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    moveit配置了自己的机器人后，运行demo和gazebo后，只有rviz中机器人可以动，gazebo中不能动。

    已定时 已固定 已锁定 已移动
    机械臂运动规划
    melodic gazebo gazebo不能与rviz联动
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    • 11136189301
      阿灿
      最后由 编辑

      采用ubuntu18.04 melodic版本

      预期结果：用moveit配置后让自己的机械臂在rviz和gazebo一块动。
      问题描述：在moveit_config配置文件里，运行demo.launch和gazebo.launch。问题1：终端警告提示节点重名。问题2：rviz中，自己的机械臂可以动，但是gazebo不能同时动。

      11136189301 10 条回复 最后回复 回复 引用 0
      • 11136189301
        阿灿
        最后由 编辑

        1、urdf中驱动代码：
        <!-- Transmissions for ROS Control -->
        <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
        <transmission name="${tran_name}">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="${joint_name}">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="$motor_name">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
        </actuator>
        </transmission>
        </xacro:macro>

        <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
        <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
        <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
        <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
        <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
        <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
        <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>

        <!--gazebo plugin-->
        <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>/arm_z</robotNamespace>
        <legacyModeNS>true</legacyModeNS>
        </plugin>
        </gazebo>

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        • 11136189301
          阿灿 @1113618930
          最后由 编辑

          @1113618930 2、目录arm/src/arm_moveit_config/config下gazebo_controllers.yaml代码

          # Publish joint_states
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
          1 条回复 最后回复 回复 引用 0
          • 11136189301
            阿灿 @1113618930
            最后由 编辑

            @1113618930 3、arm/src/arm_moveit_config/config下的ros_controllers.yaml代码

            arm_position_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - joint1
    - joint2
    - joint3
    - joint4
    - joint5
    - joint6
    - joint7
  gains:
    joint1:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint2:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint3:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint4:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint5:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint6:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    joint7:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
            1 条回复 最后回复 回复 引用 0
            • 11136189301
              阿灿 @1113618930
              最后由 1113618930 编辑

              @1113618930 4、arm/src/arm_moveit_config/config下的simple_moveit_controllers.yaml代码

              controller_list:
  - name: arm_position_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: True
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - joint7
              1 条回复 最后回复 回复 引用 0
              • 11136189301
                阿灿 @1113618930
                最后由 编辑

                @1113618930 5、fake_controllers.yaml代码

                controller_list:
  - name: fake_arm_controller
    type: $(arg fake_execution_type)
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - joint7
initial:  # Define initial robot poses per group
  - group: arm
    pose: home
                1 条回复 最后回复 回复 引用 0
                • 11136189301
                  阿灿 @1113618930
                  最后由 编辑

                  @1113618930 6、以下是arm_src/arm_moveit_config/launch文件下的代码
                  demo.launch代码

                  <launch>

  <!-- specify the planning pipeline -->
  <arg name="pipeline" default="ompl" />

  <!-- By default, we do not start a database (it can be large) -->
  <arg name="db" default="false" />
  <!-- Allow user to specify database location -->
  <arg name="db_path" default="$(find arm_moveit_config)/default_warehouse_mongo_db" />

  <!-- By default, we are not in debug mode -->
  <arg name="debug" default="false" />

  <!-- By default, we will load or override the robot_description -->
  <arg name="load_robot_description" default="true"/>

  <!-- Choose controller manager: fake, simple, or ros_control -->
  <arg name="moveit_controller_manager" default="fake" />
  <!-- Set execution mode for fake execution controllers -->
  <arg name="fake_execution_type" default="interpolate" />

  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
  <arg name="use_gui" default="false" />
  <arg name="use_rviz" default="true" />

  <!-- If needed, broadcast static tf for robot root -->

  <group if="$(eval arg('moveit_controller_manager') == 'fake')">

    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
    </node>


    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
         This corresponds to moving around the real robot without the use of MoveIt. -->
    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
    </node>


    <!-- Given the published joint states, publish tf for the robot links -->

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
  </group>

  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
  <include file="$(dirname)/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
    <arg name="info" value="true"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="pipeline" value="$(arg pipeline)"/>
    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
  </include>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- If database loading was enabled, start mongodb as well -->
  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
  </include>

</launch>
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                  • 11136189301
                    阿灿 @1113618930
                    最后由 编辑

                    @1113618930 7、launch文件下gazebo.launch代码

                    <?xml version="1.0"?>
<launch>
  <!-- Gazebo options -->
  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
  <arg name="paused" default="false" doc="Start Gazebo paused"/>
  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
  <arg name="initial_joint_positions" default=" -J joint1 0 -J joint2 0 -J joint3 0 -J joint4 0 -J joint5 0 -J joint6 0 -J joint7 0" doc="Initial joint configuration of the robot"/>

  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
    <arg name="paused" value="true"/>
  </include>

