How to solve 'terminate called after throwing an instance of 'Ogre::ItemIdentityException' what(): OGRE EXCEPTION(4:ItemIdentityException): A factory of type 'CustomPSSM3' already exists. '? #17
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I followed:
http://rtt-lwr.readthedocs.io/en/latest/tutos/moveit-tuto.html
I run:
My error:
... logging to /home/lhy/.ros/log/d59026c8-71cf-11ea-b123-9cad9784dfa1/roslaunch-lhy-29010.logChecking log directory for disk usage. This may take awhile.PressCtrl-C to interruptDone checking log file disk usage. Usage is <1GB.started roslaunch server http://172.20.10.3:43569/SUMMARY========PARAMETERS* /gazebo/robot_description: <?xml version="1....* /is_sim: True* /joint_state_controller/publish_rate: 50* /joint_state_controller/type: joint_state_contr...* /joint_trajectory_controller/action_monitor_rate: 20* /joint_trajectory_controller/constraints/goal_time: 0.0* /joint_trajectory_controller/constraints/joint_0/goal: 0.0* /joint_trajectory_controller/constraints/joint_0/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_1/goal: 0.0* /joint_trajectory_controller/constraints/joint_1/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_2/goal: 0.0* /joint_trajectory_controller/constraints/joint_2/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_3/goal: 0.0* /joint_trajectory_controller/constraints/joint_3/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_4/goal: 0.0* /joint_trajectory_controller/constraints/joint_4/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_5/goal: 0.0* /joint_trajectory_controller/constraints/joint_5/trajectory: 0.0* /joint_trajectory_controller/constraints/joint_6/goal: 0.0* /joint_trajectory_controller/constraints/joint_6/trajectory: 0.0* /joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.0* /joint_trajectory_controller/gains/joint_0/d: 15* /joint_trajectory_controller/gains/joint_0/i: 10* /joint_trajectory_controller/gains/joint_0/i_clamp: 1* /joint_trajectory_controller/gains/joint_0/p: 450* /joint_trajectory_controller/gains/joint_1/d: 15* /joint_trajectory_controller/gains/joint_1/i: 10* /joint_trajectory_controller/gains/joint_1/i_clamp: 1* /joint_trajectory_controller/gains/joint_1/p: 450* /joint_trajectory_controller/gains/joint_2/d: 15* /joint_trajectory_controller/gains/joint_2/i: 8* /joint_trajectory_controller/gains/joint_2/i_clamp: 1* /joint_trajectory_controller/gains/joint_2/p: 350* /joint_trajectory_controller/gains/joint_3/d: 2* /joint_trajectory_controller/gains/joint_3/i: 5* /joint_trajectory_controller/gains/joint_3/i_clamp: 1* /joint_trajectory_controller/gains/joint_3/p: 200* /joint_trajectory_controller/gains/joint_4/d: 0.01* /joint_trajectory_controller/gains/joint_4/i: 5* /joint_trajectory_controller/gains/joint_4/i_clamp: 1* /joint_trajectory_controller/gains/joint_4/p: 150* /joint_trajectory_controller/gains/joint_5/d: 5.0* /joint_trajectory_controller/gains/joint_5/i: 0.1* /joint_trajectory_controller/gains/joint_5/i_clamp: 1* /joint_trajectory_controller/gains/joint_5/p: 50* /joint_trajectory_controller/gains/joint_6/d: 1.1* /joint_trajectory_controller/gains/joint_6/i: 0.01* /joint_trajectory_controller/gains/joint_6/i_clamp: 0.5* /joint_trajectory_controller/gains/joint_6/p: 20* /joint_trajectory_controller/joints: ['joint_0', 'join...* /joint_trajectory_controller/state_publish_rate: 50* /joint_trajectory_controller/stop_trajectory_duration: 0.0* /joint_trajectory_controller/type: effort_controller...* /lwr_sim/joint_limits: ['joint_0', 'join...* /lwr_sim/kcd_default: [0.7, 0.7, 0.7, 0...* /lwr_sim/kcp_default: [1000.0, 1000.0, ...* /lwr_sim/kd_default: [1.0, 1.0, 1.0, 0...* /lwr_sim/kp_default: [450.0, 450.0, 20...* /lwr_sim/lower_joint_limits: [-100.0, -100.0, ...* /lwr_sim/upper_joint_limits: [100.0, 100.0, 10...* /move_group/allow_trajectory_execution: True* /move_group/allowed_execution_duration_scaling: 1.2* /move_group/allowed_goal_duration_margin: 0.5* /move_group/arm/longest_valid_segment_fraction: 0.005* /move_group/arm/planner_configs: ['SBLkConfigDefau...