1553948746.510619243 Node Startup 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp:80(service::exists)] [topics: ] waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... 0.000000000 INFO /gazebo_gui [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp:80(service::exists)] [topics: /rosout] waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... 0.000000000 INFO /osrf_gear_spawn_bin2_link_piston_rod_part_57 [gazebo_interface.py:15(spawn_sdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_sdf_model 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /spawn_gazebo_sensors [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:31(spawn_urdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:31(spawn_urdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model 0.000000000 INFO /osrf_gear_spawn_bin2_link_piston_rod_part_57 [gazebo_interface.py:19(spawn_sdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_sdf_model 0.000000000 INFO /spawn_gazebo_sensors [gazebo_interface.py:31(spawn_urdf_model_client)] [topics: /clock, /rosout] Calling service /gazebo/spawn_urdf_model 0.000000000 INFO /gazebo [/opt/ros/melodic/include/gazebo_plugins/gazebo_ros_utils.h:99(__cxx11::string gazebo::GetRobotNamespace)] [topics: ] Laser Plugin: Using the 'robotNamespace' param: '/' 0.000000000 INFO /gazebo [/home/dbarry/ariac_ws/src/ariac/osrf_gear/src/ROSLaserPlugin.cc:116(ROSLaserPlugin::Load)] [topics: ] Starting Laser Plugin (ns = /) 0.000000000 INFO /gazebo [/home/dbarry/ariac_ws/src/ariac/osrf_gear/src/ROSLaserPlugin.cc:140(ROSLaserPlugin::LoadThread)] [topics: ] Laser Plugin (ns = /) , set to "" 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-plugins-2.8.4/src/gazebo_ros_block_laser.cpp:122(GazeboRosBlockLaser::Load)] [topics: ] Block laser plugin missing , defaults to 0.0 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-plugins-2.8.4/src/gazebo_ros_block_laser.cpp:130(GazeboRosBlockLaser::Load)] [topics: ] Block laser plugin missing , defaults to 101 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-plugins-2.8.4/src/gazebo_ros_block_laser.cpp:140(GazeboRosBlockLaser::Load)] [topics: ] Block laser plugin missing , defaults to 0 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-plugins-2.8.4/src/gazebo_ros_range.cpp:149(GazeboRosRange::Load)] [topics: ] Range plugin missing , defaults to 0 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:33(spawn_urdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:39(set_model_configuration_client)] [topics: /clock, /rosout] Waiting for service /gazebo/set_model_configuration 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:41(set_model_configuration_client)] [topics: /clock, /rosout] temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:60(GazeboRosControlPlugin::Load)] [topics: ] Loading gazebo_ros_control plugin 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:159(GazeboRosControlPlugin::Load)] [topics: ] Starting gazebo_ros_control plugin in namespace: /ariac/arm2/ 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:278(__cxx11::string gazebo_ros_control::GazeboRosControlPlugin::getURDF)] [topics: ] gazebo_ros_control plugin is waiting for model URDF in parameter [/ariac/arm2/robot_description] on the ROS param server. 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:205(GazeboRosControlPlugin::Load)] [topics: ] Loaded gazebo_ros_control. 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:33(spawn_urdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:39(set_model_configuration_client)] [topics: /clock, /rosout] Waiting for service /gazebo/set_model_configuration 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:41(set_model_configuration_client)] [topics: /clock, /rosout] temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:60(GazeboRosControlPlugin::Load)] [topics: ] Loading gazebo_ros_control plugin 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:159(GazeboRosControlPlugin::Load)] [topics: ] Starting gazebo_ros_control plugin in namespace: /ariac/arm1/ 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-control-2.8.4/src/gazebo_ros_control_plugin.cpp:205(GazeboRosControlPlugin::Load)] [topics: ] Loaded gazebo_ros_control. 0.000000000 INFO /osrf_gear_spawn_bin2_link_piston_rod_part_57 [gazebo_interface.py:21(spawn_sdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:45(set_model_configuration_client)] [topics: /clock, /rosout] Calling service /gazebo/set_model_configuration 0.000000000 INFO /spawn_gazebo_sensors [gazebo_interface.py:33(spawn_urdf_model_client)] [topics: /clock, /rosout] Spawn status: SpawnModel: Successfully spawned entity 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:47(set_model_configuration_client)] [topics: /clock, /rosout] Set model configuration status: SetModelConfiguration: success 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:45(set_model_configuration_client)] [topics: /clock, /rosout] Calling service /gazebo/set_model_configuration 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:47(set_model_configuration_client)] [topics: /clock, /rosout] Set model configuration status: SetModelConfiguration: success 0.021000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp:122(service::waitForService)] [topics: ] waitForService: Service [/gazebo/set_physics_properties] is now available. 0.037000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-gazebo-ros-2.8.4/src/gazebo_ros_api_plugin.cpp:2325(GazeboRosApiPlugin::physicsReconfigureThread)] [topics: ] Physics dynamic reconfigure ready. 