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Based on a report in moveit/moveit#2596 I'm trying to run the detect_and_add_cylinder_collision_object_demo
detect_and_add_cylinder_collision_object_demo
roslaunch moveit_tutorials detect_and_add_cylinder_collision_object_demo.launch
the perception node crashes and tf complains about missing transforms
roslaunch moveit_tutorials detect_and_add_cylinder_collision_object_demo.launch ... logging to /home/sis/.ros/log/6d51a734-a6c7-11eb-a930-44850014d656/roslaunch-sisPad-599.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://sisPad:46835/ SUMMARY ======== PARAMETERS * /joint_state_publisher/use_gui: False * /move_group/allow_trajectory_execution: True * /move_group/controller_list: [{'joints': ['pan... * /move_group/hand/planner_configs: ['SBLkConfigDefau... * /move_group/initial: [{'pose': 'ready'... * /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_fake_contr... * /move_group/moveit_manage_controllers: True * /move_group/octomap_frame: camera_rgb_optica... * /move_group/octomap_resolution: 0.05 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau... * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau... * /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/planner_configs/TrajOptDefault/type: geometric::TrajOpt * /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/sensors: [{'point_subsampl... * /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 * /robot_description: <?xml version="1.... * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61 * /robot_description_semantic: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.10 * /rviz_sisPad_599_2021594198937482996/panda_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_sisPad_599_2021594198937482996/panda_arm/kinematics_solver_search_resolution: 0.005 * /rviz_sisPad_599_2021594198937482996/panda_arm/kinematics_solver_timeout: 0.05 * /source_list: ['/move_group/fak... NODES / joint_state_desired_publisher (topic_tools/relay) joint_state_publisher (joint_state_publisher/joint_state_publisher) move_group (moveit_ros_move_group/move_group) point_cloud_preprocessor (moveit_tutorials/cylinder_segment) point_clouds (moveit_tutorials/bag_publisher_maintain_time) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_sisPad_599_2021594198937482996 (rviz/rviz) to_camera (tf2_ros/static_transform_publisher) to_panda (tf2_ros/static_transform_publisher) virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher) auto-starting new master process[master]: started with pid [618] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 6d51a734-a6c7-11eb-a930-44850014d656 process[rosout-1]: started with pid [629] started core service [/rosout] process[virtual_joint_broadcaster_1-2]: started with pid [636] process[joint_state_publisher-3]: started with pid [637] process[joint_state_desired_publisher-4]: started with pid [643] process[robot_state_publisher-5]: started with pid [648] process[move_group-6]: started with pid [650] process[rviz_sisPad_599_2021594198937482996-7]: started with pid [659] process[point_clouds-8]: started with pid [661] process[to_panda-9]: started with pid [664] process[to_camera-10]: started with pid [676] [ WARN] [1619466105.817254296]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration [ WARN] [1619466105.818090966]: Falling back to using the the move_group node namespace (deprecated behavior). [ INFO] [1619466105.827378530]: Loading robot model 'panda'... [ WARN] [1619466105.827680944]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1619466105.827740725]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. process[point_cloud_preprocessor-11]: started with pid [690] [ INFO] [1619466105.936339315]: rviz version 1.14.7 [ INFO] [1619466105.936387903]: compiled against Qt version 5.12.10 [ INFO] [1619466105.936401293]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1619466105.947953313]: Forcing OpenGl version 0. [ INFO] [1619466105.962711985]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1619466105.965113522]: Listening to 'joint_states' for joint states [ INFO] [1619466105.969065315]: Listening to '/attached_collision_object' for attached collision objects [ INFO] [1619466105.969096397]: Starting planning scene monitor [ INFO] [1619466105.970623547]: Listening to '/planning_scene' [ INFO] [1619466105.970658895]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [ INFO] [1619466105.973506051]: Listening to '/collision_object' [ INFO] [1619466105.975969654]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1619466105.988873724]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world ' [ INFO] [1619466105.988917910]: Loading planning pipeline '' [ INFO] [1619466106.085052936]: Using planning interface 'OMPL' [ INFO] [1619466106.091111302]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1619466106.091602725]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1619466106.092023667]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1619466106.092498018]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1619466106.092898615]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1619466106.093250260]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1619466106.093305354]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1619466106.093342565]: Using planning request adapter 'Resolve constraint frames to robot links' [ INFO] [1619466106.093379217]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1619466106.093396828]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1619466106.093414248]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1619466106.093445498]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1619466106.104890696]: Loading robot model 'panda'... [ WARN] [1619466106.104985027]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1619466106.105022104]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ INFO] [1619466106.152271435]: Set joints of group 'panda_arm' to pose 'ready'. [ INFO] [1619466106.152731160]: Set joints of group 'hand' to pose 'open'. [ INFO] [1619466106.153148102]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ INFO] [1619466106.153844547]: Fake controller 'fake_hand_controller' with joints [ panda_finger_joint1 panda_finger_joint2 ] [ INFO] [1619466106.154449905]: Returned 2 controllers in list [ INFO] [1619466106.173816120]: Trajectory execution is managing controllers [ INFO] [1619466106.173850397]: MoveGroup debug mode is ON 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'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1619466106.251741474]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1619466106.251806804]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1619466106.251828250]: MoveGroup context initialization complete You can start planning now! [ERROR] [1619466106.322902760]: Transform error: "panda_link2" passed to lookupTransform argument source_frame does not exist. [ERROR] [1619466106.322964451]: Transform cache was not updated. Self-filtering may fail. [ INFO] [1619466106.628608483]: Stereo is NOT SUPPORTED [ INFO] [1619466106.628686132]: OpenGL device: Mesa DRI Intel(R) HD Graphics 530 (SKL GT2) [ INFO] [1619466106.628729463]: OpenGl version: 3,0 (GLSL 1,3). [ INFO] [1619466106.808049991]: Loading robot model 'panda'... [ WARN] [1619466106.808428852]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1619466106.808465621]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [point_cloud_preprocessor-11] process has died [pid 690, exit code -11, cmd /home/sis/Mikado/devel/lib/moveit_tutorials/cylinder_segment __name:=point_cloud_preprocessor __log:=/home/sis/.ros/log/6d51a734-a6c7-11eb-a930-44850014d656/point_cloud_preprocessor-11.log]. log file: /home/sis/.ros/log/6d51a734-a6c7-11eb-a930-44850014d656/point_cloud_preprocessor-11*.log [ INFO] [1619466107.793642236]: Loading robot model 'panda'... [ WARN] [1619466107.793780314]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1619466107.793821597]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ INFO] [1619466107.893328221]: Starting planning scene monitor [ INFO] [1619466107.895898471]: Listening to '/move_group/monitored_planning_scene' [ERROR] [1619466125.857796655]: Transform error: Lookup would require extrapolation into the future. Requested time 1619466125.795760170 but the latest data is at time 1619466125.775090932, when looking up transform from frame [panda_link2] to frame [camera_rgb_optical_frame] [ERROR] [1619466125.857895886]: Transform cache was not updated. Self-filtering may fail. [ERROR] [1619466135.859250475]: Transform error: Lookup would require extrapolation into the future. Requested time 1619466135.795746691 but the latest data is at time 1619466135.775368928, when looking up transform from frame [panda_link2] to frame [camera_rgb_optical_frame]
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Description
Based on a report in moveit/moveit#2596 I'm trying to run the
detect_and_add_cylinder_collision_object_demothe perception node crashes and tf complains about missing transforms
Your environment
Backtrace or Console output
The text was updated successfully, but these errors were encountered: