信息4：终端反馈的信息：
wlz@ubuntu:~/catkin_ws$ roslaunch ur5_moveit_config demo_gazebo.launch
... logging to /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/roslaunch-ubuntu-20237.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.
started roslaunch server http://ubuntu:41385/
SUMMARY
PARAMETERS
/arm_controller/action_monitor_rate: 1
/arm_controller/constraints/goal_time: 0.6
/arm_controller/constraints/joint1/goal: 0.1
/arm_controller/constraints/joint1/trajectory: 0.1
/arm_controller/constraints/joint2/goal: 0.1
/arm_controller/constraints/joint2/trajectory: 0.1
/arm_controller/constraints/joint3/goal: 0.1
/arm_controller/constraints/joint3/trajectory: 0.1
/arm_controller/constraints/joint4/goal: 0.1
/arm_controller/constraints/joint4/trajectory: 0.1
/arm_controller/constraints/joint5/goal: 0.1
/arm_controller/constraints/joint5/trajectory: 0.1
/arm_controller/constraints/joint6/goal: 0.1
/arm_controller/constraints/joint6/trajectory: 0.1
/arm_controller/constraints/stopped_velocity_tolerance: 0.05
/arm_controller/gains/joint1/d: 1.0
/arm_controller/gains/joint1/i: 10.0
/arm_controller/gains/joint1/i_clamp_max: 1.0
/arm_controller/gains/joint1/i_clamp_min: -1.0
/arm_controller/gains/joint1/p: 100.0
/arm_controller/gains/joint2/d: 1.0
/arm_controller/gains/joint2/i: 10.0
/arm_controller/gains/joint2/i_clamp_max: 1.0
/arm_controller/gains/joint2/i_clamp_min: -1.0
/arm_controller/gains/joint2/p: 100.0
/arm_controller/gains/joint3/d: 1.0
/arm_controller/gains/joint3/i: 10.0
/arm_controller/gains/joint3/i_clamp_max: 1.0
/arm_controller/gains/joint3/i_clamp_min: -1.0
/arm_controller/gains/joint3/p: 100.0
/arm_controller/gains/joint4/d: 1.0
/arm_controller/gains/joint4/i: 10.0
/arm_controller/gains/joint4/i_clamp_max: 1.0
/arm_controller/gains/joint4/i_clamp_min: -1.0
/arm_controller/gains/joint4/p: 100.0
/arm_controller/gains/joint5/d: 1.0
/arm_controller/gains/joint5/i: 10.0
/arm_controller/gains/joint5/i_clamp_max: 1.0
/arm_controller/gains/joint5/i_clamp_min: -1.0
/arm_controller/gains/joint5/p: 100.0
/arm_controller/gains/joint6/d: 1.0
/arm_controller/gains/joint6/i: 10.0
/arm_controller/gains/joint6/i_clamp_max: 1.0
/arm_controller/gains/joint6/i_clamp_min: -1.0
/arm_controller/gains/joint6/p: 100.0
/arm_controller/joints: ['joint1', 'joint...
/arm_controller/state_publish_rate: 25
/arm_controller/stop_trajectory_duration: 0.5
/arm_controller/type: effort_controller...
/controller_list: [{'default': True...
/gazebo/enable_ros_network: True
/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/generic_hw_control_loop/loop_hz: 300
/hardware_interface/joints: ['joint1', 'joint...
/hardware_interface/sim_control_mode: 1
/joint_state_controller/publish_rate: 50
/joint_state_controller/type: joint_state_contr...
/joint_state_publisher/source_list: ['/joint_states']
/move_group/allow_trajectory_execution: True
/move_group/arm/default_planner_config: RRT
/move_group/arm/longest_valid_segment_fraction: 0.005
/move_group/arm/planner_configs: ['SBL', 'EST', 'L...
/move_group/arm/projection_evaluator: joints(joint1,joi...
/move_group/arm_controller/action_monitor_rate: 1
/move_group/arm_controller/constraints/goal_time: 0.6
/move_group/arm_controller/constraints/joint1/goal: 0.1
/move_group/arm_controller/constraints/joint1/trajectory: 0.1
/move_group/arm_controller/constraints/joint2/goal: 0.1
/move_group/arm_controller/constraints/joint2/trajectory: 0.1
/move_group/arm_controller/constraints/joint3/goal: 0.1
/move_group/arm_controller/constraints/joint3/trajectory: 0.1
/move_group/arm_controller/constraints/joint4/goal: 0.1
/move_group/arm_controller/constraints/joint4/trajectory: 0.1
/move_group/arm_controller/constraints/joint5/goal: 0.1
/move_group/arm_controller/constraints/joint5/trajectory: 0.1
/move_group/arm_controller/constraints/joint6/goal: 0.1
/move_group/arm_controller/constraints/joint6/trajectory: 0.1
/move_group/arm_controller/constraints/stopped_velocity_tolerance: 0.05
/move_group/arm_controller/gains/joint1/d: 1.0
/move_group/arm_controller/gains/joint1/i: 10.0
/move_group/arm_controller/gains/joint1/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint1/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint1/p: 100.0
/move_group/arm_controller/gains/joint2/d: 1.0
/move_group/arm_controller/gains/joint2/i: 10.0
/move_group/arm_controller/gains/joint2/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint2/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint2/p: 100.0
/move_group/arm_controller/gains/joint3/d: 1.0
/move_group/arm_controller/gains/joint3/i: 10.0
/move_group/arm_controller/gains/joint3/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint3/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint3/p: 100.0
/move_group/arm_controller/gains/joint4/d: 1.0
/move_group/arm_controller/gains/joint4/i: 10.0
/move_group/arm_controller/gains/joint4/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint4/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint4/p: 100.0
/move_group/arm_controller/gains/joint5/d: 1.0
/move_group/arm_controller/gains/joint5/i: 10.0
/move_group/arm_controller/gains/joint5/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint5/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint5/p: 100.0
/move_group/arm_controller/gains/joint6/d: 1.0
/move_group/arm_controller/gains/joint6/i: 10.0
/move_group/arm_controller/gains/joint6/i_clamp_max: 1.0
/move_group/arm_controller/gains/joint6/i_clamp_min: -1.0
/move_group/arm_controller/gains/joint6/p: 100.0
/move_group/arm_controller/joints: ['joint1', 'joint...
/move_group/arm_controller/state_publish_rate: 25
/move_group/arm_controller/stop_trajectory_duration: 0.5
/move_group/arm_controller/type: effort_controller...
/move_group/capabilities:
/move_group/controller_list: [{'default': True...
/move_group/disable_capabilities:
/move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/move_group/generic_hw_control_loop/loop_hz: 300
/move_group/hardware_interface/joints: ['joint1', 'joint...
/move_group/hardware_interface/sim_control_mode: 1
/move_group/jiggle_fraction: 0.05
/move_group/joint_state_controller/publish_rate: 50
/move_group/joint_state_controller/type: joint_state_contr...
/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/moveit_sim_hw_interface/joint_model_group: arm
/move_group/moveit_sim_hw_interface/joint_model_group_pose: init_pos
/move_group/octomap_resolution: 0.025
/move_group/planner_configs/BFMT/balanced: 0
/move_group/planner_configs/BFMT/cache_cc: 1
/move_group/planner_configs/BFMT/extended_fmt: 1
/move_group/planner_configs/BFMT/heuristics: 1
/move_group/planner_configs/BFMT/nearest_k: 1
/move_group/planner_configs/BFMT/num_samples: 1000
/move_group/planner_configs/BFMT/optimality: 1
/move_group/planner_configs/BFMT/radius_multiplier: 1.0
/move_group/planner_configs/BFMT/type: geometric::BFMT
/move_group/planner_configs/BKPIECE/border_fraction: 0.9
/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/BKPIECE/range: 0.0
/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
/move_group/planner_configs/BiEST/range: 0.0
/move_group/planner_configs/BiEST/type: geometric::BiEST
/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
/move_group/planner_configs/BiTRRT/init_temperature: 100
/move_group/planner_configs/BiTRRT/range: 0.0
/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
/move_group/planner_configs/EST/goal_bias: 0.05
/move_group/planner_configs/EST/range: 0.0
/move_group/planner_configs/EST/type: geometric::EST
/move_group/planner_configs/FMT/cache_cc: 1
/move_group/planner_configs/FMT/extended_fmt: 1
/move_group/planner_configs/FMT/heuristics: 0
/move_group/planner_configs/FMT/nearest_k: 1
/move_group/planner_configs/FMT/num_samples: 1000
/move_group/planner_configs/FMT/radius_multiplier: 1.1
/move_group/planner_configs/FMT/type: geometric::FMT
/move_group/planner_configs/KPIECE/border_fraction: 0.9
/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/KPIECE/goal_bias: 0.05
/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/KPIECE/range: 0.0
/move_group/planner_configs/KPIECE/type: geometric::KPIECE
/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/LBKPIECE/range: 0.0
