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Incomplete trajectory execution #25

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Aurelien-rkz opened this issue Dec 2, 2020 · 15 comments
Open

Incomplete trajectory execution #25

Aurelien-rkz opened this issue Dec 2, 2020 · 15 comments
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more-info-needed Waiting on information from reporter

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@Aurelien-rkz
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Hello everyone,

I'm currently working on a project which consists in doing 3d printing with a staubli robot. To do this I have a list of points that I cut into several trajectories. To compute the trajectories I use "cartesian Path" and the OMPL library but I also tried CHOMP and the Descartes project.

The majority of these trajectories work correctly but the problem is that some of my trajectories don't finish, and I don't get any error messages. The robot simply stays in place.

My configuration :
Robot : Staubli Tx2 60L
Controller: Staubli CS9
Ubuntu 18.04.5 LTS
ROS Melodic

Remarks :
The points are accessible by the robot
The simulation under gazebo works correctly.
I also tried to shift all the points on x and y but the problem remains the same.
On the other hand if I make smaller trajectories (less than 10 points) the problem does not occur.

Attached points are an example of a problematic trajectory.
points.pdf

Thank you for your help and sorry if there is a lack of information, this is my first post.

Aurelien
@gavanderhoorn
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gavanderhoorn commented Dec 2, 2020 •
edited
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In order to be able to say anything, we're going to need more information.

Please provide the following:

  1. a full copy-paste of the output on your console after roslaunching your system (append --screen to the roslaunch command so all the output is shown)
  2. ideally some code which shows how you generate your trajectories, and how you submit them to the driver (note: we don't need a full application. Just the segment(s) which is (are) responsible for putting together the actual trajectory and the goal)
  3. the ROS JointTrajectory which gets submitted as part of the action goal to the driver
  4. a capture of the network traffic between the ROS pc and the CS9

The trajectory you should be able to capture using rostopic echo on the topic which carries the goal message.

Network traffic can be captured using Wireshark.

I'm currently working on a project which consists in doing 3d printing with a staubli robot

the current implementation of the driver is not the best imaginable, so I'd be interested to hear about your experiences wrt resolution and performance.

@gavanderhoorn gavanderhoorn added the more-info-needed Waiting on information from reporter label Dec 2, 2020
@gavanderhoorn gavanderhoorn changed the title trajectory stops without error message Incomplete trajectory execution Dec 2, 2020
@Aurelien-rkz
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I increased the value of the "eef_step" parameter and that seems to have solved the problem. On the other hand the speeds of the trajectories are not constant, I also have the problem described in issue #2 .

the current implementation of the driver is not the best imaginable, so I'd be interested to hear about your experiences wrt resolution and performance.

I'll let you know the results when I've done my first tests.

@gavanderhoorn
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I increased the value of the "eef_step" parameter and that seems to have solved the problem.

So you did not check the return value (ie: fraction) to see whether computeCartesianPath(..) was able to complete interpolation of your paths?

@gavanderhoorn
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As this appears to not be a problem with the package in this repository, I'm going to close it.

Feel free to keep commenting on it.

@Aurelien-rkz
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All right, thanks for your help.

The fraction value was 1.0 but during execution it was still a problem.

@gavanderhoorn
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The fraction value was 1.0 but during execution it was still a problem.

Then I'm still interested in seeing the information requested in #25 (comment).

If computeCartesianPath(..) was able to iterate through the full trajectory and output a JointTrajectory, then the driver should be able to execute it.

@gavanderhoorn gavanderhoorn reopened this Dec 2, 2020
@Aurelien-rkz
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Aurelien-rkz commented Dec 2, 2020 •
edited by gavanderhoorn
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  1. a full copy-paste of the output on your console after roslaunching your system (append --screen to the roslaunch command so all the output is shown)
roslaunch output 
printer1@ubuntu:~/ws_moveit/src/staubli_experimental/tx2_60l/Programmes/GUI/AA_erreur$ python main.py
... logging to /home/printer1/.ros/log/663a434e-34bb-11eb-8f8f-000c295b7366/roslaunch-ubuntu-29809.log
started roslaunch server http://ubuntu:37303/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['joint_1', 'join...
 * /move_group/Staubli_arm/default_planner_config: 
 * /move_group/Staubli_arm/longest_valid_segment_fraction: 0.005
 * /move_group/Staubli_arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/Staubli_arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'action_ns': 'j...
 * /move_group/disable_capabilities: 
 * /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: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/enforce_joint_model_state_space: True
 * /move_group/planner_configs/LBKPIECE/longest_valid_segment_fraction: 0.1
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/termination_condition: CostConvergence[1...
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/epsilon: 1
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/PersistentLazyPRM/load_planner_data: True
 * /move_group/planner_configs/PersistentLazyPRM/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentLazyPRM/planner_data_path: /tmp/roadmap.graph
 * /move_group/planner_configs/PersistentLazyPRM/store_planner_data: False
 * /move_group/planner_configs/PersistentLazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/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: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/Staubli_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/Staubli_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/Staubli_arm/kinematics_solver_timeout: 0.05
 * /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: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 5
 * /robot_description_semantic: <?xml version="1....
 * /robot_ip_address: 172.17.42.42
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (industrial_robot_client/motion_streaming_interface)
    move_group (moveit_ros_move_group/move_group)
    robot_state (industrial_robot_client/robot_state)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_ubuntu_29809_3209951792007181021 (rviz/rviz)