0.000000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-core-0.10.8/robot_model/src/robot_model.cpp:934(core::JointModel* moveit::core::RobotModel::constructJointModel)] [topics: /rosout] No root/virtual joint specified in SRDF. Assuming fixed joint 6.383000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:329(PlanningSceneMonitor::startPublishingPlanningScene)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Publishing maintained planning scene on 'monitored_planning_scene' 6.384000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group.cpp:208(main)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] MoveGroup debug mode is OFF 6.384000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:955(PlanningSceneMonitor::startSceneMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Starting planning scene monitor 6.385000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:961(PlanningSceneMonitor::startSceneMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Listening to '/ariac/arm1/planning_scene' 6.385000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:1027(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Starting world geometry update monitor for collision objects, attached objects, octomap updates. 6.385000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:1043(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Listening to '/ariac/arm1/collision_object' using message notifier with target frame 'world ' 6.385000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:1058(PlanningSceneMonitor::startWorldGeometryMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Listening to '/ariac/arm1/planning_scene_world' for planning scene world geometry 6.387000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:1120(PlanningSceneMonitor::startStateMonitor)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Listening to '/ariac/arm1/attached_collision_object' for attached collision objects 6.405000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-planners-ompl-0.10.8/ompl_interface/src/ompl_interface.cpp:55(OMPLInterface::OMPLInterface)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene] Initializing OMPL interface using ROS parameters 6.407000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:119(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning interface 'OMPL' 6.409000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp:53(FixWorkspaceBounds::FixWorkspaceBounds)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'default_workspace_bounds' was not set. Using default value: 10 6.409000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:60(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'start_state_max_bounds_error' was set to 0.1 6.409000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:65(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5 6.409000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:57(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:68(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'jiggle_fraction' was set to 0.05 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:73(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Param 'max_sampling_attempts' was not set. Using default value: 100 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning request adapter 'Add Time Parameterization' 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Workspace Bounds' 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Bounds' 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State In Collision' 6.410000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Path Constraints' 6.467000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-0.10.8/src/moveit_simple_controller_manager.cpp:145(MoveItSimpleControllerManager::MoveItSimpleControllerManager)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel] Added FollowJointTrajectory controller for 6.467000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-0.10.8/src/moveit_simple_controller_manager.cpp:196(MoveItSimpleControllerManager::getControllersList)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel] Returned 1 controllers in list 6.472000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/trajectory_execution_manager/src/trajectory_execution_manager.cpp:177(TrajectoryExecutionManager::initialize)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel, /ariac/arm1/move_group/trajectory_execution/parameter_descriptions, /ariac/arm1/move_group/trajectory_execution/parameter_updates] Trajectory execution is managing controllers 6.501000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group.cpp:172(MoveGroupExe::configureCapabilities)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel, /ariac/arm1/move_group/trajectory_execution/parameter_descriptions, /ariac/arm1/move_group/trajectory_execution/parameter_updates, /ariac/arm1/move_group/plan_execution/parameter_descriptions, /ariac/arm1/move_group/plan_execution/parameter_updates, /ariac/arm1/move_group/sense_for_plan/parameter_descriptions, /ariac/arm1/move_group/sense_for_plan/parameter_updates, /ariac/arm1/execute_trajectory/result, /ariac/arm1/execute_trajectory/feedback, /ariac/arm1/execute_trajectory/status, /ariac/arm1/move_group/result, /ariac/arm1/move_group/feedback, /ariac/arm1/move_group/status, /ariac/arm1/pickup/result, /ariac/arm1/pickup/feedback, /ariac/arm1/pickup/status, /ariac/arm1/place/result, /ariac/arm1/place/feedback, /ariac/arm1/place/status] ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** 6.501000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group_context.cpp:84(MoveGroupContext::status)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel, /ariac/arm1/move_group/trajectory_execution/parameter_descriptions, /ariac/arm1/move_group/trajectory_execution/parameter_updates, /ariac/arm1/move_group/plan_execution/parameter_descriptions, /ariac/arm1/move_group/plan_execution/parameter_updates, /ariac/arm1/move_group/sense_for_plan/parameter_descriptions, /ariac/arm1/move_group/sense_for_plan/parameter_updates, /ariac/arm1/execute_trajectory/result, /ariac/arm1/execute_trajectory/feedback, /ariac/arm1/execute_trajectory/status, /ariac/arm1/move_group/result, /ariac/arm1/move_group/feedback, /ariac/arm1/move_group/status, /ariac/arm1/pickup/result, /ariac/arm1/pickup/feedback, /ariac/arm1/pickup/status, /ariac/arm1/place/result, /ariac/arm1/place/feedback, /ariac/arm1/place/status] MoveGroup context using planning plugin ompl_interface/OMPLPlanner 6.501000000 INFO /ariac/arm1/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group_context.cpp:85(MoveGroupContext::status)] [topics: /rosout, /ariac/arm1/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm1/move_group/planning_scene_monitor/parameter_updates, /ariac/arm1/move_group/monitored_planning_scene, /ariac/arm1/move_group/ompl/parameter_descriptions, /ariac/arm1/move_group/ompl/parameter_updates, /ariac/arm1/move_group/display_planned_path, /ariac/arm1/move_group/display_contacts, /ariac/arm1/arm/follow_joint_trajectory/goal, /ariac/arm1/arm/follow_joint_trajectory/cancel, /ariac/arm1/move_group/trajectory_execution/parameter_descriptions, /ariac/arm1/move_group/trajectory_execution/parameter_updates, /ariac/arm1/move_group/plan_execution/parameter_descriptions, /ariac/arm1/move_group/plan_execution/parameter_updates, /ariac/arm1/move_group/sense_for_plan/parameter_descriptions, /ariac/arm1/move_group/sense_for_plan/parameter_updates, /ariac/arm1/execute_trajectory/result, /ariac/arm1/execute_trajectory/feedback, /ariac/arm1/execute_trajectory/status, /ariac/arm1/move_group/result, /ariac/arm1/move_group/feedback, /ariac/arm1/move_group/status, /ariac/arm1/pickup/result, /ariac/arm1/pickup/feedback, /ariac/arm1/pickup/status, /ariac/arm1/place/result, /ariac/arm1/place/feedback, /ariac/arm1/place/status] MoveGroup context initialization complete 0.000000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:1120(PlanningSceneMonitor::startStateMonitor)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene] Listening to '/ariac/arm2/attached_collision_object' for attached collision objects 8.734000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-planners-ompl-0.10.8/ompl_interface/src/ompl_interface.cpp:55(OMPLInterface::OMPLInterface)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene] Initializing OMPL interface using ROS parameters 8.739000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:119(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning interface 'OMPL' 8.741000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_workspace_bounds.cpp:53(FixWorkspaceBounds::FixWorkspaceBounds)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'default_workspace_bounds' was not set. Using default value: 10 8.741000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:60(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'start_state_max_bounds_error' was set to 0.1 8.741000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp:65(FixStartStateBounds::FixStartStateBounds)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5 8.741000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:57(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'start_state_max_dt' was not set. Using default value: 0.5 8.741000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:68(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'jiggle_fraction' was set to 0.05 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_request_adapter_plugins/src/fix_start_state_collision.cpp:73(FixStartStateCollision::FixStartStateCollision)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Param 'max_sampling_attempts' was not set. Using default value: 100 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning request adapter 'Add Time Parameterization' 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Workspace Bounds' 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Bounds' 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State In Collision' 8.742000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_pipeline/src/planning_pipeline.cpp:163(PlanningPipeline::configure)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates] Using planning request adapter 'Fix Start State Path Constraints' 8.938000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-0.10.8/src/moveit_simple_controller_manager.cpp:145(MoveItSimpleControllerManager::MoveItSimpleControllerManager)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates, /ariac/arm2/move_group/display_planned_path, /ariac/arm2/move_group/display_contacts, /ariac/arm2/arm/follow_joint_trajectory/goal, /ariac/arm2/arm/follow_joint_trajectory/cancel] Added FollowJointTrajectory controller for 