1 started roslaunch server http://tang-ThinkPad:43487/ 2 3 SUMMARY 4 ======== 5 6 PARAMETERS 7 * /joint_state_publisher/use_gui: False 8 * /move_group/allow_trajectory_execution: True 9 * /move_group/arm/planner_configs: ['SBLkConfigDefau... 10 * /move_group/controller_list: [{'joints': ['Joi... 11 * /move_group/jiggle_fraction: 0.05 12 * /move_group/max_range: 5.0 13 * /move_group/max_safe_path_cost: 1 14 * /move_group/moveit_controller_manager: moveit_fake_contr... 15 * /move_group/moveit_manage_controllers: True 16 * /move_group/octomap_resolution: 0.025 17 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0 18 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1 19 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1 20 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1 21 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1 22 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000 23 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1 24 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0 25 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT 26 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 27 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 28 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 29 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 30 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE 31 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0 32 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST 33 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300 34 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1 35 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0 36 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100 37 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0 38 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1 39 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT 40 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 41 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 42 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST 43 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1 44 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1 45 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0 46 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1 47 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000 48 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1 49 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT 50 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 51 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 52 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 53 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 54 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 55 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE 56 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 57 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 58 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 59 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE 60 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4 61 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05 62 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0 63 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT 64 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0 65 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM 66 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR... 67 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST 68 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 69 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM 70 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar 71 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05 72 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0 73 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST 74 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 75 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... 76 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 77 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 78 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT 79 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 80 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 81 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 82 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar 83 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 84 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL 85 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001 86 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000 87 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25 88 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0 89 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS 90 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001 91 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000 92 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25 93 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0 94 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo 95 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16 96 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0 97 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05 98 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18 99 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6 100 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12 101 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2 102 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0 103 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE 104 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0 105 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 106 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 107 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 108 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 109 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 110 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 111 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 112 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 113 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 114 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT 115 * /move_group/planning_plugin: ompl_interface/OM... 116 * /move_group/planning_scene_monitor/publish_geometry_updates: True 117 * /move_group/planning_scene_monitor/publish_planning_scene: True 118 * /move_group/planning_scene_monitor/publish_state_updates: True 119 * /move_group/planning_scene_monitor/publish_transforms_updates: True 120 * /move_group/request_adapters: default_planner_r... 121 * /move_group/start_state_max_bounds_error: 0.1 122 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 123 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 124 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01 125 * /robot_description: <?xml version="1.... 