Group 'DroneBody' does not have a parent link #12

firass-amor · 2021-12-16T08:52:27Z

hi , first i want to thank you you for sharing your project . i am using ros melodic with gazebo 9 , and after cloning you and catkin_make your project i tried to launch roslaunch hector_moveit_gazebo orchyard_navigation.launch but i gt the following error

firass-amor · 2021-12-16T08:57:49Z

RLException: [orchyard_navigation.launch] is neither a launch file in package [hector_moveit_gazebo] nor is [hector_moveit_gazebo] a launch file name
The traceback for the exception was written to the log file
firass@firass-GL703VM:/hector-moveit$ source devel/setup.bash
firass@firass-GL703VM:/hector-moveit$ roslaunch hector_moveit_gazebo orchyard_navigation.launch
... logging to /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/roslaunch-firass-GL703VM-4580.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.

redefining global symbol: pi
when processing file: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_base.urdf.xacro
included from: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.urdf.xacro
included from: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro
started roslaunch server http://firass-GL703VM:33623/

SUMMARY

PARAMETERS

/action_timeout: 30.0
/base_footprint_frame: /base_footprint
/base_link_frame: /base_link
/base_stabilized_frame: /base_stabilized
/command_timeout: 0.5
/connection_timeout: 10.0
/controller/attitude/max_roll_pitch: 0.785398163
/controller/attitude/pitch/d: 20.0
/controller/attitude/pitch/i: 0.0
/controller/attitude/pitch/p: 100.0
/controller/attitude/pitch/publish_state: True
/controller/attitude/roll/d: 20.0
/controller/attitude/roll/i: 0.0
/controller/attitude/roll/p: 100.0
/controller/attitude/roll/publish_state: True
/controller/attitude/type: hector_quadrotor_...
/controller/attitude/yawrate/d: 0.5
/controller/attitude/yawrate/i: 0.0
/controller/attitude/yawrate/max: 3.14
/controller/attitude/yawrate/p: 5.0
/controller/attitude/yawrate/publish_state: True
/controller/position/type: hector_quadrotor_...
/controller/position/x/d: 0.0
/controller/position/x/i: 0.0
/controller/position/x/p: 2.0
/controller/position/y/d: 0.0
/controller/position/y/i: 0.0
/controller/position/y/p: 2.0
/controller/position/yaw/d: 0.0
/controller/position/yaw/i: 0.0
/controller/position/yaw/p: 2.0
/controller/position/z/d: 0.0
/controller/position/z/i: 0.0
/controller/position/z/p: 2.0
/controller/velocity/max_xy: 10.0
/controller/velocity/type: hector_quadrotor_...
/controller/velocity/x/antiwindup: True
/controller/velocity/x/d: 0.0
/controller/velocity/x/i: 1.0
/controller/velocity/x/i_clamp: 5.0
/controller/velocity/x/p: 2.0
/controller/velocity/x/publish_state: True
/controller/velocity/y/antiwindup: True
/controller/velocity/y/d: 0.0
/controller/velocity/y/i: 1.0
/controller/velocity/y/i_clamp: 5.0
/controller/velocity/y/p: 2.0
/controller/velocity/y/publish_state: True
/controller/velocity/z/antiwindup: True
/controller/velocity/z/d: 0.0
/controller/velocity/z/i: 1.0
/controller/velocity/z/i_clamp: 5.0
/controller/velocity/z/max: 5.0
/controller/velocity/z/p: 5.0
/controller/velocity/z/publish_state: True
/dist_tolerance: 0.1
/estop_deceleration: 1.0
/estop_relay/lazy: True
/gazebo/enable_ros_network: True
/grid_size: 13.0
/ground_truth_to_tf/frame_id: world
/ground_truth_to_tf/odometry_topic: ground_truth/state
/ground_truth_to_tf/tf_prefix:
/imu_topic:
/joint_state_publisher/publish_frequency: 50.0
/joint_state_publisher/source_list: ['/move_group/fak...
/joint_state_publisher/use_gui: False
/landing_height: 0.1
/move_group/DroneBody/default_planner_config: kConfigDefault
/move_group/DroneBody/planner_configs: ['SBLkConfigDefau...
/move_group/allow_trajectory_execution: True
/move_group/controller_list: [{'default': True...
/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: world
/move_group/octomap_resolution: 0.25
/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/longest_valid_segment_fraction: 0.01
/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/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: 0.0
/quadrotor_aerodynamics/C_mxy: 0.074156208
/quadrotor_aerodynamics/C_mz: 0.050643264
/quadrotor_aerodynamics/C_wxy: 0.12
/quadrotor_aerodynamics/C_wz: 0.1
/quadrotor_propulsion/CT0s: 1.53819048398e-05
/quadrotor_propulsion/CT1s: -0.00025224
/quadrotor_propulsion/CT2s: 0.0
/quadrotor_propulsion/J_M: 2.5730480633e-05
/quadrotor_propulsion/Psi: 0.00724217982751
/quadrotor_propulsion/R_A: 0.201084219222
/quadrotor_propulsion/alpha_m: 0.104863758314
/quadrotor_propulsion/beta_m: 0.549262344778
/quadrotor_propulsion/k_m: -7.01163190977e-05
/quadrotor_propulsion/k_t: 0.0153368647144
/quadrotor_propulsion/l_m: 0.275
/robot_description: <?xml version="1....
/robot_description_planning/joint_limits/virtual_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/virtual_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/virtual_joint/max_acceleration: 0.04
/robot_description_planning/joint_limits/virtual_joint/max_velocity: 5.0
/robot_description_semantic: <?xml version="1....
/robot_state_publisher/publish_frequency: 50.0
/rosdistro: melodic
/rosversion: 1.14.12
/state_timeout: 0.5
/state_topic:
/takeoff_height: 0.1
/tf_prefix:
/time_in_tolerance: 1.0
/use_sim_time: True
/world_frame: world
/wrench_limits/force/z/max: 30.0
/wrench_limits/force/z/min: 0.0
/wrench_limits/torque/x/max: 10.0
/wrench_limits/torque/y/max: 10.0
/wrench_limits/torque/z/max: 1.0
/yaw_tolerance: 0.35

