JUNCHAO

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About JUNCHAO

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    university of iowa

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  1. JUNCHAO

    Sawyer robot enable failed

    I just fixed the issue about the failure of the enabling, so this can be a reference for anyone has the same issue. First of all, I googled and found out that Anaconda's libraries might have conflict with few ROS libraries. If you have Anaconda installed as the programming IDE, please check the python's and its libraries' version. It caused some errors. I removed Anaconda and reinstalled ROS then the problem fixed. Please post comments if you have better solution. Another issue is when I connected to the Sawyer robot, I just turned off the WIFI but not the network connection. I remember I used to be able to connect robot in this mode, but this time I can't ping the robot's host name and IP, and it showed up " unable to communicate with master!" when I called it. Later on I figured out that I have to disable both the WIFI connection and the network connection in Ubuntu Settings, in order to ping the robot and build up the connection. If you have same problem then don't forget to check the connection. Junchao Li
  2. JUNCHAO

    Sawyer robot enable failed

    Yes, I have the same issue with Intera too. I can't access Intera through Google Chrome Browser with the Ethernet cable connected. In the Sawyer SDK mode, I tried to skip "print rs.state()" in the file and run "rs.enable()" and "rs.disable()" etc. They all have the same syntax error. It looks like the library is missing. However, I have two laptops with the same package installed and environment set up and I haven't change anything since the first time I used them, but they all have the same error when I ran this file. Both robot and laptops were offline when I ran them. The software and packages are still the last version. I guess would it be the issue with the robot. Really need Sawyer Team Support!
  3. JUNCHAO

    Sawyer robot enable failed

    I have been using Sawyer in SDK mode for a while, but today when I was trying to enable the robot again, it failed. I did all the process as usual. I use Ethernet cable with switch for connection, "autoipd" to generate the IP address and I double checked the IP in "intera.sh", then run the "intera.sh" shell and run the "rosrun intera interface enable robot.py -e". There is one error displayed when I ran it. I can't find some good resources online for that, so I have to ask to Sawyer team to see if you guys can help me out. I used another laptop with same sawyer and ROS package installed, but still has the same error. I ran all the enable files, they all appears that have one same error. I guess would it be the issue from robot? I haven't changed anything after it was successfully enabled last time. I have been doing these steps for months, but don't know what happened today. Below is the error when I run all the "enable" files with " -e, -d, -h, -s": robotics@robotics-Latitude-E5470:~/ros_ws$ gedit intera.sh ^C robotics@robotics-Latitude-E5470:~/ros_ws$ ./intera.sh [intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ rosrun intera_interface enable_robot.py -e File "/home/robotics/ros_ws/src/intera_sdk/intera_interface/scripts/enable_robot.py", line 54 print rs.state() ^ SyntaxError: invalid syntax [intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ Thanks a lot, Junchao Li
  4. Hi Sawyer team, Is there any way to control the gripper force by programming? or does the force only depends on the supply air pressure? Junchao Li
  5. Hello Sawyer Team, We are currently trying to use Optitrack Camera system to detect the marked rigid body, then send the location of the object generated by the camera coordinate system to the Linux workstation in order to control the Sawyer robot. I looked "go_to_Cartesian_pose" as the example code. I know the code has the "tf" library used to convert the coordinates, but I don't know how the coordinates system of sawyer robot is set up. In other words, since the Optitrack and Sawyer share two different coordinates system, how can I know the Sawyer's coordinates system in order to set the camera coordinates same as the robot's? Junchao Li
  6. JUNCHAO

    More Camera application Code examples

    Hello Ian, I am currently learning the python code of two examples: "go_to_cartesian" and "camera_imagine_display". I am trying to combine these two together to create a new python code which can make the sawyer robot automatically detects the object and generates the object coordinates then moves its arm to that point. Both codes are useful materials, but I do need some type of the function which can generate the object coordinates which I didn't find in these two examples. In other words, according to your last comments, the camera detects the object and generates the ros message, which will be converted and processed through openCV by using the function called "cv_bridge". This piece of information will then be used to generate the object coordinates on camera based frame, so it can be transformed to robot's based frame after this. My problem is how to generate the coordinates on camera based frame. Do you have any suggestions? like where can I find these good example codes, or what ros or python library should I focus on? I looked up the openCV tutorial, but I don't have its code documentation. What about if I plan to use the barcode or QR code? Is any function good for that? Please advice! Appreciate! Junchao Li
  7. JUNCHAO

