Can I get some advice for setting up the wheel joint? I'm trying to use the differential drive plugin. I got most of this from the mybot tutorial, and it works, but I'm having two issues. First, I can't seem to add friction to the joint. When you set the speed back to zero, the robot keeps coasting along, as if there is friction, but very slight. Nothing like a geared motor car robot would have without disengaging the transmission. I've played with the settings for dampening and friction for the joint, but even high values don't make a difference. Second, the robot only turns slightly. I'm still trying to understand what the differential drive plugin does, but it's not very intuitive. Here is the main .xacro for the mybot And here is the xacro for the wheels and joint. Gazebo/Blacktransmission_interface/SimpleTransmissionEffortJointInterfacehardwareInterface/EffortJointInterface1

I tried to run `roslaunch excavator_gazebo gazebo.launch` (using kinetic) But I got this error : xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order XML parsing error: unbound prefix: line 5, column 2 when processing file: /home/kmj/catkin_ws/src/excavator_description/urdf/excavator.xacro Check that: - Your XML is well-formed - You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro" Invalid tag: Cannot load command parameter [description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/kmj/catkin_ws/src/excavator_description/urdf/excavator.xacro'] returned with code [2]. Param xml is The traceback for the exception was written to the log file I have no idea to solve this problem. Do you know how to fix this?

Hello everybody, I have seen an interesting tool that I wanted to use : default values for parameters in xacro http://wiki.ros.org/xacro#Default_parameters But when I am trying to use it, the model can't be loaded. There is some test that I made : `` invalid parameter min_angle `` invalid parameter min_angle `` Invalid parameter "roll" This model works perfectly when I don't try to use default values. I am using ROS indigo 1.11.20. There is my questions : Do i need to set a default value for each parameter ? Is there an obvious mistake that I am missing in the declaration of my macro ? Am I running a ROS version that supports this xacro default values ? Thanks in advance

I am using the CMake `xacro_add_files(urdf/my_robot.xacro OUTPUT urdf/my_robot.urdf INORDER INSTALL)` macro to generate a urdf file using catkin_make. After the file is generated, I need to find it using Python. The file is generated under the `~/catkin_ws/devel/share//urdf` directory. How can I find this file using `rospkg` or `catkin` Python modules?

Does anybody know how to pass parameters to a xacro file from a launch file? For example, if I want to run a xacro file five times in my launch file, each time with different parameter, is there any way of achieving that? Your help would be much appreciated. Tom

Is there an example anywhere of how to actually pass a value from a launch file to the xacro files? I found a number of things here and there, but nothing clear as to what you need to do in the launch file and then how to get and use the value in the xacro. I'm just trying to spawn two robots in a single world with a couple different parameters. I'm using kinetic. I've examined these bits of documentation but I can't figure out how to weave them together. I've experimented with enough that it would be clutter to include. http://wiki.ros.org/xacro (5) http://wiki.ros.org/roslaunch/XML#substitution_args http://wiki.ros.org/roslaunch/XML/arg Here is what I have right now. robot.xacro ... ... robot.gazebo ... falsetrue100left_wheel_hingeright_wheel_hinge${chassisWidth+wheelWidth}${2*wheelRadius}20${ctopic}mybot/odom_diffdriveodomfootprint ... robot.launch ... ... Thanks

Quick question. I am working on a XACRO file that has gazebo tags in it. My question is what does the Pose tag do in the Gazebo tag? Thanks! Ex: Gazebo/Yellow0 0 3 0 0 0

I want to simulate Turtlebot2 with UTM-30LX on Gazebo. Not in real. So I changed [Turtlebot2 model with kinect](https://github.com/turtlebot/turtlebot/blob/kinetic/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro) like [tutorial](http://wiki.ros.org/turtlebot/Tutorials/indigo/Adding%20a%20lidar%20to%20the%20turtlebot%20using%20hector_models%20%28Hokuyo%20UTM-30LX%29). The difference tutorial and mine is to set Topic name of UTM-30LX. According to [hokuyo_utm30lx_model](https://github.com/tu-darmstadt-ros-pkg/hector_models/blob/kinetic-devel/hector_sensors_description/urdf/hokuyo_utm30lx.urdf.xacro) in [hector_models](https://github.com/tu-darmstadt-ros-pkg/hector_models), it can be defined Topic name with a parameter ros_topic. So I set the ros_topic a value like below. But error occured like below. Could you tell me how to set ros_topic param? My xacro code is below. /scan Error Message is following. Unused block "ros_topic" XacroException(u'Unused block "ros_topic"',) when instantiating macro: hokuyo_utm30lx_model (/home/yoshi/catkin_ws/src/hector_models/hector_sensors_description/urdf/hokuyo_utm30lx.urdf.xacro) in file: /home/yoshi/catkin_ws/src/turtlebot/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/yoshi/catkin_ws/src/turtlebot/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro'] returned with code [2]. Param xml is The traceback for the exception was written to the log file Environment
Ubuntu16.04, ROS Kinetic
hector_models: I use the version commited on Aug 25, 2017

Hi. I'm struggling with getting a URDF (or XACRO file to be exact) working with the robot_state_publisher. I know that it has been working when I made the file originally, but after updating and getting back to this project I simply can not get the robot_state_publisher to publish all the frames correctly. You find the XACRO file as part of my repository here: https://github.com/mindThomas/JetsonCar-Simulation/blob/master/jetsoncar_description/urdf/jetsoncar.xacro Try and clone the repository and build it with catkin and then run the rviz launch file. Or you can try and just run the robot_state_publisher on the xacro file output. Running a TF view_frames on the published frames gives the following incorrect result:  It seems like the problem is related to the revolute or continuous joints. At least if I replace these joints with fixed joints the frames are published correctly. PS. I'm running ROS Kinetic on Ubuntu 16.04. Best regards, Thomas Jespersen