auto-starting new master
process[master]: started with pid [29827]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 663a434e-34bb-11eb-8f8f-000c295b7366
process[rosout-1]: started with pid [29838]
started core service [/rosout]
process[robot_state-2]: started with pid [29845]
process[motion_streaming_interface-3]: started with pid [29846]
process[joint_trajectory_action-4]: started with pid [29852]
process[robot_state_publisher-5]: started with pid [29857]
process[move_group-6]: started with pid [29860]
[ WARN] [1606926507.970062018]: Tried to connect when socket already in connected state
process[rviz_ubuntu_29809_3209951792007181021-7]: started with pid [29872]
[ INFO] [1606926508.032593860]: Loading robot model 'staubli_tx2_60l'...
[ INFO] [1606926508.134142117]: rviz version 1.13.14
[ INFO] [1606926508.134208194]: compiled against Qt version 5.9.5
[ INFO] [1606926508.134232112]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1606926508.139928554]: Forcing OpenGl version 0.
[ INFO] [1606926508.259760633]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1606926508.261944689]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1606926508.262054258]: Starting planning scene monitor
[ INFO] [1606926508.264076231]: Listening to '/planning_scene'
[ INFO] [1606926508.264153236]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1606926508.266037209]: Listening to '/collision_object'
[ INFO] [1606926508.267900484]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1606926508.480233568]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'environement_link '
[ INFO] [1606926508.484302564]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1606926508.503270925]: Initializing OMPL interface using ROS parameters
[ INFO] [1606926508.522689513]: Using planning interface 'OMPL'
[ INFO] [1606926508.525136526]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1606926508.525593930]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1606926508.526289770]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1606926508.526728980]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1606926508.527106850]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1606926508.527422055]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1606926508.527511735]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1606926508.527562520]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1606926508.527603056]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1606926508.527639772]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1606926508.527677849]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1606926508.795442873]: Added FollowJointTrajectory controller for 
[ INFO] [1606926508.795537434]: Returned 1 controllers in list
[ INFO] [1606926508.805648772]: Trajectory execution is managing controllers
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] [1606926508.851249485]: 

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

[ INFO] [1606926508.851303768]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1606926508.851314800]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1606926509.340064395]: Stereo is NOT SUPPORTED
[ INFO] [1606926509.340176771]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1606926512.623018285]: Loading robot model 'staubli_tx2_60l'...
[ INFO] [1606926512.853540866]: Starting planning scene monitor
[ INFO] [1606926512.856369975]: Listening to '/move_group/monitored_planning_scene'
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ INFO] [1606926513.021787978]: Constructing new MoveGroup connection for group 'Staubli_arm' in namespace ''
[ INFO] [1606926514.126822772]: Ready to take commands for planning group Staubli_arm.
[ INFO] [1606926514.126924335]: Looking around: no
[ INFO] [1606926514.126942445]: Replanning: yes
  1. ideally some code which shows how you generate your trajectories, and how you submit them to the driver (note: we don't need a full application. Just the segment(s) which is (are) responsible for putting together the actual trajectory and the goal)

plan
execute

  1. the ROS JointTrajectory which gets submitted as part of the action goal to the driver
trajectory 
printer1@ubuntu:~/ws_moveit/src/staubli_experimental/tx2_60l/Programmes/GUI/AA_erreur$ rostopic echo joint_path_command