NODES
/
controller_spawner (controller_manager/spawner)
estop_relay (topic_tools/relay)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
gazebo_killer (hector_moveit_config/gazebo_killer.sh)
ground_truth_to_tf (message_to_tf/message_to_tf)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
landing_action (hector_quadrotor_actions/landing_action)
move_group (moveit_ros_move_group/move_group)
pose_action (hector_quadrotor_actions/pose_action)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
spawn_robot (gazebo_ros/spawn_model)
takeoff_action (hector_quadrotor_actions/takeoff_action)

ROS_MASTER_URI=http://localhost:11311

process[gazebo_killer-1]: started with pid [4614]
process[gazebo-2]: started with pid [4618]
process[gazebo_gui-3]: started with pid [4620]
error: list of process IDs must follow -p

Usage:
ps [options]

For more details see ps(1).
/home/firass/hector-moveit/src/hector_moveit_config/src/gazebo_killer.sh: line 16: [: -gt: unary operator expected
/home/firass/hector-moveit/src/hector_moveit_config/src/gazebo_killer.sh: line 19: [: -gt: unary operator expected
[gazebo_killer-1] process has finished cleanly
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_killer-1*.log
process[robot_state_publisher-4]: started with pid [4628]
process[ground_truth_to_tf-5]: started with pid [4629]
process[controller_spawner-6]: started with pid [4634]
process[estop_relay-7]: started with pid [4637]
process[pose_action-8]: started with pid [4708]
process[landing_action-9]: started with pid [4714]
[ INFO] [1639644212.311040736]: waitForService: Service [/enable_motors] has not been advertised, waiting...
process[takeoff_action-10]: started with pid [4715]
[ WARN] [1639644212.752907768]: 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] [1639644212.867529, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1639644212.868395, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[spawn_robot-11]: started with pid [4832]
process[joint_state_publisher-12]: started with pid [4937]
process[move_group-13]: started with pid [4950]
process[rviz-14]: started with pid [4982]
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
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This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
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Find the GDB manual and other documentation resources online at:
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For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /opt/ros/melodic/lib/moveit_ros_move_group/move_group...(no debugging symbols found)...done.
/home/firass/hector-moveit/src/hector_moveit_config/launch/gdb_settings.gdb: No such file or directory.
Starting program: /opt/ros/melodic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/move_group-13.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644218.942820620]: rviz version 1.13.21
[ INFO] [1639644218.942863563]: compiled against Qt version 5.9.5
[ INFO] [1639644218.942873523]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1639644218.950857757]: Forcing OpenGl version 0.
[INFO] [1639644221.049023, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1639644221.054344, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] [1639644221.618260280]: Stereo is NOT SUPPORTED
[ INFO] [1639644221.618486596]: OpenGL device: NV136
[ INFO] [1639644221.618580358]: OpenGl version: 4.3 (GLSL 4.3) limited to GLSL 1.4 on Mesa system.
[ INFO] [1639644222.630077973]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639644222.630303540]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639644222.633090420]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1639644222.633438745]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffe3393700 (LWP 5830)]
[New Thread 0x7fffdbfff700 (LWP 5831)]
