Forums Niryo One Troubleshooting Problems using rviz / missing link transformations Reply To: Problems using rviz / missing link transformations

jd
Participant
Post count: 5

Hi Edouard,

thank you for your help. I followed your Github link and tried to fix the pyassimp-problem installing the package via
pip install –user pyassimp
which worked.
Nevertheless rviz showed up with the same puzzling view of the robot and TF-error messages. For simplicity I paste
the log in this post.

Thanks JD

niryosimulator@janosch-HP-250-G5-Notebook-PC:~$ roslaunch niryo_one_bringup desktop_rviz_simulation.launch
… logging to /home/niryosimulator/.ros/log/439c5c56-3e76-11e9-95a3-84ef1873d5e3/roslaunch-janosch-HP-250-G5-Notebook-PC-11046.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://janosch-HP-250-G5-Notebook-PC:43383/

SUMMARY
========

PARAMETERS
* /hardware_control_loop/loop_hz: 25
* /joint_state_controller/publish_rate: 10
* /joint_state_controller/type: joint_state_contr…
* /joy_node/coalesce_interval: 0.1
* /joy_node/deadzone: 0.2
* /move_group/allow_trajectory_execution: True
* /move_group/arm/longest_valid_segment_fraction: 0.005
* /move_group/arm/planner_configs: [‘SBLkConfigDefau…
* /move_group/arm/projection_evaluator: joints(joint_1,jo…
* /move_group/controller_list: [{‘default’: True…
* /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/BFMTkConfigDefault/balanced: 0
* /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
* /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
* /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
* /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
* /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/BiESTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
* /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
* /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
* /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/FMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
* /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
* /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
* /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/LBTRRTkConfigDefault/epsilon: 0.4
* /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
* /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
* /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
* /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR…
* /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
* /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/ProjESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
* /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/SPARSkConfigDefault/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
* /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
* /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
* /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
* /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
* /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
* /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
* /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
* /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
* /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
* /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
* /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
* /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
* /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
* /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM…
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r…
* /move_group/start_state_max_bounds_error: 0.3
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.0
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /niryo_one/hardware_version: 2
* /niryo_one/info/niryo_one_one_robot_type: NIRYO_ONE
* /niryo_one/info/ros_version: 2.1.0
* /niryo_one/motors/can_required_motors: [1, 2, 3]
* /niryo_one/motors/dxl_authorized_motors: [2, 3, 6, 11, 12,…
* /niryo_one/motors/dxl_required_motors: [2, 3, 6]
* /niryo_one/motors/stepper_1_direction: -1.0
* /niryo_one/motors/stepper_1_gear_ratio: 6.0625