/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/move_group/planner_configs/LBTRRT/epsilon: 0.4
/move_group/planner_configs/LBTRRT/goal_bias: 0.05
/move_group/planner_configs/LBTRRT/range: 0.0
/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
/move_group/planner_configs/LazyPRM/range: 0.0
/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
/move_group/planner_configs/PDST/type: geometric::PDST
/move_group/planner_configs/PRM/max_nearest_neighbors: 10
/move_group/planner_configs/PRM/type: geometric::PRM
/move_group/planner_configs/PRMstar/type: geometric::PRMstar
/move_group/planner_configs/ProjEST/goal_bias: 0.05
/move_group/planner_configs/ProjEST/range: 0.0
/move_group/planner_configs/ProjEST/type: geometric::ProjEST
/move_group/planner_configs/RRT/goal_bias: 0.05
/move_group/planner_configs/RRT/range: 0.0
/move_group/planner_configs/RRT/type: geometric::RRT
/move_group/planner_configs/RRTConnect/range: 0.0
/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
/move_group/planner_configs/RRTstar/delay_collision_checking: 1
/move_group/planner_configs/RRTstar/goal_bias: 0.05
/move_group/planner_configs/RRTstar/range: 0.0
/move_group/planner_configs/RRTstar/type: geometric::RRTstar
/move_group/planner_configs/SBL/range: 0.0
/move_group/planner_configs/SBL/type: geometric::SBL
/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARS/max_failures: 1000
/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARS/stretch_factor: 3.0
/move_group/planner_configs/SPARS/type: geometric::SPARS
/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARStwo/max_failures: 5000
/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
/move_group/planner_configs/STRIDE/degree: 16
/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
/move_group/planner_configs/STRIDE/goal_bias: 0.05
/move_group/planner_configs/STRIDE/max_degree: 18
/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
/move_group/planner_configs/STRIDE/min_degree: 12
/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/move_group/planner_configs/STRIDE/range: 0.0
/move_group/planner_configs/STRIDE/type: geometric::STRIDE
/move_group/planner_configs/STRIDE/use_projected_distance: 0
/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
/move_group/planner_configs/TRRT/frountier_threshold: 0.0
/move_group/planner_configs/TRRT/goal_bias: 0.05
/move_group/planner_configs/TRRT/init_temperature: 10e-6
/move_group/planner_configs/TRRT/k_constant: 0.0
/move_group/planner_configs/TRRT/max_states_failed: 10
/move_group/planner_configs/TRRT/min_temperature: 10e-10
/move_group/planner_configs/TRRT/range: 0.0
/move_group/planner_configs/TRRT/temp_change_factor: 2.0
/move_group/planner_configs/TRRT/type: geometric::TRRT
/move_group/planning_plugin: ompl_interface/OM...
/move_group/planning_scene_monitor/publish_geometry_updates: True
/move_group/planning_scene_monitor/publish_planning_scene: True
/move_group/planning_scene_monitor/publish_state_updates: True
/move_group/planning_scene_monitor/publish_transforms_updates: True
/move_group/request_adapters: default_planner_r...
/move_group/sensors: [{}, {}]
/move_group/start_state_max_bounds_error: 0.1
/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/move_group/trajectory_execution/allowed_start_tolerance: 0.01
/moveit_sim_hw_interface/joint_model_group: arm
/moveit_sim_hw_interface/joint_model_group_pose: init_pos
/robot_description: <...>
/robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
/robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
/robot_description_planning/cartesian_limits/max_rot_vel: 1.57
/robot_description_planning/cartesian_limits/max_trans_acc: 2.25
/robot_description_planning/cartesian_limits/max_trans_dec: -5
/robot_description_planning/cartesian_limits/max_trans_vel: 1
/robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint1/has_velocity_limits: True
/robot_description_planning/joint_limits/joint1/max_acceleration: 0
/robot_description_planning/joint_limits/joint1/max_velocity: 1
/robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint2/has_velocity_limits: True
/robot_description_planning/joint_limits/joint2/max_acceleration: 0
/robot_description_planning/joint_limits/joint2/max_velocity: 1
/robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint3/has_velocity_limits: True
/robot_description_planning/joint_limits/joint3/max_acceleration: 0
/robot_description_planning/joint_limits/joint3/max_velocity: 1
/robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint4/has_velocity_limits: True
/robot_description_planning/joint_limits/joint4/max_acceleration: 0
/robot_description_planning/joint_limits/joint4/max_velocity: 1
/robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint5/has_velocity_limits: True
/robot_description_planning/joint_limits/joint5/max_acceleration: 0
/robot_description_planning/joint_limits/joint5/max_velocity: 1
/robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint6/has_velocity_limits: True
/robot_description_planning/joint_limits/joint6/max_acceleration: 0
/robot_description_planning/joint_limits/joint6/max_velocity: 1
/robot_description_semantic: <?xml version="1....