header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: "environement_link"
joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
points: 
  - 
    positions: [-1.651676893234253, 0.7523746490478516, 1.4574629068374634, -0.1351323127746582, -0.6434383392333984, 0.10833817720413208]
    velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    accelerations: [0.5465221821988246, 0.0, 0.0, 0.0, 0.0, 0.0]
    effort: []
    time_from_start: 
      secs: 0
      nsecs:         0
  - 
    positions: [-1.6314664658689644, 0.7606111507321536, 1.4857992991572833, -0.10132586630388396, -0.6789273712757686, 0.08124145534032723]
    velocities: [0.10834298401310888, 0.04415380012393599, 0.15190422471561596, 0.181227800052056, -0.19024771528636727, -0.1452586652739469]
    accelerations: [0.3288422140414096, 0.13401544662403042, 0.46105912655759046, 0.550061931170008, -0.5774391436691383, -0.4408885497523786]
    effort: []
    time_from_start: 
      secs: 0
      nsecs: 271956128
  - 
    positions: [-1.6112560385036758, 0.7688476524164556, 1.5141356914771031, -0.06751941983310972, -0.7144164033181388, 0.05414473347652238]
    velocities: [0.14237093971145354, 0.05802145909804282, 0.19961373056039722, 0.2381471438162418, -0.25, -0.1908809588794515]
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      nsecs: 686190743
  - 
    positions: [-1.6291488312859168, 0.778881430326268, 1.4106443113505505, -0.10019452212558458, -0.6211659525746114, 0.08159149111717903]
    velocities: [-0.14817165913091396, -0.18170447364497194, 0.3209336256331641, -0.2338749564202714, -0.15072467538476908, 0.1819012926450313]
    accelerations: [-0.5527495189119697, -0.5776640537873285, 1.0088243142301105, -0.7918416049953473, -0.49724345302500933, 0.578469866551071]
    effort: []
    time_from_start: 
      secs: 14
      nsecs: 772076547
  - 
    positions: [-1.6402937258804873, 0.7654647847391626, 1.4343126481382524, -0.11758412324714793, -0.6323402934095211, 0.09502311963439862]
    velocities: [-0.18591109711030546, -0.21875372025512285, 0.385329062472864, -0.2861862593740736, -0.18315277016858467, 0.21917606052630453]
    accelerations: [-0.5497723470579847, -0.4961413583019128, 0.8563925998005505, -0.7301155681074325, -0.44466994456974873, 0.5025338029720028]
    effort: []
    time_from_start: 
      secs: 14
      nsecs: 837966099
  - 
    positions: [-1.651662994978564, 0.7523449395693401, 1.4573928997658412, -0.13488688930130552, -0.643375033917185, 0.10817759175406191]
    velocities: [-0.21959341926266912, -0.24778030625016023, 0.4352414616545416, -0.3300391362546665, -0.20955298829740976, 0.2488163322698162]
    accelerations: [-0.6436230196395117, -0.5287124144834034, 0.9053631270707412, -0.8213335980986435, -0.4885083408607982, 0.5446444095419484]
    effort: []
    time_from_start: 
      secs: 14
      nsecs: 894061579
  - 
    positions: [-1.6632605787486712, 0.7395132719331626, 1.479902421240128, -0.15212936950935263, -0.6542803560238294, 0.12108059586825934]
    velocities: [-0.23949185424820313, -0.2594666161207795, 0.4545146691413935, -0.3521488571232652, -0.22173219988815357, 0.2614598811016627]
    accelerations: [-0.12193766953262082, 0.09035892905131462, -0.184920480911939, -0.02137045652764006, 0.02699690146659083, -0.06833987261110026]
    effort: []
    time_from_start: 
      secs: 14
      nsecs: 943097968
  - 
    positions: [-1.6750903399180648, 0.7269622897082888, 1.5018565340476475, -0.16933542096771811, -0.6650659614177592, 0.13375509717418607]
    velocities: [-0.2360573220099928, -0.245457201002349, 0.42876004614044866, -0.3399306318197537, -0.21212363822634064, 0.24852939451324157]
    accelerations: [0.25329833881238, 0.46579136113923175, -0.8381454405505221, 0.5029481123396308, 0.35323692368967746, -0.44445779000073576]
    effort: []
    time_from_start: 
      secs: 14
      nsecs: 991885726
  - 
    positions: [-1.6871560461779973, 0.7146855272350412, 1.5232687303698222, -0.1865265201003721, -0.6757411330838765, 0.14622167292723376]
    velocities: [-0.22095007723829052, -0.2203949875053056, 0.38386622988894303, -0.3119011530249881, -0.1927824117375255, 0.22452176181084138]
    accelerations: [0.31455027346736075, 0.48003135011649684, -0.856415808955521, 0.5533609162975012, 0.376163904470454, -0.46142200581932646]
    effort: []
    time_from_start: 
      secs: 15
      nsecs:  44427403
  - 
    positions: [-1.6994613512017083, 0.7026774557723338, 1.5441508493645728, -0.20372201961945532, -0.6863147884201667, 0.15849879246162463]
    velocities: [-0.19984449556472536, -0.19127367924280664, 0.3321736530371688, -0.27688967128895564, -0.1694675130822855, 0.19628427927815245]
    accelerations: [0.3975241905207976, 0.5077907253560616, -0.8975434633033911, 0.6315205588339092, 0.4137586784255475, -0.4959538488219679]
    effort: []
    time_from_start: 
      secs: 15
      nsecs: 102400339
  - 
    positions: [-1.7120097742297231, 0.6909334061948342, 1.564513230222493, -0.2209393606945822, -0.6967955249850629, 0.17060305191601233]
    velocities: [-0.1694830318990255, -0.15571235250290022, 0.2696277313000608, -0.2307626035754613, -0.1398361112296777, 0.16114080077614018]
    accelerations: [0.4741959317480396, 0.5205984465023328, -0.9119811537722553, 0.6976724058010022, 0.4415089159215977, -0.5193255654215854]
    effort: []
    time_from_start: 
      secs: 15
      nsecs: 169350430
  - 
    positions: [-1.724804678205732, 0.6794495018782969, 1.5843648458185458, -0.23819424819986418, -0.7071916596811149, 0.18254937174586713]
    velocities: [-0.10883786903095333, -0.09646644216533994, 0.166607415025613, -0.14605343836877155, -0.08772482162776697, 0.10066217015500947]
    accelerations: [0.6063786638010421, 0.5615676242530971, -0.9728681497277359, 0.8280088472586824, 0.5027543497246855, -0.5797580397249976]
    effort: []
    time_from_start: 
      secs: 15
      nsecs: 253784872
  - 
    positions: [-1.7378492464495947, 0.6682226000730367, 1.6037134201057688, -0.25550079531545666, -0.717511262034382, 0.19435116345973832]
    velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    accelerations: [0.6706841010358762, 0.5772291120652177, -0.9948034238892857, 0.8898129686827497, 0.5305804759467612, -0.6067869720375293]
    effort: []
    time_from_start: 
      secs: 15
      nsecs: 451013905
---
  1. a capture of the network traffic between the ROS pc and the CS9

wireshark

@gavanderhoorn
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gavanderhoorn commented Dec 3, 2020 •
edited
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printer1@ubuntu:~/ws_moveit/src/staubli_experimental/tx2_60l/Programmes/GUI/AA_erreur$ python main.py

you have a python program starting roslaunch?

and I was actually interested in seeing the output of the driver after you submit the trajectory goal.

Did you append --screen to the roslaunch invocation? If possible, please start things with roslaunch directly, instead of using any (Python) wrapper.

Edit: and for extra detail, add the following to your .bashrc (if using Bash), then start a new terminal and roslaunch in that terminal:

export ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}] [${logger}]: ${message}'

This will update the ROS logging configuration to include more information.

a capture of the network traffic between the ROS pc and the CS9

With this, I meant you'd have to send us the actual capture. Not a screenshot.

Capture the traffic with Wireshark, then File -> Save As (or Fichier -> Enregistrez sous) and attach the resulting file here to a comment.

Without the traffic, I cannot tell you whether the problem is in the driver or not.