I just learned of the new Jade xacro macros as part of [a PR](https://github.com/ros-industrial/kuka_experimental/pull/117#issuecomment-372887599) I submitted. In switching to using `${radians(foo)}`, the build [failed](https://travis-ci.org/ros-industrial/kuka_experimental/builds/353158609). In comparing to other robots in the `kuka_experimental` repository, I found a few differences, one of which being the `--inorder` flag. I [was informed](https://github.com/ros-industrial/kuka_experimental/issues/120) that these new Jade macros require `--inorder`, but I didn't see that on the wiki. I've updated the wiki on [math expressions](http://wiki.ros.org/xacro#Math_expressions) to suggest using `--inorder`, but I'm still a bit confused by the behavior and thought I'd bring it here in case there were further doc changes that might be helpful. For one, I updated two robot `macros.xacro` files to use `${radians()}` for their joint limits. One failed (linked above), and one [succeeded](https://github.com/ros-industrial/kuka_experimental/pull/118). Changing the first to use `--inorder` fixed the build error. The second still doesn't have it, yet this somehow passes the build? Secondly, [the wiki](http://wiki.ros.org/xacro#Processing_Order) suggests that one can test whether or not this flag affects their `xacro` files with: rosrun xacro xacro file.xacro > /tmp/old.xml rosrun xacro xacro --inorder file.xacro > /tmp/new.xml diff /tmp/old.xml /tmp/new.xml I assumed that if `--inorder` was the source of issues, I'd detect it with this test? In trying that on `lbr_iiwa_14_r820_macro.xacro` and `lbr_iiwa_14_r820.xacro` in [this branch](https://github.com/jwhendy/kuka_experimental/tree/lbr_14_r820_tweaks/kuka_lbr_iiwa_support) of `kuka_experimental`, I get no results for either using `diff` (identical output). Could someone with more macros experience help illuminate what's going on here and suggest any changes I could make to the wiki to help others? I found this to be pretty nuanced/subtle, and it caused maybe an hour of trying random things, waiting for a Travis build, and repeating. It'd be nice to help other users avoid this.

I have properties of the form: and I want to achieve something among these lines: Is there some way to acieve this ${} nesting in xacro ?

Hello, I am trying to create a 2 wheel mobile robot using xacro file.. I followed the tutorials when using SDF and I convert it to xacro and I have two links for the wheels and two joints of type revolute. when I add the revolute joints and I run the launch file I cant see the wheels on gazebo .. I have the following tags for the joints ?? is there any thing wrong ?? also, is it the right way to have a revolute joints of 2 wheels robot ??

When exporting given model to urdf file using sw_urdf_exporter plugin how do I create the texture file so that I can add it to the urdf file from the solidwork itself ? 

