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abb package build failed #255

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qcz01 opened this issue Jul 15, 2022 · 1 comment
Open

abb package build failed #255

qcz01 opened this issue Jul 15, 2022 · 1 comment

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@qcz01
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qcz01 commented Jul 15, 2022

jet@jet-virtual-machine:~/catkin_ws$ catkin build

Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/jet/catkin_ws

Build Space: [exists] /home/jet/catkin_ws/build
Devel Space: [exists] /home/jet/catkin_ws/devel
Install Space: [unused] /home/jet/catkin_ws/install
Log Space: [missing] /home/jet/catkin_ws/logs
Source Space: [exists] /home/jet/catkin_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '58' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.3 seconds ]
Starting >>> abb_file_suite
Starting >>> abb_irb1200_5_90_ikfast_manipulator_plugin
Starting >>> abb_irb1200_support
Starting >>> abb_irb2400_moveit_plugins
Finished <<< abb_irb1200_support [ 1.4 seconds ]
Starting >>> abb_irb6600_support

Warnings << abb_file_suite:cmake /home/jet/catkin_ws/logs/abb_file_suite/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'curl' but neither 'curl_INCLUDE_DIRS' nor
'curl_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:20 (catkin_package)

cd /home/jet/catkin_ws/build/abb_file_suite; catkin build --get-env abb_file_suite | catkin env -si /usr/bin/cmake /home/jet/catkin_ws/src/godel/godel_robots/abb/abb_file_suite --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/jet/catkin_ws/devel/.private/abb_file_suite -DCMAKE_INSTALL_PREFIX=/home/jet/catkin_ws/install; cd -
...............................................................................
Finished <<< abb_irb6600_support [ 2.2 seconds ]
Starting >>> abb_irb6640_support