8.938000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-simple-controller-manager-0.10.8/src/moveit_simple_controller_manager.cpp:196(MoveItSimpleControllerManager::getControllersList)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates, /ariac/arm2/move_group/display_planned_path, /ariac/arm2/move_group/display_contacts, /ariac/arm2/arm/follow_joint_trajectory/goal, /ariac/arm2/arm/follow_joint_trajectory/cancel] Returned 1 controllers in list 8.942000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/trajectory_execution_manager/src/trajectory_execution_manager.cpp:177(TrajectoryExecutionManager::initialize)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates, /ariac/arm2/move_group/display_planned_path, /ariac/arm2/move_group/display_contacts, /ariac/arm2/arm/follow_joint_trajectory/goal, /ariac/arm2/arm/follow_joint_trajectory/cancel, /ariac/arm2/move_group/trajectory_execution/parameter_descriptions, /ariac/arm2/move_group/trajectory_execution/parameter_updates] Trajectory execution is managing controllers 8.961000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group.cpp:172(MoveGroupExe::configureCapabilities)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates, /ariac/arm2/move_group/display_planned_path, /ariac/arm2/move_group/display_contacts, /ariac/arm2/arm/follow_joint_trajectory/goal, /ariac/arm2/arm/follow_joint_trajectory/cancel, /ariac/arm2/move_group/trajectory_execution/parameter_descriptions, /ariac/arm2/move_group/trajectory_execution/parameter_updates, /ariac/arm2/move_group/plan_execution/parameter_descriptions, /ariac/arm2/move_group/plan_execution/parameter_updates, /ariac/arm2/move_group/sense_for_plan/parameter_descriptions, /ariac/arm2/move_group/sense_for_plan/parameter_updates, /ariac/arm2/execute_trajectory/result, /ariac/arm2/execute_trajectory/feedback, /ariac/arm2/execute_trajectory/status, /ariac/arm2/move_group/result, /ariac/arm2/move_group/feedback, /ariac/arm2/move_group/status, /ariac/arm2/pickup/result, /ariac/arm2/pickup/feedback, /ariac/arm2/pickup/status, /ariac/arm2/place/result, /ariac/arm2/place/feedback, /ariac/arm2/place/status] ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** 8.961000000 INFO /ariac/arm2/move_group [/tmp/binarydeb/ros-melodic-moveit-ros-move-group-0.10.8/src/move_group_context.cpp:84(MoveGroupContext::status)] [topics: /rosout, /ariac/arm2/move_group/planning_scene_monitor/parameter_descriptions, /ariac/arm2/move_group/planning_scene_monitor/parameter_updates, /ariac/arm2/move_group/monitored_planning_scene, /ariac/arm2/move_group/ompl/parameter_descriptions, /ariac/arm2/move_group/ompl/parameter_updates, /ariac/arm2/move_group/display_planned_path, /ariac/arm2/move_group/display_contacts, /ariac/arm2/arm/follow_joint_trajectory/goal, /ariac/arm2/arm/follow_joint_trajectory/cancel, /ariac/arm2/move_group/trajectory_execution/parameter_descriptions, /ariac/arm2/move_group/trajectory_execution/parameter_updates, /ariac/arm2/move_group/plan_execution/parameter_descriptions, /ariac/arm2/move_group/plan_execution/parameter_updates, /ariac/arm2/move_group/sense_for_plan/parameter_descriptions, /ariac/arm2/move_group/sense_for_plan/parameter_updates, /ariac/arm2/execute_trajectory/result, /ariac/arm2/execute_trajectory/feedback, /ariac/arm2/execute_trajectory/status, /ariac/arm2/move_group/result, /ariac/arm2/move_group/feedback, /ariac/arm2/move_group/status, /ariac/arm2/pickup/result, /ariac/arm2/pickup/feedback, /ariac/arm2/pickup/status, /ariac/arm2/place/result, /ariac/arm2/place/feedback, /ariac/arm2/place/status] MoveGroup context using planning plugin ompl_interface/OMPLPlanner 89.348000000 INFO /gazebo [/home/dbarry/ariac_ws/src/ariac/osrf_gear/src/ROSAriacTaskManagerPlugin.cc:929(ROSAriacTaskManagerPlugin::AnnounceOrder)] [topics: ] Announcing order: order_0 0.000000000 WARN /ariac/arm2/joint_state_controller_spawner [tcpros_service.py:160(wait_for_service)] [topics: /clock, /rosout] wait_for_service(/ariac/arm2/controller_manager/load_controller): failed to contact, will keep trying 0.000000000 WARN /ariac/arm2/arm_controller_spawner [tcpros_service.py:160(wait_for_service)] [topics: /clock, /rosout] wait_for_service(/ariac/arm2/controller_manager/load_controller): failed to contact, will keep trying 0.000000000 WARN /ariac/arm1/arm_controller_spawner [tcpros_service.py:160(wait_for_service)] [topics: /clock, /rosout] wait_for_service(/ariac/arm1/controller_manager/load_controller): failed to contact, will keep trying 0.000000000 WARN /ariac/arm1/joint_state_controller_spawner [tcpros_service.py:160(wait_for_service)] [topics: /clock, /rosout] wait_for_service(/ariac/arm1/controller_manager/load_controller): failed to contact, will keep trying 0.000000000 INFO /gazebo_gui [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp:80(service::exists)] [topics: /rosout] waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... 0.000000000 INFO /gazebo [/tmp/binarydeb/ros-melodic-roscpp-1.14.3/src/libros/service.cpp:80(service::exists)] [topics: ] waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... 0.000000000 INFO /ariac/arm1/spawn_gazebo_model [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /ariac/arm2/spawn_gazebo_model [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /spawn_gazebo_sensors [gazebo_interface.py:27(spawn_urdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_urdf_model 0.000000000 INFO /osrf_gear_spawn_bin2_link_piston_rod_part_57 [gazebo_interface.py:15(spawn_sdf_model_client)] [topics: /clock, /rosout] Waiting for service /gazebo/spawn_sdf_model