Hello, Here is my package https://github.com/moucrob/dbg/tree/master/src When i run it, here are the errors of the gazebo dedicated terminal : ~$ roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch ... logging to /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/roslaunch-user-28336.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. deprecated: xacro tags should be prepended with 'xacro' xml namespace. Use the following script to fix incorrect usage: find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g' when processing file: /home/user/try/catkin_ws/src/rosbook_arm_description/urdf/deg_to_rad.xacro included from: /home/user/try/catkin_ws/src/pha9_model/urdf/all.urdf.xacro started roslaunch server http://user:33493/ SUMMARY ======== PARAMETERS * /joint_limits/first_auxShould_to_first_shoulder/has_acceleration_limits: False * /joint_limits/first_auxShould_to_first_shoulder/has_velocity_limits: True * /joint_limits/first_auxShould_to_first_shoulder/max_acceleration: 0 * /joint_limits/first_auxShould_to_first_shoulder/max_velocity: 5.0 * /joint_limits/first_base_link_to_first_auxShould/has_acceleration_limits: False * /joint_limits/first_base_link_to_first_auxShould/has_velocity_limits: True * /joint_limits/first_base_link_to_first_auxShould/max_acceleration: 0 * /joint_limits/first_base_link_to_first_auxShould/max_velocity: 5.0 * /joint_limits/first_elbow_to_first_foreArm/has_acceleration_limits: False * /joint_limits/first_elbow_to_first_foreArm/has_velocity_limits: True * /joint_limits/first_elbow_to_first_foreArm/max_acceleration: 0 * /joint_limits/first_elbow_to_first_foreArm/max_velocity: 5.0 * /joint_limits/first_foreArm_to_first_wrist/has_acceleration_limits: False * /joint_limits/first_foreArm_to_first_wrist/has_velocity_limits: True * /joint_limits/first_foreArm_to_first_wrist/max_acceleration: 0 * /joint_limits/first_foreArm_to_first_wrist/max_velocity: 5.0 * /joint_limits/first_hand_to_first_metacarp/has_acceleration_limits: False * /joint_limits/first_hand_to_first_metacarp/has_velocity_limits: True * /joint_limits/first_hand_to_first_metacarp/max_acceleration: 0 * /joint_limits/first_hand_to_first_metacarp/max_velocity: 5.0 * /joint_limits/first_metacarp_to_first_finger/has_acceleration_limits: False * /joint_limits/first_metacarp_to_first_finger/has_velocity_limits: True * /joint_limits/first_metacarp_to_first_finger/max_acceleration: 0 * /joint_limits/first_metacarp_to_first_finger/max_velocity: 5.0 * /joint_limits/first_shoulder_to_first_upperArm/has_acceleration_limits: False * /joint_limits/first_shoulder_to_first_upperArm/has_velocity_limits: True * /joint_limits/first_shoulder_to_first_upperArm/max_acceleration: 0 * /joint_limits/first_shoulder_to_first_upperArm/max_velocity: 5.0 * /joint_limits/first_upperArm_to_first_elbow/has_acceleration_limits: False * /joint_limits/first_upperArm_to_first_elbow/has_velocity_limits: True * /joint_limits/first_upperArm_to_first_elbow/max_acceleration: 0 * /joint_limits/first_upperArm_to_first_elbow/max_velocity: 5.0 * /joint_limits/first_wrist_to_first_hand/has_acceleration_limits: False * /joint_limits/first_wrist_to_first_hand/has_velocity_limits: True * /joint_limits/first_wrist_to_first_hand/max_acceleration: 0 * /joint_limits/first_wrist_to_first_hand/max_velocity: 5.0 * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /move_group/allow_trajectory_execution: True * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: controller_manager * /move_group/controller_manager_ns: controller_manager * /move_group/first_arm/default_planner_config: RRTConnectkConfig... * /move_group/first_arm/longest_valid_segment_fraction: 0.005 * /move_group/first_arm/planner_configs: ['SBLkConfigDefau... * /move_group/first_arm/projection_evaluator: joints(first_base... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR... * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/second_arm/default_planner_config: RRTConnectkConfig... * /move_group/second_arm/longest_valid_segment_fraction: 0.005 * /move_group/second_arm/planner_configs: ['SBLkConfigDefau... * /move_group/second_arm/projection_evaluator: joints(second_bas... * /move_group/sensors: [{'point_subsampl... * /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 * /move_group/use_controller_manager: True * /pha9/first_arm_controller/constraints/first_auxShould_to_first_shoulder/goal: 0.3 * /pha9/first_arm_controller/constraints/first_base_link_to_first_auxShould/goal: 0.3 * /pha9/first_arm_controller/constraints/first_elbow_to_first_foreArm/goal: 0.3 * /pha9/first_arm_controller/constraints/first_foreArm_to_first_wrist/goal: 0.3 * /pha9/first_arm_controller/constraints/first_hand_to_first_metacarp/goal: 0.3 * /pha9/first_arm_controller/constraints/first_metacarp_to_first_finger/goal: 0.3 * /pha9/first_arm_controller/constraints/first_shoulder_to_first_upperArm/goal: 0.3 * /pha9/first_arm_controller/constraints/first_upperArm_to_first_elbow/goal: 0.3 * /pha9/first_arm_controller/constraints/first_wrist_to_first_hand/goal: 0.3 * /pha9/first_arm_controller/constraints/goal_time: 2.0 * /pha9/first_arm_controller/gains/first_auxShould_to_first_shoulder/d: 10.0 * /pha9/first_arm_controller/gains/first_auxShould_to_first_shoulder/i: 0.01 * /pha9/first_arm_controller/gains/first_auxShould_to_first_shoulder/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_auxShould_to_first_shoulder/p: 1000.0 * /pha9/first_arm_controller/gains/first_base_link_to_first_auxShould/d: 10.0 * /pha9/first_arm_controller/gains/first_base_link_to_first_auxShould/i: 0.01 * /pha9/first_arm_controller/gains/first_base_link_to_first_auxShould/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_base_link_to_first_auxShould/p: 1000.0 * /pha9/first_arm_controller/gains/first_elbow_to_first_foreArm/d: 10.0 * /pha9/first_arm_controller/gains/first_elbow_to_first_foreArm/i: 0.01 * /pha9/first_arm_controller/gains/first_elbow_to_first_foreArm/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_elbow_to_first_foreArm/p: 1000.0 * /pha9/first_arm_controller/gains/first_foreArm_to_first_wrist/d: 10.0 * /pha9/first_arm_controller/gains/first_foreArm_to_first_wrist/i: 0.01 * /pha9/first_arm_controller/gains/first_foreArm_to_first_wrist/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_foreArm_to_first_wrist/p: 1000.0 * /pha9/first_arm_controller/gains/first_hand_to_first_metacarp/d: 10.0 * /pha9/first_arm_controller/gains/first_hand_to_first_metacarp/i: 0.01 * /pha9/first_arm_controller/gains/first_hand_to_first_metacarp/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_hand_to_first_metacarp/p: 1000.0 * /pha9/first_arm_controller/gains/first_metacarp_to_first_finger/d: 10.0 * /pha9/first_arm_controller/gains/first_metacarp_to_first_finger/i: 0.01 * /pha9/first_arm_controller/gains/first_metacarp_to_first_finger/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_metacarp_to_first_finger/p: 1000.0 * /pha9/first_arm_controller/gains/first_shoulder_to_first_upperArm/d: 10.0 * /pha9/first_arm_controller/gains/first_shoulder_to_first_upperArm/i: 0.01 * /pha9/first_arm_controller/gains/first_shoulder_to_first_upperArm/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_shoulder_to_first_upperArm/p: 1000.0 * /pha9/first_arm_controller/gains/first_upperArm_to_first_elbow/d: 10.0 * /pha9/first_arm_controller/gains/first_upperArm_to_first_elbow/i: 0.01 * /pha9/first_arm_controller/gains/first_upperArm_to_first_elbow/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_upperArm_to_first_elbow/p: 1000.0 * /pha9/first_arm_controller/gains/first_wrist_to_first_hand/d: 10.0 * /pha9/first_arm_controller/gains/first_wrist_to_first_hand/i: 0.01 * /pha9/first_arm_controller/gains/first_wrist_to_first_hand/i_clamp: 3.0 * /pha9/first_arm_controller/gains/first_wrist_to_first_hand/p: 1000.0 * /pha9/first_arm_controller/joints: ['first_base_link... * /pha9/first_arm_controller/type: position_controll... * /pha9/joint_state_controller/publish_rate: 50 * /pha9/joint_state_controller/type: joint_state_contr... * /pha9/second_arm_controller/constraints/goal_time: 2.0 * /pha9/second_arm_controller/constraints/second_auxShould_to_second_shoulder/goal: 0.3 * /pha9/second_arm_controller/constraints/second_base_link_to_second_auxShould/goal: 0.3 * /pha9/second_arm_controller/constraints/second_elbow_to_second_foreArm/goal: 0.3 * /pha9/second_arm_controller/constraints/second_foreArm_to_second_wrist/goal: 0.3 * /pha9/second_arm_controller/constraints/second_hand_to_second_metacarp/goal: 0.3 * /pha9/second_arm_controller/constraints/second_metacarp_to_second_finger/goal: 0.3 * /pha9/second_arm_controller/constraints/second_shoulder_to_second_upperArm/goal: 0.3 * /pha9/second_arm_controller/constraints/second_upperArm_to_second_elbow/goal: 0.3 * /pha9/second_arm_controller/constraints/second_wrist_to_second_hand/goal: 0.3 * /pha9/second_arm_controller/gains/second_auxShould_to_second_shoulder/d: 10.0 * /pha9/second_arm_controller/gains/second_auxShould_to_second_shoulder/i: 0.01 * /pha9/second_arm_controller/gains/second_auxShould_to_second_shoulder/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_auxShould_to_second_shoulder/p: 1000.0 * /pha9/second_arm_controller/gains/second_base_link_to_second_auxShould/d: 10.0 * /pha9/second_arm_controller/gains/second_base_link_to_second_auxShould/i: 0.01 * /pha9/second_arm_controller/gains/second_base_link_to_second_auxShould/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_base_link_to_second_auxShould/p: 1000.0 * /pha9/second_arm_controller/gains/second_elbow_to_second_foreArm/d: 10.0 * /pha9/second_arm_controller/gains/second_elbow_to_second_foreArm/i: 0.01 * /pha9/second_arm_controller/gains/second_elbow_to_second_foreArm/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_elbow_to_second_foreArm/p: 1000.0 * /pha9/second_arm_controller/gains/second_foreArm_to_second_wrist/d: 10.0 * /pha9/second_arm_controller/gains/second_foreArm_to_second_wrist/i: 0.01 * /pha9/second_arm_controller/gains/second_foreArm_to_second_wrist/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_foreArm_to_second_wrist/p: 1000.0 * /pha9/second_arm_controller/gains/second_hand_to_second_metacarp/d: 10.0 * /pha9/second_arm_controller/gains/second_hand_to_second_metacarp/i: 0.01 * /pha9/second_arm_controller/gains/second_hand_to_second_metacarp/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_hand_to_second_metacarp/p: 1000.0 * /pha9/second_arm_controller/gains/second_metacarp_to_second_finger/d: 10.0 * /pha9/second_arm_controller/gains/second_metacarp_to_second_finger/i: 0.01 * /pha9/second_arm_controller/gains/second_metacarp_to_second_finger/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_metacarp_to_second_finger/p: 1000.0 * /pha9/second_arm_controller/gains/second_shoulder_to_second_upperArm/d: 10.0 * /pha9/second_arm_controller/gains/second_shoulder_to_second_upperArm/i: 0.01 * /pha9/second_arm_controller/gains/second_shoulder_to_second_upperArm/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_shoulder_to_second_upperArm/p: 1000.0 * /pha9/second_arm_controller/gains/second_upperArm_to_second_elbow/d: 10.0 * /pha9/second_arm_controller/gains/second_upperArm_to_second_elbow/i: 0.01 * /pha9/second_arm_controller/gains/second_upperArm_to_second_elbow/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_upperArm_to_second_elbow/p: 1000.0 * /pha9/second_arm_controller/gains/second_wrist_to_second_hand/d: 10.0 * /pha9/second_arm_controller/gains/second_wrist_to_second_hand/i: 0.01 * /pha9/second_arm_controller/gains/second_wrist_to_second_hand/i_clamp: 3.0 * /pha9/second_arm_controller/gains/second_wrist_to_second_hand/p: 1000.0 * /pha9/second_arm_controller/joints: ['second_base_lin... * /pha9/second_arm_controller/type: position_controll... * /play_motion/approach_planner/exclude_from_planning_joints: ['first_artifice'... * /play_motion/approach_planner/joint_tolerance: 0.01 * /play_motion/approach_planner/planning_groups: ['first_arm', 'se... * /play_motion/approach_planner/skip_planning_approach_vel: 0.5 * /play_motion/motions/first_home/joints: ['first_base_link... * /play_motion/motions/first_home/meta/description: first arm down an... * /play_motion/motions/first_home/meta/name: first_home * /play_motion/motions/first_home/meta/usage: posture * /play_motion/motions/first_home/points: [{'positions': [0... * /play_motion/motions/second_home/joints: ['second_base_lin... * /play_motion/motions/second_home/meta/description: second arm down a... * /play_motion/motions/second_home/meta/name: second_home * /play_motion/motions/second_home/meta/usage: posture * /play_motion/motions/second_home/points: [{'positions': [0... * /robot_description: , set to "" [ INFO] [1526884193.516608915, 0.318000000]: Camera Plugin (ns = /) , set to "" [ERROR] [1526884193.516663586, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_2/set_parameters] [ INFO] [1526884193.517016474, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1526884193.519601849, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ERROR] [1526884193.519727040, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_3/set_camera_info] [ INFO] [1526884193.520395246, 0.318000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1526884193.521975060, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1526884193.523274533, 0.318000000]: Camera Plugin (ns = /) , set to "" [ERROR] [1526884193.523345297, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_3/set_parameters] [ INFO] [1526884193.526321176, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ERROR] [1526884193.527946295, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_4/set_camera_info] [ INFO] [1526884193.529209118, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1526884193.531363522, 0.318000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1526884193.533863164, 0.318000000]: Camera Plugin (ns = /) , set to "" [ERROR] [1526884193.534082351, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera_4/set_parameters] [ INFO] [1526884193.535272992, 0.318000000]: Camera Plugin (ns = /) , set to "" [ INFO] [1526884193.592783754, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ERROR] [1526884193.593066190, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera/set_camera_info] [ INFO] [1526884193.632090318, 0.318000000]: Camera Plugin (ns = /) , set to "" [ERROR] [1526884193.644345249, 0.318000000]: Tried to advertise a service that is already advertised in this node [/rgbd_camera/set_parameters] [ INFO] [1526884193.691526915, 0.318000000]: Loading gazebo_ros_control plugin [ INFO] [1526884193.691675417, 0.318000000]: Starting gazebo_ros_control plugin in namespace: /pha9 [ INFO] [1526884193.693571451, 0.318000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [spawn_model-4] process has finished cleanly log file: /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/spawn_model-4*.log [ INFO] [1526884193.858062299, 0.318000000]: Loaded gazebo_ros_control. [ INFO] [1526884193.858279128, 0.318000000]: Loading gazebo_ros_control plugin [ INFO] [1526884193.858379616, 0.318000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1526884193.861366021, 0.318000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ WARN] [1526884193.977039571, 0.318000000]: Joint limits won't be enforced for joint 'first_auxShould_to_first_shoulder'. [ WARN] [1526884193.977113583, 0.318000000]: Joint limits won't be enforced for joint 'first_base_link_to_first_auxShould'. [ WARN] [1526884193.977149576, 0.318000000]: Joint limits won't be enforced for joint 'first_elbow_to_first_foreArm'. [ WARN] [1526884193.977175887, 0.318000000]: Joint limits won't be enforced for joint 'first_foreArm_to_first_wrist'. [ WARN] [1526884193.977212337, 0.318000000]: Joint limits won't be enforced for joint 'first_hand_to_first_metacarp'. [ WARN] [1526884193.977263570, 0.318000000]: Joint limits won't be enforced for joint 'first_metacarp_to_first_finger'. [ WARN] [1526884193.977312655, 0.318000000]: Joint limits won't be enforced for joint 'first_shoulder_to_first_upperArm'. [ WARN] [1526884193.977364530, 0.318000000]: Joint limits won't be enforced for joint 'first_upperArm_to_first_elbow'. [ WARN] [1526884193.977418205, 0.318000000]: Joint limits won't be enforced for joint 'first_wrist_to_first_hand'. [ WARN] [1526884193.977472310, 0.318000000]: Joint limits won't be enforced for joint 'second_auxShould_to_second_shoulder'. [ WARN] [1526884193.977524145, 0.318000000]: Joint limits won't be enforced for joint 'second_base_link_to_second_auxShould'. [ WARN] [1526884193.977574545, 0.318000000]: Joint limits won't be enforced for joint 'second_elbow_to_second_foreArm'. [ WARN] [1526884193.977627276, 0.318000000]: Joint limits won't be enforced for joint 'second_foreArm_to_second_wrist'. [ WARN] [1526884193.977678691, 0.318000000]: Joint limits won't be enforced for joint 'second_hand_to_second_metacarp'. [ WARN] [1526884193.977727882, 0.318000000]: Joint limits won't be enforced for joint 'second_metacarp_to_second_finger'. [ WARN] [1526884193.977778900, 0.318000000]: Joint limits won't be enforced for joint 'second_shoulder_to_second_upperArm'. [ WARN] [1526884193.977828954, 0.318000000]: Joint limits won't be enforced for joint 'second_upperArm_to_second_elbow'. [ WARN] [1526884193.977878785, 0.318000000]: Joint limits won't be enforced for joint 'second_wrist_to_second_hand'. [ WARN] [1526884193.977931972, 0.318000000]: Joint limits won't be enforced for joint 'world_to_first_base_link'. [ WARN] [1526884193.977983534, 0.318000000]: Joint limits won't be enforced for joint 'world_to_second_base_link'. [ERROR] [1526884193.978914148, 0.318000000]: No p gain specified for pid. Namespace: /gains/world_to_first_base_link [FATAL] [1526884193.978993897, 0.318000000]: Could not initialize robot simulation interface [INFO] [1526884194.236554, 0.515000]: Spawn status: SpawnModel: Successfully spawned entity [INFO] [1526884194.465648, 0.716000]: Spawn status: SpawnModel: Successfully spawned entity [spawn_table-10] process has finished cleanly log file: /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/spawn_table-10*.log [spawn_tablet-11] process has finished cleanly log file: /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/spawn_tablet-11*.log [ERROR] [1526884194.764322465, 1.013000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884194.764385270, 1.013000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884195.797527983, 2.036000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884195.797575271, 2.036000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884196.826342293, 3.054000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884196.826399147, 3.054000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884197.858607813, 4.078000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884197.858669896, 4.078000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884198.884874340, 5.100000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884198.884914555, 5.100000000]: Transform cache was not updated. Self-filtering may fail. [ WARN] [1526884198.967350738, 5.182000000]: Waiting for /first_arm_controller/follow_joint_trajectory to come up [ERROR] [1526884199.908891755, 6.120000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884199.908944150, 