* /move_group/arm/projection_evaluator: joints(joint_0,jo...* /move_group/capabilities: move_group/MoveGr...* /move_group/controller_list: [{'default': True...* /move_group/controller_manager_name: controller_manager* /move_group/jiggle_fraction: 0.05* /move_group/max_range: 5.0* /move_group/max_safe_path_cost: 1* /move_group/moveit_controller_manager: moveit_simple_con...* /move_group/moveit_manage_controllers: False* /move_group/octomap_resolution: 0.025* /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/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/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/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/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/TRRTkConfigDefault/frountierNodeRatio: 0.1* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT* /move_group/planning_plugin: ompl_interface/OM...* /move_group/planning_scene_monitor/publish_geometry_updates: True* /move_group/planning_scene_monitor/publish_planning_scene: True* /move_group/planning_scene_monitor/publish_state_updates: True* /move_group/planning_scene_monitor/publish_transforms_updates: True* /move_group/request_adapters: default_planner_r...* /move_group/start_state_max_bounds_error: 0.1* /move_group/use_controller_manager: True* /robot_description: <?xml version="1....* /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...* /robot_description_kinematics/arm/kinematics_solver_attempts: 3* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.01* /robot_description_kinematics/arm/solve_type: Distance* /robot_description_planning/joint_limits/joint_0/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_0/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_0/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_0/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_1/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_1/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_2/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_2/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_3/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_3/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_4/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_5/max_velocity: 0.5* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: False* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True* /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.0* /robot_description_planning/joint_limits/joint_6/max_velocity: 0.5* /robot_description_semantic: <?xml version="1....* /robot_name: lwr_sim* /robot_ns: /* /robot_state_publisher/publish_frequency: 1000* /root_link: link_0* /rosdistro: kinetic* /rosversion: 1.12.14* /rviz_lhy_29010_8151556679522391345/arm/kinematics_solver: trac_ik_kinematic...* /rviz_lhy_29010_8151556679522391345/arm/kinematics_solver_attempts: 3* /rviz_lhy_29010_8151556679522391345/arm/kinematics_solver_search_resolution: 0.005* /rviz_lhy_29010_8151556679522391345/arm/kinematics_solver_timeout: 0.01* /rviz_lhy_29010_8151556679522391345/arm/solve_type: Distance* /start_paused: False* /tf_prefix: /* /tip_link: link_7* /use_sim_time: TrueNODES/Deployer (rtt_ros/deployer)controller_spawner (controller_manager/spawner)move_group (moveit_ros_move_group/move_group)robot_state_publisher (robot_state_publisher/robot_state_publisher)rviz_lhy_29010_8151556679522391345 (rviz/rviz)spawn_lwr_sim (gazebo_ros/spawn_model)world_to_lwr_sim_world (tf/static_transform_publisher)auto-starting new masterprocess[master]: started with pid [29035]ROS_MASTER_URI=http://localhost:11311setting /run_id to d59026c8-71cf-11ea-b123-9cad9784dfa1process[rosout-1]: started with pid [29048]started core service [/rosout]process[world_to_lwr_sim_world-2]: started with pid [29072]process[robot_state_publisher-3]: started with pid [29073]process[spawn_lwr_sim-4]: started with pid [29081]process[Deployer-5]: started with pid [29092]process[move_group-6]: started with pid [29099]process[rviz_lhy_29010_8151556679522391345-7]: started with pid [29114]Real-time memory: 517888 bytes free of 524288 allocated.process[controller_spawner-8]: started with pid [29124][ INFO] [1585494806.410287262]: rviz version 1.12.17[ INFO] [1585494806.410525044]: compiled against Qt version 5.5.1[ INFO] [1585494806.410643585]: compiled against OGRE version 1.9.0 (Ghadamon)[ INFO] [1585494806.472883908]: Loading robot model 'lwr'...