rt-net/sciurus17_ros

Sciurus17 ROS packages.

sciurus17_ros's Issues

ROS Wikiのdocumentation indexにmelodicを登録する

https://github.com/ros/rosdistro にPRを出す。
対象ページ: https://wiki.ros.org/sciurus17

関連: #54

GitHub Actionsへの移行

プリセットゲインサンプルの参照トピック修正

preset_pid_gain_example.pyがpreset_gain_noトピックへPublishしているが、名前空間が変更になっており動作していないように見えます。

    if __name__ == '__main__':
        # PIDゲインプリセット用のPublisher
        pub_preset = rospy.Publisher("preset_gain_no", UInt8, queue_size=1)

sciurus17_bringupで起動した場合、/sciurus17/preset_gain_noが正しいように見えるので修正を検討したいです。

chest_cameraのimage_transportノードが起動しない

log

[ INFO] [1550639967.099478660]: compiled against OGRE version 1.9.0 (Ghadamon)
terminate called after throwing an instance of 'image_transport::TransportLoadException'
  what():  Unable to load plugin for transport 'compressed', error string:
According to the loaded plugin descriptions the class image_transport/compressed_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are  image_transport/raw_sub
opening /dev/chestcamera
[ INFO] [1550639967.131454159]: RealSense ROS v2.2.0
[ INFO] [1550639967.131485316]: Running with LibRealSense v2.18.1
[INFO] [1550639967.187196]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1550639967.200920]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1550639967.204498]: Controller Spawner: Waiting for service controller_manager/load_controller
[sciurus17/chest_camera_node/transport-18] process has died [pid 19176, exit code -6, cmd /opt/ros/kinetic/lib/image_transport/republish in_transport in:=image_raw out:=image _image_transport:=compressed __name:=transport __log:=/home/shotaak-rt/.ros/log/170c549e-34cf-11e9-b896-b88584a3c7d9/sciurus17-chest_camera_node-transport-18.log].
log file: /home/shotaak-rt/.ros/log/170c549e-34cf-11e9-b896-b88584a3c7d9/sciurus17-chest_camera_node-transport-18*.log

documentation build error

documentation build error
https://wiki.ros.org/sciurus17

http://build.ros.org/view/Kdoc/job/Kdoc__sciurus17__ubuntu_xenial_amd64/scmPollLog/

Gitのポーリングログ
Started on Jan 27, 2019 3:21:16 AM
Using strategy: Default
[poll] Last Built Revision: Revision 6690f27a41f3fa530ce009bdd9b5e72649474e57 (origin/master)
 > git --version # timeout=10
 > git ls-remote -h https://github.com/rt-net/sciurus17_ros.git # timeout=10
Found 4 remote heads on https://github.com/rt-net/sciurus17_ros.git
[poll] Latest remote head revision on refs/heads/master is: dd8267a6bcd376eab3ea5c69e801ac775fc9a36b
Done. Took 4.8 sec
Changes found

http://build.ros.org/view/Kdoc/job/Kdoc__sciurus17__ubuntu_xenial_amd64/lastBuild/console

