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    moveit+gazebo联合仿真时，gazebo中的机械臂直接瘫倒在地上。

    已定时 已固定 已锁定 已移动
    机械臂运动规划
    机械臂仿真 gazebo 仿真 moveit
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    • 3
      321731520
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      4e725eb4-db98-4fd6-bb3b-a590e23ffcf2-image.png
      瘫倒状态如上图。
      虚拟机ubutun18.04

      1.由ur5官方提供的stp包构建好了urdf功能包，并添加了transsion和gazebo的一些代码，urdf文件内容见如下代码1。

      2.根据此urdf文件构建了moveit_config功能包，controller.yaml和launch文件也均已修改，具体内容见如下代码2、代码3

      3.启动该功能包下的demo_gazebo.launch文件后，机械臂处于如图中的瘫痪状态。终端反馈信息见信息4。

      注：

      1.link5打错成了limk5，影响不大。
      2.问题应该是出在urdf文件当中，我用已有的别人的urdf文件进行后续配置可以实现联合仿真
      3.字数超限制了，部分代码放在评论区中

      代码1：urdf文件：

      <robot
      name="ur5">

      <!-- ROS base_link to UR 'Base' Coordinates transform -->
      <link name="base"/>
      <joint name="base_link-base_fixed_joint" type="fixed">
      <!-- NOTE: this rotation is only needed as long as base_link itself is
      not corrected wrt the real robot (ie: rotated over 180
      degrees)
      -->
      <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
      <parent link="base_link"/>
      <child link="base"/>
      </joint>
      <link name="world"/>
      <joint name="world_joint" type="fixed">
      <parent link="world"/>
      <child link="base_link"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      </joint>
      <link
      name="base_link">
      <inertial>
      <origin
      xyz="1.42583680716296E-05 0.0563056334949455 -0.0382829688559687"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0.00983750560931009"
      ixy="-1.72050295815961E-08"
      ixz="-3.83638429985162E-07"
      iyy="0.00957723573222082"
      iyz="-0.00134940422444298"
      izz="0.000260297506066691" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/base_link.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/base_link.STL" />
      </geometry>
      </collision>
      </link>
      <link
      name="link1">
      <inertial>
      <origin
      xyz="-4.4675E-07 0.00011808 0.010911"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0"
      ixy="0"
      ixz="0"
      iyy="0"
      iyz="0"
      izz="0" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link1.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.79216 0.81961 0.93333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link1.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint1"
      type="revolute">
      <origin
      xyz="0 0 0.1625"
      rpy="1.5708 0 0" />
      <parent
      link="base_link" />
      <child
      link="link1" />
      <axis
      xyz="0 1 0" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <link
      name="link2">
      <inertial>
      <origin
      xyz="-1.4509E-06 0.21249 7.775E-05"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0"
      ixy="0"
      ixz="0"
      iyy="0"
      iyz="0"
      izz="0" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link2.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.79216 0.81961 0.93333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link2.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint2"
      type="revolute">
      <origin
      xyz="0 0 0.1378"
      rpy="0 0 0" />
      <parent
      link="link1" />
      <child
      link="link2" />
      <axis
      xyz="0 0 1" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <link
      name="link3">
      <inertial>
      <origin
      xyz="-8.4001E-07 0.16893 -0.12451"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0"
      ixy="0"
      ixz="0"
      iyy="0"
      iyz="0"
      izz="0" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link3.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.79216 0.81961 0.93333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link3.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint3"
      type="revolute">
      <origin
      xyz="0 0.425 0"
      rpy="0 0 0" />
      <parent
      link="link2" />
      <child
      link="link3" />
      <axis
      xyz="0 0 1" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <link
      name="link4">
      <inertial>
      <origin
      xyz="7.4437E-06 -0.0025477 0.11499"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="1.4253E-06"
      ixy="1.9401E-10"
      ixz="7.4526E-11"
      iyy="1.8328E-07"
      iyz="-4.7712E-07"
      izz="1.2421E-06" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link4.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.79216 0.81961 0.93333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link4.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint4"
      type="revolute">
      <origin
      xyz="0 0.3922 -0.1378"
      rpy="0 0 0" />
      <parent
      link="link3" />
      <child
      link="link4" />
      <axis
      xyz="0 0 1" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <link
      name="limk5">
      <inertial>
      <origin
      xyz="-9.43610718074842E-06 0.0921878890416958 -0.00395720124610782"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0"
      ixy="0"
      ixz="0"
      iyy="0"
      iyz="0"
      izz="0" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/limk5.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/limk5.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint5"
      type="revolute">
      <origin
      xyz="0 0 0.1333"
      rpy="0 0 0" />
      <parent
      link="link4" />
      <child
      link="limk5" />
      <axis
      xyz="0 1 0" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <link
      name="link6">
      <inertial>
      <origin
      xyz="9.99267270212568E-09 -6.06182086970719E-07 0.0253985025583878"
      rpy="0 0 0" />
      <mass
      value="0.00001" />
      <inertia
      ixx="0"
      ixy="0"
      ixz="0"
      iyy="0"
      iyz="0"
      izz="0" />
      </inertial>
      <visual>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link6.STL" />
      </geometry>
      <material
      name="">
      <color
      rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
      </visual>
      <collision>
      <origin
      xyz="0 0 0"
      rpy="0 0 0" />
      <geometry>
      <mesh
      filename="package://ur5/meshes/link6.STL" />
      </geometry>
      </collision>
      </link>
      <joint
      name="joint6"
      type="revolute">
      <origin
      xyz="0 0.0997 0.0457"
      rpy="0 0 0" />
      <parent
      link="limk5" />
      <child
      link="link6" />
      <axis
      xyz="0 0 1" />
      <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
      </joint>
      <!--add transmission for every joint-->
      <transmission name="trans_joint1">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint1_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <transmission name="trans_joint2">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint2_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <transmission name="trans_joint3">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint3_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <transmission name="trans_joint4">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint4">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint4_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <transmission name="trans_joint5">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint5_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <transmission name="trans_joint6">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="joint6">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="joint6_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      </transmission>
      <!-- add one gazebo plugin-->
      <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
      </plugin>
      </gazebo>
      </robot>