* /niryo_one/motors/stepper_1_home_position: 0.0
* /niryo_one/motors/stepper_1_max_effort: 90
* /niryo_one/motors/stepper_1_offset_position: 3.05433
* /niryo_one/motors/stepper_2_direction: -1.0
* /niryo_one/motors/stepper_2_gear_ratio: 8.3125
* /niryo_one/motors/stepper_2_home_position: 0.640187
* /niryo_one/motors/stepper_2_max_effort: 130
* /niryo_one/motors/stepper_2_offset_position: 0.640187
* /niryo_one/motors/stepper_3_direction: 1.0
* /niryo_one/motors/stepper_3_gear_ratio: 7.875
* /niryo_one/motors/stepper_3_home_position: -1.397485
* /niryo_one/motors/stepper_3_max_effort: 120
* /niryo_one/motors/stepper_3_offset_position: -1.397485
* /niryo_one/motors/stepper_4_direction: -1.0
* /niryo_one/motors/stepper_4_gear_ratio: 5.0
* /niryo_one/motors/stepper_4_home_position: 0.0
* /niryo_one/motors/stepper_4_max_effort: 90
* /niryo_one/motors/stepper_4_offset_position: 2.791
* /niryo_one/python_api/action_connection_timeout: 2
* /niryo_one/python_api/action_execute_timeout: 15
* /niryo_one/python_api/action_preempt_timeout: 3
* /niryo_one/python_api/service_timeout: 2
* /niryo_one/reboot_when_auto_change_version: True
* /niryo_one/robot_command_validation/joint_limits/j1/max: 3.05433
* /niryo_one/robot_command_validation/joint_limits/j1/min: -3.05433
* /niryo_one/robot_command_validation/joint_limits/j2/max: 0.640187
* /niryo_one/robot_command_validation/joint_limits/j2/min: -1.91986
* /niryo_one/robot_command_validation/joint_limits/j3/max: 1.570796
* /niryo_one/robot_command_validation/joint_limits/j3/min: -1.397485
* /niryo_one/robot_command_validation/joint_limits/j4/max: 3.05433
* /niryo_one/robot_command_validation/joint_limits/j4/min: -3.05433
* /niryo_one/robot_command_validation/joint_limits/j5/max: 1.91986
* /niryo_one/robot_command_validation/joint_limits/j5/min: -1.74533
* /niryo_one/robot_command_validation/joint_limits/j6/max: 2.57436
* /niryo_one/robot_command_validation/joint_limits/j6/min: -2.57436
* /niryo_one/robot_command_validation/position_limits/x/max: 0.5
* /niryo_one/robot_command_validation/position_limits/x/min: -0.5
* /niryo_one/robot_command_validation/position_limits/y/max: 0.5
* /niryo_one/robot_command_validation/position_limits/y/min: -0.5
* /niryo_one/robot_command_validation/position_limits/z/max: 0.65
* /niryo_one/robot_command_validation/position_limits/z/min: -0.15
* /niryo_one/robot_command_validation/rpy_limits/pitch/max: 3.14159
* /niryo_one/robot_command_validation/rpy_limits/pitch/min: -3.14159
* /niryo_one/robot_command_validation/rpy_limits/roll/max: 3.14159
* /niryo_one/robot_command_validation/rpy_limits/roll/min: -3.14159
* /niryo_one/robot_command_validation/rpy_limits/yaw/max: 3.14159
* /niryo_one/robot_command_validation/rpy_limits/yaw/min: -3.14159
* /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/max: 1023
* /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/min: 0
* /niryo_one/robot_command_validation/tool_limits/gripper_open_speed/max: 1023
* /niryo_one/robot_command_validation/tool_limits/gripper_open_speed/min: 0
* /niryo_one/robot_state/rate_publish_state: 5.0
* /niryo_one/robot_state/rate_tf_listener: 5.0
* /niryo_one_commander/allow_replanning: True
* /niryo_one_commander/goal_joint_tolerance: 0.0001
* /niryo_one_commander/goal_orientation_tolerance: 0.001
* /niryo_one_commander/goal_position_tolerance: 0.0001
* /niryo_one_commander/move_group_commander_name: arm
* /niryo_one_commander/positions_dir: ~/niryo_one_posit…
* /niryo_one_commander/reference_frame: ground_link
* /niryo_one_commander/trajectories_dir: ~/niryo_one_traje…
* /niryo_one_driver/calibration_timeout: 40
* /niryo_one_driver/can_enabled: True
* /niryo_one_driver/can_hardware_control_loop_frequency: 1500.0
* /niryo_one_driver/can_hw_check_connection_frequency: 3.0
* /niryo_one_driver/can_hw_write_frequency: 50.0
* /niryo_one_driver/dxl_baudrate: 1000000
* /niryo_one_driver/dxl_enabled: True
* /niryo_one_driver/dxl_hardware_control_loop_frequency: 100.0
* /niryo_one_driver/dxl_hw_data_read_frequency: 15.0
* /niryo_one_driver/dxl_hw_status_read_frequency: 0.5