03:29:45 ==> Processing catkin package: 'sciurus17_description'
03:29:45 ==> Creating build directory: 'build_isolated/sciurus17_description'
03:29:45 ==> Building with env: '/tmp/ws/install_isolated/env.sh'
03:29:45 ==> cmake /tmp/ws/src/sciurus17/sciurus17_description -DCATKIN_DEVEL_PREFIX=/tmp/ws/devel_isolated/sciurus17_description -DCMAKE_INSTALL_PREFIX=/tmp/ws/install_isolated -DCATKIN_SKIP_TESTING=1 -G Unix Makefiles in '/tmp/ws/build_isolated/sciurus17_description'
03:29:45 -- Using CATKIN_DEVEL_PREFIX: /tmp/ws/devel_isolated/sciurus17_description
03:29:45 -- Using CMAKE_PREFIX_PATH: /tmp/ws/install_isolated;/opt/ros/kinetic
03:29:45 -- This workspace overlays: /tmp/ws/install_isolated;/opt/ros/kinetic
03:29:45 -- The C compiler identification is GNU 5.4.0
03:29:45 -- The CXX compiler identification is GNU 5.4.0
03:29:45 -- Check for working C compiler: /usr/bin/cc
03:29:45 -- Check for working C compiler: /usr/bin/cc -- works
03:29:45 -- Detecting C compiler ABI info
03:29:45 -- Detecting C compiler ABI info - done
03:29:45 -- Detecting C compile features
03:29:45 -- Detecting C compile features - done
03:29:45 -- Check for working CXX compiler: /usr/bin/c++
03:29:46 -- Check for working CXX compiler: /usr/bin/c++ -- works
03:29:46 -- Detecting CXX compiler ABI info
03:29:46 -- Detecting CXX compiler ABI info - done
03:29:46 -- Detecting CXX compile features
03:29:46 -- Detecting CXX compile features - done
03:29:46 -- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
03:29:46 -- Using PYTHON_EXECUTABLE: /usr/bin/python
03:29:46 -- Using Debian Python package layout
03:29:46 -- Using empy: /usr/bin/empy
03:29:46 -- Using CATKIN_SKIP_TESTING: 1 (implying CATKIN_ENABLE_TESTING=OFF)
03:29:46 -- Call enable_testing()
03:29:46 -- Using CATKIN_TEST_RESULTS_DIR: /tmp/ws/build_isolated/sciurus17_description/test_results
03:29:46 -- Found gmock sources under '/usr/src/gmock': gmock will be built
03:29:46 -- Looking for pthread.h
03:29:46 -- Looking for pthread.h - found
03:29:46 -- Looking for pthread_create
03:29:46 -- Looking for pthread_create - not found
03:29:46 -- Looking for pthread_create in pthreads
03:29:46 -- Looking for pthread_create in pthreads - not found
03:29:46 -- Looking for pthread_create in pthread
03:29:46 -- Looking for pthread_create in pthread - found
03:29:46 -- Found Threads: TRUE  
03:29:46 -- Found gtest sources under '/usr/src/gmock': gtests will be built
03:29:46 -- Using Python nosetests: /usr/bin/nosetests-2.7
03:29:46 -- catkin 0.7.14
03:29:46 CMake Warning (dev) at CMakeLists.txt:14 (project):
03:29:46   Policy CMP0048 is not set: project() command manages VERSION variables.
03:29:46   Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
03:29:46   command to set the policy and suppress this warning.
03:29:46 
03:29:46   The following variable(s) would be set to empty:
03:29:46 
03:29:46     sciurus17_description_VERSION
03:29:46 This warning is for project developers.  Use -Wno-dev to suppress it.
03:29:46 
03:29:46 sciurus17_description has BUILD message dependencies:
03:29:46   - std_msgs
03:29:46 sciurus17_description has BUILD dependencies:
03:29:46   - rospy
03:29:46   - std_msgs
03:29:47 sciurus17_description has RUN message dependencies:
03:29:47   - std_msgs
03:29:47 sciurus17_description has RUN dependencies:
03:29:47   - rospy
03:29:47   - std_msgs
03:29:47 -- Configuring done
03:29:47 -- Generating done
03:29:47 -- Build files have been written to: /tmp/ws/build_isolated/sciurus17_description
03:29:47 ==> make in '/tmp/ws/build_isolated/sciurus17_description'
03:29:47 ==> make install in '/tmp/ws/build_isolated/sciurus17_description'
03:29:47 Install the project...
03:29:47 -- Install configuration: ""
03:29:47 -- Installing: /tmp/ws/install_isolated/_setup_util.py
03:29:47 -- Installing: /tmp/ws/install_isolated/env.sh
03:29:47 -- Installing: /tmp/ws/install_isolated/setup.bash
03:29:47 -- Installing: /tmp/ws/install_isolated/setup.sh
03:29:47 -- Installing: /tmp/ws/install_isolated/setup.zsh
03:29:47 -- Installing: /tmp/ws/install_isolated/.rosinstall
03:29:47 + cd /tmp/ws/src/sciurus17/sciurus17_description
03:29:47 + mkdir -p /tmp/ws/install_isolated/lib/python2.7/dist-packages
03:29:47 + /usr/bin/env PYTHONPATH=/tmp/ws/install_isolated/lib/python2.7/dist-packages:/tmp/ws/build_isolated/sciurus17_description/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/tmp/ros_buildfarm CATKIN_BINARY_DIR=/tmp/ws/build_isolated/sciurus17_description /usr/bin/python /tmp/ws/src/sciurus17/sciurus17_description/setup.py build --build-base /tmp/ws/build_isolated/sciurus17_description install --install-layout=deb --prefix=/tmp/ws/install_isolated --install-scripts=/tmp/ws/install_isolated/bin
03:29:47 running build
03:29:47 running build_py
03:29:47 error: package directory 'src/model_master' does not exist
03:29:47 CMake Error at catkin_generated/safe_execute_install.cmake:4 (message):
03:29:47   
03:29:47   execute_process(/tmp/ws/build_isolated/sciurus17_description/catkin_generated/python_distutils_install.sh)
03:29:47   returned error code
03:29:47 Call Stack (most recent call first):
03:29:47   cmake_install.cmake:118 (include)
03:29:47   
03:29:47 
03:29:47 
03:29:47 Makefile:61: recipe for target 'install' failed
03:29:47 make: *** [install] Error 1
03:29:47 <== Failed to process package 'sciurus17_description': 
03:29:47   Command '['/tmp/ws/install_isolated/env.sh', 'make', 'install']' returned non-zero exit status 2
03:29:47 
03:29:47 Reproduce this error by running:
03:29:47 ==> cd /tmp/ws/build_isolated/sciurus17_description && /tmp/ws/install_isolated/env.sh make install
03:29:47 
03:29:47 Command failed, exiting.
03:29:47 # END SUBSECTION

uvc_cameraをlibuvc_cameraに置き換えた方がよい

uvc_cameraで機能的には問題ないが古いパッケージであるため、新規で利用するにはlibuvc_cameraが推奨されている。
chestcameraで使用しているuvc_cameraをlibuvc_cameraへ置き換え、パラメータも適切な定義に修正したほうがよい。

Bug fix neck example

首ジョイントの制御サンプルに誤りがあるので修正する。

• 上を向くサンプルについて最大角度を超えて動作指示しているため指示角度を修正する

不要なrobot_state_publisherが起動している

GazeboでSciurus17を起動するとき、
sciurus17_fake_control.launchとsciurus17_planning.launchの両方でrobot_state_publisherが起動されており、tfに不要なトピック配信を行っている。
元となるjoint_statesトピックは共通なので問題は起きないが、どちらかを削除した方が良い。

