xarm_ros Error while trying to use the xArm6 Moveit package with ROS

Error while trying to use the xArm6 Moveit package with ROS_NAMESPACE

Open nitish3693 opened this issue 7 months ago • 11 comments
Hi Team,
When trying to launch the realMove_exec.launch from the xarm6_moveit_config under a ROS namespace, the process is giving errors and not connecting to the follow_joint_trajectory server.
Logs,
Ubuntu20:~/ros_wk$ ROS_NAMESPACE=test roslaunch xarm6_moveit_config realMove_exec.launch robot_ip:=192.168.1.212 
... logging to /home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/roslaunch-Ubuntu20-9361.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://Ubuntu20:45153/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /source_list: ['xarm/joint_stat...
 * /test/joint_state_publisher/rate: 10
 * /test/joint_state_publisher/use_gui: False
 * /test/move_group/allow_trajectory_execution: True
 * /test/move_group/capabilities: move_group/MoveGr...
 * /test/move_group/controller_list: [{'name': '', 'ac...
 * /test/move_group/jiggle_fraction: 0.05
 * /test/move_group/max_range: 5.0
 * /test/move_group/max_safe_path_cost: 1
 * /test/move_group/moveit_controller_manager: moveit_simple_con...
 * /test/move_group/moveit_manage_controllers: True
 * /test/move_group/octomap_resolution: 0.025
 * /test/move_group/planner_configs/BFMT/balanced: 0
 * /test/move_group/planner_configs/BFMT/cache_cc: 1
 * /test/move_group/planner_configs/BFMT/extended_fmt: 1
 * /test/move_group/planner_configs/BFMT/heuristics: 1
 * /test/move_group/planner_configs/BFMT/nearest_k: 1
 * /test/move_group/planner_configs/BFMT/num_samples: 1000
 * /test/move_group/planner_configs/BFMT/optimality: 1
 * /test/move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /test/move_group/planner_configs/BFMT/type: geometric::BFMT
 * /test/move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /test/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/BKPIECE/range: 0.0
 * /test/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /test/move_group/planner_configs/BiEST/range: 0.0
 * /test/move_group/planner_configs/BiEST/type: geometric::BiEST
 * /test/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /test/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /test/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /test/move_group/planner_configs/BiTRRT/init_temperature: 100
 * /test/move_group/planner_configs/BiTRRT/range: 0.0
 * /test/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /test/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /test/move_group/planner_configs/EST/goal_bias: 0.05
 * /test/move_group/planner_configs/EST/range: 0.0
 * /test/move_group/planner_configs/EST/type: geometric::EST
 * /test/move_group/planner_configs/FMT/cache_cc: 1
 * /test/move_group/planner_configs/FMT/extended_fmt: 1
 * /test/move_group/planner_configs/FMT/heuristics: 0
 * /test/move_group/planner_configs/FMT/nearest_k: 1
 * /test/move_group/planner_configs/FMT/num_samples: 1000
 * /test/move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /test/move_group/planner_configs/FMT/type: geometric::FMT
 * /test/move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /test/move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /test/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/KPIECE/range: 0.0
 * /test/move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /test/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /test/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /test/move_group/planner_configs/LBKPIECE/range: 0.0
 * /test/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /test/move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /test/move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /test/move_group/planner_configs/LBTRRT/range: 0.0
 * /test/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /test/move_group/planner_configs/LazyPRM/range: 0.0
 * /test/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /test/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /test/move_group/planner_configs/PDST/type: geometric::PDST
 * /test/move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /test/move_group/planner_configs/PRM/type: geometric::PRM
 * /test/move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /test/move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /test/move_group/planner_configs/ProjEST/range: 0.0
 * /test/move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /test/move_group/planner_configs/RRT/goal_bias: 0.05
 * /test/move_group/planner_configs/RRT/range: 0.0
 * /test/move_group/planner_configs/RRT/type: geometric::RRT
 * /test/move_group/planner_configs/RRTConnect/allowed_planning_time: 0.02
 * /test/move_group/planner_configs/RRTConnect/range: 0.0
 * /test/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /test/move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /test/move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /test/move_group/planner_configs/RRTstar/range: 0.0
 * /test/move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /test/move_group/planner_configs/SBL/range: 0.0
 * /test/move_group/planner_configs/SBL/type: geometric::SBL
 * /test/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /test/move_group/planner_configs/SPARS/max_failures: 1000
 * /test/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /test/move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /test/move_group/planner_configs/SPARS/type: geometric::SPARS
 * /test/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /test/move_group/planner_configs/SPARStwo/max_failures: 5000
 * /test/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /test/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /test/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /test/move_group/planner_configs/STRIDE/degree: 16
 * /test/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /test/move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /test/move_group/planner_configs/STRIDE/max_degree: 18
 * /test/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /test/move_group/planner_configs/STRIDE/min_degree: 12
 * /test/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /test/move_group/planner_configs/STRIDE/range: 0.0
 * /test/move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /test/move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /test/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /test/move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /test/move_group/planner_configs/TRRT/goal_bias: 0.05
 * /test/move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /test/move_group/planner_configs/TRRT/k_constant: 0.0
 * /test/move_group/planner_configs/TRRT/max_states_failed: 10
 * /test/move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /test/move_group/planner_configs/TRRT/range: 0.0
 * /test/move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /test/move_group/planner_configs/TRRT/type: geometric::TRRT
 * /test/move_group/planning_plugin: ompl_interface/OM...