[New Thread 0x7fffe2b92700 (LWP 5833)]
[New Thread 0x7fffe2391700 (LWP 5846)]
[New Thread 0x7fffe1b90700 (LWP 5847)]
[New Thread 0x7fffe138f700 (LWP 5860)]
[ INFO] [1639644223.823160810]: Loading robot model 'quadrotor'...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ WARN] [1639644224.434427609]: No kinematics plugins defined. Fill and load kinematics.yaml!
[New Thread 0x7fffdb7fe700 (LWP 6021)]
[ INFO] [1639644224.461449245]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffdaffd700 (LWP 6052)]
[ INFO] [1639644224.464422423]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1639644224.464448113]: Starting planning scene monitor
[ INFO] [1639644224.466797351]: Listening to '/planning_scene'
[ INFO] [1639644224.466829517]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1639644224.469148475]: Listening to '/collision_object'
[ INFO] [1639644224.471274797]: Listening to '/planning_scene_world' for planning scene world geometry
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffda3e5700 (LWP 6103)]
[ INFO] [1639644224.594919646]: Listening to '/camera/depth/points' using message filter with target frame 'world '
[New Thread 0x7fffd9be4700 (LWP 6124)]
[ INFO] [1639644224.601840388]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.290838649]: Initializing OMPL interface using ROS parameters
[ERROR] [1639644225.293006452]: Could not find the planner configuration 'kConfigDefault' on the param server
[ INFO] [1639644225.317328278]: Using planning interface 'OMPL'
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.343426271]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1639644225.348337918]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1639644225.349586579]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1639644225.353052443]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1639644225.355498621]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1639644225.359800369]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1639644225.361051072]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1639644225.361111829]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1639644225.361130346]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1639644225.361148349]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1639644225.361161346]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1639644225.361176713]: Using planning request adapter 'Fix Start State Path Constraints'
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.417846636, 0.001000000]: Physics dynamic reconfigure ready.
[ INFO] [1639644225.421645172]: Fake controller 'multi_dof_joint_trajectory_simulation' with joints [ virtual_joint ]
[ INFO] [1639644225.422446348]: Returned 1 controllers in list
[ INFO] [1639644225.437550504]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
[INFO] [1639644225.571764, 0.001000]: Calling service /gazebo/spawn_urdf_model
[tcsetpgrp failed in terminal_inferior: Invalid argument]
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[New Thread 0x7fffb3872700 (LWP 6548)]
[New Thread 0x7fffb3071700 (LWP 6558)]
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
[New Thread 0x7fffb2870700 (LWP 6574)]
Loading 'move_group/MoveGroupPickPlaceAction'...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffb1b26700 (LWP 6606)]
[New Thread 0x7fffb1325700 (LWP 6628)]
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1639644225.726207071]:

MoveGroup using:
```
- ApplyPlanningSceneService
```
```
- ClearOctomapService
```
```
- CartesianPathService
```
```
- ExecuteTrajectoryAction
```
```
- GetPlanningSceneService
```
```
- KinematicsService
```
```
- MoveAction
```
```
- PickPlaceAction
```
```
- MotionPlanService
```
```
- QueryPlannersService
```
```
- StateValidationService
```