Gazeboのグリッパ制御方法の変更

現在、グリッパの制御をmimic_control.pyで実現しているが、この実装はGazeboが推奨する方法ではないので変更した方が良い。
mimic_joint_pluginとSDFのgearboxどちらも検討したが、それぞれ課題があったので再調査が必要である。どちらでも動くようになるならサンプルとして価値が高い方を選択したい。

rvizなしでpick_and_placeのデモが動かない

roslaunch sciurus17_bringup sciurus17_bringup.launch use_rviz:=false

でrvizがない状態で

pick_and_place_right_arm_demo.py

等のデモを実行すると、動作しません。コード内にrvizの起動を待つ行があるので、削除したほうがよいと思います。

melodic対応

Sciurus17のROSパッケージはどうやらmelodicでも動くようだが、アールティでエビデンスが取れてない。
正式にサポートを表明したいので、動作検証してkineticと異なる箇所があればbranchを分けて対応コードを公開したいと考えています。

GripperActionController does not exist

環境構築しなおしたところ、sciurus17_gazeboパッケージの起動で次のようなエラーが表示された。
Gripperコントローラのパッケージが不足しているようである。

[INFO] [1550480904.457241, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1550480904.458321, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1550480904.459199, 0.000000]: Loading controller: joint_state_controller
[INFO] [1550480904.466529, 0.000000]: Loading controller: right_arm_controller
[INFO] [1550480904.475880, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1550480904.477043, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1550480904.477931, 0.000000]: Loading controller: joint_state_controller
[INFO] [1550480904.482690, 0.000000]: Loading controller: left_arm_controller
[INFO] [1550480904.522494, 0.000000]: Loading controller: right_hand_controller
[ERROR] [1550480904.524194462]: Could not load controller 'right_hand_controller' because controller type 'position_controllers/GripperActionController' does not exist.
[ERROR] [1550480904.524238385]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[INFO] [1550480904.524760, 0.000000]: Loading controller: left_hand_controller
[ERROR] [1550480904.526172743]: Could not load controller 'left_hand_controller' because controller type 'position_controllers/GripperActionController' does not exist.
[ERROR] [1550480904.526199142]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ INFO] [1550480904.588375307]: Loaded gazebo_ros_control.
[INFO] [1550480904.786516, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1550480904.788224, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1550480904.789465, 0.000000]: Loading controller: joint_state_controller
[INFO] [1550480904.793425, 0.000000]: Loading controller: neck_controller
[INFO] [1550480904.813239, 0.000000]: Loading controller: waist_yaw_controller

カメラのサンプル動作のあとに、首と腰を初期位置に戻して欲しい

chest_camera_exampleとhead_camera_exampleでは、物体追跡に合わせて首と腰を動かすが、物体追跡中にサンプルを終了するとその場で首・腰の角度が固定されてしまう。

より使いやすくするため、サンプルの終了を検知して首・腰を初期位置に戻したい。

MoveIt!のBenchmark対応を検討する

現状のsciurus17_rosパッケージはMoveIt!のBenchmarkへの対応が未実施である。
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/benchmarking/benchmarking_tutorial.html
対応するメリットとコストについて調査し、実装要否を検討したい。

imagesブランチを削除する

imagesブランチの画像をhttps://github.com/rt-net/images に移行し、imagesブランチを削除する。
これに伴い、READMEに記載している画像URLを変更する。

READMEに最低限の情報を記載する

ROSパッケージの全体と、サンプルに関する情報をREADMEに記載しないと使い方がわからない。
ひとまず最低限の内容を記載して、サンプルの詳細などは別途更新する。

sciurus17_bringup起動時にエラーが出る

以下、実行ログを抜粋。

$ roslaunch sciurus17_bringup sciurus17_bringup.launch use_head_camera:=false use_chest_camera:=false

...
[ERROR] [1545821971.376537366]: The kinematics plugin (r_arm_waist_group) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1545821971.376561021]: Kinematics solver could not be instantiated for joint group r_arm_waist_group.

XACROファイルを作成する

XACROファイルでロボット定義をできるようにした方がよい。

カメラを使うサンプルも欲しい

頭部カメラ、胸部カメラを使用するサンプルもあったほうがよい。

Gazeboの安定性改善

sciurus17_gazeboの実行中に、障害物との接触などでシミュレーションが破綻しやすい傾向がある。
CRANE-X7と同等程度に安定するよう改善したいです。

sciurus17_examplesに腰制御のサンプルを追加する

首制御のサンプルと同様にjoint_trajectoryを使った腰制御のサンプルを追加する。

head_camera_jointのY座標がずれている

sciurus17_ros/sciurus17_description/urdf/sciurus17_head.xacro

Line 85 in 409b6c3

<origin xyz="0.081785 0.03522 0.091" rpy="0 0 0"/>

0.03522ではなく0.020が正しい。

with_vehicleブランチを更新する

masterとの乖離が大きくなってきたので、masterの更新内容をwith_vehicleへ反映したいです。

READMEの修正

RealSenseのリポジトリ名が変更されたので、それに合わせて修正する。

https://github.com/IntelRealSense/realsense-ros

また、realsense-rosパッケージのインストール方法は、sciurusのREADMEには書かず、realsense-rosを参照してもらう。

デプスを利用したサンプルが欲しい

頭部デプスカメラの深度情報を利用したサンプルが欲しい

両手を使うmoveitサンプルも必要である

sciurus17_examplesに両手を使うサンプルも追加する。
two_arm_groupを使ったサンプルを作成する。

rosdep installでrealsenceのパッケージのインストールに失敗する

#12 の完了後に再度確認する必要があります。
realsense2ではなくrealsense2_cameraへ修正が必要かもしれません。

試したバージョン: 4ab9308

$ rosdep install -r -y --from-paths sciurus17_ros
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
sciurus17_tools: Cannot locate rosdep definition for [realsense2]
sciurus17_examples: Cannot locate rosdep definition for [sciurus17_moveit_config]
sciurus17: Cannot locate rosdep definition for [sciurus17_tools]
sciurus17_moveit_config: Cannot locate rosdep definition for [sciurus17_description]
sciurus17_control: Cannot locate rosdep definition for [sciurus17_msgs]
sciurus17_description: Cannot locate rosdep definition for [generate_distutils_setup]
sciurus17_vision: Cannot locate rosdep definition for [sciurus17_msgs]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