 * /test/move_group/planning_scene_monitor/publish_geometry_updates: True
 * /test/move_group/planning_scene_monitor/publish_planning_scene: True
 * /test/move_group/planning_scene_monitor/publish_state_updates: True
 * /test/move_group/planning_scene_monitor/publish_transforms_updates: True
 * /test/move_group/request_adapters: industrial_trajec...
 * /test/move_group/sample_duration: 0.02
 * /test/move_group/start_state_max_bounds_error: 0.1
 * /test/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /test/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /test/move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /test/move_group/trajectory_execution/execution_duration_monitoring: False
 * /test/move_group/xarm/xarm_gripper/default_planner_config: RRTConnect
 * /test/move_group/xarm/xarm_gripper/planner_configs: ['SBL', 'EST', 'L...
 * /test/move_group/xarm6/default_planner_config: RRTConnect
 * /test/move_group/xarm6/planner_configs: ['SBL', 'EST', 'L...
 * /test/nsxx1: xarm6_traj_contro...
 * /test/robot_description: <?xml version="1....
 * /test/robot_description_kinematics/xarm6/kinematics_solver: bio_ik/BioIKKinem...
 * /test/robot_description_kinematics/xarm6/kinematics_solver_search_resolution: 0.005
 * /test/robot_description_kinematics/xarm6/kinematics_solver_timeout: 0.005
 * /test/robot_description_kinematics/xarm6/minimal_displacement_weight: 0.8
 * /test/robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint1/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint1/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint1/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint2/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint2/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint2/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint3/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint3/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint3/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint4/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint4/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint4/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint5/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint5/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint5/max_velocity: 2.14
 * /test/robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
 * /test/robot_description_planning/joint_limits/joint6/has_velocity_limits: True
 * /test/robot_description_planning/joint_limits/joint6/max_acceleration: 0
 * /test/robot_description_planning/joint_limits/joint6/max_velocity: 2.14
 * /test/robot_description_semantic: <?xml version="1....
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver: bio_ik/BioIKKinem...
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver_search_resolution: 0.005
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/kinematics_solver_timeout: 0.005
 * /test/rviz_Ubuntu20_9361_7429938474669580425/xarm6/minimal_displacement_weight: 0.8
 * /test/xarm/DOF: 6
 * /test/xarm/add_gripper: False
 * /test/xarm/baud_checkset: True
 * /test/xarm/default_gripper_baud: 2000000
 * /test/xarm/enforce_limits: True
 * /test/xarm/joint_limits/joint1/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint1/has_velocity_limits: True
 * /test/xarm/joint_limits/joint1/max_acceleration: 0
 * /test/xarm/joint_limits/joint1/max_velocity: 2.14
 * /test/xarm/joint_limits/joint2/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint2/has_velocity_limits: True
 * /test/xarm/joint_limits/joint2/max_acceleration: 0
 * /test/xarm/joint_limits/joint2/max_velocity: 2.14
 * /test/xarm/joint_limits/joint3/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint3/has_velocity_limits: True
 * /test/xarm/joint_limits/joint3/max_acceleration: 0
 * /test/xarm/joint_limits/joint3/max_velocity: 2.14
 * /test/xarm/joint_limits/joint4/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint4/has_velocity_limits: True
 * /test/xarm/joint_limits/joint4/max_acceleration: 0
 * /test/xarm/joint_limits/joint4/max_velocity: 2.14
 * /test/xarm/joint_limits/joint5/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint5/has_velocity_limits: True
 * /test/xarm/joint_limits/joint5/max_acceleration: 0
 * /test/xarm/joint_limits/joint5/max_velocity: 2.14
 * /test/xarm/joint_limits/joint6/has_acceleration_limits: False
 * /test/xarm/joint_limits/joint6/has_velocity_limits: True
 * /test/xarm/joint_limits/joint6/max_acceleration: 0
 * /test/xarm/joint_limits/joint6/max_velocity: 2.14
 * /test/xarm/joint_names: ['joint1', 'joint...