    gazebo simulator launch problem

    Hi Ian, Did you mean the workstation needs a loop network, so it can talks to itself? Do I need to replace the ip in "intera.sh" file by my computer's ip (like 127.0.0.1)? Thanks, Junchao Li
  8. JUNCHAO

    gazebo simulator launch problem

    Hello, I just got a new laptop with NV117 graphic card and i7 CPU, which should be enough to run the Gazebo. Since Gazebo is a simulator, it should be able to run without connecting to the sawyer robot. When I tried to run Gazebo in the shell of intera.sh sim, it showed as below. 169.254.14.184 is the ip address generated by "avahi-autoipd". I used this ip successfully operated robot through the terminal and launched the MoveIt. Does this mean I have to connect to the robot in order to run the Gazebo simulation? Please provide advise. Thanks! Junchao Li
  9. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, Just wanna be clear. What is the minimum requirement as a dedicated NVidia graphic card? Thanks, Junchao Li
  10. JUNCHAO

    Moveit Trajectory Failed

    Hello Ulysse, Thanks for your reply! -When I used the command "date+%s", it shows a very big number. Does that mean they are still not sync yet? robotics@robotics-Latitude-E5470:~/ros_ws$ date +%s 1528927112 -I used "ntpdate -q <workstation_ip>" to test the synchronization, I think it shows it is good. ntpdate -q 169.254.221.25 server 169.254.221.25, stratum 3, offset -0.000020, delay 0.02570 13 Jun 16:57:29 ntpdate[20200]: adjust time server 169.254.221.25 offset -0.000020 sec -I used "rostopic echo /robot/joint_states" to grab the joint states, please see the attachment below. Thanks for the help! Please let me know what do you think. Junchao Li
  11. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, Thanks for the advice! It looks like a hardware issue. Since I am using the university provided laptop, so you mean I have to change a higher level laptop or computer in order to run it? Thanks, Junchao Li
  12. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, My Graphic card appears as "Intel® HD Graphics 520 (Skylake GT2) ". Junchao Li
  13. JUNCHAO

