, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571250819, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571267976, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571284468, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571302123, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571318287, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571380789, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571398075, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571413933, 3.494000000]: Link 'simple_gripper_robotiq_85_left_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571429774, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571445840, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571462217, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571478535, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571494948, 3.494000000]: Link 'simple_gripper_robotiq_85_left_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571511473, 3.494000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571526683, 3.495000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571543098, 3.495000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571558542, 3.495000000]: Link 'simple_gripper_robotiq_85_left_knuckle_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571574125, 3.495000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571589792, 3.495000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571605634, 3.495000000]: Link 'simple_gripper_robotiq_85_right_finger_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571621186, 3.495000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571636401, 3.495000000]: Link 'simple_gripper_robotiq_85_right_finger_tip_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1527665602.571651795, 3.495000000]: Link 'simple_gripper_robotiq_85_right_inner_knuckle_link' is not known to URDF. Cannot disable collisons.
[ERROR] [1527665602.571670002, 3.495000000]: Joint 'simple_gripper_robotiq_85_left_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.571686564, 3.495000000]: Joint 'simple_gripper_robotiq_85_left_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.571702357, 3.495000000]: Joint 'simple_gripper_robotiq_85_right_inner_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.571718611, 3.495000000]: Joint 'simple_gripper_robotiq_85_right_finger_tip_joint' marked as passive is not known to the URDF. Ignoring.
[ERROR] [1527665602.571734692, 3.495000000]: Joint 'simple_gripper_robotiq_85_right_knuckle_joint' marked as passive is not known to the URDF. Ignoring.
[ INFO] [1527665602.571802944, 3.495000000]: Loading robot model 'myrobot2'...
[ WARN] [1527665602.571816969, 3.495000000]: Skipping virtual joint 'fixed_base' because its child frame 'simple_arm_base_link' does not match the URDF frame 'world'
[ INFO] [1527665602.571832604, 3.495000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1527665602.628893738, 3.552000000]: Group 'gripper' must have at least one valid joint
[ WARN] [1527665602.628921646, 3.552000000]: Failed to add group 'gripper'
[ERROR] [1527665602.628964586, 3.552000000]: Group state 'open' specified for group 'gripper', but that group does not exist
[ERROR] [1527665602.628978961, 3.552000000]: Group state 'closed' specified for group 'gripper', but that group does not exist
[ERROR] [1527665602.628992853, 3.552000000]: Group state 'almost closed' specified for group 'gripper', but that group does not exist
[ INFO] [1527665602.989502294, 3.910000000]: Starting scene monitor
[ INFO] [1527665602.993039261, 3.914000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1527665602.994170887, 3.915000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1527665604.261894280, 5.180000000]: Waiting for /simple_gripper/joint_position_controller/gripper_cmd to come up
[ INFO] [1527665608.010171758, 8.924000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.11/planning_scene_monitor/src/planning_scene_monitor.cpp:486
[ INFO] [1527665608.666491538, 9.579000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ERROR] [1527665608.666723231, 9.579000000]: Group 'gripper' not found in model 'myrobot2'
[ERROR] [1527665608.680651562, 9.593000000]: Group 'gripper' not found in model 'myrobot2'
[ INFO] [1527665608.688245964, 9.601000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ WARN] [1527665610.273038190, 11.181000000]: Waiting for /simple_gripper/joint_position_controller/gripper_cmd to come up
^C[rviz_nguyen_28789_7040928446234368179-12] killing on exit
[move_group-11] killing on exit
[joint_state_publisher-10] killing on exit
[joint_state_controller_spawner-7] killing on exit
[gripper_controller_spawner-8] killing on exit
[fake_joint_calibration-6] killing on exit
Quit[robot_state_publisher-5] killing on exit
(gdb) [gazebo_gui-3] killing on exit
[New Thread 0x7fffbb7fe700 (LWP 30391)]
[gazebo-2] killing on exit
[move_group-11] escalating to SIGTERM
[gazebo-2] escalating to SIGTERM[gripper_controller_spawner-8] escalating to SIGTERM
[joint_state_controller_spawner-7] escalating to SIGTERM
[WARN] [1527665625.633660, 11.518000]: Controller Spawner error while taking down controllers: transport error completing service call: receive_once[/controller_manager/switch_controller]: unexpected error [Errno 4] Interrupted system call
[WARN] [1527665625.634040, 11.518000]: Controller Spawner error while taking down controllers: transport error completing service call: receive_once[/controller_manager/switch_controller]: unexpected error [Errno 4] Interrupted system call
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
I think the main problem is this error:
[ERROR] [1527670634.625523723, 0.564000000]: Could not find joint 'simple_gripper_robotiq_85_left_knuckle_joint' in URDF model.
How to fix this one?
Not sure what the problem is and I don't work on this anymore. But those links/joints are declared here: https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect/blob/master/robotiq_85_gripper-master/robotiq_85_description/urdf/robotiq_85_gripper.urdf.xacro
Not sure what the problem is and I don't work on this anymore. But those links/joints are declared here: https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect/blob/master/robotiq_85_gripper-master/robotiq_85_description/urdf/robotiq_85_gripper.urdf.xacro
this urdf file different with thr official
https://github.com/StanleyInnovation/robotiq_85_gripper/blob/master/robotiq_85_description/urdf/robotiq_85_gripper.urdf.xacro
is the reason###
@trminh89 Have you solved this problem yet? Excuse me, I have encountered with the same problem as you. Have you solved this problem? If your problem is solved, please tell me how to solve it. Thank you.
我认为主要问题是此错误：
[ERROR] [1527670634.625523723, 0.564000000]: Could not find joint 'simple_gripper_robotiq_85_left_knuckle_joint' in URDF model.如何解决这个问题？
Have you solved the problem?
@ trminh89 您解决了这个问题了吗？ 对不起，我遇到了与您相同的问题。你解决了这个问题吗？如果您的问题解决了，请告诉我如何解决。谢谢你。
Have you solved this problem?