Errors << abb_irb1200_5_90_ikfast_manipulator_plugin:make /home/jet/catkin_ws/logs/abb_irb1200_5_90_ikfast_manipulator_plugin/build.make.000.log
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:324:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
setValues(robot_description, group_name, base_name, tip_name, search_discretization);
^
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
[[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: error: no matching function for call to ‘const_pointer_casturdf::Link(urdf::LinkConstSharedPtr)’
urdf::LinkSharedPtr link = boost::const_pointer_casturdf::Link(robot_model.getLink(getTipFrame()));
^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
from /opt/ros/melodic/include/ros/forwards.h:37,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49:
/usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note: candidate: template<class T, class U> boost::shared_ptr boost::const_pointer_cast(const boost::shared_ptr&)
template<class T, class U> shared_ptr const_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT
^~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note: template argument deduction/substitution failed:
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note: ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ is not derived from ‘const boost::shared_ptr’
urdf::LinkSharedPtr link = boost::const_pointer_casturdf::Link(robot_model.getLink(getTipFrame()));
^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
from /opt/ros/melodic/include/ros/forwards.h:37,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49:
/usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note: candidate: template<class T, class U> boost::shared_ptr boost::const_pointer_cast(boost::shared_ptr&&)
template<class T, class U> shared_ptr const_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT
^~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note: template argument deduction/substitution failed:
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note: ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ is not derived from ‘boost::shared_ptr’
urdf::LinkSharedPtr link = boost::const_pointer_casturdf::Link(robot_model.getLink(getTipFrame()));
^
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
vfree[0] = initial_guess + search_discretization_ * counter;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
vfree[0] = initial_guess + search_discretization_ * counter;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /home/jet/catkin_ws/build/abb_irb1200_5_90_ikfast_manipulator_plugin; catkin build --get-env abb_irb1200_5_90_ikfast_manipulator_plugin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << abb_irb1200_5_90_ikfast_manipulator_plugin:make [ Exited with code 2 ]
Failed <<< abb_irb1200_5_90_ikfast_manipulator_plugin [ 4.9 seconds ]
Abandoned <<< abb_resources [ Unrelated job failed ]
Abandoned <<< descartes_core [ Unrelated job failed ]
Abandoned <<< godel_irb2400_moveit_config [ Unrelated job failed ]
Abandoned <<< godel_msgs [ Unrelated job failed ]
Abandoned <<< godel_openvoronoi [ Unrelated job failed ]
Abandoned <<< godel_param_helpers [ Unrelated job failed ]
Abandoned <<< godel_scan_analysis [ Unrelated job failed ]
Abandoned <<< industrial_deprecated [ Unrelated job failed ]
Abandoned <<< industrial_msgs [ Unrelated job failed ]
Abandoned <<< industrial_trajectory_filters [ Unrelated job failed ]
Abandoned <<< industrial_utils [ Unrelated job failed ]
Abandoned <<< irb2400_ikfast_manipulator_plugin [ Unrelated job failed ]
Abandoned <<< libsocket [ Unrelated job failed ]
Abandoned <<< meshing_plugins_base [ Unrelated job failed ]
Abandoned <<< path_planning_plugins_base [ Unrelated job failed ]
Abandoned <<< swri_profiler_msgs [ Unrelated job failed ]
Abandoned <<< abb_irb2400_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb2400_support [ Unrelated job failed ]
Abandoned <<< abb_irb4400_support [ Unrelated job failed ]