* /niryo_one_driver/dxl_hw_write_frequency: 50.0
* /niryo_one_driver/dxl_uart_device_name: /dev/serial0
* /niryo_one_driver/fake_communication: True
* /niryo_one_driver/gpio_can_interrupt: 25
* /niryo_one_driver/niryo_one_hw_check_connection_frequency: 2.0
* /niryo_one_driver/publish_hw_status_frequency: 2.0
* /niryo_one_driver/publish_learning_mode_frequency: 2.0
* /niryo_one_driver/publish_software_version_frequency: 2.0
* /niryo_one_driver/read_rpi_diagnostics_frequency: 0.25
* /niryo_one_driver/ros_control_loop_frequency: 100.0
* /niryo_one_driver/spi_baudrate: 1000000
* /niryo_one_driver/spi_channel: 0
* /niryo_one_follow_joint_trajectory_controller/constraints/goal_time: 1.0
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_1/goal: 0.1
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_1/trajectory: 0.5
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_2/goal: 0.1
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_2/trajectory: 0.5
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_3/goal: 0.1
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_3/trajectory: 0.5
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_4/goal: 0.1
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_4/trajectory: 0.5
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_5/goal: 0.3
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_5/trajectory: 1.0
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_6/goal: 0.3
* /niryo_one_follow_joint_trajectory_controller/constraints/joint_6/trajectory: 1.0
* /niryo_one_follow_joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
* /niryo_one_follow_joint_trajectory_controller/joints: [‘joint_1’, ‘join…
* /niryo_one_follow_joint_trajectory_controller/state_publish_rate: 20
* /niryo_one_follow_joint_trajectory_controller/stop_trajectory_duration: 1.0
* /niryo_one_follow_joint_trajectory_controller/type: position_controll…
* /niryo_one_tools/command_list/activate_digital_io: 21
* /niryo_one_tools/command_list/close_gripper: 2
* /niryo_one_tools/command_list/deactivate_digital_io: 22
* /niryo_one_tools/command_list/open_gripper: 1
* /niryo_one_tools/command_list/pull_air_vacuum_pump: 10
* /niryo_one_tools/command_list/push_air_vacuum_pump: 11
* /niryo_one_tools/command_list/setup_digital_io: 20
* /niryo_one_tools/tool_list: [{‘id’: 11, ‘type…
* /robot_description: <?xml version=”1….
* /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl…
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_1/max_velocity: 2
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_2/max_velocity: 2
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_3/max_velocity: 2
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_4/max_velocity: 2
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_5/max_velocity: 2
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 0.0
* /robot_description_planning/joint_limits/joint_6/max_velocity: 2
* /robot_description_semantic: <?xml version=”1….
* /robot_description_tf2: <?xml version=”1….
* /rosapi/params_glob: [*]
* /rosapi/services_glob: [*]
* /rosapi/topics_glob: [*]
* /rosbridge_websocket/address:
* /rosbridge_websocket/authenticate: False
* /rosbridge_websocket/bson_only_mode: False
* /rosbridge_websocket/delay_between_messages: 0
* /rosbridge_websocket/fragment_timeout: 600
* /rosbridge_websocket/max_message_size: None
* /rosbridge_websocket/params_glob: [*]
* /rosbridge_websocket/port: 9090
* /rosbridge_websocket/retry_startup_delay: 5
* /rosbridge_websocket/services_glob: [*]
* /rosbridge_websocket/topics_glob: [*]
* /rosbridge_websocket/unregister_timeout: 10
* /rosbridge_websocket/use_compression: False
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /urdf_without_meshes: False
* /user_interface/joystick_timer_rate_sec: 0.15
* /user_interface/niryo_one_blockly_path: /home/niryosimula…
* /user_interface/niryo_one_blockly_tcp_port: 1337
* /user_interface/sequence_autorun_status_file: ~/sequence_autoru…
* /user_interface/sequence_code_to_execute_path: /home/niryosimula…
* /user_interface/sequences_dir: ~/niryo_one_seque…