@Aurelien-rkz
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Here is the output of the console from the roslaunch to the moment when the robot remains blocked.

printer1@ubuntu:~$ roslaunch tx2_60l streaming.launch robot_ip:=172.17.42.42 --screen
... logging to /home/printer1/.ros/log/8d721152-356b-11eb-a9ce-000c295b7366/roslaunch-ubuntu-3131.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://ubuntu:34141/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['joint_1', 'join...
 * /move_group/Staubli_arm/default_planner_config: 
 * /move_group/Staubli_arm/longest_valid_segment_fraction: 0.005
 * /move_group/Staubli_arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/Staubli_arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'action_ns': 'j...
 * /move_group/disable_capabilities: 
 * /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: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/enforce_joint_model_state_space: True
 * /move_group/planner_configs/LBKPIECE/longest_valid_segment_fraction: 0.1
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/termination_condition: CostConvergence[1...
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/epsilon: 1
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/PersistentLazyPRM/load_planner_data: True
 * /move_group/planner_configs/PersistentLazyPRM/multi_query_planning_enabled: True
 * /move_group/planner_configs/PersistentLazyPRM/planner_data_path: /tmp/roadmap.graph
 * /move_group/planner_configs/PersistentLazyPRM/store_planner_data: False
 * /move_group/planner_configs/PersistentLazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/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: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/Staubli_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/Staubli_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/Staubli_arm/kinematics_solver_timeout: 0.05
 * /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: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 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: 0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 5
 * /robot_description_semantic: <?xml version="1....
 * /robot_ip_address: 172.17.42.42
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (industrial_robot_client/motion_streaming_interface)
    move_group (moveit_ros_move_group/move_group)
    robot_state (industrial_robot_client/robot_state)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_ubuntu_3131_1065298973482309093 (rviz/rviz)

auto-starting new master
process[master]: started with pid [3147]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8d721152-356b-11eb-a9ce-000c295b7366
process[rosout-1]: started with pid [3158]
started core service [/rosout]
process[robot_state-2]: started with pid [3165]
process[motion_streaming_interface-3]: started with pid [3166]
[ INFO] [1607002162.645822017] [/robot_state] [ros.simple_message]: Added message handler for message type: 0
[ INFO] [1607002162.646969613] [/robot_state] [ros.industrial_robot_client]: Robot state connecting to IP address: '172.17.42.42:11002'
[ INFO] [1607002162.647451683] [/robot_state] [ros.industrial_utils]: Adding joint_1 to list parameter
[ INFO] [1607002162.647491029] [/robot_state] [ros.industrial_utils]: Adding joint_2 to list parameter
[ INFO] [1607002162.647514363] [/robot_state] [ros.industrial_utils]: Adding joint_3 to list parameter
[ INFO] [1607002162.647535428] [/robot_state] [ros.industrial_utils]: Adding joint_4 to list parameter
[ INFO] [1607002162.647555633] [/robot_state] [ros.industrial_utils]: Adding joint_5 to list parameter
[ INFO] [1607002162.647575829] [/robot_state] [ros.industrial_utils]: Adding joint_6 to list parameter
[ INFO] [1607002162.647610096] [/robot_state] [ros.industrial_utils]: Found user-specified joint names in 'controller_joint_names': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
[ INFO] [1607002162.648961424] [/robot_state] [ros.simple_message]: Connected to server
[ INFO] [1607002162.649011642] [/robot_state] [ros.simple_message]: Initializing message manager with default comms fault handler
[ INFO] [1607002162.649037945] [/robot_state] [ros.simple_message]: Default communications fault handler successfully initialized
[ INFO] [1607002162.649067048] [/robot_state] [ros.simple_message]: Initializing message manager
[ INFO] [1607002162.649091607] [/robot_state] [ros.simple_message]: Added message handler for message type: 1
[ INFO] [1607002162.650129640] [/robot_state] [ros.simple_message]: Added message handler for message type: 10
process[joint_trajectory_action-4]: started with pid [3172]
[ INFO] [1607002162.655113385] [/robot_state] [ros.simple_message]: Entering message manager spin loop
[ INFO] [1607002162.655929342] [/motion_streaming_interface] [ros.industrial_robot_client]: Joint Trajectory Interface connecting to IP address: '172.17.42.42:11000'
[ INFO] [1607002162.657085372] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_1 to list parameter
[ INFO] [1607002162.657166522] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_2 to list parameter
[ INFO] [1607002162.657203032] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_3 to list parameter
[ INFO] [1607002162.657232213] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_4 to list parameter
[ INFO] [1607002162.657254145] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_5 to list parameter
[ INFO] [1607002162.657275539] [/motion_streaming_interface] [ros.industrial_utils]: Adding joint_6 to list parameter