Abandoned <<< abb_irb5400_support [ Unrelated job failed ]
Abandoned <<< abb_irb6640_moveit_config [ Unrelated job failed ]
Abandoned <<< blending_end_effector [ Unrelated job failed ]
Abandoned <<< descartes_trajectory [ Unrelated job failed ]
Abandoned <<< descartes_moveit [ Unrelated job failed ]
Abandoned <<< descartes_planner [ Unrelated job failed ]
Abandoned <<< descartes_utilities [ Unrelated job failed ]
Abandoned <<< godel_irb1200_support [ Unrelated job failed ]
Abandoned <<< godel_irb2400_support [ Unrelated job failed ]
Abandoned <<< godel_plugins [ Unrelated job failed ]
Abandoned <<< godel_process_path_generation [ Unrelated job failed ]
Abandoned <<< godel_process_planning [ Unrelated job failed ]
Abandoned <<< godel_simple_gui [ Unrelated job failed ]
Abandoned <<< godel_utils [ Unrelated job failed ]
Abandoned <<< industrial_robot_simulator [ Unrelated job failed ]
Abandoned <<< abb_irb2400_descartes [ Unrelated job failed ]
Abandoned <<< keyence_experimental [ Unrelated job failed ]
Abandoned <<< meshing_plugins [ Unrelated job failed ]
Abandoned <<< path_planning_plugins [ Unrelated job failed ]
Abandoned <<< godel_polygon_offset [ Unrelated job failed ]
Abandoned <<< simple_message [ Unrelated job failed ]
Abandoned <<< industrial_robot_client [ Unrelated job failed ]
Abandoned <<< industrial_robot_simulator_service [ Unrelated job failed ]
Abandoned <<< godel_path_execution [ Unrelated job failed ]
Abandoned <<< swri_profiler [ Unrelated job failed ]
Abandoned <<< godel_process_execution [ Unrelated job failed ]
Abandoned <<< godel_surface_detection [ Unrelated job failed ]
Abandoned <<< godel_irb1200_moveit_config [ Unrelated job failed ]
Abandoned <<< swri_profiler_tools [ Unrelated job failed ]

Warnings << abb_irb2400_moveit_plugins:make /home/jet/catkin_ws/logs/abb_irb2400_moveit_plugins/build.make.000.log
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:266:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
setValues(robot_description, group_name, base_name, tip_name, search_discretization);
^
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
[[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:772:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:772:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:773:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:773:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:777:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:777:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:778:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:778:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:840:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
vfree[0] = initial_guess+search_discretization_*counter;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
/home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:840:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
vfree[0] = initial_guess+search_discretization_*counter;
^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jet/catkin_ws/src/abb/abb_irb2400_moveit_plugins/irb2400_kinematics/src/abb_irb2400_manipulator_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
[[deprecated]] double search_discretization_;
^~~~~~~~~~~~~~~~~~~~~~
cd /home/jet/catkin_ws/build/abb_irb2400_moveit_plugins; catkin build --get-env abb_irb2400_moveit_plugins | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished <<< abb_irb2400_moveit_plugins [ 5.6 seconds ]
Finished <<< abb_irb6640_support [ 1.9 seconds ]
Finished <<< abb_file_suite [ 6.9 seconds ]
[build] Summary: 6 of 55 packages succeeded.
[build] Ignored: 4 packages were skipped or are blacklisted.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: 48 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 8.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
@qcz01
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qcz01 commented Jul 15, 2022