sciurus17_examplesのREADMEを更新する

サンプルが動作した時にどう動くのか、写真や動画で説明がわかりやすくなるようREADMEを更新する。

InstallationにrealsenseのSDKのインストール手順を追記する

cakin_makeでエラーが発生するため。

CRANE-X7への修正内容取り込み（return抜け、コメント修正）

crane_x7_rosに反映したIssueについて、Sciurus17にも同様の箇所があるようなので修正しておきたいです。
rt-net/crane_x7_ros#100
よろしくお願いします。

sciurus17_controlのREADMEを作成する

CRANE-X7と同程度の内容でよいのでREADMEを作成して設定方法を記述する必要がある。

物理パラメータを更新する

Gazeboで正しく動作するように物理パラメータを設定する必要がある。
現状は仮の値なので設計情報を反映する。

joint_control.hのGOAL_VELOCITYデータのサイズが違う

不具合の概要

GOAL_VELOCITYのデータサイズがREG_LENGTH_WORD(2バイト)になっているが、正しくはREG_LENGTH_DWORD(4バイト)である。

sciurus17_ros/sciurus17_control/include/sciurus17_control/joint_control.h

Line 80 in af9239f

{ "GOAL_VELOCITY", 104, REG_LENGTH_WORD, 0, enDXL_RAM, false },

参考：https://emanual.robotis.com/docs/en/dxl/x/xm540-w150

findCountours() outputs are changed at OpenCV Ver4.1

This error occurred when running chest_camera_example or head_camera_example.

[ERROR] [1556079683.237687]: bad callback: <bound method ObjectTracker._image_callback of <__main__.ObjectTracker instance at 0x7ff7621bbe60>>
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/shotaak-rt/catkin_ws/src/sciurus17_ros/sciurus17_examples/scripts/chest_camera_tracking.py", line 45, in _image_callback
    output_image = self._detect_orange_object(input_image)
  File "/home/shotaak-rt/catkin_ws/src/sciurus17_ros/sciurus17_examples/scripts/chest_camera_tracking.py", line 125, in _detect_orange_object
    return self._detect_color_object(bgr_image, lower_orange, upper_orange)
  File "/home/shotaak-rt/catkin_ws/src/sciurus17_ros/sciurus17_examples/scripts/chest_camera_tracking.py", line 90, in _detect_color_object
    _, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
ValueError: need more than 2 values to unpack

I fixed python scripts and the examples worked correctly.

        # マスクから輪郭を抽出
-       _, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+        contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)

実行時に’moveit_simple_controller_manager’のロードエラーが出る

実行時に次のエラーが表示される。

[ INFO] [1546923000.412028802]: Initializing OMPL interface using ROS parameters
[ INFO] [1546923000.493488963]: Using planning interface 'OMPL'
[ INFO] [1546923000.497892158]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1546923000.498434056]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1546923000.498835185]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1546923000.499245727]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1546923000.499600120]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1546923000.500003577]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1546923000.500042789]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1546923000.500055337]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1546923000.500068398]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1546923000.500078353]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1546923000.500087468]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1546923000.503683949]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1546923000.515262250]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...

要求パッケージが不足しているようである。

デプスカメラのサンプル動作のあとに、首を初期位置に戻して欲しい

#56 と同じ内容。
デプスカメラのサンプルにも適応させる。

bringup.launchのuse_rviz:=falseでrvizが起動する

use_rviz:=falseの場合、sciurus17_planning.launchが起動する。

sciurus17_ros/sciurus17_bringup/launch/sciurus17_bringup.launch

Lines 7 to 9 in 7be2caf

	<include file="$(find sciurus17_moveit_config)/launch/sciurus17_planning.launch" unless="$(arg use_rviz)">
	<arg name="use_gazebo" value="false"/>
	</include>

しかし、sciurus17_planningにuse_rvizオプションを渡してないので、rvizが起動してしまう。

/gazebo_ros_control/pid_gains/[rl]_hand_joint が未設定のためGazebo起動時にエラー

/gazebo_ros_control/pid_gains/[rl]_hand_joint が未設定のためGazebo起動時にエラーが出ます。

[ERROR] [1558597101.668435800]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/r_hand_joint

[ERROR] [1558597101.905783487]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/l_hand_joint

再現方法

d2f8ea1 にて sciurus17_with_table.launch を起動する

roslaunch sciurus17_gazebo sciurus17_with_table.launch

詳細ログ

$ roslaunch sciurus17_gazebo sciurus17_with_table.launch 
... logging to /home/rt-user/.ros/log/bbbf38de-7d2d-11e9-86d5-b46bfcb8910b/roslaunch-rt-user-zenbookpro-9850.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://192.168.10.140:39311/

