rob@Talos:~$ roslaunch pointcloud_mealstation_moveit_config moveToCoordinate.launch ... logging to /home/rob/.ros/log/9d1c50f0-dbc6-11e3-ab05-dc85de7cbca9/roslaunch-Talos-8996.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://Talos:60826/ SUMMARY ======== PARAMETERS * /joint_state_publisher/use_gui * /move_group/allow_trajectory_execution * /move_group/allowed_execution_duration_scaling * /move_group/allowed_goal_duration_margin * /move_group/capabilities * /move_group/controller_list * /move_group/jiggle_fraction * /move_group/left_arm/longest_valid_segment_fraction * /move_group/left_arm/planner_configs * /move_group/left_arm/projection_evaluator * /move_group/left_gripper/planner_configs * /move_group/max_range * /move_group/max_safe_path_cost * /move_group/moveit_controller_manager * /move_group/moveit_manage_controllers * /move_group/octomap_resolution * /move_group/planner_configs/BKPIECEkConfigDefault/type * /move_group/planner_configs/ESTkConfigDefault/type * /move_group/planner_configs/KPIECEkConfigDefault/type * /move_group/planner_configs/LBKPIECEkConfigDefault/type * /move_group/planner_configs/PRMkConfigDefault/type * /move_group/planner_configs/PRMstarkConfigDefault/type * /move_group/planner_configs/RRTConnectkConfigDefault/type * /move_group/planner_configs/RRTkConfigDefault/type * /move_group/planner_configs/RRTstarkConfigDefault/type * /move_group/planner_configs/SBLkConfigDefault/type * /move_group/planner_configs/TRRTkConfigDefault/type * /move_group/planning_plugin * /move_group/planning_scene_monitor/publish_geometry_updates * /move_group/planning_scene_monitor/publish_planning_scene * /move_group/planning_scene_monitor/publish_state_updates * /move_group/planning_scene_monitor/publish_transforms_updates * /move_group/request_adapters * /move_group/start_state_max_bounds_error * /robot_description * /robot_description_kinematics/left_arm/kinematics_solver * /robot_description_kinematics/left_arm/kinematics_solver_attempts * /robot_description_kinematics/left_arm/kinematics_solver_search_resolution * /robot_description_kinematics/left_arm/kinematics_solver_timeout * /robot_description_kinematics/left_gripper/kinematics_solver * /robot_description_kinematics/left_gripper/kinematics_solver_attempts * /robot_description_kinematics/left_gripper/kinematics_solver_search_resolution * /robot_description_kinematics/left_gripper/kinematics_solver_timeout * /robot_description_planning/joint_limits/gripper_extension/has_acceleration_limits * /robot_description_planning/joint_limits/gripper_extension/has_velocity_limits * /robot_description_planning/joint_limits/gripper_extension/max_acceleration * /robot_description_planning/joint_limits/gripper_extension/max_velocity * /robot_description_planning/joint_limits/left_forearm_to_left_bicep/has_acceleration_limits * /robot_description_planning/joint_limits/left_forearm_to_left_bicep/has_velocity_limits * /robot_description_planning/joint_limits/left_forearm_to_left_bicep/max_acceleration * /robot_description_planning/joint_limits/left_forearm_to_left_bicep/max_velocity * /robot_description_planning/joint_limits/left_gripper_joint/has_acceleration_limits * /robot_description_planning/joint_limits/left_gripper_joint/has_velocity_limits * /robot_description_planning/joint_limits/left_gripper_joint/max_acceleration * /robot_description_planning/joint_limits/left_gripper_joint/max_velocity * /robot_description_planning/joint_limits/left_shoulder_connector_to_left_forearm/has_acceleration_limits * /robot_description_planning/joint_limits/left_shoulder_connector_to_left_forearm/has_velocity_limits * /robot_description_planning/joint_limits/left_shoulder_connector_to_left_forearm/max_acceleration * /robot_description_planning/joint_limits/left_shoulder_connector_to_left_forearm/max_velocity * /robot_description_planning/joint_limits/left_shoulder_to_left_shoulder_connector/has_acceleration_limits * /robot_description_planning/joint_limits/left_shoulder_to_left_shoulder_connector/has_velocity_limits * /robot_description_planning/joint_limits/left_shoulder_to_left_shoulder_connector/max_acceleration * /robot_description_planning/joint_limits/left_shoulder_to_left_shoulder_connector/max_velocity * /robot_description_planning/joint_limits/right_gripper_joint/has_acceleration_limits * /robot_description_planning/joint_limits/right_gripper_joint/has_velocity_limits * /robot_description_planning/joint_limits/right_gripper_joint/max_acceleration * /robot_description_planning/joint_limits/right_gripper_joint/max_velocity * /robot_description_semantic * /rosdistro * /rosversion * /rviz_Talos_8996_843102653/left_arm/kinematics_solver * /rviz_Talos_8996_843102653/left_arm/kinematics_solver_attempts * /rviz_Talos_8996_843102653/left_arm/kinematics_solver_search_resolution * /rviz_Talos_8996_843102653/left_arm/kinematics_solver_timeout * /rviz_Talos_8996_843102653/left_gripper/kinematics_solver * /rviz_Talos_8996_843102653/left_gripper/kinematics_solver_attempts * /rviz_Talos_8996_843102653/left_gripper/kinematics_solver_search_resolution * /rviz_Talos_8996_843102653/left_gripper/kinematics_solver_timeout * /source_list NODES / joint_state_publisher (joint_state_publisher/joint_state_publisher) moveToCoordinateServer (pointcloud_mealstation_moveit_config/moveToCoordinateServer) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz_Talos_8996_843102653 (rviz/rviz) auto-starting new master process[master]: started with pid [9010] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 9d1c50f0-dbc6-11e3-ab05-dc85de7cbca9 process[rosout-1]: started with pid [9023] started core service [/rosout] process[joint_state_publisher-2]: started with pid [9035] process[robot_state_publisher-3]: started with pid [9036] /opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher process[moveToCoordinateServer-4]: started with pid [9056] process[move_group-5]: started with pid [9057] [ INFO] [1400113184.528913298]: Loading robot model 'MS_Alpha1'... process[rviz_Talos_8996_843102653-6]: started with pid [9074] [ INFO] [1400113184.605248940]: rviz version 1.10.16 [ INFO] [1400113184.605316777]: compiled against OGRE version 1.7.4 (Cthugha) [ INFO] [1400113184.726926558]: Loading robot model 'MS_Alpha1'... [ INFO] [1400113184.842351007]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1400113184.844733575]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1400113184.844764517]: Starting scene monitor [ INFO] [1400113184.845276241]: Listening to '/planning_scene' [ INFO] [1400113184.845308659]: Starting world geometry monitor [ INFO] [1400113184.845907481]: Listening to '/collision_object' using message notifier with target frame '/base_link ' [ INFO] [1400113184.846414717]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1400113184.857268047]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1400113184.922904206]: Stereo is NOT SUPPORTED [ INFO] [1400113184.922990728]: OpenGl version: 2.1 (GLSL 1.2). [ INFO] [1400113184.941416437]: Initializing OMPL interface using ROS parameters [ INFO] [1400113184.963467655]: Using planning interface 'OMPL' [ INFO] [1400113185.027617547]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1400113185.028154822]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1400113185.028629806]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1400113185.029199804]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1400113185.029685674]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1400113185.030163085]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1400113185.030311945]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1400113185.030431722]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1400113185.030532054]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1400113185.030601681]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1400113185.030688402]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1400113185.097428915]: Fake controller 'fake_left_arm_controller' with joints [ left_shoulder_to_left_shoulder_connector left_shoulder_connector_to_left_forearm left_forearm_to_left_bicep gripper_extension ] [ INFO] [1400113185.098074147]: Fake controller 'fake_left_gripper_controller' with joints [ left_gripper_joint right_gripper_joint ] [ INFO] [1400113185.098147053]: Returned 2 controllers in list [ INFO] [1400113185.104331026]: Trajectory execution is managing controllers Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... Loading 'move_group/MoveGroupGetPlanningSceneService'... [ INFO] [1400113185.247514517]: ******************************************************** * MoveGroup using: * - CartesianPathService * - ExecutePathService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService * - GetPlanningSceneService ******************************************************** [ INFO] [1400113185.247638252]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1400113185.247710453]: MoveGroup context initialization complete All is well! Everyone is happy! You can start planning now! [ INFO] [1400113189.144041984]: Loading robot model 'MS_Alpha1'... [ INFO] [1400113189.338623353]: Loading robot model 'MS_Alpha1'... [ INFO] [1400113189.508678346]: Starting scene monitor [ INFO] [1400113189.510513936]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1400113189.889467987]: Constructing new MoveGroup connection for group 'left_arm' [ INFO] [1400113190.674004113]: Ready to take MoveGroup commands for group left_arm. [ INFO] [1400113190.674104483]: Looking around: no [ INFO] [1400113190.674158233]: Replanning: no [ INFO] [1400113194.495606152]: Loading robot model 'MS_Alpha1'... [ INFO] [1400113194.681558102]: Loading robot model 'MS_Alpha1'... [ INFO] [1400113195.586966232]: Ready to take MoveGroup commands for group left_arm. [ INFO] [1400113195.889271282]: Move to : x=-0.351631, y=-0.172990, z=0.959630 [ INFO] [1400113195.890236288]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ WARN] [1400113195.890500689]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request [ INFO] [1400113195.890588429]: Planning attempt 1 of at most 1 [ INFO] [1400113195.894516118]: No planner specified. Using default. [ INFO] [1400113195.895473227]: LBKPIECE1: Attempting to use default projection. [ INFO] [1400113195.896788012]: LBKPIECE1: Starting with 1 states [ERROR] [1400113200.898937472]: LBKPIECE1: Unable to sample any valid states for goal tree [ INFO] [1400113200.898998286]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary)) [ INFO] [1400113200.899024477]: No solution found after 5.003425 seconds [ INFO] [1400113200.899940017]: Unable to solve the planning problem [ INFO] [1400113200.900360417]: ABORTED: No motion plan found. No execution attempted.