6.120000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884200.934029732, 7.133000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884200.934081990, 7.133000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884201.956477318, 8.148000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884201.956520107, 8.148000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884202.988593560, 9.170000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884202.988671776, 9.170000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884204.018296976, 10.191000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884204.018358856, 10.191000000]: Transform cache was not updated. Self-filtering may fail. [ WARN] [1526884205.023693581, 11.183000000]: Waiting for /first_arm_controller/follow_joint_trajectory to come up [ERROR] [1526884205.062311478, 11.221000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884205.062360347, 11.221000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884206.086352632, 12.235000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884206.086408544, 12.235000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884207.114902769, 13.257000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884207.114964470, 13.257000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884208.145584450, 14.282000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884208.145636488, 14.282000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884209.175939009, 15.306000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884209.176015860, 15.306000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884210.202139965, 16.323000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884210.202193191, 16.323000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884211.067360231, 17.183000000]: Action client not connected: /first_arm_controller/follow_joint_trajectory [ERROR] [1526884211.228195999, 17.342000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884211.228257846, 17.342000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884212.254109208, 18.361000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884212.254161030, 18.361000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884213.284130345, 19.383000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884213.284175915, 19.383000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884214.309328347, 20.403000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884214.309379388, 20.403000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884215.338461243, 21.424000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884215.338530319, 21.424000000]: Transform cache was not updated. Self-filtering may fail. [ WARN] [1526884216.220448478, 22.302000000]: Waiting for /second_arm_controller/follow_joint_trajectory to come up [ERROR] [1526884216.364575409, 22.445000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884216.364615988, 22.445000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884217.393746749, 23.465000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884217.393793640, 23.465000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884218.422444758, 24.483000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884218.422487554, 24.483000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884219.449422833, 25.502000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884219.449492720, 25.502000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884220.480096064, 26.525000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884220.480135930, 26.525000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884221.508469202, 27.543000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884221.508523731, 27.543000000]: Transform cache was not updated. Self-filtering may fail. [WARN] [1526884222.078376, 28.108000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [default_controllers_spawner-5] process has finished cleanly log file: /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/default_controllers_spawner-5*.log [ WARN] [1526884222.279320681, 28.302000000]: Waiting for /second_arm_controller/follow_joint_trajectory to come up [ERROR] [1526884222.544650338, 28.565000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884222.544712948, 28.565000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884223.580960834, 29.591000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884223.581015944, 29.591000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884224.613198798, 30.614000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884224.613246270, 30.614000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884225.638964196, 31.633000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884225.639014235, 31.633000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884226.666003298, 32.652000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884226.666045531, 32.652000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884227.691520598, 33.671000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884227.691580829, 33.671000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884228.328946342, 34.302000000]: Action client not connected: /second_arm_controller/follow_joint_trajectory [ INFO] [1526884228.391208321, 34.364000000]: Returned 0 controllers in list [ INFO] [1526884228.405999332, 34.379000000]: 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] [1526884228.503794691, 34.476000000]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1526884228.503902499, 34.476000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1526884228.503978292, 34.476000000]: MoveGroup context initialization complete You can start planning now! [ERROR] [1526884228.717499317, 34.688000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884228.717596679, 34.688000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884229.749908728, 35.711000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884229.749962666, 35.711000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884230.776533309, 36.729000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884230.776581170, 36.729000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884231.804890457, 37.747000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884231.804943498, 37.747000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884232.830405375, 38.765000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884232.830452672, 38.765000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884233.858309738, 39.786000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884233.858360964, 39.786000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884234.892599442, 40.814000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884234.892668429, 40.814000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884235.920574800, 41.830000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884235.920637480, 41.830000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884236.943625653, 42.845000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884236.943679232, 42.845000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884237.965882430, 43.860000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884237.966953823, 43.861000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884239.001251213, 44.888000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884239.001311155, 44.888000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884240.033765982, 45.908000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884240.033832211, 45.908000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884241.063510873, 46.928000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884241.063562726, 46.928000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884242.088398145, 47.948000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884242.088445950, 47.948000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884243.118614751, 48.970000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884243.118668425, 48.970000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884244.151000597, 49.995000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884244.151064631, 49.996000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884245.182468805, 51.017000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884245.182536242, 51.017000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884246.212976365, 52.038000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884246.213044900, 52.039000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884247.242208385, 53.057000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884247.242299572, 53.057000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884248.271753513, 54.077000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884248.271830322, 54.077000000]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1526884249.300502196, 55.099000000]: Transform error: "first_foreArm" passed to lookupTransform argument source_frame does not exist. [ERROR] [1526884249.300561847, 55.099000000]: Transform cache was not updated. Self-filtering may fail. ^C[move_group-7] killing on exit [robot_state_publisher-6] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit [gazebo-2] escalating to SIGTERM [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done and here are the errors on the MoveIt!/Rviz side : ~$ roslaunch rosbook_arm_moveit_config moveit_rviz.launch config:=true ... logging to /home/user/.ros/log/a58ee0bc-5cbf-11e8-8bdf-15dd108d417c/roslaunch-user-27048.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://user:45377/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_attempts: 3 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_search_resolution: 0.005 * /rviz_user_27048_3755512807817573219/first_arm/kinematics_solver_timeout: 0.005 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_attempts: 3 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_search_resolution: 0.005 * /rviz_user_27048_3755512807817573219/second_arm/kinematics_solver_timeout: 0.005 NODES / rviz_user_27048_3755512807817573219 (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[rviz_user_27048_3755512807817573219-1]: started with pid [27067] [ INFO] [1526883900.320780558]: rviz version 1.12.16 [ INFO] [1526883900.320839501]: compiled against Qt version 5.5.1 [ INFO] [1526883900.320857339]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1526883900.639798465, 14.191000000]: Stereo is NOT SUPPORTED [ INFO] [1526883900.639901376, 14.191000000]: OpenGl version: 3 (GLSL 1.3). 0x1994b40 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1111200) ): Attempt to set a screen on a child window. 0x19929b0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1111200) ): Attempt to set a screen on a child window. 0x198d320 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1111200) ): Attempt to set a screen on a child window. 0x1989630 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1111200) ): Attempt to set a screen on a child window. [ERROR] [1526883904.367532966, 17.887000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526883904.368341402, 17.887000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526883904.368405684, 17.887000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526883904.403913961, 17.923000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526883904.404041572, 17.923000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ERROR] [1526883904.505705466, 18.024000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526883904.506045296, 18.025000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526883904.506081334, 18.025000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526883904.536555243, 18.055000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526883904.536600396, 18.055000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ERROR] [1526883904.551475090, 18.070000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526883904.551717156, 18.070000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526883904.551749146, 18.070000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526883904.582761967, 18.101000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526883904.582804395, 18.101000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ INFO] [1526883904.672795341, 18.188000000]: Starting scene monitor [ INFO] [1526883904.676943136, 18.195000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1526883904.678205904, 18.196000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1526883909.740033536, 23.214000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.11/planning_scene_monitor/src/planning_scene_monitor.cpp:486 [ INFO] [1526883909.862155182, 23.335000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1526883909.875635999, 23.348000000]: Constructing new MoveGroup connection for group 'both_arms' in namespace '' [ INFO] [1526883922.098407447, 35.471000000]: Ready to take commands for planning group both_arms. [ INFO] [1526883922.098522956, 35.471000000]: Looking around: no [ INFO] [1526883922.098590605, 35.471000000]: Replanning: no [ WARN] [1526883923.042662593, 36.409000000]: Interactive marker 'EE:goal_second_EE' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ERROR] [1526883942.117398474, 55.325000000]: Unknown marker name: 'EE:goal_first_EE' (not published by RobotInteraction class) ^C[rviz_user_27048_3755512807817573219-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done user@user:~$ roslaunch rosbook_arm_moveit_config moveit_rviz.launch config:=true ... logging to /home/user/.ros/log/5cb31f7e-5cc0-11e8-8bdf-15dd108d417c/roslaunch-user-29718.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://user:44231/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /rviz_user_29718_8059555819147173896/first_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_user_29718_8059555819147173896/first_arm/kinematics_solver_attempts: 3 * /rviz_user_29718_8059555819147173896/first_arm/kinematics_solver_search_resolution: 0.005 * /rviz_user_29718_8059555819147173896/first_arm/kinematics_solver_timeout: 0.005 * /rviz_user_29718_8059555819147173896/second_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_user_29718_8059555819147173896/second_arm/kinematics_solver_attempts: 3 * /rviz_user_29718_8059555819147173896/second_arm/kinematics_solver_search_resolution: 0.005 * /rviz_user_29718_8059555819147173896/second_arm/kinematics_solver_timeout: 0.005 NODES / rviz_user_29718_8059555819147173896 (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[rviz_user_29718_8059555819147173896-1]: started with pid [29737] [ INFO] [1526884208.283388618]: rviz version 1.12.16 [ INFO] [1526884208.283455463]: compiled against Qt version 5.5.1 [ INFO] [1526884208.283487463]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1526884208.589762277, 14.723000000]: Stereo is NOT SUPPORTED [ INFO] [1526884208.589855154, 14.723000000]: OpenGl version: 3 (GLSL 1.3). 0x1d88890 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x15151e0) ): Attempt to set a screen on a child window. 0x1d828a0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x15151e0) ): Attempt to set a screen on a child window. 0x1d81340 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x15151e0) ): Attempt to set a screen on a child window. 0x1d8b310 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x15151e0) ): Attempt to set a screen on a child window. [ERROR] [1526884212.343371573, 18.445000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526884212.343928600, 18.445000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526884212.343984221, 18.445000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526884212.382121688, 18.487000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526884212.382186232, 18.487000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ERROR] [1526884212.482581969, 18.587000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526884212.482825696, 18.587000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526884212.482848712, 18.587000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526884212.518081452, 18.622000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526884212.518141965, 18.622000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ERROR] [1526884212.534375573, 18.638000000]: Semantic description is not specified for the same robot as the URDF [ INFO] [1526884212.534658407, 18.639000000]: Loading robot model 'rosbook_arm'... [ INFO] [1526884212.534696822, 18.639000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1526884212.566443825, 18.670000000]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent [ERROR] [1526884212.566488184, 18.670000000]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent [ INFO] [1526884212.686196552, 18.789000000]: Starting scene monitor [ INFO] [1526884212.690964878, 18.794000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1526884212.692615376, 18.795000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1526884217.727878333, 23.795000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.11/planning_scene_monitor/src/planning_scene_monitor.cpp:486 [ INFO] [1526884217.838275511, 23.899000000]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1526884217.852782743, 23.919000000]: Constructing new MoveGroup connection for group 'both_arms' in namespace '' [ INFO] [1526884229.497247656, 35.461000000]: Ready to take commands for planning group both_arms. [ INFO] [1526884229.497357888, 35.461000000]: Looking around: no [ INFO] [1526884229.497416228, 35.461000000]: Replanning: no [ WARN] [1526884230.549618586, 36.503000000]: Interactive marker 'EE:goal_first_EE' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ INFO] [1526899394.103489156, 51.361000000]: ABORTED: Solution found but controller failed during execution ^C[rviz_user_29718_8059555819147173896-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done - Some possibly wrong analysis of these errors : - deprecated xacro : not important - play_motion : seems to work without it. I tried to add in the workspace its package but i generated a bunch of errors so i removed it... Is it necessary to add it ?? - semantic description : i believe it's not important - end effector and own parent : i believe it's not important - rgbd and 'tried to advertise a service that is already advertised' : i believe it's not important, given the fact that it was a time when sensors did were able to sense obstacles. - joint limits won't be enforced for world_to_first_base_link : can't understand this message since those are fixed links which i think i removed from each of the .yaml files - No p gain specied for pid. Namespace /gains/world_to_first_base_link : also strange, they are fixed i said. But anyway i tried to add gains even for those and it seems that ros doesn't recognize it (i compiled)... - Transform error ... passed to lookupTransform argument source_frame does not exist : wasn't able to resolve it, they appear somehow each time w.r.t a random new part of the robot... - **ABORTED Solution found but controller failed during execution : this appears when i move a marker somewhere and then, in the planning tab of moveit, click on 'plan' then 'execute'**