SUMMARY
========

PARAMETERS
 * /gazebo_ros_control/pid_gains/l_arm_joint1/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint1/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint1/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint2/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint2/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint2/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint3/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint3/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint3/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint4/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint4/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint4/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint5/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint5/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint5/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint6/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint6/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint6/p: 100.0
 * /gazebo_ros_control/pid_gains/l_arm_joint7/d: 0
 * /gazebo_ros_control/pid_gains/l_arm_joint7/i: 0.0
 * /gazebo_ros_control/pid_gains/l_arm_joint7/p: 100.0
 * /gazebo_ros_control/pid_gains/neck_pitch_joint/d: 0
 * /gazebo_ros_control/pid_gains/neck_pitch_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/neck_pitch_joint/p: 100.0
 * /gazebo_ros_control/pid_gains/neck_yaw_joint/d: 0
 * /gazebo_ros_control/pid_gains/neck_yaw_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/neck_yaw_joint/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint1/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint1/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint1/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint2/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint2/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint2/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint3/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint3/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint3/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint4/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint4/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint4/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint5/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint5/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint5/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint6/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint6/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint6/p: 100.0
 * /gazebo_ros_control/pid_gains/r_arm_joint7/d: 0
 * /gazebo_ros_control/pid_gains/r_arm_joint7/i: 0.0
 * /gazebo_ros_control/pid_gains/r_arm_joint7/p: 100.0
 * /gazebo_ros_control/pid_gains/waist_yaw_joint/d: 0
 * /gazebo_ros_control/pid_gains/waist_yaw_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/waist_yaw_joint/p: 100.0
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: /
 * /move_group/controller_manager_ns: /
 * /move_group/jiggle_fraction: 0.05
 * /move_group/l_arm_group/longest_valid_segment_fraction: 0.005
 * /move_group/l_arm_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/l_arm_group/projection_evaluator: joints(l_arm_join...
 * /move_group/l_hand_group/longest_valid_segment_fraction: 0.005
 * /move_group/l_hand_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/l_hand_group/projection_evaluator: joints(l_hand_joi...
 * /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: False
 * /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/r_arm_group/longest_valid_segment_fraction: 0.005
 * /move_group/r_arm_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/r_arm_group/projection_evaluator: joints(r_arm_join...
 * /move_group/r_arm_waist_group/longest_valid_segment_fraction: 0.005
 * /move_group/r_arm_waist_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/r_arm_waist_group/projection_evaluator: joints(waist_yaw_...
 * /move_group/r_hand_group/longest_valid_segment_fraction: 0.005
 * /move_group/r_hand_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/r_hand_group/projection_evaluator: joints(r_hand_joi...
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /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: 0.01
 * /move_group/two_arm_group/longest_valid_segment_fraction: 0.005
 * /move_group/two_arm_group/planner_configs: ['SBLkConfigDefau...
 * /move_group/two_arm_group/projection_evaluator: joints(l_arm_join...
 * /move_group/use_controller_manager: True
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/l_arm_group/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/l_arm_group/kinematics_solver_attempts: 3
 * /robot_description_kinematics/l_arm_group/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/l_arm_group/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/r_arm_group/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/r_arm_group/kinematics_solver_attempts: 3
 * /robot_description_kinematics/r_arm_group/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/r_arm_group/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/r_arm_waist_group/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/r_arm_waist_group/kinematics_solver_attempts: 3
 * /robot_description_kinematics/r_arm_waist_group/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/r_arm_waist_group/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/l_arm_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint1/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint1/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint2/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint2/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint3/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint3/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint4/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint4/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint5/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint5/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint6/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint6/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_arm_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_