jet@jet-virtual-machine:/catkin_ws$ source /catkin_ws/devel/setup.bash
jet@jet-virtual-machine:/catkin_ws$ roslaunch snp_prbt_bringup application_bringup.launch
RLException: [application_bringup.launch] is neither a launch file in package [snp_prbt_bringup] nor is [snp_prbt_bringup] a launch file name
The traceback for the exception was written to the log file
jet@jet-virtual-machine:/catkin_ws$ roslaunch godel_irb2400_support irb2400_blending.launch
... logging to /home/jet/.ros/log/88628996-041b-11ed-a0b6-000c293061d1/roslaunch-jet-virtual-machine-13844.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://jet-virtual-machine:42541/

SUMMARY

PARAMETERS

  • /controller_joint_names: ['joint_1', 'join...
  • /godel_process_planning/blend_group: manipulator_tcp
  • /godel_process_planning/blend_tcp: tcp_frame
  • /godel_process_planning/keyence_group: manipulator_keyence
  • /godel_process_planning/keyence_tcp: keyence_tcp_frame
  • /godel_process_planning/robot_model_plugin: abb_irb2400_desca...
  • /godel_process_planning/world_frame: world_frame
  • /move_group/allow_trajectory_execution: True
  • /move_group/capabilities: move_group/MoveGr...
  • /move_group/controller_list: [{'action_ns': 'j...
  • /move_group/jiggle_fraction: 0.05
  • /move_group/manipulator/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_asus/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_asus/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_asus/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_keyence/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_keyence/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_keyence/projection_evaluator: joints(joint_1,jo...
  • /move_group/manipulator_tcp/longest_valid_segment_fraction: 0.05
  • /move_group/manipulator_tcp/planner_configs: ['SBLkConfigDefau...
  • /move_group/manipulator_tcp/projection_evaluator: joints(joint_1,jo...
  • /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/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/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/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/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/RRTConnectkConfigDefault/range: 0.1
  • /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/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/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
  • /path_planning_params/discretization: 0.0025
  • /path_planning_params/margin: 0.001
  • /path_planning_params/overlap: 0.0
  • /path_planning_params/safe_traverse_height: 0.05
  • /path_planning_params/scan_width: 0.01
  • /path_planning_params/tool_radius: 0.0125
  • /point_cloud_generator_node/frame_id: world_frame
  • /point_cloud_generator_node/point_cloud_descriptions: [{'h': 0.0, 'rx':...
  • /process_planning_params/blend_params/approach_speed: 0.005
  • /process_planning_params/blend_params/blending_speed: 0.3
  • /process_planning_params/blend_params/retract_speed: 0.02
  • /process_planning_params/blend_params/spindle_speed: 0.0
  • /process_planning_params/blend_params/traverse_speed: 0.05
  • /process_planning_params/blend_params/z_adjust: 0.01
  • /process_planning_params/scan_params/approach_distance: 0.15
  • /process_planning_params/scan_params/max_qa_value: 0.05
  • /process_planning_params/scan_params/min_qa_value: 0.05
  • /process_planning_params/scan_params/quality_metric: 0
  • /process_planning_params/scan_params/traverse_speed: 0.05
  • /process_planning_params/scan_params/window_width: 0.02
  • /robot_description: <?xml version="1....
  • /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_asus/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_asus/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_ensenso/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_keyence/kinematics_solver_timeout: 0.005
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver: kdl_kinematics_pl...
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_attempts: 3
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_search_resolution: 0.005
  • /robot_description_kinematics/manipulator_tcp/kinematics_solver_timeout: 0.005
  • /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_1/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_2/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_3/max_velocity: 2.618
  • /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_4/max_velocity: 6.2832
  • /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_5/max_velocity: 6.2832
  • /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
  • /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
  • /robot_description_planning/joint_limits/joint_6/max_acceleration: 0
  • /robot_description_planning/joint_limits/joint_6/max_velocity: 7.854
  • /robot_description_semantic: <?xml version="1....
  • /rosdistro: melodic
  • /rosversion: 1.14.13
  • /simulation/robot_state_publisher/tf_prefix: simulation
  • /simulation/simulator_service/action_name: joint_trajectory_...
  • /simulation/simulator_service/scale_factor: 0.2
  • /simulation/simulator_service/service_name: simulate_trajectory
  • /surface_blending_service/blend_tool_planning_plugin_name: path_planning_plu...
