ais@yodo:~$ roslaunch hironx_moveit_config moveit_planning_execution.launch ... logging to /home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/roslaunch-yodo-12243.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://yodo:36832/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution * /move_group/capabilities * /move_group/controller_list * /move_group/controller_manager_name * /move_group/controller_manager_ns * /move_group/jiggle_fraction * /move_group/left_arm/kinematics_solver * /move_group/left_arm/kinematics_solver_attempts * /move_group/left_arm/kinematics_solver_search_resolution * /move_group/left_arm/kinematics_solver_timeout * /move_group/left_arm/longest_valid_segment_fraction * /move_group/left_arm/planner_configs * /move_group/left_arm/projection_evaluator * /move_group/left_gripper/kinematics_solver * /move_group/left_gripper/kinematics_solver_attempts * /move_group/left_gripper/kinematics_solver_search_resolution * /move_group/left_gripper/kinematics_solver_timeout * /move_group/left_gripper/longest_valid_segment_fraction * /move_group/left_gripper/planner_configs * /move_group/left_gripper/projection_evaluator * /move_group/max_safe_path_cost * /move_group/moveit_controller_manager * /move_group/moveit_manage_controllers * /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/LazyRRTkConfigDefault/type * /move_group/planner_configs/RRTConnectkConfigDefault/type * /move_group/planner_configs/RRTStarkConfigDefault/type * /move_group/planner_configs/RRTkConfigDefault/type * /move_group/planner_configs/SBLkConfigDefault/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/right_arm/kinematics_solver * /move_group/right_arm/kinematics_solver_attempts * /move_group/right_arm/kinematics_solver_search_resolution * /move_group/right_arm/kinematics_solver_timeout * /move_group/right_arm/longest_valid_segment_fraction * /move_group/right_arm/planner_configs * /move_group/right_arm/projection_evaluator * /move_group/right_gripper/kinematics_solver * /move_group/right_gripper/kinematics_solver_attempts * /move_group/right_gripper/kinematics_solver_search_resolution * /move_group/right_gripper/kinematics_solver_timeout * /move_group/right_gripper/longest_valid_segment_fraction * /move_group/right_gripper/planner_configs * /move_group/right_gripper/projection_evaluator * /move_group/start_state_max_bounds_error * /move_group/use_controller_manager * /robot_description_planning/joint_limits/LARM_JOINT0/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT0/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT0/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT0/max_velocity * /robot_description_planning/joint_limits/LARM_JOINT1/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT1/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT1/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT1/max_velocity * /robot_description_planning/joint_limits/LARM_JOINT2/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT2/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT2/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT2/max_velocity * /robot_description_planning/joint_limits/LARM_JOINT3/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT3/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT3/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT3/max_velocity * /robot_description_planning/joint_limits/LARM_JOINT4/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT4/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT4/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT4/max_velocity * /robot_description_planning/joint_limits/LARM_JOINT5/has_acceleration_limits * /robot_description_planning/joint_limits/LARM_JOINT5/has_velocity_limits * /robot_description_planning/joint_limits/LARM_JOINT5/max_acceleration * /robot_description_planning/joint_limits/LARM_JOINT5/max_velocity * /robot_description_planning/joint_limits/LHAND_JOINT0/has_acceleration_limits * /robot_description_planning/joint_limits/LHAND_JOINT0/has_velocity_limits * /robot_description_planning/joint_limits/LHAND_JOINT0/max_acceleration * /robot_description_planning/joint_limits/LHAND_JOINT0/max_velocity * /robot_description_planning/joint_limits/LHAND_JOINT1/has_acceleration_limits * /robot_description_planning/joint_limits/LHAND_JOINT1/has_velocity_limits * /robot_description_planning/joint_limits/LHAND_JOINT1/max_acceleration * /robot_description_planning/joint_limits/LHAND_JOINT1/max_velocity * /robot_description_planning/joint_limits/LHAND_JOINT2/has_acceleration_limits * /robot_description_planning/joint_limits/LHAND_JOINT2/has_velocity_limits * /robot_description_planning/joint_limits/LHAND_JOINT2/max_acceleration * /robot_description_planning/joint_limits/LHAND_JOINT2/max_velocity * /robot_description_planning/joint_limits/LHAND_JOINT3/has_acceleration_limits * /robot_description_planning/joint_limits/LHAND_JOINT3/has_velocity_limits * /robot_description_planning/joint_limits/LHAND_JOINT3/max_acceleration * /robot_description_planning/joint_limits/LHAND_JOINT3/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT0/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT0/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT0/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT0/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT1/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT1/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT1/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT1/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT2/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT2/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT2/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT2/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT3/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT3/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT3/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT3/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT4/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT4/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT4/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT4/max_velocity * /robot_description_planning/joint_limits/RARM_JOINT5/has_acceleration_limits * /robot_description_planning/joint_limits/RARM_JOINT5/has_velocity_limits * /robot_description_planning/joint_limits/RARM_JOINT5/max_acceleration * /robot_description_planning/joint_limits/RARM_JOINT5/max_velocity * /robot_description_planning/joint_limits/RHAND_JOINT0/has_acceleration_limits * /robot_description_planning/joint_limits/RHAND_JOINT0/has_velocity_limits * /robot_description_planning/joint_limits/RHAND_JOINT0/max_acceleration * /robot_description_planning/joint_limits/RHAND_JOINT0/max_velocity * /robot_description_planning/joint_limits/RHAND_JOINT1/has_acceleration_limits * /robot_description_planning/joint_limits/RHAND_JOINT1/has_velocity_limits * /robot_description_planning/joint_limits/RHAND_JOINT1/max_acceleration * /robot_description_planning/joint_limits/RHAND_JOINT1/max_velocity * /robot_description_planning/joint_limits/RHAND_JOINT2/has_acceleration_limits * /robot_description_planning/joint_limits/RHAND_JOINT2/has_velocity_limits * /robot_description_planning/joint_limits/RHAND_JOINT2/max_acceleration * /robot_description_planning/joint_limits/RHAND_JOINT2/max_velocity * /robot_description_planning/joint_limits/RHAND_JOINT3/has_acceleration_limits * /robot_description_planning/joint_limits/RHAND_JOINT3/has_velocity_limits * /robot_description_planning/joint_limits/RHAND_JOINT3/max_acceleration * /robot_description_planning/joint_limits/RHAND_JOINT3/max_velocity * /robot_description_semantic * /rosdistro * /rosversion * /rviz_yodo_12243_6992361472571982871/left_arm/kinematics_solver * /rviz_yodo_12243_6992361472571982871/left_arm/kinematics_solver_attempts * /rviz_yodo_12243_6992361472571982871/left_arm/kinematics_solver_search_resolution * /rviz_yodo_12243_6992361472571982871/left_arm/kinematics_solver_timeout * /rviz_yodo_12243_6992361472571982871/left_gripper/kinematics_solver * /rviz_yodo_12243_6992361472571982871/left_gripper/kinematics_solver_attempts * /rviz_yodo_12243_6992361472571982871/left_gripper/kinematics_solver_search_resolution * /rviz_yodo_12243_6992361472571982871/left_gripper/kinematics_solver_timeout * /rviz_yodo_12243_6992361472571982871/right_arm/kinematics_solver * /rviz_yodo_12243_6992361472571982871/right_arm/kinematics_solver_attempts * /rviz_yodo_12243_6992361472571982871/right_arm/kinematics_solver_search_resolution * /rviz_yodo_12243_6992361472571982871/right_arm/kinematics_solver_timeout * /rviz_yodo_12243_6992361472571982871/right_gripper/kinematics_solver * /rviz_yodo_12243_6992361472571982871/right_gripper/kinematics_solver_attempts * /rviz_yodo_12243_6992361472571982871/right_gripper/kinematics_solver_search_resolution * /rviz_yodo_12243_6992361472571982871/right_gripper/kinematics_solver_timeout NODES / move_group (moveit_ros_move_group/move_group) rviz_yodo_12243_6992361472571982871 (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[move_group-1]: started with pid [12261] process[rviz_yodo_12243_6992361472571982871-2]: started with pid [12269] [ INFO] [1436151773.943113782]: rviz version 1.10.18 [ INFO] [1436151773.943195254]: compiled against OGRE version 1.7.4 (Cthugha) [ INFO] [1436151774.245795773]: Loading robot model 'HiroNX'... [ INFO] [1436151774.530867401]: Stereo is NOT SUPPORTED [ INFO] [1436151774.531121714]: OpenGl version: 4.2 (GLSL 4.2). [ INFO] [1436151774.923026316]: Loading robot model 'HiroNX'... [ WARN] [1436151774.977832613]: The root link WAIST 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] [1436151775.256577971]: Loading robot model 'HiroNX'... [ WARN] [1436151775.305488913]: The root link WAIST 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] [1436151775.594724722]: Loading robot model 'HiroNX'... [ERROR] [1436151775.638941010]: Group 'right_gripper' is not a chain [ERROR] [1436151775.639002303]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_gripper' [ERROR] [1436151775.639295221]: Kinematics solver could not be instantiated for joint group right_gripper. [ INFO] [1436151775.913457641]: Loading robot model 'HiroNX'... [ERROR] [1436151775.958445932]: Group 'left_gripper' is not a chain [ERROR] [1436151775.958490618]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_gripper' [ERROR] [1436151775.958647938]: Kinematics solver could not be instantiated for joint group left_gripper. [ INFO] [1436151776.079984570]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1436151776.089227593]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1436151776.089406947]: Starting scene monitor [ INFO] [1436151776.091613724]: Listening to '/planning_scene' [ INFO] [1436151776.091723178]: Starting world geometry monitor [ INFO] [1436151776.093958749]: Listening to '/collision_object' using message notifier with target frame '/WAIST ' [ INFO] [1436151776.095903153]: Listening to '/planning_scene_world' for planning scene world geometry [ WARN] [1436151776.097349043]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [ INFO] [1436151776.131314521]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1436151776.265327340]: Initializing OMPL interface using ROS parameters [ INFO] [1436151776.377523942]: Using planning interface 'OMPL' [ INFO] [1436151776.482226546]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1436151776.484078321]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1436151776.485682794]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1436151776.487159402]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1436151776.488732206]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1436151776.490472417]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1436151776.490644074]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1436151776.490718771]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1436151776.490774509]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1436151776.490839539]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1436151776.490902283]: Using planning request adapter 'Fix Start State Path Constraints' [ INFO] [1436151776.635837369]: Trajectory execution is managing controllers Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... 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] [1436151776.914838780]: ******************************************************** * MoveGroup using: * - CartesianPathService * - ExecutePathService * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1436151776.915331844]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1436151776.915411818]: MoveGroup context initialization complete All is well! Everyone is happy! You can start planning now! [ WARN] [1436151778.160949164]: The complete state of the robot is not yet known. Missing LHAND_JOINT0, LHAND_JOINT1, LHAND_JOINT2, LHAND_JOINT3, RHAND_JOINT0, RHAND_JOINT1, RHAND_JOINT2, RHAND_JOINT3 [ INFO] [1436151779.489173553]: Loading robot model 'HiroNX'... [ INFO] [1436151780.207494055]: Loading robot model 'HiroNX'... [ WARN] [1436151780.259581769]: The root link WAIST 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] [1436151780.534031903]: Loading robot model 'HiroNX'... [ WARN] [1436151780.585138618]: The root link WAIST 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] [1436151780.720798315]: The complete state of the robot is not yet known. Missing LHAND_JOINT0, LHAND_JOINT1, LHAND_JOINT2, LHAND_JOINT3, RHAND_JOINT0, RHAND_JOINT1, RHAND_JOINT2, RHAND_JOINT3 [ INFO] [1436151780.860218511]: Loading robot model 'HiroNX'... [ERROR] [1436151780.905171471]: Group 'right_gripper' is not a chain [ERROR] [1436151780.905226752]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_gripper' [ERROR] [1436151780.905890465]: Kinematics solver could not be instantiated for joint group right_gripper. [ INFO] [1436151781.172010926]: Loading robot model 'HiroNX'... [ERROR] [1436151781.216852269]: Group 'left_gripper' is not a chain [ERROR] [1436151781.216904765]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_gripper' [ERROR] [1436151781.217055039]: Kinematics solver could not be instantiated for joint group left_gripper. [ INFO] [1436151781.361598797]: Starting scene monitor [ INFO] [1436151781.363865478]: Listening to '/move_group/monitored_planning_scene' [ WARN] [1436151781.368472827]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151781.368590010]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151781.368718150]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [rviz_yodo_12243_6992361472571982871-2] process has died [pid 12269, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/hironx_moveit_config/launch/moveit_viewnatto.rviz __name:=rviz_yodo_12243_6992361472571982871 __log:=/home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2.log]. log file: /home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2*.log respawning... [rviz_yodo_12243_6992361472571982871-2] restarting process process[rviz_yodo_12243_6992361472571982871-2]: started with pid [13132] [ INFO] [1436151781.885136844]: rviz version 1.10.18 [ INFO] [1436151781.885276808]: compiled against OGRE version 1.7.4 (Cthugha) [ WARN] [1436151781.920877474]: The complete state of the robot is not yet known. Missing LHAND_JOINT0, LHAND_JOINT1, LHAND_JOINT2, LHAND_JOINT3, RHAND_JOINT0, RHAND_JOINT1, RHAND_JOINT2, RHAND_JOINT3 [ INFO] [1436151782.479769025]: Stereo is NOT SUPPORTED [ INFO] [1436151782.479891491]: OpenGl version: 4.2 (GLSL 4.2). [ INFO] [1436151787.836635818]: Loading robot model 'HiroNX'... [ INFO] [1436151788.528679348]: Loading robot model 'HiroNX'... [ WARN] [1436151788.574124990]: The root link WAIST 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] [1436151789.074085577]: Loading robot model 'HiroNX'... [ WARN] [1436151789.119550013]: The root link WAIST 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] [1436151789.402079731]: Loading robot model 'HiroNX'... [ERROR] [1436151789.452257337]: Group 'right_gripper' is not a chain [ERROR] [1436151789.452323732]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_gripper' [ERROR] [1436151789.452932063]: Kinematics solver could not be instantiated for joint group right_gripper. [ INFO] [1436151789.727227222]: Loading robot model 'HiroNX'... [ERROR] [1436151789.777838964]: Group 'left_gripper' is not a chain [ERROR] [1436151789.777888211]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_gripper' [ERROR] [1436151789.778106038]: Kinematics solver could not be instantiated for joint group left_gripper. [ INFO] [1436151789.940579326]: Starting scene monitor [ INFO] [1436151789.943134837]: Listening to '/move_group/monitored_planning_scene' [ WARN] [1436151789.947371382]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151789.947513679]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151789.947701439]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [rviz_yodo_12243_6992361472571982871-2] process has died [pid 13132, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/hironx_moveit_config/launch/moveit_viewnatto.rviz __name:=rviz_yodo_12243_6992361472571982871 __log:=/home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2.log]. log file: /home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2*.log respawning... [rviz_yodo_12243_6992361472571982871-2] restarting process process[rviz_yodo_12243_6992361472571982871-2]: started with pid [13624] [ INFO] [1436151790.448228668]: rviz version 1.10.18 [ INFO] [1436151790.448377924]: compiled against OGRE version 1.7.4 (Cthugha) [ INFO] [1436151791.041958784]: Stereo is NOT SUPPORTED [ INFO] [1436151791.042210804]: OpenGl version: 4.2 (GLSL 4.2). [ WARN] [1436151795.521017115]: The complete state of the robot is not yet known. Missing LHAND_JOINT0, LHAND_JOINT1, LHAND_JOINT2, LHAND_JOINT3, RHAND_JOINT0, RHAND_JOINT1, RHAND_JOINT2, RHAND_JOINT3 [ INFO] [1436151796.436109308]: Loading robot model 'HiroNX'... [ INFO] [1436151797.117693934]: Loading robot model 'HiroNX'... [ WARN] [1436151797.162603054]: The root link WAIST 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] [1436151797.430758683]: Loading robot model 'HiroNX'... [ WARN] [1436151797.481258080]: The root link WAIST 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] [1436151797.759156389]: Loading robot model 'HiroNX'... [ERROR] [1436151797.814806250]: Group 'right_gripper' is not a chain [ERROR] [1436151797.814869106]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_gripper' [ERROR] [1436151797.815515712]: Kinematics solver could not be instantiated for joint group right_gripper. [ INFO] [1436151798.075950425]: Loading robot model 'HiroNX'... [ERROR] [1436151798.120713130]: Group 'left_gripper' is not a chain [ERROR] [1436151798.120760395]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'left_gripper' [ERROR] [1436151798.120920780]: Kinematics solver could not be instantiated for joint group left_gripper. [ INFO] [1436151798.260502058]: Starting scene monitor [ INFO] [1436151798.262965129]: Listening to '/move_group/monitored_planning_scene' [ WARN] [1436151798.267279314]: No transform available between frame 'base_footprint' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151798.267379121]: No transform available between frame 'odom' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.) [ WARN] [1436151798.267444951]: No transform available between frame 'BODY' and planning frame '/WAIST' (Could not find a connection between 'WAIST' and 'BODY' because they are not part of the same tree.Tf has two or more unconnected trees.) [rviz_yodo_12243_6992361472571982871-2] process has died [pid 13624, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/hironx_moveit_config/launch/moveit_viewnatto.rviz __name:=rviz_yodo_12243_6992361472571982871 __log:=/home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2.log]. log file: /home/ais/.ros/log/d1755138-2389-11e5-ae60-00259093db68/rviz_yodo_12243_6992361472571982871-2*.log respawning... [rviz_yodo_12243_6992361472571982871-2] restarting process process[rviz_yodo_12243_6992361472571982871-2]: started with pid [14116] [ INFO] [1436151798.731904066]: rviz version 1.10.18 [ INFO] [1436151798.732095740]: compiled against OGRE version 1.7.4 (Cthugha) [ INFO] [1436151799.319660624]: Stereo is NOT SUPPORTED [ INFO] [1436151799.319788842]: OpenGl version: 4.2 (GLSL 4.2). [ WARN] [1436151801.161056259]: The complete state of the robot is not yet known. Missing LHAND_JOINT0, LHAND_JOINT1, LHAND_JOINT2, LHAND_JOINT3, RHAND_JOINT0, RHAND_JOINT1, RHAND_JOINT2, RHAND_JOINT3 ^C[rviz_yodo_12243_6992361472571982871-2] killing on exit