  <!-- Set the robot urdf on the parameter server -->
  <param name="robot_description" command="xacro  '$(find arm_z)/urdf/arm_z.xacro'" />

  <!-- Unpause the simulation after loading the robot model -->
  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />

  <!-- Spawn the robot in Gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
    respawn="false" output="screen" />

  <!-- Load the controller parameters onto the parameter server -->
  <rosparam file="$(find arm_moveit_config)/config/gazebo_controllers.yaml" />
  <include file="$(dirname)/ros_controllers.launch"/>

  <!-- Spawn the Gazebo ROS controllers -->
  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />

  <!-- Given the published joint states, publish tf for the robot links -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
</launch>
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                    • 11136189301
                      阿灿 @1113618930
                      最后由 编辑

                      @1113618930 launch文件下move_group.launch代码

                      <launch>

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />

  <!-- Verbose Mode Option -->
  <arg name="info" default="$(arg debug)" />
  <arg unless="$(arg info)" name="command_args" value="" />
  <arg     if="$(arg info)" name="command_args" value="--debug" />

  <!-- move_group settings -->
  <arg name="pipeline" default="ompl" />
  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="moveit_controller_manager" default="simple" />
  <arg name="fake_execution_type" default="interpolate"/>
  <arg name="max_safe_path_cost" default="1"/>
  <arg name="publish_monitored_planning_scene" default="true"/>

  <arg name="capabilities" default=""/>
  <arg name="disable_capabilities" default=""/>
  <!-- load these non-default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="capabilities" value="
                a_package/AwsomeMotionPlanningCapability
                another_package/GraspPlanningPipeline
                " />
  -->

  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="disable_capabilities" value="
                move_group/MoveGroupKinematicsService
                move_group/ClearOctomapService
                " />
  -->

  <arg name="load_robot_description" default="false" />
  <!-- load URDF, SRDF and joint_limits configuration -->
  <include file="$(dirname)/planning_context.launch">
    <arg name="load_robot_description" value="$(arg load_robot_description)" />
  </include>

  <!-- Planning Pipelines -->
  <group ns="move_group/planning_pipelines">

    <!-- OMPL -->
    <include file="$(dirname)/planning_pipeline.launch.xml">
      <arg name="pipeline" value="ompl" />
    </include>

    <!-- CHOMP -->
    <include file="$(dirname)/planning_pipeline.launch.xml">
      <arg name="pipeline" value="chomp" />
    </include>

    <!-- Pilz Industrial Motion -->
    <include file="$(dirname)/planning_pipeline.launch.xml">
      <arg name="pipeline" value="pilz_industrial_motion_planner" />
    </include>

    <!-- Support custom planning pipeline -->
    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
             file="$(dirname)/planning_pipeline.launch.xml">
      <arg name="pipeline" value="$(arg pipeline)" />
    </include>
  </group>

  <!-- Trajectory Execution Functionality -->
  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_manage_controllers" value="true" />
    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
  </include>

  <!-- Sensors Functionality -->
  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="arm_z" />
  </include>

  <!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="default_planning_pipeline" value="$(arg pipeline)" />
    <param name="capabilities" value="$(arg capabilities)" />
    <param name="disable_capabilities" value="$(arg disable_capabilities)" />

    <!-- do not copy dynamics information from /joint_states to internal robot monitoring
         default to false, because almost nothing in move_group relies on this information -->
    <param name="monitor_dynamics" value="false" />

    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
  </node>

</launch>
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                      • 11136189301
                        阿灿 @1113618930
                        最后由 编辑

                        @1113618930
                        launch文件下ros_controllers.launch代码

                        <?xml version="1.0"?>
<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find arm_moveit_config)/config/ros_controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="arm_position_controller "/>

</launch>
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                        • 11136189301
                          阿灿 @1113618930
                          最后由 编辑

                          此回复已被删除！
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                          • 11136189301
                            阿灿 @1113618930
                            最后由 编辑

                            @1113618930 终端命令

                            [ WARN] [1679122051.973383535]: Shutdown request received.
[ WARN] [1679122051.975958574]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [17540]
[ WARN] [1679122052.288484066]: Shutdown request received.
[ WARN] [1679122052.291101496]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [17556]
[ WARN] [1679122052.600755343]: Shutdown request received.
[ WARN] [1679122052.603466136]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[WARN] [1679122052.704143, 139.932000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [17572]
[ WARN] [1679122052.917311873]: Shutdown request received.
[ WARN] [1679122052.920810009]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [17598]
                            11136189301 3 条回复 最后回复 回复 引用 0
                            • 11136189301
                              阿灿 @1113618930
                              最后由 编辑

                              @1113618930 用moveit配置完之后，直接运行的denmo和gazebo，终端就提示这个命令，并且rviz与gazebo不能同时动。

                              1 条回复 最后回复 回复 引用 0
                              • 11136189301
                                阿灿 @1113618930
                                最后由 编辑