  • /surface_blending_service/blending_plan/approach_spd: 0.005
  • /surface_blending_service/blending_plan/blending_spd: 0.3
  • /surface_blending_service/blending_plan/discretization: 0.0025
  • /surface_blending_service/blending_plan/margin: 0.001
  • /surface_blending_service/blending_plan/min_boundary_length: 0.03
  • /surface_blending_service/blending_plan/overlap: 0.0
  • /surface_blending_service/blending_plan/retract_spd: 0.02
  • /surface_blending_service/blending_plan/safe_traverse_height: 0.05
  • /surface_blending_service/blending_plan/spindle_speed: 0.0
  • /surface_blending_service/blending_plan/tool_force: 0.0
  • /surface_blending_service/blending_plan/tool_radius: 0.0125
  • /surface_blending_service/blending_plan/traverse_spd: 0.3
  • /surface_blending_service/meshing_plugin_name: concave_hull_mesh...
  • /surface_blending_service/publish_region_point_cloud: True
  • /surface_blending_service/robot_scan/cam_tilt_angle: 1.57
  • /surface_blending_service/robot_scan/cam_to_obj_xoffset: 0.5
  • /surface_blending_service/robot_scan/cam_to_obj_zoffset: 0.6
  • /surface_blending_service/robot_scan/group_name: manipulator_asus
  • /surface_blending_service/robot_scan/home_position: home_asus
  • /surface_blending_service/robot_scan/num_scan_points: 3
  • /surface_blending_service/robot_scan/reachable_scan_points_ratio: 1.0
  • /surface_blending_service/robot_scan/scan_target_frame: world_frame
  • /surface_blending_service/robot_scan/scan_topic: sensor_point_cloud
  • /surface_blending_service/robot_scan/stop_on_planning_error: True
  • /surface_blending_service/robot_scan/sweep_angle_end: 0.25
  • /surface_blending_service/robot_scan/sweep_angle_start: 0
  • /surface_blending_service/robot_scan/tcp_frame: kinect2_move_frame
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/w: 1
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/x: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/y: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/quat/z: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/x: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/y: 0
  • /surface_blending_service/robot_scan/tcp_to_cam_pose/trans/z: 0
  • /surface_blending_service/robot_scan/world_frame: world_frame
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/w: 1
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/x: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/y: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/quat/z: 0
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/x: 0.5
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/y: 0.0
  • /surface_blending_service/robot_scan/world_to_obj_pose/trans/z: 0.5
  • /surface_blending_service/save_data: False
  • /surface_blending_service/save_location: /home/jet/.ros/
  • /surface_blending_service/scan_plan/approach_distance: 0.15
  • /surface_blending_service/scan_plan/margin: 0
  • /surface_blending_service/scan_plan/max_qa_value: 0.05
  • /surface_blending_service/scan_plan/min_qa_value: 0.05
  • /surface_blending_service/scan_plan/overlap: 0.001
  • /surface_blending_service/scan_plan/quality_metric: rms
  • /surface_blending_service/scan_plan/scan_width: 0.01
  • /surface_blending_service/scan_plan/traverse_speed: 0.2
  • /surface_blending_service/scan_plan/window_width: 0.02
  • /surface_blending_service/scan_tool_planning_plugin_name: path_planning_plu...
  • /surface_blending_service/surface_detection/frame_id: world_frame
  • /surface_blending_service/surface_detection/ignore_largest_cluster: False
  • /surface_blending_service/surface_detection/k_search: 20
  • /surface_blending_service/surface_detection/marker_alpha: 1
  • /surface_blending_service/surface_detection/meanK: 10
  • /surface_blending_service/surface_detection/mls_point_density: 100
  • /surface_blending_service/surface_detection/mls_search_radius: 0.04
  • /surface_blending_service/surface_detection/mls_upsampling_radius: 0.01
  • /surface_blending_service/surface_detection/occupancy_threshold: 0.5
  • /surface_blending_service/surface_detection/pa_enabled: True
  • /surface_blending_service/surface_detection/pa_kdtree_radius: 0.01
  • /surface_blending_service/surface_detection/pa_sac_plane_distance: 0.01
  • /surface_blending_service/surface_detection/pa_seg_dist_threshold: 0.01
  • /surface_blending_service/surface_detection/pa_seg_max_iterations: 200
  • /surface_blending_service/surface_detection/rg_curvature_threshold: 2.0
  • /surface_blending_service/surface_detection/rg_max_cluster_size: 10000
  • /surface_blending_service/surface_detection/rg_min_cluster_size: 100
  • /surface_blending_service/surface_detection/rg_neighbors: 20
  • /surface_blending_service/surface_detection/rg_smoothness_threshold: 0.0785398163397
  • /surface_blending_service/surface_detection/stdv_threshold: 4
  • /surface_blending_service/surface_detection/stout_mean: 1.0
  • /surface_blending_service/surface_detection/stout_stdev_threshold: 3.0
  • /surface_blending_service/surface_detection/tabletop_seg_distance_thresh: 0.005
  • /surface_blending_service/surface_detection/use_octomap: False
  • /surface_blending_service/surface_detection/use_tabletop_segmentation: False
  • /surface_blending_service/surface_detection/voxel_leaf: 0.005