 * /test/xarm/joint_state_controller/publish_rate: 50
 * /test/xarm/joint_state_controller/type: joint_state_contr...
 * /test/xarm/prefix: 
 * /test/xarm/uf_model: XARM
 * /test/xarm/velocity_control: False
 * /test/xarm/xarm6_traj_controller/action_monitor_rate: 10
 * /test/xarm/xarm6_traj_controller/constraints/goal_time: 0.5
 * /test/xarm/xarm6_traj_controller/constraints/joint1/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint1/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint2/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint2/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint3/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint3/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint4/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint4/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint5/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint5/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/joint6/goal: 0.01
 * /test/xarm/xarm6_traj_controller/constraints/joint6/trajectory: 1
 * /test/xarm/xarm6_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /test/xarm/xarm6_traj_controller/joints: ['joint1', 'joint...
 * /test/xarm/xarm6_traj_controller/state_publish_rate: 25
 * /test/xarm/xarm6_traj_controller/stop_trajectory_duration: 0.2
 * /test/xarm/xarm6_traj_controller/type: position_controll...
 * /test/xarm/xarm6_traj_controller_velocity/action_monitor_rate: 10
 * /test/xarm/xarm6_traj_controller_velocity/constraints/goal_time: 0.5
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint1/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint1/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint2/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint2/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint3/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint3/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint4/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint4/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint5/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint5/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint6/goal: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/constraints/joint6/trajectory: 1
 * /test/xarm/xarm6_traj_controller_velocity/constraints/stopped_velocity_tolerance: 0.01
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint1/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint2/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint3/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint4/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint5/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/d: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/i: 0.0
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/i_clamp: 1
 * /test/xarm/xarm6_traj_controller_velocity/gains/joint6/p: 10
 * /test/xarm/xarm6_traj_controller_velocity/joints: ['joint1', 'joint...
 * /test/xarm/xarm6_traj_controller_velocity/state_publish_rate: 25
 * /test/xarm/xarm6_traj_controller_velocity/stop_trajectory_duration: 0.2
 * /test/xarm/xarm6_traj_controller_velocity/type: velocity_controll...
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint1: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint2: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint3: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint4: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint5: 0.25
 * /test/xarm/xarm6_traj_controller_velocity/velocity_ff/joint6: 0.25
 * /test/xarm/xarm_report_type: normal
 * /test/xarm/xarm_robot_ip: 192.168.1.212

NODES
  /test/
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_Ubuntu20_9361_7429938474669580425 (rviz/rviz)
  /test/xarm/
    traj_controller_spawner (controller_manager/spawner)
    uf_ros_controller (xarm_controller/uf_ros_controller)

auto-starting new master
process[master]: started with pid [9373]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 226b56c6-49d9-11ef-be2f-c9a005e8bc99
process[rosout-1]: started with pid [9383]
started core service [/rosout]
process[test/xarm/uf_ros_controller-2]: started with pid [9390]
process[test/xarm/traj_controller_spawner-3]: started with pid [9391]
process[test/joint_state_publisher-4]: started with pid [9392]
process[test/robot_state_publisher-5]: started with pid [9393]
process[test/move_group-6]: started with pid [9398]
process[test/rviz_Ubuntu20_9361_7429938474669580425-7]: started with pid [9400]
[ WARN] [1721838241.596239522]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1721838241.601185729]: Loading robot model 'UF_ROBOT'...
[ INFO] [1721838241.601214870]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1721838241.690430826]: rviz version 1.14.25
[ INFO] [1721838241.690479229]: compiled against Qt version 5.12.8
[ INFO] [1721838241.690489306]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1721838241.698126050]: Forcing OpenGl version 0.