[ INFO] [1607002162.657303328] [/motion_streaming_interface] [ros.industrial_utils]: Found user-specified joint names in 'controller_joint_names': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
[ INFO] [1607002162.657326889] [/motion_streaming_interface] [ros.industrial_robot_client]: JointTrajectoryStreamer: init
[ INFO] [1607002162.658367326] [/motion_streaming_interface] [ros.simple_message]: Connected to server
process[robot_state_publisher-5]: started with pid [3177]
process[move_group-6]: started with pid [3183]
[ INFO] [1607002162.666076816] [/motion_streaming_interface] [ros.industrial_robot_client]: Unlocking mutex
[ INFO] [1607002162.668211419] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_1 to list parameter
[ INFO] [1607002162.668812158] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_2 to list parameter
[ INFO] [1607002162.668841817] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_3 to list parameter
[ INFO] [1607002162.668869167] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_4 to list parameter
[ INFO] [1607002162.668890748] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_5 to list parameter
[ INFO] [1607002162.668911811] [/joint_trajectory_action] [ros.industrial_utils]: Adding joint_6 to list parameter
[ INFO] [1607002162.668939070] [/joint_trajectory_action] [ros.industrial_utils]: Found user-specified joint names in 'controller_joint_names': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
[ INFO] [1607002162.668965372] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Filtered joint names to 6 joints
[ INFO] [1607002162.670369584] [/motion_streaming_interface] [ros.industrial_robot_client]: Starting joint trajectory streamer thread
process[rviz_ubuntu_3131_1065298973482309093-7]: started with pid [3186]
[ INFO] [1607002162.675576653] [/motion_streaming_interface] [ros.industrial_robot_client]: Connecting to robot motion server
[ WARN] [1607002162.675628117] [/motion_streaming_interface] [ros.simple_message]: Tried to connect when socket already in connected state
[ INFO] [1607002162.715742539] [/move_group] [ros.moveit_core.robot_model]: Loading robot model 'staubli_tx2_60l'...
[ INFO] [1607002162.794367940] [${node}] [ros.rviz]: rviz version 1.13.14
[ INFO] [1607002162.794421098] [${node}] [ros.rviz]: compiled against Qt version 5.9.5
[ INFO] [1607002162.794444556] [${node}] [ros.rviz]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1607002162.802028948] [/rviz_ubuntu_3131_1065298973482309093] [ros.rviz]: Forcing OpenGl version 0.
[ INFO] [1607002162.918629487] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1607002162.920666972] [/move_group] [ros.moveit_ros_move_group]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1607002162.920728895] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Starting planning scene monitor
[ INFO] [1607002162.922280538] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Listening to '/planning_scene'
[ INFO] [1607002162.922324914] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1607002162.924088018] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Listening to '/collision_object'
[ INFO] [1607002162.925890972] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1607002163.122087955] [/move_group] [ros.moveit_ros_perception]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'environement_link '
[ INFO] [1607002163.125862925] [/move_group] [ros.moveit_ros_planning.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1607002163.142965807] [/move_group] [ros.moveit_planners_ompl]: Initializing OMPL interface using ROS parameters
[ INFO] [1607002163.160140270] [/move_group] [ros.moveit_ros_planning]: Using planning interface 'OMPL'
[ INFO] [1607002163.162373183] [/move_group] [ros.moveit_ros_planning]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1607002163.162711060] [/move_group] [ros.moveit_ros_planning]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1607002163.163064320] [/move_group] [ros.moveit_ros_planning]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1607002163.163465218] [/move_group] [ros.moveit_ros_planning]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1607002163.163734807] [/move_group] [ros.moveit_ros_planning]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1607002163.164019310] [/move_group] [ros.moveit_ros_planning]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1607002163.164078474] [/move_group] [ros.moveit_ros_planning]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1607002163.164103675] [/move_group] [ros.moveit_ros_planning]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1607002163.164126355] [/move_group] [ros.moveit_ros_planning]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1607002163.164152384] [/move_group] [ros.moveit_ros_planning]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1607002163.164174649] [/move_group] [ros.moveit_ros_planning]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1607002163.406638539] [/move_group] [ros.moveit_simple_controller_manager.SimpleControllerManager]: Added FollowJointTrajectory controller for 
[ INFO] [1607002163.406754932] [/move_group] [ros.moveit_simple_controller_manager.SimpleControllerManager]: Returned 1 controllers in list
[ INFO] [1607002163.418186470] [/move_group] [ros.moveit_ros_planning.trajectory_execution_manager]: Trajectory execution is managing controllers
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] [1607002163.477376318] [/move_group] [ros.moveit_ros_move_group]: 