NODES
/
blend_process_execution (godel_process_execution/blend_process_service_node)
ensenso_static_tf (tf/static_transform_publisher)
godel_process_planning (godel_process_planning/godel_process_planning_node)
industrial_robot_simulator (industrial_robot_simulator/industrial_robot_simulator)
joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
move_group (moveit_ros_move_group/move_group)
path_execution_service (godel_path_execution/path_execution_service_node)
point_cloud_generator_node (godel_surface_detection/point_cloud_generator_node)
polygon_offset_node (godel_polygon_offset/godel_polygon_offset_node)
process_path_generator_node (godel_process_path_generation/process_path_generator_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
scan_process_execution (godel_process_execution/keyence_process_service_node)
surface_blending_service (godel_surface_detection/surface_blending_service)
/simulation/
industrial_robot_simulator (industrial_robot_simulator/industrial_robot_simulator)
joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
simulator_service (industrial_robot_simulator_service/simulator_service_node)
world_to_sim_publisher (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [13858]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 88628996-041b-11ed-a0b6-000c293061d1
process[rosout-1]: started with pid [13869]
started core service [/rosout]
ERROR: cannot launch node of type [godel_path_execution/path_execution_service_node]: Cannot locate node of type [path_execution_service_node] in package [godel_path_execution]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_process_planning/godel_process_planning_node]: Cannot locate node of type [godel_process_planning_node] in package [godel_process_planning]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_process_execution/blend_process_service_node]: Cannot locate node of type [blend_process_service_node] in package [godel_process_execution]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_process_execution/keyence_process_service_node]: Cannot locate node of type [keyence_process_service_node] in package [godel_process_execution]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[simulation/robot_state_publisher-6]: started with pid [13876]
process[simulation/world_to_sim_publisher-7]: started with pid [13877]
process[simulation/industrial_robot_simulator-8]: started with pid [13878]
ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: Cannot locate node of type [joint_trajectory_action] in package [industrial_robot_client]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [industrial_robot_simulator_service/simulator_service_node]: Cannot locate node of type [simulator_service_node] in package [industrial_robot_simulator_service]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_surface_detection/surface_blending_service]: Cannot locate node of type [surface_blending_service] in package [godel_surface_detection]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_process_path_generation/process_path_generator_node]: Cannot locate node of type [process_path_generator_node] in package [godel_process_path_generation]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_polygon_offset/godel_polygon_offset_node]: Cannot locate node of type [godel_polygon_offset_node] in package [godel_polygon_offset]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [godel_surface_detection/point_cloud_generator_node]: Cannot locate node of type [point_cloud_generator_node] in package [godel_surface_detection]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[rviz-15]: started with pid [13890]
process[industrial_robot_simulator-16]: started with pid [13891]
ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: Cannot locate node of type [joint_trajectory_action] in package [industrial_robot_client]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[robot_state_publisher-18]: started with pid [13892]
process[move_group-19]: started with pid [13897]
process[ensenso_static_tf-20]: started with pid [13900]
[ INFO] [1657875182.897417374]: Loading robot model 'irb2400_workspace'...
[ WARN] [1657875182.989689031]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1657875182.999580908]: rviz version 1.13.25
[ INFO] [1657875182.999625264]: compiled against Qt version 5.9.5
[ INFO] [1657875182.999630651]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1657875183.004714447]: Forcing OpenGl version 0.
[ INFO] [1657875183.137928124]: Stereo is NOT SUPPORTED
[ INFO] [1657875183.138007927]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1657875183.138021941]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1657875183.251499398]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1657875183.253104040]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1657875183.253201753]: Starting planning scene monitor
[ INFO] [1657875183.254416447]: Listening to '/planning_scene'
[ INFO] [1657875183.254480351]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1657875183.255482811]: Listening to '/collision_object'
[ INFO] [1657875183.256700420]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1657875183.257169630]: No 3D sensor plugin(s) defined for octomap updates
[ERROR] [1657875183.337456975]: PluginlibFactory: The plugin for class 'godel_simple_gui/BlendingPanel' failed to load. Error: Could not find library corresponding to plugin godel_simple_gui/BlendingPanel. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1657875183.349719509]: PluginlibFactory: The plugin for class 'godel_plugins/RobotBlendingPanel' failed to load. Error: Could not find library corresponding to plugin godel_plugins/RobotBlendingPanel. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ INFO] [1657875183.519712566]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1657875183.537181488]: Initializing OMPL interface using ROS parameters
[ INFO] [1657875183.558957336]: Using planning interface 'OMPL'
[ INFO] [1657875183.560846574]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1657875183.561490197]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1657875183.561712847]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1657875183.562192570]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1657875183.562452009]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1657875183.562702144]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1657875183.562725976]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1657875183.562733192]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1657875183.562737614]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1657875183.562741827]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1657875183.562745872]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1657875188.573561094]: Waiting for /joint_trajectory_action to come up
[ WARN] [1657875194.580518900]: Waiting for /joint_trajectory_action to come up
[ERROR] [1657875200.582258793]: Action client not connected: /joint_trajectory_action
[ INFO] [1657875200.683699864]: Returned 0 controllers in list
[ INFO] [1657875200.691845407]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
[ERROR] [1657875200.704733036]: Exception while loading move_group capability 'move_group/MoveGroupExecuteService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupExecuteService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
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] [1657875200.727544111]:

  • MoveGroup using:
  • - ApplyPlanningSceneService

  • - ClearOctomapService

  • - CartesianPathService

  • - ExecuteTrajectoryAction

  • - GetPlanningSceneService

  • - KinematicsService

  • - MoveAction

  • - PickPlaceAction

  • - MotionPlanService

  • - QueryPlannersService

  • - StateValidationService

[ INFO] [1657875200.727598803]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1657875200.727606616]: MoveGroup context initialization complete

You can start planning now!

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@qcz01