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20 hours ago •
ros-industrial
ros-industrial
Error in Demo 1.5
Trying to follow the guide in demo 1.5 I get the following error:
ERROR: cannot launch node of type [warehouse_ros/mongo_wrapper_ros.py]: can't locate node [mongo_wrapper_ros.py] in package [warehouse_ros]
Please see the full output below. Any help is appreciated.
she@ubuntu:~/perception_driven_ws$ roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
... logging to /home/she/.ros/log/f6afed44-cad7-11e7-892e-000c297e8ab4/roslaunch-ubuntu-65189.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.
started roslaunch server http://ubuntu:33555/
SUMMARY
========
PARAMETERS
* /controller_joint_names: ['elbow_joint', '...
* /mongo_wrapper_ros_ubuntu_65189_6463567202844035174/database_path: /home/she/percept...
* /mongo_wrapper_ros_ubuntu_65189_6463567202844035174/overwrite: False
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'action_ns': 'j...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/kinematics_solver: kdl_kinematics_pl...
* /move_group/manipulator/kinematics_solver_attempts: 40
* /move_group/manipulator/kinematics_solver_search_resolution: 0.01
* /move_group/manipulator/kinematics_solver_timeout: 0.5
* /move_group/manipulator/longest_valid_segment_fraction: 0.02
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/manipulator/projection_evaluator: joints(shoulder_p...
* /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_frame: world_frame
* /move_group/octomap_resolution: 0.01
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/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/vacuum_gripper/planner_configs: ['SBLkConfigDefau...
* /pick_and_place_node/approach_distance: 0.05
* /pick_and_place_node/ar_frame_id: ar_tag
* /pick_and_place_node/arm_group_name: manipulator
* /pick_and_place_node/attached_object_link: attached_object_link
* /pick_and_place_node/box_height: 0.17
* /pick_and_place_node/box_length: 0.17
* /pick_and_place_node/box_place_x: -0.4
* /pick_and_place_node/box_place_y: 0.6
* /pick_and_place_node/box_place_z: 0.17
* /pick_and_place_node/box_width: 0.17
* /pick_and_place_node/home_pose_name: home
* /pick_and_place_node/retreat_distance: 0.05
* /pick_and_place_node/tcp_link_name: tcp_frame
* /pick_and_place_node/touch_links: ['wrist_1_link', ...
* /pick_and_place_node/wait_pose_name: wait
* /pick_and_place_node/world_frame_id: world_frame
* /pick_and_place_node/wrist_link_name: ee_link
* /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 6.0
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 6.0
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 6.0
* /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.0
* /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.0
* /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0.62831853
* /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.0
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /warehouse_exec: mongod
* /warehouse_host: localhost
* /warehouse_port: 33829
NODES
/
mongo_wrapper_ros_ubuntu_65189_6463567202844035174 (warehouse_ros/mongo_wrapper_ros.py)
move_group (moveit_ros_move_group/move_group)
pick_and_place_node (collision_avoidance_pick_and_place/pick_and_place_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[pick_and_place_node-1]: started with pid [65207]
process[move_group-2]: started with pid [65208]
ERROR: cannot launch node of type [warehouse_ros/mongo_wrapper_ros.py]: can't locate node [mongo_wrapper_ros.py] in package [warehouse_ros]
[ INFO] [1510849659.202590429]: Parameters successfully read
[ INFO] [1510849659.312846942]: Loading robot model 'ur5_collision_avoidance'...
[ INFO] [1510849659.498010841]: Loading robot model 'ur5_collision_avoidance'...
[ INFO] [1510849659.798499220]: Loading robot model 'ur5_collision_avoidance'...
[ INFO] [1510849659.896409968]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1510849659.902269117]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1510849659.902450816]: Starting scene monitor
[ INFO] [1510849659.913178188]: Listening to '/planning_scene'
[ INFO] [1510849659.913390799]: Starting world geometry monitor
[ INFO] [1510849659.938374851]: Listening to '/collision_object' using message notifier with target frame '/world_frame '
[ INFO] [1510849659.961810981]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1510849660.114834495]: Listening to '/filtered_cloud' using message filter with target frame '/world_frame '
[ INFO] [1510849660.136130449]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1510849660.317031280]: Initializing OMPL interface using ROS parameters
[ INFO] [1510849660.457012914]: Using planning interface 'OMPL'
[ INFO] [1510849660.568993272]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1510849660.570974589]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1510849660.572492029]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1510849660.573748139]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1510849660.574978084]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1510849660.576107787]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1510849660.576473790]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1510849660.576782910]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1510849660.577160301]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1510849660.577551010]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1510849660.577784713]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1510849660.993960504]: Added FollowJointTrajectory controller for
[ INFO] [1510849660.995552518]: Returned 1 controllers in list
[ INFO] [1510849661.057600282]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
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] [1510849661.857213557]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1510849661.857480350]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1510849661.857576377]: MoveGroup context initialization complete
You can start planning now!
[ WARN] [1510849662.301257948]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1510849662.337824179]: Ready to take commands for planning group manipulator.
[ERROR] [1510849662.621743924]: move_to_wait_position is not implemented yet. Aborting.
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
================================================================================REQUIRED process [pick_and_place_node-1] has died!
process has died [pid 65207, exit code -6, cmd /home/she/perception_driven_ws/devel/lib/collision_avoidance_pick_and_place/pick_and_place_node __name:=pick_and_place_node __log:=/home/she/.ros/log/f6afed44-cad7-11e7-892e-000c297e8ab4/pick_and_place_node-1.log].
log file: /home/she/.ros/log/f6afed44-cad7-11e7-892e-000c297e8ab4/pick_and_place_node-1*.log
Initiating shutdown!
================================================================================
[move_group-2] killing on exit
[pick_and_place_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