126 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl... 127 * /robot_description_kinematics/arm/kinematics_solver_attempts: 10 128 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005 129 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005 130 * /robot_description_planning/joint_limits/Joint1/has_acceleration_limits: False 131 * /robot_description_planning/joint_limits/Joint1/has_velocity_limits: False 132 * /robot_description_planning/joint_limits/Joint1/max_acceleration: 0 133 * /robot_description_planning/joint_limits/Joint1/max_velocity: 0 134 * /robot_description_planning/joint_limits/Joint2/has_acceleration_limits: False 135 * /robot_description_planning/joint_limits/Joint2/has_velocity_limits: False 136 * /robot_description_planning/joint_limits/Joint2/max_acceleration: 0 137 * /robot_description_planning/joint_limits/Joint2/max_velocity: 0 138 * /robot_description_planning/joint_limits/Joint3/has_acceleration_limits: False 139 * /robot_description_planning/joint_limits/Joint3/has_velocity_limits: False 140 * /robot_description_planning/joint_limits/Joint3/max_acceleration: 0 141 * /robot_description_planning/joint_limits/Joint3/max_velocity: 0 142 * /robot_description_planning/joint_limits/Joint8/has_acceleration_limits: False 143 * /robot_description_planning/joint_limits/Joint8/has_velocity_limits: False 144 * /robot_description_planning/joint_limits/Joint8/max_acceleration: 0 145 * /robot_description_planning/joint_limits/Joint8/max_velocity: 0 146 * /robot_description_semantic: <?xml version="1.... 147 * /rosdistro: kinetic 148 * /rosversion: 1.12.12 149 * /rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver: kdl_kinematics_pl... 150 * /rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_attempts: 10 151 * /rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_search_resolution: 0.005 152 * /rviz_tang_ThinkPad_22909_5286547428447043303/arm/kinematics_solver_timeout: 0.005 153 * /source_list: ['/move_group/fak... 154 155 NODES 156 / 157 joint_state_publisher (joint_state_publisher/joint_state_publisher) 158 move_group (moveit_ros_move_group/move_group) 159 robot_state_publisher (robot_state_publisher/robot_state_publisher) 160 rviz_tang_ThinkPad_22909_5286547428447043303 (rviz/rviz) 161 162 ROS_MASTER_URI=http://localhost:11311 163 164 process[joint_state_publisher-1]: started with pid [22930] 165 process[robot_state_publisher-2]: started with pid [22931] 166 process[move_group-3]: started with pid [22932] 167 process[rviz_tang_ThinkPad_22909_5286547428447043303-4]: started with pid [22938] 168 [ WARN] [1520908013.137921170]: The root link Base has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. 169 [ INFO] [1520908013.223298082]: Loading robot model 'swiftpro'... 170 [ INFO] [1520908013.223375513]: No root/virtual joint specified in SRDF. Assuming fixed joint 171 [ INFO] [1520908013.301789224]: rviz version 1.12.15 172 [ INFO] [1520908013.301844542]: compiled against Qt version 5.5.1 173 [ INFO] [1520908013.301863075]: compiled against OGRE version 1.9.0 (Ghadamon) 174 [ INFO] [1520908013.456591443]: Loading robot model 'swiftpro'... 175 [ INFO] [1520908013.456652770]: No root/virtual joint specified in SRDF. Assuming fixed joint 176 [ INFO] [1520908013.477135637]: Stereo is NOT SUPPORTED 177 [ INFO] [1520908013.477249635]: OpenGl version: 3 (GLSL 1.3). 178 [ERROR] [1520908013.563223119]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are rtabmap_ros/Info rtabmap_ros/MapCloud rtabmap_ros/MapGraph rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu 179 [ WARN] [1520908013.629066670]: The root link Base has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. 180 [ INFO] [1520908014.301894737]: Publishing maintained planning scene on 'monitored_planning_scene' 181 [ INFO] [1520908014.313398745]: MoveGroup debug mode is ON 182 Starting context monitors... 183 [ INFO] [1520908014.313519435]: Starting scene monitor 184 [ INFO] [1520908014.321216582]: Listening to '/planning_scene' 185 [ INFO] [1520908014.321349134]: Starting world geometry monitor 186 [ INFO] [1520908014.327087565]: Listening to '/collision_object' using message notifier with target frame '/Base ' 187 [ INFO] [1520908014.333998170]: Listening to '/planning_scene_world' for planning scene world geometry 188 [ INFO] [1520908015.594585981]: Listening to '/attached_collision_object' for attached collision objects 189 Context monitors started. 190 [ERROR] [1520908015.599949948]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are 191 Available plugins: 192 [ INFO] [1520908015.604387098]: Param 'default_workspace_bounds' was not set. Using default value: 10 193 [ INFO] [1520908015.605690929]: Param 'start_state_max_bounds_error' was set to 0.1 194 [ INFO] [1520908015.606641617]: Param 'start_state_max_dt' was not set. Using default value: 0.5 195 [ INFO] [1520908015.607803687]: Param 'start_state_max_dt' was not set. Using default value: 0.5 196 [ INFO] [1520908015.608829409]: Param 'jiggle_fraction' was set to 0.05 197 [ INFO] [1520908015.609844194]: Param 'max_sampling_attempts' was not set. Using default value: 100 198 [ INFO] [1520908015.609943452]: Using planning request adapter 'Add Time Parameterization' 199 [ INFO] [1520908015.609978038]: Using planning request adapter 'Fix Workspace Bounds' 200 [ INFO] [1520908015.610018922]: Using planning request adapter 'Fix Start State Bounds' 201 [ INFO] [1520908015.610047174]: Using planning request adapter 'Fix Start State In Collision' 202 [ INFO] [1520908015.610074140]: Using planning request adapter 'Fix Start State Path Constraints' 203 [FATAL] [1520908015.618704758]: Exception while loading controller manager 'moveit_fake_controller_manager/MoveItFakeControllerManager': According to the loaded plugin descriptions the class moveit_fake_controller_manager/MoveItFakeControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are 204 [ INFO] [1520908015.651739743]: Trajectory execution is managing controllers 205 Loading 'move_group/ApplyPlanningSceneService'... 206 Loading 'move_group/ClearOctomapService'... 207 Loading 'move_group/MoveGroupCartesianPathService'... 208 Loading 'move_group/MoveGroupExecuteTrajectoryAction'... 209 Loading 'move_group/MoveGroupGetPlanningSceneService'... 210 Loading 'move_group/MoveGroupKinematicsService'... 211 Loading 'move_group/MoveGroupMoveAction'... 212 Loading 'move_group/MoveGroupPickPlaceAction'... 213 [ERROR] [1520908015.756061033]: Exception while loading move_group capability 'move_group/MoveGroupPickPlaceAction': According to the loaded plugin descriptions the class move_group/MoveGroupPickPlaceAction with base class type move_group::MoveGroupCapability does not exist. Declared types are move_group/ApplyPlanningSceneService move_group/ClearOctomapService move_group/MoveGroupCartesianPathService move_group/MoveGroupExecuteService move_group/MoveGroupExecuteTrajectoryAction move_group/MoveGroupGetPlanningSceneService move_group/MoveGroupKinematicsService move_group/MoveGroupMoveAction move_group/MoveGroupPlanService move_group/MoveGroupQueryPlannersService move_group/MoveGroupStateValidationService 214 Available capabilities: move_group/ApplyPlanningSceneService, move_group/ClearOctomapService, move_group/MoveGroupCartesianPathService, move_group/MoveGroupExecuteService, move_group/MoveGroupExecuteTrajectoryAction, move_group/MoveGroupGetPlanningSceneService, move_group/MoveGroupKinematicsService, move_group/MoveGroupMoveAction, move_group/MoveGroupPlanService, move_group/MoveGroupQueryPlannersService, move_group/MoveGroupStateValidationService 215 Loading 'move_group/MoveGroupPlanService'... 216 Loading 'move_group/MoveGroupQueryPlannersService'... 217 Loading 'move_group/MoveGroupStateValidationService'... 218 [ INFO] [1520908015.763614302]: 219 220 ******************************************************** 221 * MoveGroup using: 222 * - ApplyPlanningSceneService 223 * - ClearOctomapService 224 * - CartesianPathService 225 * - ExecuteTrajectoryAction 226 * - GetPlanningSceneService 227 * - KinematicsService 228 * - MoveAction 229 * - MotionPlanService 230 * - QueryPlannersService 231 * - StateValidationService 232 ******************************************************** 233 234 [ WARN] [1520908015.763744706]: MoveGroup running was unable to load ompl_interface/OMPLPlanner
上面的错误是因为没有安装ros-kinetic-moveit， 参考官网http://moveit.ros.org/install/，安装Kinect版本的moveit：
sudo apt-get install ros-kinetic-moveitsource /opt/ros/kinetic/setup.bash