arm_joint7/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_arm_joint7/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_hand_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_hand_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_hand_joint/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_hand_joint/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/l_hand_mimic_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/l_hand_mimic_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/l_hand_mimic_joint/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/l_hand_mimic_joint/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint1/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint1/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint2/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint2/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint3/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint3/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint4/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint4/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint5/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint5/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint6/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint6/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_arm_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_arm_joint7/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_arm_joint7/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_hand_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_hand_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_hand_joint/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_hand_joint/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/r_hand_mimic_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/r_hand_mimic_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/r_hand_mimic_joint/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/r_hand_mimic_joint/max_velocity: 5.969211435
 * /robot_description_planning/joint_limits/waist_yaw_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/waist_yaw_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/waist_yaw_joint/max_acceleration: 10.0
 * /robot_description_planning/joint_limits/waist_yaw_joint/max_velocity: 5.969211435
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /sciurus17/controller1/joint_state_controller/publish_rate: 100
 * /sciurus17/controller1/joint_state_controller/type: joint_state_contr...
 * /sciurus17/controller1/right_arm_controller/constraints/goal_time: 0.0
 * /sciurus17/controller1/right_arm_controller/constraints/stopped_velocity_tolerance: 1.0
 * /sciurus17/controller1/right_arm_controller/joints: ['r_arm_joint1', ...
 * /sciurus17/controller1/right_arm_controller/publish_rate: 100
 * /sciurus17/controller1/right_arm_controller/type: position_controll...
 * /sciurus17/controller1/right_hand_controller/action_monitor_rate: 50
 * /sciurus17/controller1/right_hand_controller/action_ns: gripper_cmd
 * /sciurus17/controller1/right_hand_controller/goal_tolerance: 0.05
 * /sciurus17/controller1/right_hand_controller/joint: r_hand_joint
 * /sciurus17/controller1/right_hand_controller/publish_rate: 100
 * /sciurus17/controller1/right_hand_controller/stall_timeout: 0.1
 * /sciurus17/controller1/right_hand_controller/stalled_velocity_threshold: 0.001
 * /sciurus17/controller1/right_hand_controller/state_publish_rate: 100
 * /sciurus17/controller1/right_hand_controller/type: position_controll...
 * /sciurus17/controller1/robot_description: <...>
 * /sciurus17/controller2/joint_state_controller/publish_rate: 100
 * /sciurus17/controller2/joint_state_controller/type: joint_state_contr...
 * /sciurus17/controller2/left_arm_controller/constraints/goal_time: 0.0
 * /sciurus17/controller2/left_arm_controller/constraints/stopped_velocity_tolerance: 1.0
 * /sciurus17/controller2/left_arm_controller/joints: ['l_arm_joint1', ...
 * /sciurus17/controller2/left_arm_controller/publish_rate: 100
 * /sciurus17/controller2/left_arm_controller/type: position_controll...
 * /sciurus17/controller2/left_hand_controller/action_monitor_rate: 50
 * /sciurus17/controller2/left_hand_controller/action_ns: gripper_cmd
 * /sciurus17/controller2/left_hand_controller/goal_tolerance: 0.05
 * /sciurus17/controller2/left_hand_controller/joint: l_hand_joint
 * /sciurus17/controller2/left_hand_controller/publish_rate: 100
 * /sciurus17/controller2/left_hand_controller/stall_timeout: 0.1
 * /sciurus17/controller2/left_hand_controller/stalled_velocity_threshold: 0.001
 * /sciurus17/controller2/left_hand_controller/state_publish_rate: 100
 * /sciurus17/controller2/left_hand_controller/type: position_controll...
 * /sciurus17/controller2/robot_description: <?xml version="1....
 * /sciurus17/controller3/joint_state_controller/publish_rate: 100
 * /sciurus17/controller3/joint_state_controller/type: joint_state_contr...
 * /sciurus17/controller3/neck_controller/constraints/goal_time: 0.0
 * /sciurus17/controller3/neck_controller/constraints/stopped_velocity_tolerance: 1.0
 * /sciurus17/controller3/neck_controller/joints: ['neck_yaw_joint'...
 * /sciurus17/controller3/neck_controller/publish_rate: 100
 * /sciurus17/controller3/neck_controller/type: position_controll...
 * /sciurus17/controller3/robot_description: <?xml version="1....
 * /sciurus17/controller3/waist_yaw_controller/action_monitor_rate: 30
 * /sciurus17/controller3/waist_yaw_controller/constraints/goal_time: 0.0
 * /sciurus17/controller3/waist_yaw_controller/constraints/stopped_velocity_tolerance: 1.0
 * /sciurus17/controller3/waist_yaw_controller/constraints/waist_yaw_joint/goal: 0.02
 * /sciurus17/controller3/waist_yaw_controller/constraints/waist_yaw_joint/trajectory: 0.05
 * /sciurus17/controller3/waist_yaw_controller/joints: ['waist_yaw_joint']
 * /sciurus17/controller3/waist_yaw_controller/publish_rate: 100
 * /sciurus17/controller3/waist_yaw_controller/state_publish_rate: 25
 * /sciurus17/controller3/waist_yaw_controller/stop_trajectory_duration: 0
 * /sciurus17/controller3/waist_yaw_controller/type: position_controll...
 * /sciurus17/robot_description: <sdf version='1.6...
 * /source_list: ['/sciurus17/cont...
 * /use_sim_time: True