[ INFO] [1585494806.473157081]: No root/virtual joint specified in SRDF. Assuming fixed joint[ WARN] [1585494806.572817091]: Could not identify parent group for end-effector 'effector'[ INFO] [1585494806.662208835]: IK Using joint link_1 -2.96706 2.96706[ INFO] [1585494806.662451779]: IK Using joint link_2 -2.0944 2.0944[ INFO] [1585494806.662577234]: IK Using joint link_3 -2.96706 2.96706[ INFO] [1585494806.662689960]: IK Using joint link_4 -2.0944 2.0944[ INFO] [1585494806.662813068]: IK Using joint link_5 -2.96706 2.96706[ INFO] [1585494806.662933473]: IK Using joint link_6 -2.0944 2.0944[ INFO] [1585494806.663071505]: IK Using joint link_7 -2.96706 2.96706[ INFO] [1585494806.663209377]: Looking in common namespaces for param name: arm/position_only_ik[ INFO] [1585494806.668166153]: Looking in common namespaces for param name: arm/solve_type[ INFO] [1585494806.680859666]: Using solve type Distance[INFO] [1585494806.768811, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller[ INFO] [1585494806.802494987]: Stereo is NOT SUPPORTED[ INFO] [1585494806.802735991]: OpenGl version: 3 (GLSL 1.3).[ INFO] [1585494806.847514293]: Publishing maintained planning scene on 'monitored_planning_scene'[ INFO] [1585494806.880168881]: MoveGroup debug mode is ON Starting context monitors...[ INFO] [1585494806.880456177]: Starting scene monitor[ INFO] [1585494806.915542194]: Listening to '/planning_scene'[ INFO] [1585494806.915717102]: Starting world geometry monitor[ INFO] [1585494806.953162205]: Listening to '/collision_object' using message notifier with target frame '/world 'Couldn't find an AF_INET address for [][ INFO] [1585494806.979650063]: Listening to '/planning_scene_world' for planning scene world geometry[ INFO] [1585494807.036513174]: Listening to '/attached_collision_object' for attached collision objects Context monitors started.[ INFO] [1585494807.118548533]: Initializing OMPL interface using ROS parameters SpawnModel script started[ INFO] [1585494807.304372699]: Using planning interface 'OMPL'[ INFO] [1585494807.310141981]: Param 'default_workspace_bounds' was not set. Using default value: 10[ INFO] [1585494807.311343217]: Param 'start_state_max_bounds_error' was set to 0.1[ INFO] [1585494807.312355197]: Param 'start_state_max_dt' was not set. Using default value: 0.5[ INFO] [1585494807.313400558]: Param 'start_state_max_dt' was not set. Using default value: 0.5[ INFO] [1585494807.314562245]: Param 'jiggle_fraction' was set to 0.05[ INFO] [1585494807.317795969]: Param 'max_sampling_attempts' was not set. Using default value: 100[ INFO] [1585494807.317898022]: Using planning request adapter 'Add Time Parameterization'[ INFO] [1585494807.318158600]: Using planning request adapter 'Fix Workspace Bounds'[ INFO] [1585494807.318349676]: Using planning request adapter 'Fix Start State Bounds'[ INFO] [1585494807.318621063]: Using planning request adapter 'Fix Start State In Collision'[ INFO] [1585494807.318791526]: Using planning request adapter 'Fix Start State Path Constraints'[ WARN] [1585494807.325925341]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml![ WARN] [1585494807.326945198]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml!Gazebo multi-robot simulator, version 8.6.0Copyright (C) 2012 Open Source Robotics Foundation.