NODES
/
controller_spawner (controller_manager/spawner)
joy_node (joy/joy_node)
move_group (moveit_ros_move_group/move_group)
niryo_one_commander (niryo_one_commander/niryo_one_commander_node.py)
niryo_one_driver (niryo_one_driver/niryo_one_driver)
niryo_one_tools (niryo_one_tools/tool_controller.py)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
rviz (rviz/rviz)
tf2_web_republisher (tf2_web_republisher/tf2_web_republisher)
user_interface (niryo_one_user_interface/user_interface.py)

auto-starting new master
process[master]: started with pid [11063]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 439c5c56-3e76-11e9-95a3-84ef1873d5e3
process[rosout-1]: started with pid [11076]
started core service [/rosout]
process[niryo_one_driver-2]: started with pid [11093]
process[niryo_one_tools-3]: started with pid [11094]
process[controller_spawner-4]: started with pid [11095]
process[robot_state_publisher-5]: started with pid [11103]
process[move_group-6]: started with pid [11115]
process[niryo_one_commander-7]: started with pid [11121]
process[joy_node-8]: started with pid [11130]
[ INFO] [1551701329.781139156]: Starting niryo_one driver thread (frequency : 100.000000)
[ INFO] [1551701329.781219953]: Starting Fake Communication… It will just echo cmd into current position
[ INFO] [1551701329.793706014]: NiryoOne communication has been successfully started
[ERROR] [1551701329.854695885]: Couldn’t open joystick /dev/input/js0. Will retry every second.
[ INFO] [1551701329.893901371]: Start hardware control loop
[ INFO] [1551701329.900394201]: Loading robot model ‘niryo_one’…
process[user_interface-9]: started with pid [11210]
process[tf2_web_republisher-10]: started with pid [11211]
process[rosbridge_websocket-11]: started with pid [11212]
process[rosapi-12]: started with pid [11213]
process[rviz-13]: started with pid [11240]
[ INFO] [1551701330.174500375]: Loading robot model ‘niryo_one’…
[WARN] [1551701330.203726]: DEPRECATION warning: –shutdown-timeout has no effect.
[INFO] [1551701330.204121]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1551701330.313230004]: Publishing maintained planning scene on ‘monitored_planning_scene’
[ INFO] [1551701330.341858866]: MoveGroup debug mode is OFF
Starting context monitors…
[ INFO] [1551701330.341920341]: Starting scene monitor
[ INFO] [1551701330.366259293]: Listening to ‘/planning_scene’
[ INFO] [1551701330.366308969]: Starting world geometry monitor
[ INFO] [1551701330.394143232]: Start hardware interface
[ INFO] [1551701330.394324984]: Starting NiryoOne Hardware Interface…
[ INFO] [1551701330.394557810]: Interfaces registered.
[ INFO] [1551701330.394603866]: Create controller manager
[ INFO] [1551701330.395205196]: Listening to ‘/collision_object’ using message notifier with target frame ‘/ground_link ‘
[ INFO] [1551701330.415505948]: Listening to ‘/planning_scene_world’ for planning scene world geometry
[ INFO] [1551701330.481723659]: Listening to ‘/attached_collision_object’ for attached collision objects
Context monitors started.
[ INFO] [1551701330.544785034]: Initializing OMPL interface using ROS parameters
registered capabilities (classes):
– rosbridge_library.capabilities.call_service.CallService
– rosbridge_library.capabilities.advertise.Advertise
– rosbridge_library.capabilities.publish.Publish
– rosbridge_library.capabilities.subscribe.Subscribe
– <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
– rosbridge_library.capabilities.advertise_service.AdvertiseService
– rosbridge_library.capabilities.service_response.ServiceResponse
– rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[INFO] [1551701330.682865]: Disable joystick
[ INFO] [1551701330.718044758]: Starting ros control thread…
[ INFO] [1551701330.718150051]: Start Rpi Diagnostics…
[ INFO] [1551701330.718289535]: Starting ROS interface…
[ INFO] [1551701330.733766464]: Ros interface started.
[INFO] [1551701330.771240]: Blockly code generator started
[ INFO] [1551701330.821436590]: Activate learning mode : 1
[INFO] [1551701330.826835]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1551701330.831860]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1551701330.836666]: Loading controller: joint_state_controller
[ INFO] [1551701330.840403125]: Using planning interface ‘OMPL’
[ INFO] [1551701330.854476985]: Param ‘default_workspace_bounds’ was not set. Using default value: 10
[ INFO] [1551701330.856041451]: Param ‘start_state_max_bounds_error’ was set to 0.3
[ INFO] [1551701330.857755703]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1551701330.859000104]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5
[ INFO] [1551701330.861241626]: Param ‘jiggle_fraction’ was set to 0.05
[INFO] [1551701330.861997]: Action Server started (Sequence Action)
[ INFO] [1551701330.864040505]: Param ‘max_sampling_attempts’ was not set. Using default value: 100
[ INFO] [1551701330.864264761]: Using planning request adapter ‘Add Time Parameterization’
[ INFO] [1551701330.864378581]: Using planning request adapter ‘Fix Workspace Bounds’
[ INFO] [1551701330.864475757]: Using planning request adapter ‘Fix Start State Bounds’
[ INFO] [1551701330.864576326]: Using planning request adapter ‘Fix Start State In Collision’
[ INFO] [1551701330.864667836]: Using planning request adapter ‘Fix Start State Path Constraints’
[INFO] [1551701330.883396]: Loading controller: niryo_one_follow_joint_trajectory_controller
[INFO] [1551701330.955388]: Interface between Tools Controller and Ros Control has been started.
[INFO] [1551701330.978503]: Detected tools : (id + available commands)
[INFO] [1551701330.978938]: 11 : [1, 2]
[INFO] [1551701330.979486]: 12 : [1, 2]
[INFO] [1551701330.980011]: 13 : [1, 2]
[INFO] [1551701330.980447]: 30 : [21, 22, 20]
[INFO] [1551701330.980846]: 31 : [10, 11]
[INFO] [1551701330.999603]: Init Sequence autorun OK
[INFO] [1551701331.014376]: …………..Matlab OK……………..
[INFO] [1551701331.017955]: Action server started (ToolController)
[INFO] [1551701331.072197]: Controller Spawner: Loaded controllers: joint_state_controller, niryo_one_follow_joint_trajectory_controller
[INFO] [1551701331.078766]: Started controllers: joint_state_controller, niryo_one_follow_joint_trajectory_controller
[ INFO] [1551701331.206952575]: Added FollowJointTrajectory controller for niryo_one_follow_joint_trajectory_controller
[ INFO] [1551701331.207071787]: Returned 1 controllers in list
[ INFO] [1551701331.247569568]: Trajectory execution is managing controllers
Loading ‘move_group/ApplyPlanningSceneService’…
Loading ‘move_group/ClearOctomapService’…
Loading ‘move_group/MoveGroupCartesianPathService’…
Loading ‘move_group/MoveGroupExecuteTrajectoryAction’…
Loading ‘move_group/MoveGroupGetPlanningSceneService’…
Loading ‘move_group/MoveGroupKinematicsService’…
Loading ‘move_group/MoveGroupMoveAction’…
[INFO] [1551701331.399110]: Rosbridge WebSocket server started on port 9090
[ INFO] [1551701331.406575873]: Activate learning mode : 1
Loading ‘move_group/MoveGroupPickPlaceAction’…
Loading ‘move_group/MoveGroupPlanService’…
Loading ‘move_group/MoveGroupQueryPlannersService’…
Loading ‘move_group/MoveGroupStateValidationService’…
[ INFO] [1551701331.492124386]:

