robot@washington:~$ roslaunch ps_solution sample_solution.launch ... logging to /home/robot/.ros/log/c3b4e2ec-4e47-11e9-ab12-185680dc809d/roslaunch-washington-14943.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://washington:33897/ SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.3 NODES / ariac_sim (osrf_gear/gear.py) auto-starting new master process[master]: started with pid [14953] ROS_MASTER_URI=http://localhost:11311 setting /run_id to c3b4e2ec-4e47-11e9-ab12-185680dc809d process[rosout-1]: started with pid [14964] started core service [/rosout] process[ariac_sim-2]: started with pid [14970] writing file /tmp/ariac/arm1.urdf.xacro writing file /tmp/ariac/arm2.urdf.xacro writing file /tmp/ariac/gear.launch writing file /tmp/ariac/gear.urdf.xacro writing file /tmp/ariac/gear.world Running command: roslaunch /tmp/ariac/gear.launch world_path:=/tmp/ariac/gear.world gear_urdf_xacro:=/tmp/ariac/gear.urdf.xacro arm_urdf_dir:=/tmp/ariac/ ... logging to /home/robot/.ros/log/c3b4e2ec-4e47-11e9-ab12-185680dc809d/roslaunch-washington-14974.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://washington:32941/ SUMMARY ======== PARAMETERS * /ariac/arm1/arm/action_monitor_rate: 10 * /ariac/arm1/arm/constraints/elbow_joint/goal: 0.1 * /ariac/arm1/arm/constraints/elbow_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/goal_time: 0.6 * /ariac/arm1/arm/constraints/linear_arm_actuator_joint/goal: 0.1 * /ariac/arm1/arm/constraints/linear_arm_actuator_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/shoulder_lift_joint/goal: 0.1 * /ariac/arm1/arm/constraints/shoulder_lift_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/shoulder_pan_joint/goal: 0.1 * /ariac/arm1/arm/constraints/shoulder_pan_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/stopped_velocity_tolerance: 0.05 * /ariac/arm1/arm/constraints/wrist_1_joint/goal: 0.1 * /ariac/arm1/arm/constraints/wrist_1_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/wrist_2_joint/goal: 0.1 * /ariac/arm1/arm/constraints/wrist_2_joint/trajectory: 0.1 * /ariac/arm1/arm/constraints/wrist_3_joint/goal: 0.1 * /ariac/arm1/arm/constraints/wrist_3_joint/trajectory: 0.1 * /ariac/arm1/arm/gains/elbow_joint/d: 150 * /ariac/arm1/arm/gains/elbow_joint/i: 1 * /ariac/arm1/arm/gains/elbow_joint/i_clamp: 25 * /ariac/arm1/arm/gains/elbow_joint/p: 50000 * /ariac/arm1/arm/gains/linear_arm_actuator_joint/d: 500 * /ariac/arm1/arm/gains/linear_arm_actuator_joint/i: 0 * /ariac/arm1/arm/gains/linear_arm_actuator_joint/i_clamp: 1 * /ariac/arm1/arm/gains/linear_arm_actuator_joint/p: 10000 * /ariac/arm1/arm/gains/shoulder_lift_joint/d: 150 * /ariac/arm1/arm/gains/shoulder_lift_joint/i: 10 * /ariac/arm1/arm/gains/shoulder_lift_joint/i_clamp: 50 * /ariac/arm1/arm/gains/shoulder_lift_joint/p: 50000 * /ariac/arm1/arm/gains/shoulder_pan_joint/d: 150 * /ariac/arm1/arm/gains/shoulder_pan_joint/i: 0 * /ariac/arm1/arm/gains/shoulder_pan_joint/i_clamp: 1 * /ariac/arm1/arm/gains/shoulder_pan_joint/p: 10000 * /ariac/arm1/arm/gains/wrist_1_joint/d: 5 * /ariac/arm1/arm/gains/wrist_1_joint/i: 0 * /ariac/arm1/arm/gains/wrist_1_joint/i_clamp: 1 * /ariac/arm1/arm/gains/wrist_1_joint/p: 100 * /ariac/arm1/arm/gains/wrist_2_joint/d: 2 * /ariac/arm1/arm/gains/wrist_2_joint/i: 0 * /ariac/arm1/arm/gains/wrist_2_joint/i_clamp: 1 * /ariac/arm1/arm/gains/wrist_2_joint/p: 75 * /ariac/arm1/arm/gains/wrist_3_joint/d: 1 * /ariac/arm1/arm/gains/wrist_3_joint/i: 0 * /ariac/arm1/arm/gains/wrist_3_joint/i_clamp: 1 * /ariac/arm1/arm/gains/wrist_3_joint/p: 25 * /ariac/arm1/arm/joints: ['linear_arm_actu... * /ariac/arm1/arm/state_publish_rate: 25 * /ariac/arm1/arm/stop_trajectory_duration: 0.5 * /ariac/arm1/arm/type: effort_controller... * /ariac/arm1/joint_state_controller/extra_joints: [{'position': 0.0... * /ariac/arm1/joint_state_controller/publish_rate: 50 * /ariac/arm1/joint_state_controller/type: joint_state_contr... * /ariac/arm1/robot_description: time.sleep(3) KeyboardInterrupt [ariac/arm1/joint_state_controller_spawner-16] killing on exit [ariac/arm1/fake_joint_calibration-15] killing on exit [ariac/arm1/robot_state_publisher-14] killing on exit [ariac/arm1/spawn_gazebo_model-13] killing on exit [ariac/arm1/tf_relay-12] killing on exit [ariac/arm2/arm_controller_spawner-11] killing on exit [ariac/arm2/joint_state_controller_spawner-10] killing on exit [ariac/arm2/fake_joint_calibration-9] killing on exit [ariac/arm2/robot_state_publisher-8] killing on exit Traceback (most recent call last): File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 60, in controller_manager_interface.load_controller(c) File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 59, in load_controller rospy.wait_for_service('controller_manager/load_controller') File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 163, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown Traceback (most recent call last): File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 60, in controller_manager_interface.load_controller(c) File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 59, in load_controller rospy.wait_for_service('controller_manager/load_controller') File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 163, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown Traceback (most recent call last): File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 60, in controller_manager_interface.load_controller(c) File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 59, in load_controller rospy.wait_for_service('controller_manager/load_controller') File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 163, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown Traceback (most recent call last): File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 60, in controller_manager_interface.load_controller(c) File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 59, in load_controller rospy.wait_for_service('controller_manager/load_controller') File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 163, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown [ariac/arm2/spawn_gazebo_model-7] killing on exit [ariac/arm2/tf_relay-6] killing on exit [spawn_gazebo_sensors-5] killing on exit [sensors_tf_publisher-4] killing on exit [gazebo_gui-3] killing on exit [gazebo-2] killing on exit [gazebo_gui-3] escalating to SIGTERM shutting down processing monitor... ... shutting down processing monitor complete done ================================================================================REQUIRED process [ariac_sim-2] has died! process has finished cleanly log file: /home/robot/.ros/log/c3b4e2ec-4e47-11e9-ab12-185680dc809d/ariac_sim-2*.log Initiating shutdown! ================================================================================ [ariac_sim-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done