[ INFO] [1585494812.027392442, 0.322000000]: IK Using joint link_1 -2.96706 2.96706[ INFO] [1585494812.027458958, 0.322000000]: IK Using joint link_2 -2.0944 2.0944[ INFO] [1585494812.027512809, 0.322000000]: IK Using joint link_3 -2.96706 2.96706Released under the Apache 2 License.http://gazebosim.org1.273 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.[INFO] [1585494807.432247, 0.000000]: Loading model XML from ros parameter[INFO] [1585494807.436914, 0.000000]: Waiting for service /gazebo/spawn_urdf_model[ INFO] [1585494807.464096096]: Finished loading Gazebo ROS API Plugin.[ INFO] [1585494807.464950867]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...[[--- Gazebo running ---]][ INFO] [1585494807.930985342, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.[ INFO] [1585494808.008718036, 0.097000000]: Physics dynamic reconfigure ready.[INFO] [1585494808.042525, 0.130000]: Calling service /gazebo/spawn_urdf_model[INFO] [1585494808.908962, 0.322000]: Spawn status: SpawnModel: Successfully spawned entity [spawn_lwr_sim-4] process has finished cleanlylog file: /home/lhy/.ros/log/d59026c8-71cf-11ea-b123-9cad9784dfa1/spawn_lwr_sim-4*.log[ WARN] [1585494811.434670312, 0.322000000]: The STL file 'package://lwr_description/meshes/handle/handle.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.[ WARN] [1585494811.454051982, 0.322000000]: The STL file 'package://lwr_description/meshes/head_cam/head_cam.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.[ INFO] [1585494811.891572581, 0.322000000]: Loading robot model 'lwr'...[ INFO] [1585494811.891795458, 0.322000000]: No root/virtual joint specified in SRDF. Assuming fixed joint[ WARN] [1585494811.904109087, 0.322000000]: Could not identify parent group for end-effector 'effector'[ INFO] [1585494812.027392442, 0.322000000]: IK Using joint link_1 -2.96706 2.96706[ INFO] [1585494812.027458958, 0.322000000]: IK Using joint link_2 -2.0944 2.0944[ INFO] [1585494812.027512809, 0.322000000]: IK Using joint link_3 -2.96706 2.96706[ INFO] [1585494812.027546481, 0.322000000]: IK Using joint link_4 -2.0944 2.0944[ INFO] [1585494812.027688811, 0.322000000]: IK Using joint link_5 -2.96706 2.96706[ INFO] [1585494812.027779886, 0.322000000]: IK Using joint link_6 -2.0944 2.0944[ INFO] [1585494812.027872100, 0.322000000]: IK Using joint link_7 -2.96706 2.96706[ INFO] [1585494812.027917842, 0.322000000]: Looking in common namespaces for param name: arm/position_only_ik[ INFO] [1585494812.033461769, 0.322000000]: Looking in common namespaces for param name: arm/solve_type[ INFO] [1585494812.037121836, 0.322000000]: Using solve type Distance[ INFO] [1585494812.110904116, 0.322000000]: Starting scene monitor[ INFO] [1585494812.118151835, 0.322000000]: Listening to '/move_group/monitored_planning_scene'[ INFO] [1585494812.119733005, 0.322000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...Gazebo multi-robot simulator, version 8.6.0Copyright (C) 2012 Open Source Robotics Foundation.Released under the Apache 2 License.http://gazebosim.orgab0.323 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0. terminate called after throwing an instance of 'Ogre::ItemIdentityException' what(): OGRE EXCEPTION(4:ItemIdentityException): A factory of type 'CustomPSSM3' already exists. in ShaderGenerator::addSubRenderStateFactory at /build/ogre-1.9-mqY1wq/ogre-1.9 1.9.0+dfsg1/Components/RTShaderSystem/src/OgreShaderGenerator.cpp (line 368) /home/lhy/isir/rtt_ros-2.9_ws/install/lib/rtt_ros/deployer: line 5: 29098 abandoned(core dumped) deployer "$@"[Deployer-5] process has died [pid 29092, exit code 134, cmd /home/lhy/isir/rtt_ros-2.9_ws/install/lib/rtt_ros/deployer -l warning -s /home/lhy/isir/lwr_ws/install/share/lwr_moveit_config/scripts/run.ops -- robot_name=lwr_sim is_sim=true robot_ns=/ tf_prefix=/ __name:=Deployer __log:=/home/lhy/.ros/log/d59026c8-71cf-11ea-b123-9cad9784dfa1/Deployer-5.log].log file: /home/lhy/.ros/log/d59026c8-71cf-11ea-b123-9cad9784dfa1/Deployer-5*.logHow to solve it?
Thank you~
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