********************************************************
* MoveGroup using:
* – ApplyPlanningSceneService
* – ClearOctomapService
* – CartesianPathService
* – ExecuteTrajectoryAction
* – GetPlanningSceneService
* – KinematicsService
* – MoveAction
* – PickPlaceAction
* – MotionPlanService
* – QueryPlannersService
* – StateValidationService
********************************************************

[ INFO] [1551701331.492206838]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1551701331.492234042]: MoveGroup context initialization complete

You can start planning now!

[INFO] [1551701331.532187]: Started Niryo One robot state publisher
[INFO] [1551701331.535962]: service manage position created
[INFO] [1551701331.540026]: get list position created
[INFO] [1551701331.552829]: /niryo_one/trajectory/manage_trajectory service has been created
[INFO] [1551701331.555028]: /niryo_one/trajectory/get_trajectory_list
[INFO] [1551701331.583535]: Trying to get ‘arm’ group from moveit…
[ INFO] [1551701331.600585420]: Loading robot model ‘niryo_one’…
[ INFO] [1551701331.805055938]: Loading robot model ‘niryo_one’…
[ INFO] [1551701332.877320297]: Ready to take commands for planning group arm.
[ INFO] [1551701332.877409480]: Replanning: yes
[INFO] [1551701332.879045]: TF fail
[INFO] [1551701332.879602]: TF fail
[INFO] [1551701332.880524]: Successfully connected to move_group.
Started group : arm
Planning_frame : /ground_link
Reference frame : ground_link
End effector link : tool_link
[INFO] [1551701332.881337]: Arm Moveit Commander has been started
[INFO] [1551701332.918798]: Waiting for action server : niryo_one/tool_action…
[INFO] [1551701332.949517]: Found action server : niryo_one/tool_action
[INFO] [1551701332.949782]: Tool Commander has been started
[INFO] [1551701333.007720]: Action Server started (Robot Commander)
[INFO] [1551701333.079995]: TF fail
[INFO] [1551701333.279945]: TF fail
[INFO] [1551701333.328775]: Send STOP to arm
[ INFO] [1551701333.329346833]: Received event ‘stop’
[INFO] [1551701333.480588]: TF fail
[INFO] [1551701333.679887]: TF fail
[INFO] [1551701333.880403]: TF fail
[INFO] [1551701334.080195]: TF fail
[INFO] [1551701334.280779]: TF fail
[INFO] [1551701334.480033]: TF fail
[INFO] [1551701334.680027]: TF fail
[INFO] [1551701334.879983]: TF fail
[INFO] [1551701335.080102]: TF fail
[INFO] [1551701335.280228]: TF fail
[INFO] [1551701335.480105]: TF fail
[INFO] [1551701335.679994]: TF fail
[INFO] [1551701335.880074]: TF fail
[INFO] [1551701336.080164]: TF fail
[INFO] [1551701336.280166]: TF fail
^C[rviz-13] killing on exit
[rosapi-12] killing on exit
[rosbridge_websocket-11] killing on exit
[tf2_web_republisher-10] killing on exit
[user_interface-9] killing on exit
[joy_node-8] killing on exit
[niryo_one_commander-7] killing on exit
[move_group-6] killing on exit
[robot_state_publisher-5] killing on exit
[controller_spawner-4] killing on exit
[INFO] [1551701336.419751]: Shutdown blockly code generator : Kill PID : 11566
[INFO] [1551701336.450177]: Shutting down spawner. Stopping and unloading controllers…
[INFO] [1551701336.450637]: Stopping all controllers…
[INFO] [1551701336.470534]: Unloading all loaded controllers…
[INFO] [1551701336.471462]: Trying to unload niryo_one_follow_joint_trajectory_controller
[INFO] [1551701336.480817]: TF fail
[INFO] [1551701336.512874]: Succeeded in unloading niryo_one_follow_joint_trajectory_controller
[INFO] [1551701336.513359]: Trying to unload joint_state_controller
[INFO] [1551701336.532522]: Succeeded in unloading joint_state_controller
[niryo_one_tools-3] killing on exit
[INFO] [1551701336.680217]: TF fail
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr
[niryo_one_driver-2] killing on exit
terminate called without an active exception
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done
niryosimulator@janosch-HP-250-G5-Notebook-PC:~$