                                此回复已被删除！
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                                • 11136189301
                                  阿灿 @1113618930
                                  最后由 1113618930 编辑

                                  @1113618930
                                  又配置了一遍，终端又出现了错误：同样rviz与gazebo可以显示，但是不能同步运动：

                                  以下是先启动rviz 的错误：

                                  process[joint_state_publisher-1]: started with pid [20440]
process[robot_state_publisher-2]: started with pid [20441]
process[move_group-3]: started with pid [20442]
[ WARN] [1679125159.198086958]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
process[rviz_xp_T58_D_20414_8227358618695934036-4]: started with pid [20448]
[ INFO] [1679125159.241425579]: Loading robot model 'arm_z'...
[ INFO] [1679125159.243132222]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1679125159.326448510]: rviz version 1.13.29
[ INFO] [1679125159.326523079]: compiled against Qt version 5.9.5
[ INFO] [1679125159.326555090]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1679125159.335935604]: Forcing OpenGl version 0.
[ WARN] [1679125159.515196390]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1679125159.526468378]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[WARN] [1679125159.681970, 0.000000]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ INFO] [1679125159.842614301]: Stereo is NOT SUPPORTED
[ INFO] [1679125159.842681098]: OpenGL device: NVIDIA GeForce GTX 1050/PCIe/SSE2
[ INFO] [1679125159.842705001]: OpenGl version: 4.6 (GLSL 4.6).
[ERROR] [1679125160.246825764]: Exception while loading Hybrid: According to the loaded plugin descriptions the class Hybrid with base class type collision_detection::CollisionPlugin does not exist. Declared types are  Bullet FCL
[ INFO] [1679125160.246912007]: Using collision detector:FCL
[ INFO] [1679125160.251768806]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1679125160.253526995]: Listening to 'joint_states' for joint states
[ INFO] [1679125160.256771120]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1679125160.256815314]: Starting planning scene monitor
[ INFO] [1679125160.258797499]: Listening to '/planning_scene'
                                  11136189301 1 条回复 最后回复 回复 引用 0
                                  • 11136189301
                                    阿灿 @1113618930
                                    最后由 编辑

                                    @1113618930
                                    同时启动rviz与gazebo，终端的警告：

                                    You can start planning now!

[ WARN] [1679125213.502411483]: Shutdown request received.
[ WARN] [1679125213.502455394]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [20888]
[ WARN] [1679125213.747132877]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125214.017575265]: Shutdown request received.
[ WARN] [1679125214.017621904]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21030]
[ WARN] [1679125214.255693246]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125214.525132338]: Shutdown request received.
[ WARN] [1679125214.525167051]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[WARN] [1679125214.632244, 0.000000]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21054]
[ WARN] [1679125214.753356317]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125215.033524088]: Shutdown request received.
[ WARN] [1679125215.033575148]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21128]
[ WARN] [1679125215.269981472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125215.660710581]: Shutdown request received.
[ WARN] [1679125215.660778343]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21162]
[ WARN] [1679125215.874257088]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125216.169900665]: Shutdown request received.
[ WARN] [1679125216.169957554]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21181]
[ WARN] [1679125216.379792363]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125216.677411048]: Shutdown request received.
[ WARN] [1679125216.677442706]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21202]
[ WARN] [1679125216.892892923]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125217.184628360]: Shutdown request received.
[ WARN] [1679125217.184662972]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21220]
[ WARN] [1679125217.411397382]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125217.691337359, 0.870000000]: Shutdown request received.
[ WARN] [1679125217.691380020, 0.870000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21238]
[ WARN] [1679125217.906539940]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125218.198077086, 1.375000000]: Shutdown request received.
[ WARN] [1679125218.198118254, 1.375000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21257]
[ WARN] [1679125218.415009234]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125218.704655363]: Shutdown request received.
[ WARN] [1679125218.704693599, 1.881000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21275]
[ WARN] [1679125218.920581471]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125219.211322184, 2.386000000]: Shutdown request received.
[ WARN] [1679125219.211363367, 2.386000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21293]
[ WARN] [1679125219.425836472]: The root link arm_base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1679125219.825154504, 2.985000000]: Shutdown request received.
[ WARN] [1679125219.825194354, 2.985000000]: Reason given for shutdown: [[/robot_state_publisher] Reason: new node registered with same name]
Property::loadValue() TODO: error handling - unexpected QVariant type 0.
Property::loadValue() TODO: error handling - unexpected QVariant type 0.
[ INFO] [1679125219.951226849, 3.111000000]: Loading robot model 'arm_z'...
[ INFO] [1679125219.951290314, 3.111000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[robot_state_publisher-2] process has finished cleanly
log file: /home/xp/.ros/log/5bc78226-c54d-11ed-ac96-80fa5b4f16d1/robot_state_publisher-2*.log
[robot_state_publisher-2] restarting process
process[robot_state_publisher-2]: started with pid [21314]
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