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

[ INFO] [1607002163.477552281] [/move_group] [ros.moveit_ros_move_group]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1607002163.477597898] [/move_group] [ros.moveit_ros_move_group]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1607002164.246671530] [/rviz_ubuntu_3131_1065298973482309093] [ros.rviz]: Stereo is NOT SUPPORTED
[ INFO] [1607002164.246793669] [/rviz_ubuntu_3131_1065298973482309093] [ros.rviz]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1607002167.518642673] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_core.robot_model]: Loading robot model 'staubli_tx2_60l'...
[ INFO] [1607002167.731490270] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_planning.planning_scene_monitor]: Starting planning scene monitor
[ INFO] [1607002167.734130150] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_planning.planning_scene_monitor]: Listening to '/move_group/monitored_planning_scene'
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ INFO] [1607002167.902268234] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_visualization]: Constructing new MoveGroup connection for group 'Staubli_arm' in namespace ''
[ INFO] [1607002169.049611347] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_planning_interface.move_group_interface]: Ready to take commands for planning group Staubli_arm.
[ INFO] [1607002169.049755679] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_planning_interface.move_group_interface]: Looking around: no
[ INFO] [1607002169.049969270] [/rviz_ubuntu_3131_1065298973482309093] [ros.moveit_ros_planning_interface.move_group_interface]: Replanning: yes
[ INFO] [1607002204.976297188] [/move_group] [ros.moveit_ros_move_group.MoveAction]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1607002204.976549903] [/move_group] [ros.moveit_ros_planning.plan_execution]: Planning attempt 1 of at most 1
[ INFO] [1607002204.986288374] [/move_group] [ros.moveit_planners_ompl.model_based_planning_context]: Planner configuration 'Staubli_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1607002204.988193391] [/move_group] [ros.moveit_planners_ompl.ompl]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1607002205.025688018] [/move_group] [ros.moveit_planners_ompl.ompl]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1607002205.025770201] [/move_group] [ros.moveit_planners_ompl.ompl]: Solution found in 0.038284 seconds
[ INFO] [1607002205.108139542] [/move_group] [ros.moveit_planners_ompl.ompl]: SimpleSetup: Path simplification took 0.082249 seconds and changed from 3 to 2 states
[ INFO] [1607002205.110388840] [/move_group] [ros.moveit_ros_planning.TrajectoryMonitor]: Disabling trajectory recording
[ INFO] [1607002205.116784237] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Received new goal
[ INFO] [1607002205.116943898] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Publishing trajectory
[ INFO] [1607002205.117393994] [/motion_streaming_interface] [ros.industrial_robot_client]: Receiving joint trajectory message
[ WARN] [1607002205.117456709] [/motion_streaming_interface] [ros.industrial_robot_client]: Joint velocity-limits unspecified.  Using default velocity-ratio.
[ INFO] [1607002205.117511784] [/motion_streaming_interface] [ros.industrial_robot_client]: Loading trajectory, setting state to streaming
[ INFO] [1607002205.121550072] [/motion_streaming_interface] [ros.industrial_robot_client]: Executing trajectory of size: 5
[ INFO] [1607002205.139656229] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[1 of 5] sent to controller
[ INFO] [1607002205.142223220] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.155854120] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[2 of 5] sent to controller
[ INFO] [1607002205.158155961] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.171492317] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[3 of 5] sent to controller
[ INFO] [1607002205.175888404] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.187280190] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[4 of 5] sent to controller
[ INFO] [1607002205.195893987] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.203222959] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[5 of 5] sent to controller
[ INFO] [1607002205.208474348] [/motion_streaming_interface] [ros.industrial_robot_client]: Trajectory streaming complete, setting state to IDLE
[ INFO] [1607002205.216223817] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.236146239] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.256016634] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.276090047] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.296281494] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.316449839] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.336021354] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.356033031] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.376101456] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.395779191] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.416928975] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.436481397] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.455942473] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.476047141] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.495942172] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002205.516176088] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002211.796533591] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action.controllerStateCB]: Inside goal constraints - stopped moving-  return success for action
[ INFO] [1607002211.797177501] [/move_group] [ros.moveit_simple_controller_manager.SimpleControllerManager]: Controller  successfully finished
[ INFO] [1607002211.856213629] [/move_group] [ros.moveit_ros_planning.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1607002211.857628519] [/move_group] [ros.moveit_ros_planning.trajectory_execution_manager]: Received event 'stop'
[ INFO] [1607002211.880181987] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Received request to compute Cartesian path
[ INFO] [1607002211.880299127] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Attempting to follow 30 waypoints for link 'buse' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[ INFO] [1607002211.938357373] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Computed Cartesian path with 172 points (followed 100.000000% of requested trajectory)
[ INFO] [1607002211.946926261] [/move_group] [ros.moveit_ros_move_group.ExecuteTrajectoryAction]: Execution request received
[ INFO] [1607002211.956935537] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Received new goal
[ INFO] [1607002211.957011490] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Publishing trajectory
[ INFO] [1607002211.957822767] [/motion_streaming_interface] [ros.industrial_robot_client]: Receiving joint trajectory message
[ INFO] [1607002211.958247648] [/motion_streaming_interface] [ros.industrial_robot_client]: Loading trajectory, setting state to streaming
[ INFO] [1607002211.966319298] [/motion_streaming_interface] [ros.industrial_robot_client]: Executing trajectory of size: 172
[ INFO] [1607002211.979786113] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[1 of 172] sent to controller
[ INFO] [1607002211.982748104] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002211.995383153] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[2 of 172] sent to controller
[ INFO] [1607002212.011741395] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[3 of 172] sent to controller
[ INFO] [1607002212.027637132] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[4 of 172] sent to controller
[ INFO] [1607002212.043551149] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[5 of 172] sent to controller
[ INFO] [1607002212.059673672] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[6 of 172] sent to controller
[ INFO] [1607002212.075495640] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[7 of 172] sent to controller
[ INFO] [1607002212.091587502] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[8 of 172] sent to controller
[ INFO] [1607002212.107378949] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[9 of 172] sent to controller
[ INFO] [1607002212.123303948] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[10 of 172] sent to controller
[ INFO] [1607002212.139610021] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[11 of 172] sent to controller
[ INFO] [1607002212.155324172] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[12 of 172] sent to controller
[ INFO] [1607002212.171965003] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[13 of 172] sent to controller
[ INFO] [1607002212.188021330] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[14 of 172] sent to controller
[ INFO] [1607002212.203689910] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[15 of 172] sent to controller
[ INFO] [1607002212.219645578] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[16 of 172] sent to controller
[ INFO] [1607002212.235681769] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[17 of 172] sent to controller
[ INFO] [1607002212.251445361] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[18 of 172] sent to controller
[ INFO] [1607002212.267375417] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[19 of 172] sent to controller
[ INFO] [1607002212.283588707] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[20 of 172] sent to controller
[ INFO] [1607002212.299460892] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[21 of 172] sent to controller
[ INFO] [1607002212.315464582] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[22 of 172] sent to controller
[ INFO] [1607002212.331452440] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[23 of 172] sent to controller
[ INFO] [1607002212.347239557] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[24 of 172] sent to controller