[INFO] [1721838241.828753]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1721838241.860120506]: Stereo is NOT SUPPORTED
[ INFO] [1721838241.860187938]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1721838241.860207354]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1721838242.048106096]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1721838242.051435013]: Listening to 'joint_states' for joint states
[ INFO] [1721838242.053766617]: Listening to '/test/attached_collision_object' for attached collision objects
[ INFO] [1721838242.053788655]: Starting planning scene monitor
[ INFO] [1721838242.055157088]: Listening to '/test/planning_scene'
[ INFO] [1721838242.055176212]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1721838242.056330379]: Listening to '/test/collision_object'
[ INFO] [1721838242.057471343]: Listening to '/test/planning_scene_world' for planning scene world geometry
[ INFO] [1721838242.057922019]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1721838242.129280424]: Loading planning pipeline ''
[ INFO] [1721838242.159109571]: Using planning interface 'OMPL'
[ INFO] [1721838242.160782643]: Constructing N point filter
[ INFO] [1721838242.161986057]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1721838242.162196382]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1721838242.162419156]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1721838242.162612452]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1721838242.162787824]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1721838242.162964626]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1721838242.162993529]: Using planning request adapter 'Trajectory filter 'UniformSampleFilter' of type 'UniformSampleFilter''
[ INFO] [1721838242.163005658]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1721838242.163039709]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1721838242.163076461]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1721838242.163085796]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1721838242.163094724]: Using planning request adapter 'Fix Start State Path Constraints'
SDK_VERSION: 1.13.21
Tcp control connection successful
change protocol identifier to 2
ROBOT_IP: 192.168.1.212, VERSION: v2.3.0, PROTOCOL: V1, DETAIL: 6,6,XI1300,AC1300,v2.3.0, TYPE1300: [1, 1]
Tcp Report Rich connection successful
change protocol identifier to 3
report_data_size: 495, size_is_not_confirm: 0
Tcp Report Norm connection successful
[ INFO] [1721838242.868426597]: [TCP STATUS] CONTROL: 1, REPORT: 1
report_data_size: 145, size_is_not_confirm: 0
Error:   Error document empty.
         at line 100 in /build/urdfdom-VnCcob/urdfdom-1.0.4+ds/urdf_parser/src/model.cpp
[test/xarm/uf_ros_controller-2] process has died [pid 9390, exit code -11, cmd /home/nitish/ros_wk/devel/lib/xarm_controller/uf_ros_controller ip=192.168.1.212 __name:=uf_ros_controller __log:=/home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/test-xarm-uf_ros_controller-2.log].
log file: /home/nitish/.ros/log/226b56c6-49d9-11ef-be2f-c9a005e8bc99/test-xarm-uf_ros_controller-2*.log
[ INFO] [1721838245.130532985]: Loading robot model 'UF_ROBOT'...
[ INFO] [1721838245.130638959]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1721838245.597070502]: Starting planning scene monitor
[ INFO] [1721838245.598646025]: Listening to '/test/move_group/monitored_planning_scene'
[ INFO] [1721838245.611042767]: waitForService: Service [/test/get_planning_scene] has not been advertised, waiting...
[ WARN] [1721838247.172671763]: Waiting for /follow_joint_trajectory to come up...
[ INFO] [1721838250.620695291]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1721838250.620845256]: Constructing new MoveGroup connection for group 'xarm6' in namespace ''
[ WARN] [1721838252.173054540]: Waiting for /follow_joint_trajectory to come up...
[ERROR] [1721838257.173472955]: Action client not connected: /follow_joint_trajectory
[ INFO] [1721838257.189766299]: Returned 0 controllers in list
[ INFO] [1721838257.196082631]: Trajectory execution is managing controllers
[ INFO] [1721838257.196124848]: MoveGroup debug mode is ON
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1721838257.238734292]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1721838257.239529017]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1721838257.239583422]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1721838258.424786705]: Ready to take commands for planning group xarm6.
^C[test/rviz_Ubuntu20_9361_7429938474669580425-7] killing on exit
[test/move_group-6] killing on exit
[test/robot_state_publisher-5] killing on exit
[test/joint_state_publisher-4] killing on exit
[test/xarm/traj_controller_spawner-3] killing on exit
[WARN] [1721838259.204696]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Jul 24 '24 16:07 nitish3693
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Error while trying to use the xArm6 Moveit package with ROS_NAMESPACE

xarm_ros
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