what is difference between Principal axes of inertia and principal moments of inertia Taken at the center of mass,Moments of inertia Taken at the center of mass and aligned with the output coordinate system and Moments of inertia Taken at the output coordinate system ? And why is the momet of inertia taken at center of mass and aligned with output coordinate system is used in urdf in ros? Principal axes of inertia and principal moments of inertia: ( grams * square millimeters ) Taken at the center of mass. Ix = ( 0.89, 0.45, 0.00) Px = 177217.10 Iy = (-0.45, 0.89, -0.01) Py = 632385.17 Iz = ( 0.00, 0.00, 1.00) Pz = 780108.86 Moments of inertia: ( grams * square millimeters ) Taken at the center of mass and aligned with the output coordinate system. Lxx = 268506.70 Lxy = 182259.67 Lxz = -4.63 Lyx = 182259.67 Lyy = 541099.71 Lyz = -851.31 Lzx = -4.63 Lzy = -851.31 Lzz = 780104.72 Moments of inertia: ( grams * square millimeters ) Taken at the output coordinate system. Ixx = 364622.20 Ixy = -112574.17 Ixz = -2115.49 Iyx = -112574.17 Iyy = 1445552.39 Iyz = -163.21 Izx = -2115.49 Izy = -163.21 Izz = 1780663.05