[ INFO] [1607002212.363417514] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[25 of 172] sent to controller
[ INFO] [1607002212.380068996] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[26 of 172] sent to controller
[ INFO] [1607002212.395428000] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[27 of 172] sent to controller
[ INFO] [1607002212.411560574] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[28 of 172] sent to controller
[ INFO] [1607002212.427458560] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[29 of 172] sent to controller
[ INFO] [1607002212.443568178] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[30 of 172] sent to controller
[ INFO] [1607002212.459626971] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[31 of 172] sent to controller
[ INFO] [1607002212.475543722] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[32 of 172] sent to controller
[ INFO] [1607002212.491583823] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[33 of 172] sent to controller
[ INFO] [1607002212.507416463] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[34 of 172] sent to controller
[ INFO] [1607002212.523411949] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[35 of 172] sent to controller
[ INFO] [1607002212.539576271] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[36 of 172] sent to controller
[ INFO] [1607002212.555597289] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[37 of 172] sent to controller
[ INFO] [1607002212.571638712] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[38 of 172] sent to controller
[ INFO] [1607002212.587451555] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[39 of 172] sent to controller
[ INFO] [1607002212.603474143] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[40 of 172] sent to controller
[ INFO] [1607002212.619939545] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[41 of 172] sent to controller
[ INFO] [1607002212.635499131] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[42 of 172] sent to controller
[ INFO] [1607002212.651503932] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[43 of 172] sent to controller
[ INFO] [1607002212.667298576] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[44 of 172] sent to controller
[ INFO] [1607002212.683547954] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[45 of 172] sent to controller
[ INFO] [1607002212.699483735] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[46 of 172] sent to controller
[ INFO] [1607002212.715516086] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[47 of 172] sent to controller
[ INFO] [1607002212.731858959] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[48 of 172] sent to controller
[ INFO] [1607002212.747921439] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[49 of 172] sent to controller
[ INFO] [1607002212.763685642] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[50 of 172] sent to controller
[ INFO] [1607002212.779698264] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[51 of 172] sent to controller
[ INFO] [1607002212.795550563] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[52 of 172] sent to controller
[ INFO] [1607002212.811517899] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[53 of 172] sent to controller
[ INFO] [1607002212.827492469] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[54 of 172] sent to controller
[ INFO] [1607002212.843476349] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[55 of 172] sent to controller
[ INFO] [1607002212.859886117] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[56 of 172] sent to controller
[ INFO] [1607002212.875785269] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[57 of 172] sent to controller
[ INFO] [1607002212.891810921] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[58 of 172] sent to controller
[ INFO] [1607002212.907584256] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[59 of 172] sent to controller
[ INFO] [1607002212.923685125] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[60 of 172] sent to controller
[ INFO] [1607002212.939508892] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[61 of 172] sent to controller
[ INFO] [1607002212.955470165] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[62 of 172] sent to controller
[ INFO] [1607002212.971444846] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[63 of 172] sent to controller
[ INFO] [1607002212.987408121] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[64 of 172] sent to controller
[ INFO] [1607002213.003323427] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[65 of 172] sent to controller
[ INFO] [1607002213.020083290] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[66 of 172] sent to controller
[ INFO] [1607002213.035454949] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[67 of 172] sent to controller
[ INFO] [1607002213.051752828] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[68 of 172] sent to controller
[ INFO] [1607002213.067567964] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[69 of 172] sent to controller
[ INFO] [1607002213.083638889] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[70 of 172] sent to controller
[ INFO] [1607002213.100172476] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[71 of 172] sent to controller
[ INFO] [1607002213.115693060] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[72 of 172] sent to controller
[ INFO] [1607002213.132050296] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[73 of 172] sent to controller
[ INFO] [1607002213.147605805] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[74 of 172] sent to controller
[ INFO] [1607002213.163811850] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[75 of 172] sent to controller
[ INFO] [1607002213.180112294] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[76 of 172] sent to controller
[ INFO] [1607002213.195424794] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[77 of 172] sent to controller
[ INFO] [1607002213.211424480] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[78 of 172] sent to controller
[ INFO] [1607002213.228120268] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[79 of 172] sent to controller
[ INFO] [1607002213.243440407] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[80 of 172] sent to controller
[ INFO] [1607002213.259637099] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[81 of 172] sent to controller
[ INFO] [1607002213.275569342] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[82 of 172] sent to controller
[ INFO] [1607002213.291776483] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[83 of 172] sent to controller
[ INFO] [1607002213.307546996] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[84 of 172] sent to controller
[ INFO] [1607002213.323475109] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[85 of 172] sent to controller
[ INFO] [1607002213.339459954] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[86 of 172] sent to controller
[ INFO] [1607002213.355570850] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[87 of 172] sent to controller
[ INFO] [1607002213.371672311] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[88 of 172] sent to controller
[ INFO] [1607002213.387676448] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[89 of 172] sent to controller
[ INFO] [1607002213.403405752] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[90 of 172] sent to controller
[ INFO] [1607002213.419709510] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[91 of 172] sent to controller
[ INFO] [1607002213.435622848] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[92 of 172] sent to controller
[ INFO] [1607002213.451474993] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[93 of 172] sent to controller
[ INFO] [1607002213.467489925] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[94 of 172] sent to controller
[ INFO] [1607002213.483669681] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[95 of 172] sent to controller
[ INFO] [1607002213.499700055] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[96 of 172] sent to controller
[ INFO] [1607002213.515468397] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[97 of 172] sent to controller
[ INFO] [1607002213.531595936] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[98 of 172] sent to controller
[ INFO] [1607002213.547487079] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[99 of 172] sent to controller
[ INFO] [1607002213.563519200] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[100 of 172] sent to controller
[ INFO] [1607002213.579607573] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[101 of 172] sent to controller
[ INFO] [1607002213.595550203] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[102 of 172] sent to controller
[ INFO] [1607002213.611435895] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[103 of 172] sent to controller
[ INFO] [1607002213.627548846] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[104 of 172] sent to controller
[ INFO] [1607002213.643604276] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[105 of 172] sent to controller
[ INFO] [1607002213.660004675] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[106 of 172] sent to controller
[ INFO] [1607002213.675550801] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[107 of 172] sent to controller
[ INFO] [1607002213.691743250] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[108 of 172] sent to controller
[ INFO] [1607002213.707458684] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[109 of 172] sent to controller
[ INFO] [1607002213.723338253] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[110 of 172] sent to controller
[ INFO] [1607002213.739777649] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[111 of 172] sent to controller
[ INFO] [1607002213.755563578] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[112 of 172] sent to controller
[ INFO] [1607002213.771587112] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[113 of 172] sent to controller