NODES
  /sciurus17/controller2/
    controller_manager2 (controller_manager/spawner)
    mimic_controller2 (sciurus17_control/mimic_controller.py)
  /sciurus17/controller1/
    controller_manager1 (controller_manager/spawner)
    mimic_controller1 (sciurus17_control/mimic_controller.py)
  /sciurus17/controller3/
    controller_manager3 (controller_manager/spawner)
  /
    controller_gazebo (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    initpose_sciurus17 (sciurus17_gazebo/initpose_sciurus17.py)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [9861]
ROS_MASTER_URI=http://192.168.10.140:11311

setting /run_id to bbbf38de-7d2d-11e9-86d5-b46bfcb8910b
process[rosout-1]: started with pid [9874]
started core service [/rosout]
process[sciurus17/controller1/controller_manager1-2]: started with pid [9898]
process[sciurus17/controller1/mimic_controller1-3]: started with pid [9899]
process[sciurus17/controller2/controller_manager2-4]: started with pid [9900]
process[sciurus17/controller2/mimic_controller2-5]: started with pid [9901]
process[sciurus17/controller3/controller_manager3-6]: started with pid [9902]
process[controller_gazebo-7]: started with pid [9903]
process[gazebo-8]: started with pid [9904]
process[gazebo_gui-9]: started with pid [9909]
process[joint_state_publisher-10]: started with pid [9914]
process[robot_state_publisher-11]: started with pid [9915]
process[move_group-12]: started with pid [9917]
process[initpose_sciurus17-13]: started with pid [9924]
[ WARN] [1558597099.857586096]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1558597099.937204166]: Loading robot model 'sciurus17'...
[INFO] [1558597100.104106, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1558597100.122038, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1558597100.123431761]: Loading robot model 'sciurus17'...
[INFO] [1558597100.141132, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1558597100.147248, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ WARN] [1558597100.160167970]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1558597100.168686522]: Loading robot model 'sciurus17'...
[ INFO] [1558597100.200082667]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558597100.200519501]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ WARN] [1558597100.202239695]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1558597100.211359875]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1558597100.211468109]: IK Using joint body_link -1.91986 1.91986
[ INFO] [1558597100.211490679]: IK Using joint r_link1 -1.5708 1.5708
[ INFO] [1558597100.211502738]: IK Using joint r_link2 -1.5708 0
[ INFO] [1558597100.211511880]: IK Using joint r_link3 -1.5708 1.5708
[ INFO] [1558597100.211519401]: IK Using joint r_link4 0 2.7262
[ INFO] [1558597100.211526591]: IK Using joint r_link5 -1.5708 1.5708
[ INFO] [1558597100.211534984]: IK Using joint r_link6 -2.09439 1.0472
[ INFO] [1558597100.211548320]: IK Using joint r_link7 -2.96706 2.96706
[ INFO] [1558597100.211567441]: Looking in common namespaces for param name: r_arm_waist_group/position_only_ik
[ INFO] [1558597100.212948350]: Looking in common namespaces for param name: r_arm_waist_group/solve_type
[ INFO] [1558597100.215389507]: Using solve type Speed
[ INFO] [1558597100.238871558]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1558597100.239356833]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1558597100.361546716]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1558597100.363900534]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1558597100.363923553]: Starting scene monitor
[ INFO] [1558597100.366272440]: Listening to '/planning_scene'
[ INFO] [1558597100.366294200]: Starting world geometry monitor
[ INFO] [1558597100.368686919]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1558597100.371107604]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1558597100.412074091]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1558597100.432809852]: Initializing OMPL interface using ROS parameters
[ INFO] [1558597100.512769701]: Using planning interface 'OMPL'
[ INFO] [1558597100.516932854]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1558597100.517449333]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1558597100.517819737]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1558597100.518259536]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1558597100.518638255]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1558597100.519026934]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1558597100.519060054]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1558597100.519068771]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1558597100.519076901]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1558597100.519084500]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1558597100.519094949]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1558597101.355918297]: Camera Plugin: The 'robotNamespace' param did not exit
[ INFO] [1558597101.358392798]: Camera Plugin (ns = )  <tf_prefix_>, set to ""
[ INFO] [1558597101.363518761]: Camera Plugin: Using the 'robotNamespace' param: 'sciurus17'
[ INFO] [1558597101.366174049]: Camera Plugin (ns = sciurus17)  <tf_prefix_>, set to "sciurus17"
[initpose_sciurus17-13] process has finished cleanly
log file: /home/rt-user/.ros/log/bbbf38de-7d2d-11e9-86d5-b46bfcb8910b/initpose_sciurus17-13*.log
[ INFO] [1558597101.427763215]: Loading gazebo_ros_control plugin
[ INFO] [1558597101.427835385]: Starting gazebo_ros_control plugin in namespace: /sciurus17/controller1
[ INFO] [1558597101.428405498]: gazebo_ros_control plugin is waiting for model URDF in parameter [/sciurus17/controller1/robot_description] on the ROS param server.
[ERROR] [1558597101.668435800]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/r_hand_joint
[ INFO] [1558597101.672500611]: Loaded gazebo_ros_control.
[ INFO] [1558597101.672580624]: Loading gazebo_ros_control plugin
[ INFO] [1558597101.672608723]: Starting gazebo_ros_control plugin in namespace: /sciurus17/controller2
[ERROR] [1558597101.905783487]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/l_hand_joint
[ INFO] [1558597101.909264669]: Loaded gazebo_ros_control.
[ INFO] [1558597101.909384871]: Loading gazebo_ros_control plugin
[ INFO] [1558597101.909415118]: Starting gazebo_ros_control plugin in namespace: /sciurus17/controller3
[INFO] [1558597101.911927, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1558597101.912979, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1558597101.913894, 0.000000]: Loading controller: joint_state_controller
[INFO] [1558597101.918989, 0.000000]: Loading controller: right_arm_controller
[INFO] [1558597101.929526, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1558597101.930646, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1558597101.931537, 0.000000]: Loading controller: joint_state_controller
[INFO] [1558597101.935479, 0.000000]: Loading controller: left_arm_controller
[INFO] [1558597101.960088, 0.000000]: Loading controller: right_hand_controller
[INFO] [1558597101.974632, 0.000000]: Loading controller: left_hand_controller
[INFO] [1558597101.987354, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, right_arm_controller, right_hand_controller
[INFO] [1558597101.996129, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, left_arm_controller, left_hand_controller
[ INFO] [1558597102.066922740]: Loaded gazebo_ros_control.
[INFO] [1558597102.255492, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1558597102.256414, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1558597102.257332, 0.000000]: Loading controller: joint_state_controller
[INFO] [1558597102.260382, 0.000000]: Loading controller: neck_controller
[INFO] [1558597102.279239, 0.000000]: Loading controller: waist_yaw_controller
[INFO] [1558597102.299634, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, neck_controller, waist_yaw_controller
[WARN] [1558597130.237845, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[controller_gazebo-7] process has finished cleanly
log file: /home/rt-user/.ros/log/bbbf38de-7d2d-11e9-86d5-b46bfcb8910b/controller_gazebo-7*.log

頭部Realsenseカメラの2Dピクセルから世界座標系の3D座標に変換し方

頭部カメラのカラー画像と深層画像を用いて、どうすればカラー画像の一つのピクセルから世界座標系の3D座標に変換出来ますか？
宜しくお願い申し上げます。

JointTrajectoryサンプルに速度調整を追加する

waist_joint_trajectory_exampleの動きが急でフラフラしているので、ゆっくり動くサンプルもあった方が良い。

chest_cameraが表示されない

package.xmlで定義しているUVCカメラ用のパッケージと実際に使うパッケージ名が一致していないようです。sciurus17_visionのpackage.xmlではlibuvc_cameraをexec_dependとしていますが、chest_camera.launch内部ではuvc_cameraを呼び出しています。
https://github.com/rt-net/sciurus17_ros/blob/master/sciurus17_vision/package.xml#L52
https://github.com/rt-net/sciurus17_ros/blob/master/sciurus17_vision/launch/chest_camera.launch#L3

uvc_cameraを追加でインストールすることによって、chest_cameraは表示できるようになります。

トルク制御モード公開方法の検討

現状のSciurus17でもトルク制御モードに切り替え可能だが、複数の懸念により正式リリースできていない。
切り替え手段、ROSサンプル、ドキュメンテーションについて公開の方法を検討する。

rgbd_launchが無いとエラーが出る

roslaunch sciurus17_bringup sciurus17_bringup.launch

を実行すると表題のエラーが発生する。
realsense wrapper側で実行時dependが足りて無さそうに見える。

UVCカメラのキャリブレーションファイルが要求される

エラーではありませんが、chest_cameraを使用する際に下記のワーニングが出ます。
[ WARN] [1545895336.515155168]: Camera calibration file /home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml not found.