I am using ros control to try and move a biped robot, i have the hip link fixed to the gazebo world, when i try to move the robot only the shin and the thighs move these link shows the visualization of the robot,  Below is the robot description file transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1

Running Ubuntu 16.04 with ROS-Kinetic I am trying to automatically calculate inertial values for a simulated robot. The purpose is to be able to change the dimensions and have the inertia automatically calculated. Here is my macro I have xacro properties as follows. When I try to run the macro it comes up with an error. My link tags... The error is unexpected EOF while parsing (, line 1) when evaluating expression '(.82)*${mass'

i wanna know the command used to convert xacro file to pure urdf file , Thanks for ur help

I'm following this tutorial: https://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/ and get this when trying to launch: timmx@timmx-NV52L:~/catkin_ws/src/mybot_description/urdf$ roslaunch mybot_gazebo mybot_world.launch ... logging to /home/timmx/.ros/log/f8a88710-7f35-11e8-80fd-20689d9ebc85/roslaunch-timmx-NV52L-27035.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order xacro:arg: missing attribute 'default' when processing file: /home/timmx/catkin_ws/src/mybot_description/urdf/mybot.xacro Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/timmx/catkin_ws/src/mybot_description/urdf/mybot.xacro'] returned with code [2]. Param xml is The traceback for the exception was written to the log file I have written the following files: **MYBOT.XACRO** **MACROS.XACRO** **MYBOT.GAZEBO** Gazebo/Orange

Hello! I would like to do a command line syntax check of an Xacro robot model similar to the one used for non-xacro files which is: $ rosrun urdf check_urdf model.urdf I know I can generate a temporary URDF file from my Xacro file using: $ rosrun xacro xacro.py model.urdf.xacro > tmp.urdf and then run 'rosrun urdf check_urdf' on that file. But for some reason I can't figure out how to simply pipe the two commands together into one command. Can it be done? Thanks! patrick