/rosdistro: melodic
/rosversion: 1.14.13
/use_sim_time: True
NODES
/
controller_spawner (controller_manager/controller_manager)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
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_ubuntu_20237_4335575107870997936 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [20248]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 4bfb239a-1e86-11f0-9e8b-000c29aa3a06
process[rosout-1]: started with pid [20259]
started core service [/rosout]
process[gazebo-2]: started with pid [20266]
process[gazebo_gui-3]: started with pid [20271]
process[spawn_gazebo_model-4]: started with pid [20276]
process[controller_spawner-5]: started with pid [20277]
process[joint_state_publisher-6]: started with pid [20278]
process[robot_state_publisher-7]: started with pid [20279]
process[move_group-8]: started with pid [20284]
process[rviz_ubuntu_20237_4335575107870997936-9]: started with pid [20287]
[ INFO] [1745222260.363244886]: Loading robot model 'ur5'...
[ INFO] [1745222260.364989494]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1745222260.494560184]: rviz version 1.13.30
[ INFO] [1745222260.494591722]: compiled against Qt version 5.9.5
[ INFO] [1745222260.494595988]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1745222260.518764872]: Forcing OpenGl version 0.
[ INFO] [1745222260.722250625]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1745222260.723508491]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1745222260.760316358]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1745222260.761426299]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1745222261.035135, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1745222261.039118, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1745222261.105124409]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1745222261.105965327]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1745222261.105977776]: Starting planning scene monitor
[ INFO] [1745222261.106623188]: Listening to '/planning_scene'
[ INFO] [1745222261.106642626]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1745222261.107250822]: Listening to '/collision_object'
[ INFO] [1745222261.107848528]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1745222261.108177843]: No sensor plugin specified for octomap updater 0; ignoring.
[ERROR] [1745222261.108194339]: No sensor plugin specified for octomap updater 1; ignoring.
[ INFO] [1745222261.524284989]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1745222261.532819038]: Initializing OMPL interface using ROS parameters
[ INFO] [1745222261.538223872]: Using planning interface 'OMPL'
[ INFO] [1745222261.539396056]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1745222261.539664402]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1745222261.539802002]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1745222261.540023891]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1745222261.540209116]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1745222261.540325418]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1745222261.540348881]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1745222261.540353281]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1745222261.540376863]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1745222261.540389910]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1745222261.540393710]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1745222262.315186965]: Stereo is NOT SUPPORTED
[ INFO] [1745222262.316773424]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1745222262.316864831]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1745222262.671448245]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1745222262.692236903, 0.003000000]: Physics dynamic reconfigure ready.
[INFO] [1745222262.845087, 0.142000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1745222262.923867, 0.181000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/spawn_gazebo_model-4*.log
[ INFO] [1745222263.142571411, 0.181000000]: Loading gazebo_ros_control plugin
[ INFO] [1745222263.142673823, 0.181000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1745222263.143422135, 0.181000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1745222263.252471974, 0.181000000]: Loaded gazebo_ros_control.
Loaded 'joint_state_controller'
Loaded 'arm_controller'
Started ['joint_state_controller'] successfully
Started ['arm_controller'] successfully
[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[controller_spawner-5] process has finished cleanly
log file: /home/wlz/.ros/log/4bfb239a-1e86-11f0-9e8b-000c29aa3a06/controller_spawner-5*.log
[ INFO] [1745222263.739094299, 0.607000000]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [1745222263.739193923, 0.607000000]: Returned 1 controllers in list
[ INFO] [1745222263.746224175, 0.607000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1745222263.774589680, 0.635000000]:
MoveGroup using:
- ApplyPlanningSceneService
- ClearOctomapService
- CartesianPathService
- ExecuteTrajectoryAction
- GetPlanningSceneService
- KinematicsService
- MoveAction
- PickPlaceAction
- MotionPlanService
- QueryPlannersService
- StateValidationService
[ INFO] [1745222263.774862296, 0.635000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1745222263.774961446, 0.635000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1745222266.381338979, 3.212000000]: Loading robot model 'ur5'...
[ INFO] [1745222266.381578969, 3.213000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1745222267.110574561, 3.947000000]: Starting planning scene monitor
[ INFO] [1745222267.111989507, 3.949000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1745222267.358729135, 4.203000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1745222268.358171206, 5.170000000]: Ready to take commands for planning group arm.
[ INFO] [1745222268.358261926, 5.170000000]: Looking around: no
[ INFO] [1745222268.358272424, 5.170000000]: Replanning: no