      代码2：yaml文件

      #Simulation settings for using moveit_sim_controllers
      moveit_sim_hw_interface:
      joint_model_group: arm
      joint_model_group_pose: init_pos
      #Settings for ros_control_boilerplate control loop
      generic_hw_control_loop:
      loop_hz: 300
      cycle_time_error_threshold: 0.01
      #Settings for ros_control hardware interface
      hardware_interface:
      joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      sim_control_mode: 1 # 0: position, 1: velocity
      #Publish all joint states
      #Creates the /joint_states topic necessary in ROS
      joint_state_controller:
      type: joint_state_controller/JointStateController
      publish_rate: 50
      controller_list:

      • name: arm_controller
        action_ns: follow_joint_trajectory
        default: True
        type: FollowJointTrajectory
        joints:
        • joint1
        • joint2
        • joint3
        • joint4
        • joint5
        • joint6
          arm_controller:
          type: position_controllers/JointTrajectoryController
          joints:
        • joint1
        • joint2
        • joint3
        • joint4
        • joint5
        • joint6
          constraints:
          goal_time: 0.6
          stopped_velocity_tolerance: 0.05
          joint1: {
          trajectory: 0.1, goal: 0.1}
          joint2 : {
          trajectory: 0.1, goal: 0.1}
          joint3: {
          trajectory: 0.1, goal: 0.1}
          joint4: {
          trajectory: 0.1, goal: 0.1}
          joint5: {
          trajectory: 0.1, goal: 0.1}
          joint6: {
          trajectory: 0.1, goal: 0.1}
          stop_trajectory_duration: 0.5
          state_publish_rate: 25
          action_monitor_rate: 1

      代码3：controller launch文件：

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

      <!-- Load joint controller configurations from YAML file to parameter server -->
      <rosparam file="$(find ur5_moveit_config)/config/ros_controllers.yaml" command="load"/>

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

      </launch>

      1 条回复 最后回复 回复 引用 0
      • 3
        321731520
        最后由 编辑

        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

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