    Moveit Trajectory Failed

    Hello Intera Team, I was trying to plan and execute the trajectory in Moveit, but it always fails whatever how to plan it. I know it seems to be similar to the few previous topics that other users posted, but I really tried all the methods I found in this forum and even on the whole Internet. Our university tech guys fixed the NTP issue for me, but it still fails. I don't know what to do right now. I have been suffering from this for few weeks too. I attach the whole launch code and the trajectory plan code here. [intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch ... logging to /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/roslaunch-robotics-Latitude-E5470-28978.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://169.254.9.57:35385/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/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: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/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/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.13 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_attempts: 3 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_timeout: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_attempts: 10 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_timeout: 0.005 NODES / move_group (moveit_ros_move_group/move_group) rviz_robotics_Latitude_E5470_28978_3340562522888942337 (rviz/rviz) ROS_MASTER_URI=http://021705CP00093.local:11311 process[move_group-1]: started with pid [28990] process[rviz_robotics_Latitude_E5470_28978_3340562522888942337-2]: started with pid [28991] [ INFO] [1528323945.052649773]: Loading robot model 'sawyer'... [ INFO] [1528323945.065726462]: rviz version 1.12.16 [ INFO] [1528323945.066183718]: compiled against Qt version 5.5.1 [ INFO] [1528323945.066228000]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1528323945.125379174]: Loading robot model 'sawyer'... [ INFO] [1528323945.191456726]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1528323945.205863997]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1528323945.206793758]: Starting scene monitor [ INFO] [1528323945.224457880]: Listening to '/planning_scene' [ INFO] [1528323945.224713866]: Starting world geometry monitor [ INFO] [1528323945.236506174]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1528323945.245107492]: Stereo is NOT SUPPORTED [ INFO] [1528323945.245556299]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1528323945.245635256]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1528323945.276487852]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1528323945.314766664]: Initializing OMPL interface using ROS parameters [ INFO] [1528323945.366329714]: Using planning interface 'OMPL' [ INFO] [1528323945.369706289]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1528323945.371147439]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1528323945.372469617]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.373617677]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1528323945.375042832]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1528323945.376669402]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1528323945.376744465]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1528323945.376773618]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1528323945.376839280]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1528323945.376858191]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1528323945.376894036]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1528323945.383325501]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1528323945.384526347]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1528323945.651669985]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1528323945.652065587]: Returned 1 controllers in list [ INFO] [1528323945.708770350]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... 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] [1528323946.063715013]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1528323946.063987749]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1528323946.064149028]: MoveGroup context initialization complete You can start planning now! [ INFO] [1528323948.847131272]: Loading robot model 'sawyer'... [ INFO] [1528323948.924133996]: Loading robot model 'sawyer'... [ INFO] [1528323948.999324040]: Starting scene monitor [ INFO] [1528323949.013077514]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1528323950.032157486]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1528323950.037879837]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ WARN] [1528323951.055104848]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1528323951.073245861]: Ready to take commands for planning group right_arm. [ INFO] [1528323951.073354076]: Looking around: no [ INFO] [1528323951.073407860]: Replanning: no [ WARN] [1528323951.086621598]: Interactive marker 'EE:goal_right_hand' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ WARN] [1528323974.891747073]: Failed to fetch current robot state. [ INFO] [1528323974.892801862]: Planning request received for MoveGroup action. Forwarding to planning pipeline. Debug: Starting goal sampling thread Debug: Waiting for space information to be set up before the sampling thread can begin computation... [ INFO] [1528323974.899332549]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Debug: RRTConnect: Waiting for goal region samples ... Debug: Beginning sampling thread computation Debug: Stopped goal sampling thread after 10 sampling attempts Debug: RRTConnect: Waited 0.010144 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010110 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010098 seconds for the first goal sample. Debug: RRTConnect: Waited 0.010095 seconds for the first goal sample. Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.016088 seconds Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018401 seconds Debug: ParallelPlan.solveMore: Spent 0.000181 seconds hybridizing 1 solution paths (attempted 0 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000227 seconds hybridizing 2 solution paths (attempted 1 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.018802 seconds Debug: ParallelPlan.solveMore: Spent 0.000042 seconds hybridizing 3 solution paths (attempted 2 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.021260 seconds Debug: ParallelPlan.solveMore: Spent 0.000047 seconds hybridizing 4 solution paths (attempted 3 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.025939 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003359 seconds Debug: ParallelPlan.solveMore: Spent 0.000078 seconds hybridizing 6 solution paths (attempted 11 connections between paths) Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 5 states (3 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003567 seconds Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003620 seconds Debug: ParallelPlan.solveMore: Spent 0.000114 seconds hybridizing 8 solution paths (attempted 13 connections between paths) Debug: ParallelPlan.solveMore: Spent 0.000016 seconds hybridizing 8 solution paths (attempted 0 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.005818 seconds Debug: ParallelPlan.solveMore: Spent 0.000046 seconds hybridizing 9 solution paths (attempted 8 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.005998 seconds Debug: RRTConnect: Planner range detected to be 9.137180 Debug: RRTConnect: Planner range detected to be 9.137180 Debug: ParallelPlan.solveMore: starting planner RRTConnect Debug: ParallelPlan.solveMore: starting planner RRTConnect Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Starting planning with 1 states already in datastructure Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.002479 seconds Debug: ParallelPlan.solveMore: Spent 0.000124 seconds hybridizing 11 solution paths (attempted 23 connections between paths) Info: RRTConnect: Created 4 states (2 start + 2 goal) Debug: ParallelPlan.solveMore: Solution found by RRTConnect in 0.003580 seconds Debug: ParallelPlan.solveMore: Spent 0.000119 seconds hybridizing 12 solution paths (attempted 11 connections between paths) Info: ParallelPlan::solve(): Solution found by one or more threads in 0.003834 seconds Info: SimpleSetup: Path simplification took 0.012288 seconds and changed from 3 to 2 states [ INFO] [1528323978.521995934]: Received new trajectory execution service request... [ WARN] [1528323979.522709048]: Failed to validate trajectory: couldn't receive full current joint state within 1s [ INFO] [1528323979.523042746]: Execution completed: ABORTED [ INFO] [1528323989.342307823]: Stopping scene monitor [ WARN] [1528323989.349337698]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. [rviz_robotics_Latitude_E5470_28978_3340562522888942337-2] process has finished cleanly log file: /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/rviz_robotics_Latitude_E5470_28978_3340562522888942337-2*.log ^C[move_group-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
  14. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, -Gazebo could be launched by itself and seems all fine (See the attachment). -When I was trying to check the system updates, it shows the "dist-upgrade" package cannot be found. -For NVIDIA, the additional driver, I wonder why this laptop doesn't have any additional driver with Ubuntu 16.04. (See the attachment). Should I just download and install this NVIDIA binary driver with version 396.xx.xx? Thanks, Junchao Li
  15. JUNCHAO