[ INFO] [1639644225.726258450]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1639644225.726273475]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1639644226.589381276, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[INFO] [1639644226.590425, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1639644226.866598660, 0.001000000]: imu plugin missing , defaults to 0s
[ INFO] [1639644226.899817351, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ WARN] [1639644226.899850684, 0.001000000]: dynamic reconfigure is not enabled for this image topic [camera/rgb/image_raw] becuase is not specified
[spawn_robot-11] process has finished cleanly
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/spawn_robot-11*.log
[ INFO] [1639644227.860215166, 0.001000000]: Loading gazebo_ros_control plugin
[ WARN] [1639644227.860368198, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1639644227.860460698, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1639644227.861275098, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1639644228.063140247, 0.001000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30
[ INFO] [1639644228.065510584, 0.001000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10
[ INFO] [1639644228.066946016, 0.001000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10
[ INFO] [1639644228.068500287, 0.001000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1
[ INFO] [1639644228.070270087]: waitForService: Service [/enable_motors] is now available.
[ INFO] [1639644228.125644949, 0.001000000]: Loaded gazebo_ros_control.
Loaded the following quadrotor propulsion model parameters from namespace /quadrotor_propulsion:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = 0
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
[INFO] [1639644228.231894, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1639644228.234296, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1639644228.236345, 0.000000]: Loading controller: controller/position
Loaded the following quadrotor drag model parameters from namespace /quadrotor_aerodynamics:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
[ WARN] [1639644228.306452736, 0.011000000]: Unable to update multi-DOF joint 'virtual_joint': Failure to lookup transform between 'world' and 'base_link' with TF exception: "base_link" passed to lookupTransform argument source_frame does not exist.
[ INFO] [1639644228.412941437, 0.100000000]: Server /action/pose started
[INFO] [1639644228.423493, 0.100000]: Loading controller: controller/velocity
[ INFO] [1639644228.557723578, 0.226000000]: Limits /controller/velocity/z initialized z with min -5 and max 5
[INFO] [1639644228.582493, 0.250000]: Loading controller: controller/attitude
[ INFO] [1639644228.708042488, 0.375000000]: Server /action/landing started
[ INFO] [1639644228.708755383, 0.376000000]: Server /action/takeoff started
[ INFO] [1639644228.713014484, 0.380000000]: Limits /controller/attitude/yawrate initialized yawrate with min -3.14 and max 3.14
[INFO] [1639644228.722457, 0.390000]: Controller Spawner: Loaded controllers: controller/position, controller/velocity, controller/attitude
[ INFO] [1639644228.733706285, 0.400000000]: Enabled wrench output
[INFO] [1639644228.734146, 0.400000]: Started controllers: controller/position, controller/velocity, controller/attitude
[ INFO] [1639644228.743655240, 0.410000000]: Enabled attitude output
[ INFO] [1639644228.743748175, 0.410000000]: Enabled yawrate output
[ INFO] [1639644228.743799684, 0.410000000]: Enabled thrust output
QLayout: Attempting to add QLayout "" to hector_moveit_rviz_plugins::OrchardGridPanel "", which already has a layout
QLayout::addChildLayout: layout "" already has a parent
QWidget::setLayout: Attempting to set QLayout "" on hector_moveit_rviz_plugins::OrchardGridPanel "", which already has a layout
[ INFO] [1639644231.707592263, 3.365000000]: Loading robot model 'quadrotor'...
[ WARN] [1639644231.815267196, 3.472000000]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ INFO] [1639644231.846213372, 3.503000000]: Starting planning scene monitor
[ INFO] [1639644231.850323265, 3.507000000]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1639644231.970213321, 3.627000000]: Group 'DroneBody' does not have a parent link
[ERROR] [1639644231.994227791, 3.651000000]: Unknown type of joint in Jacobian computation
[ INFO] [1639644231.996988260, 3.654000000]: Constructing new MoveGroup connection for group 'DroneBody' in namespace ''
[ INFO] [1639644233.008863127, 4.664000000]: Ready to take commands for planning group DroneBody.
[ INFO] [1639644233.008947517, 4.664000000]: Looking around: no
[ INFO] [1639644233.009005449, 4.664000000]: Replanning: no
[ERROR] [1639644233.010813729, 4.666000000]: Unknown type of joint in Jacobian computation
[ERROR] [1639644233.011144227, 4.667000000]: Unknown type of joint in Jacobian computation
Killed
[gazebo_gui-3] process has died [pid 4620, exit code 137, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_gui-3.log].
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_gui-3*.log

eliabntt · 2022-02-18T15:18:18Z

+1

javier99nl · 2023-02-17T12:26:44Z

Hi were you able to solve them??

eliabntt · 2023-02-17T16:25:44Z

no I gave up and used a different method. What do you need to do @javier99nl?

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Group 'DroneBody' does not have a parent link #12

Group 'DroneBody' does not have a parent link #12

firass-amor commented Dec 16, 2021 •

edited

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firass-amor commented Dec 16, 2021

eliabntt commented Feb 18, 2022

javier99nl commented Feb 17, 2023

eliabntt commented Feb 17, 2023

Group 'DroneBody' does not have a parent link #12

Group 'DroneBody' does not have a parent link #12

Comments

firass-amor commented Dec 16, 2021 • edited Loading

firass-amor commented Dec 16, 2021

SUMMARY

eliabntt commented Feb 18, 2022

javier99nl commented Feb 17, 2023

eliabntt commented Feb 17, 2023

firass-amor commented Dec 16, 2021 •

edited

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