ログ詳細

$ roslaunch sciurus17_vision chest_camera.launch 
... logging to /home/rt-user/.ros/log/2304ffd2-09a8-11e9-aae7-b46bfcb8910b/roslaunch-rt-user-zenbookpro-30414.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://192.168.10.135:38153/

SUMMARY
========

PARAMETERS
 * /chest_camera_node/chest_camera_node/camera_info_url: file:///home/rt-u...
 * /chest_camera_node/chest_camera_node/camera_name: chest_camera
 * /chest_camera_node/chest_camera_node/device: /dev/chestcamera
 * /chest_camera_node/chest_camera_node/format: jpeg
 * /chest_camera_node/chest_camera_node/fps: 30
 * /chest_camera_node/chest_camera_node/frame_id: chest_camera_link
 * /chest_camera_node/chest_camera_node/height: 720
 * /chest_camera_node/chest_camera_node/io_method: mmap
 * /chest_camera_node/chest_camera_node/output_frame: chest_camera_link
 * /chest_camera_node/chest_camera_node/width: 1280
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /chest_camera_node/
    chest_camera_node (uvc_camera/uvc_camera_node)
    image_proc (image_proc/image_proc)
    transport (image_transport/republish)

auto-starting new master
process[master]: started with pid [30424]
ROS_MASTER_URI=http://192.168.10.135:11311

setting /run_id to 2304ffd2-09a8-11e9-aae7-b46bfcb8910b
process[rosout-1]: started with pid [30437]
started core service [/rosout]
process[chest_camera_node/chest_camera_node-2]: started with pid [30449]
process[chest_camera_node/transport-3]: started with pid [30455]
process[chest_camera_node/image_proc-4]: started with pid [30456]
[ INFO] [1545895336.515067184]: camera calibration URL: file:///home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml
[ INFO] [1545895336.515138236]: Unable to open camera calibration file [/home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml]
[ WARN] [1545895336.515155168]: Camera calibration file /home/rt-user/catkin_ws/src/sciurus17_ros/sciurus17_vision/config/chest_camera.yaml not found.
opening /dev/chestcamera
pixfmt 0 = 'YUYV' desc = 'YUYV 4:2:2'
  discrete: 640x480:   1/30 
  discrete: 160x120:   1/30 
  discrete: 176x144:   1/30 
  discrete: 320x240:   1/30 
  discrete: 352x288:   1/30 
  discrete: 800x600:   1/10 
  discrete: 1280x720:   1/8 
  discrete: 1920x1080:   1/5 
pixfmt 1 = 'MJPG' desc = 'Motion-JPEG'
  discrete: 640x480:   1/30 
  discrete: 160x120:   1/30 
  discrete: 176x144:   1/30 
  discrete: 320x240:   1/30 
  discrete: 352x288:   1/30 
  discrete: 800x600:   1/30 
  discrete: 1280x720:   1/30 
  discrete: 1920x1080:   1/30 
  int (Brightness, 0, id = 980900): -64 to 64 (1)
  int (Contrast, 0, id = 980901): 0 to 95 (1)
  int (Saturation, 0, id = 980902): 0 to 100 (1)
  int (Hue, 0, id = 980903): -2000 to 2000 (1)
  bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1)
  int (Gamma, 0, id = 980910): 100 to 300 (1)
  menu (Power Line Frequency, 0, id = 980918): 0 to 3 (1)
    0: Disabled
    1: 50 Hz
    2: 60 Hz
    3: Auto
  int (White Balance Temperature, 16, id = 98091a): 2800 to 6500 (10)
  int (Sharpness, 0, id = 98091b): 1 to 7 (1)
  int (Backlight Compensation, 0, id = 98091c): 0 to 1 (1)
  menu (Exposure, Auto, 0, id = 9a0901): 0 to 3 (1)
  int (Exposure (Absolute), 16, id = 9a0902): 50 to 10000 (1)
^C[chest_camera_node/image_proc-4] killing on exit

Gazeboに対応する

リクエストが多いため、Gazeboパッケージを追加した方がよい。

rviz上でGripperの開閉角度が反転している

realsenseのリセット方法の変更

sciurus17_toolsのrealsense_hwresetを使ってリセットするようにしているが、realsenseのlaunchにinitial_resetというパラメータがあるので、変更を検討する。

Gazeboでrvizもlaunchするようにしたい

sciurus17_gazeboのlaunchファイルでrvizを起動できるように改善したいです。
実行環境によってはシステム負荷が問題になる可能性があるため、rvizの起動は何らかの方法で有効/無効の選択が可能な実装とすべきと考えています。

Travis CIの環境を構築する

bringupパッケージに入っているサンプルを別パッケージに移す

sciurus17_bringupには起動に必要なファイルのみを同梱し、サンプルスクリプトはsciurus17_exampleのようなパッケージを作成してそちらに移植する