    gazebo simulator launch problem

    [intera - http://localhost:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch ... logging to /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/roslaunch-robotics-Latitude-E5470-2338.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://169.254.221.25:46315/ SUMMARY ======== PARAMETERS * /img_path_head_display: /home/robotics/ro... * /manifest/robot_class: sawyer * /manifest/robot_software/version/HLR_VERSION_STRING: 5.2.0.0 * /named_poses/head/joint_names: ['head_pan'] * /named_poses/head/poses/neutral: [0.0] * /named_poses/head/poses/shipping: [-3.14] * /named_poses/right/joint_names: ['right_j0', 'rig... * /named_poses/right/poses/neutral: [0.0, -1.18, 0.0,... * /named_poses/right/poses/shipping: [0.0, -1.57, 0.0,... * /robot/electric_gripper_controller/joints/right_gripper_l_finger_controller/joint: right_gripper_l_f... * /robot/electric_gripper_controller/joints/right_gripper_l_finger_controller/pid/d: 0.5 * /robot/electric_gripper_controller/joints/right_gripper_l_finger_controller/pid/i: 50 * /robot/electric_gripper_controller/joints/right_gripper_l_finger_controller/pid/p: 5000 * /robot/electric_gripper_controller/joints/right_gripper_r_finger_controller/joint: right_gripper_r_f... * /robot/electric_gripper_controller/joints/right_gripper_r_finger_controller/pid/d: 0.5 * /robot/electric_gripper_controller/joints/right_gripper_r_finger_controller/pid/i: 50 * /robot/electric_gripper_controller/joints/right_gripper_r_finger_controller/pid/p: 5000 * /robot/electric_gripper_controller/topic_command: /io/end_effector/... * /robot/electric_gripper_controller/topic_config: /io/end_effector/... * /robot/electric_gripper_controller/topic_state: /io/end_effector/... * /robot/electric_gripper_controller/type: sawyer_sim_contro... * /robot/head_position_controller/joints/head_controller/joint: head_pan * /robot/head_position_controller/joints/head_controller/pid/d: 10.0 * /robot/head_position_controller/joints/head_controller/pid/i: 1.0 * /robot/head_position_controller/joints/head_controller/pid/p: 100.0 * /robot/head_position_controller/topic_command: /robot/head/comma... * /robot/head_position_controller/topic_state: /robot/head/head_... * /robot/head_position_controller/type: sawyer_sim_contro... * /robot/joint_state_controller/publish_rate: 100 * /robot/joint_state_controller/type: joint_state_contr... * /robot/limb/right/camera_name: right_hand_camera * /robot/limb/right/gravity_tip_name: right_gripper_tip * /robot/limb/right/root_name: base * /robot/limb/right/tip_name: right_gripper_tip * /robot/right_joint_effort_controller/joints/right_j0_controller/joint: right_j0 * /robot/right_joint_effort_controller/joints/right_j1_controller/joint: right_j1 * /robot/right_joint_effort_controller/joints/right_j2_controller/joint: right_j2 * /robot/right_joint_effort_controller/joints/right_j3_controller/joint: right_j3 * /robot/right_joint_effort_controller/joints/right_j4_controller/joint: right_j4 * /robot/right_joint_effort_controller/joints/right_j5_controller/joint: right_j5 * /robot/right_joint_effort_controller/joints/right_j6_controller/joint: right_j6 * /robot/right_joint_effort_controller/topic: /robot/limb/right... * /robot/right_joint_effort_controller/type: sawyer_sim_contro... * /robot/right_joint_gravity_controller/command_topic: /robot/limb/right... * /robot/right_joint_gravity_controller/disable_timeout: 0.2 * /robot/right_joint_gravity_controller/disable_topic: /robot/limb/right... * /robot/right_joint_gravity_controller/joints/right_j0_controller/joint: right_j0 * /robot/right_joint_gravity_controller/joints/right_j1_controller/joint: right_j1 * /robot/right_joint_gravity_controller/joints/right_j2_controller/joint: right_j2 * /robot/right_joint_gravity_controller/joints/right_j3_controller/joint: right_j3 * /robot/right_joint_gravity_controller/joints/right_j4_controller/joint: right_j4 * /robot/right_joint_gravity_controller/joints/right_j5_controller/joint: right_j5 * /robot/right_joint_gravity_controller/joints/right_j6_controller/joint: right_j6 * /robot/right_joint_gravity_controller/type: sawyer_sim_contro... * /robot/right_joint_position_controller/joints/right_j0_controller/joint: right_j0 * /robot/right_joint_position_controller/joints/right_j0_controller/pid/d: 25.0 * /robot/right_joint_position_controller/joints/right_j0_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j0_controller/pid/p: 500.0 * /robot/right_joint_position_controller/joints/right_j1_controller/joint: right_j1 * /robot/right_joint_position_controller/joints/right_j1_controller/pid/d: 30.0 * /robot/right_joint_position_controller/joints/right_j1_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j1_controller/pid/p: 400.0 * /robot/right_joint_position_controller/joints/right_j2_controller/joint: right_j2 * /robot/right_joint_position_controller/joints/right_j2_controller/pid/d: 30.0 * /robot/right_joint_position_controller/joints/right_j2_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j2_controller/pid/p: 250.0 * /robot/right_joint_position_controller/joints/right_j3_controller/joint: right_j3 * /robot/right_joint_position_controller/joints/right_j3_controller/pid/d: 50.0 * /robot/right_joint_position_controller/joints/right_j3_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j3_controller/pid/p: 300.0 * /robot/right_joint_position_controller/joints/right_j4_controller/joint: right_j4 * /robot/right_joint_position_controller/joints/right_j4_controller/pid/d: 8.0 * /robot/right_joint_position_controller/joints/right_j4_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j4_controller/pid/p: 300.0 * /robot/right_joint_position_controller/joints/right_j5_controller/joint: right_j5 * /robot/right_joint_position_controller/joints/right_j5_controller/pid/d: 5.0 * /robot/right_joint_position_controller/joints/right_j5_controller/pid/i: 1.0 * /robot/right_joint_position_controller/joints/right_j5_controller/pid/p: 100.0 * /robot/right_joint_position_controller/joints/right_j6_controller/joint: right_j6 * /robot/right_joint_position_controller/joints/right_j6_controller/pid/d: 4.0 * /robot/right_joint_position_controller/joints/right_j6_controller/pid/i: 10.0 * /robot/right_joint_position_controller/joints/right_j6_controller/pid/p: 50.0 * /robot/right_joint_position_controller/topic_joint_command: /robot/limb/right... * /robot/right_joint_position_controller/topic_set_speed_ratio: /robot/limb/right... * /robot/right_joint_position_controller/type: sawyer_sim_contro... * /robot/right_joint_velocity_controller/joints/right_j0_controller/joint: right_j0 * /robot/right_joint_velocity_controller/joints/right_j0_controller/pid/d: 0.1 * /robot/right_joint_velocity_controller/joints/right_j0_controller/pid/i: 0.0 * /robot/right_joint_velocity_controller/joints/right_j0_controller/pid/p: 10 * /robot/right_joint_velocity_controller/joints/right_j1_controller/joint: right_j1 * /robot/right_joint_velocity_controller/joints/right_j1_controller/pid/d: 0.1 * /robot/right_joint_velocity_controller/joints/right_j1_controller/pid/i: 1.0 * /robot/right_joint_velocity_controller/joints/right_j1_controller/pid/p: 100 * /robot/right_joint_velocity_controller/joints/right_j2_controller/joint: right_j2 * /robot/right_joint_velocity_controller/joints/right_j2_controller/pid/d: 0.01 * /robot/right_joint_velocity_controller/joints/right_j2_controller/pid/i: 0.0 * /robot/right_joint_velocity_controller/joints/right_j2_controller/pid/p: 0.05 * /robot/right_joint_velocity_controller/joints/right_j3_controller/joint: right_j3 * /robot/right_joint_velocity_controller/joints/right_j3_controller/pid/d: 0.1 * /robot/right_joint_velocity_controller/joints/right_j3_controller/pid/i: 0.01 * /robot/right_joint_velocity_controller/joints/right_j3_controller/pid/p: 0.5 * /robot/right_joint_velocity_controller/joints/right_j4_controller/joint: right_j4 * /robot/right_joint_velocity_controller/joints/right_j4_controller/pid/d: 0.01 * /robot/right_joint_velocity_controller/joints/right_j4_controller/pid/i: 0.0 * /robot/right_joint_velocity_controller/joints/right_j4_controller/pid/p: 1.0 * /robot/right_joint_velocity_controller/joints/right_j5_controller/joint: right_j5 * /robot/right_joint_velocity_controller/joints/right_j5_controller/pid/d: 0.01 * /robot/right_joint_velocity_controller/joints/right_j5_controller/pid/i: 0.0 * /robot/right_joint_velocity_controller/joints/right_j5_controller/pid/p: 0.05 * /robot/right_joint_velocity_controller/joints/right_j6_controller/joint: right_j6 * /robot/right_joint_velocity_controller/joints/right_j6_controller/pid/d: 0.01 * /robot/right_joint_velocity_controller/joints/right_j6_controller/pid/i: 0.0 * /robot/right_joint_velocity_controller/joints/right_j6_controller/pid/p: 0.05 * /robot/right_joint_velocity_controller/topic: /robot/limb/right... * /robot/right_joint_velocity_controller/type: sawyer_sim_contro... * /robot_config/assembly_names: ['head', 'right',... * /robot_config/camera_config/head_camera/cameraType: ienso_ethernet * /robot_config/camera_config/head_camera/power: torso_camera_power * /robot_config/camera_config/right_hand_camera/cameraType: cognex * /robot_config/camera_config/right_hand_camera/power: right_hand_camera... * /robot_config/head_config/joint_names: ['head_pan'] * /robot_config/head_config/type: head * /robot_config/joint_config/joint_acceleration_limit/head_pan: 10.0 * /robot_config/joint_config/joint_acceleration_limit/right_j0: 10.0 * /robot_config/joint_config/joint_acceleration_limit/right_j1: 8.0 * /robot_config/joint_config/joint_acceleration_limit/right_j2: 10.0 * /robot_config/joint_config/joint_acceleration_limit/right_j3: 10.0 * /robot_config/joint_config/joint_acceleration_limit/right_j4: 12.0 * /robot_config/joint_config/joint_acceleration_limit/right_j5: 12.0 * /robot_config/joint_config/joint_acceleration_limit/right_j6: 12.0 * /robot_config/right_config/accelerometer_names: ['right_accelerom... * /robot_config/right_config/end_effector_names: ['right_gripper'] * /robot_config/right_config/joint_names: ['right_j0', 'rig... * /robot_config/right_config/type: limb * /robot_config/torso_config/joint_names: ['torso_t0'] * /robot_config/torso_config/type: torso * /robot_description: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.13 * /use_sim_time: True NODES /io/internal_camera/head_camera/ rectify_color (nodelet/nodelet) /io/internal_camera/right_hand_camera/ rectify_mono (nodelet/nodelet) / base_to_world (tf2_ros/static_transform_publisher) camera_sim (sawyer_gazebo/cameras_sim_io_node.py) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) ik_pick_and_place_demo (sawyer_sim_examples/ik_pick_and_place_demo.py) intera_camera_nodelets (nodelet/nodelet) io_robot (rosbag/play) robot_state_publisher (robot_state_publisher/robot_state_publisher) urdf_spawner (gazebo_ros/spawn_model) /robot/ controller_spawner (controller_manager/controller_manager) controller_spawner_stopped (controller_manager/controller_manager) electric_gripper_controller_spawner_stopped (controller_manager/controller_manager) ROS_MASTER_URI=http://localhost:11311 process[gazebo-1]: started with pid [2361] process[gazebo_gui-2]: started with pid [2371] process[base_to_world-3]: started with pid [2376] process[urdf_spawner-4]: started with pid [2377] process[robot/controller_spawner-5]: started with pid [2383] process[robot/controller_spawner_stopped-6]: started with pid [2388] process[robot/electric_gripper_controller_spawner_stopped-7]: started with pid [2397] process[robot_state_publisher-8]: started with pid [2398] process[camera_sim-9]: started with pid [2399] process[intera_camera_nodelets-10]: started with pid [2400] process[io/internal_camera/right_hand_camera/rectify_mono-11]: started with pid [2401] process[io/internal_camera/head_camera/rectify_color-12]: started with pid [2417] process[io_robot-13]: started with pid [2435] process[ik_pick_and_place_demo-14]: started with pid [2467] Error when loading joint_state_controller Error when loading head_position_controller Error when loading right_joint_gravity_controller Error when loading right_joint_position_controller Error when starting ['joint_state_controller'] Error when starting ['head_position_controller'] Error when starting ['right_joint_gravity_controller'] Error when loading right_joint_velocity_controller Error when starting ['right_joint_position_controller'] Error when loading right_joint_effort_controller Error when loading electric_gripper_controller Error when starting ['electric_gripper_controller'] [robot/controller_spawner-5] process has finished cleanly log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/robot-controller_spawner-5*.log [robot/controller_spawner_stopped-6] process has finished cleanly log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/robot-controller_spawner_stopped-6*.log [robot/electric_gripper_controller_spawner_stopped-7] process has finished cleanly log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/robot-electric_gripper_controller_spawner_stopped-7*.log [gazebo-1] process has died [pid 2361, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/robotics/ros_ws/src/sawyer_simulator/sawyer_gazebo/worlds/sawyer.world __name:=gazebo __log:=/home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/gazebo-1.log]. log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/gazebo-1*.log SpawnModel script started [INFO] [1528332142.672926, 0.000000]: Loading model XML from ros parameter [INFO] [1528332142.690518, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1528332142.693874, 0.000000]: Calling service /gazebo/spawn_urdf_model [INFO] [1528332142.707624, 0.000000]: Spawn status: SpawnModel: Failure - entity already exists. [INFO] [1528332142.707956, 0.000000]: Waiting for service /gazebo/set_model_configuration [INFO] [1528332142.710168, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. libGL error: failed to create drawable [INFO] [1528332143.711598, 0.000000]: Calling service /gazebo/set_model_configuration [INFO] [1528332143.757085, 0.000000]: Set model configuration status: SetModelConfiguration: success [urdf_spawner-4] process has finished cleanly log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/urdf_spawner-4*.log Warning [parser.cc:437] Converting a deprecated SDF source[data-string]. [ INFO] [1528332145.199977605]: GazeboRosVideo (gzclient, ns = /robot) has started Traceback (most recent call last): File "/home/robotics/ros_ws/src/sawyer_simulator/sawyer_sim_examples/scripts/ik_pick_and_place_demo.py", line 268, in <module> sys.exit(main()) File "/home/robotics/ros_ws/src/sawyer_simulator/sawyer_sim_examples/scripts/ik_pick_and_place_demo.py", line 236, in main pnp = PickAndPlace(limb, hover_distance) File "/home/robotics/ros_ws/src/sawyer_simulator/sawyer_sim_examples/scripts/ik_pick_and_place_demo.py", line 46, in __init__ self._limb = intera_interface.Limb(limb) File "/home/robotics/ros_ws/src/intera_sdk/intera_interface/src/intera_interface/limb.py", line 172, in __init__ timeout_msg=err_msg, timeout=5.0) File "/home/robotics/ros_ws/src/intera_sdk/intera_interface/src/intera_dataflow/wait_for.py", line 42, in wait_for raise OSError(errno.ETIMEDOUT, timeout_msg) OSError: [Errno 110] Right limb init failed to get current joint_states from robot/joint_states [ik_pick_and_place_demo-14] process has died [pid 2467, exit code 1, cmd /home/robotics/ros_ws/src/sawyer_simulator/sawyer_sim_examples/scripts/ik_pick_and_place_demo.py __name:=ik_pick_and_place_demo __log:=/home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/ik_pick_and_place_demo-14.log]. log file: /home/robotics/.ros/log/a7089d10-69e5-11e8-955e-b9d69a7f7dd1/ik_pick_and_place_demo-14*.log That's all the code showed up in the terminal.