[ INFO] [1607002213.787743069] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[114 of 172] sent to controller
[ INFO] [1607002213.804165468] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[115 of 172] sent to controller
[ INFO] [1607002213.820014635] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[116 of 172] sent to controller
[ INFO] [1607002213.835764611] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[117 of 172] sent to controller
[ INFO] [1607002213.851559971] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[118 of 172] sent to controller
[ INFO] [1607002213.867699037] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[119 of 172] sent to controller
[ INFO] [1607002213.883644486] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[120 of 172] sent to controller
[ INFO] [1607002213.899540939] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[121 of 172] sent to controller
[ INFO] [1607002213.915510893] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[122 of 172] sent to controller
[ INFO] [1607002213.931651629] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[123 of 172] sent to controller
[ INFO] [1607002213.947539367] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[124 of 172] sent to controller
[ INFO] [1607002213.963365840] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[125 of 172] sent to controller
[ INFO] [1607002213.979806374] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[126 of 172] sent to controller
[ INFO] [1607002213.995548984] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[127 of 172] sent to controller
[ INFO] [1607002214.011563587] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[128 of 172] sent to controller
[ INFO] [1607002214.027480397] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[129 of 172] sent to controller
[ INFO] [1607002214.043458731] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[130 of 172] sent to controller
[ INFO] [1607002214.060091115] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[131 of 172] sent to controller
[ INFO] [1607002214.075590265] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[132 of 172] sent to controller
[ INFO] [1607002214.091711859] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[133 of 172] sent to controller
[ INFO] [1607002214.107384444] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[134 of 172] sent to controller
[ INFO] [1607002214.123688007] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[135 of 172] sent to controller
[ INFO] [1607002214.139719391] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[136 of 172] sent to controller
[ INFO] [1607002214.155668162] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[137 of 172] sent to controller
[ INFO] [1607002214.171552448] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[138 of 172] sent to controller
[ INFO] [1607002214.187637294] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[139 of 172] sent to controller
[ INFO] [1607002214.203471350] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[140 of 172] sent to controller
[ INFO] [1607002214.219738185] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[141 of 172] sent to controller
[ INFO] [1607002214.235510267] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[142 of 172] sent to controller
[ INFO] [1607002214.251624500] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[143 of 172] sent to controller
[ INFO] [1607002214.267426111] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[144 of 172] sent to controller
[ INFO] [1607002214.283412774] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[145 of 172] sent to controller
[ INFO] [1607002214.299770016] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[146 of 172] sent to controller
[ INFO] [1607002214.315491755] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[147 of 172] sent to controller
[ INFO] [1607002214.331763310] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[148 of 172] sent to controller
[ INFO] [1607002214.347691371] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[149 of 172] sent to controller
[ INFO] [1607002214.363615569] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[150 of 172] sent to controller
[ INFO] [1607002214.379804447] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[151 of 172] sent to controller
[ INFO] [1607002214.395541442] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[152 of 172] sent to controller
[ INFO] [1607002214.411691262] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[153 of 172] sent to controller
[ INFO] [1607002214.427543700] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[154 of 172] sent to controller
[ INFO] [1607002214.443323664] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[155 of 172] sent to controller
[ INFO] [1607002214.459543319] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[156 of 172] sent to controller
[ INFO] [1607002214.475473308] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[157 of 172] sent to controller
[ INFO] [1607002214.491724322] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[158 of 172] sent to controller
[ INFO] [1607002214.507692113] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[159 of 172] sent to controller
[ INFO] [1607002214.523347558] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[160 of 172] sent to controller
[ INFO] [1607002214.539623888] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[161 of 172] sent to controller
[ INFO] [1607002214.555832628] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[162 of 172] sent to controller
[ INFO] [1607002214.571945133] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[163 of 172] sent to controller
[ INFO] [1607002214.587612683] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[164 of 172] sent to controller
[ INFO] [1607002214.603532823] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[165 of 172] sent to controller
[ INFO] [1607002214.619623236] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[166 of 172] sent to controller
[ INFO] [1607002214.635679417] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[167 of 172] sent to controller
[ INFO] [1607002214.651847197] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[168 of 172] sent to controller
[ INFO] [1607002214.667566597] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[169 of 172] sent to controller
[ INFO] [1607002214.683592307] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[170 of 172] sent to controller
[ INFO] [1607002214.699749523] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[171 of 172] sent to controller
[ INFO] [1607002214.716158786] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[172 of 172] sent to controller
[ INFO] [1607002214.721536997] [/motion_streaming_interface] [ros.industrial_robot_client]: Trajectory streaming complete, setting state to IDLE
[ INFO] [1607002233.097377082] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action.controllerStateCB]: Inside goal constraints - stopped moving-  return success for action
[ INFO] [1607002233.097973034] [/move_group] [ros.moveit_simple_controller_manager.SimpleControllerManager]: Controller  successfully finished
[ INFO] [1607002233.157219452] [/move_group] [ros.moveit_ros_planning.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1607002233.157532718] [/move_group] [ros.moveit_ros_move_group.ExecuteTrajectoryAction]: Execution completed: SUCCEEDED
[ INFO] [1607002233.180480748] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Received request to compute Cartesian path
[ INFO] [1607002233.180572123] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Attempting to follow 30 waypoints for link 'buse' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[ INFO] [1607002233.240271346] [/move_group] [ros.moveit_ros_move_group.CartesianPathService]: Computed Cartesian path with 189 points (followed 100.000000% of requested trajectory)
[ INFO] [1607002233.248341536] [/move_group] [ros.moveit_ros_move_group.ExecuteTrajectoryAction]: Execution request received
[ INFO] [1607002233.258834675] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Received new goal
[ INFO] [1607002233.258923587] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Publishing trajectory
[ INFO] [1607002233.259906216] [/motion_streaming_interface] [ros.industrial_robot_client]: Receiving joint trajectory message
[ INFO] [1607002233.260192361] [/motion_streaming_interface] [ros.industrial_robot_client]: Loading trajectory, setting state to streaming
[ INFO] [1607002233.263853510] [/motion_streaming_interface] [ros.industrial_robot_client]: Executing trajectory of size: 189
[ INFO] [1607002233.275973902] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[1 of 189] sent to controller
[ INFO] [1607002233.279276878] [/joint_trajectory_action] [ros.industrial_robot_client.joint_trajectory_action]: Waiting to check for goal completion until halfway through trajectory
[ INFO] [1607002233.292173329] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[2 of 189] sent to controller
[ INFO] [1607002233.307824828] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[3 of 189] sent to controller
[ INFO] [1607002233.323978845] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[4 of 189] sent to controller
[ INFO] [1607002233.340112225] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[5 of 189] sent to controller
[ INFO] [1607002233.355911334] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[6 of 189] sent to controller
[ INFO] [1607002233.371937298] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[7 of 189] sent to controller
[ INFO] [1607002233.387979250] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[8 of 189] sent to controller
[ INFO] [1607002233.403810393] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[9 of 189] sent to controller
[ INFO] [1607002233.420715707] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[10 of 189] sent to controller
[ INFO] [1607002233.435913996] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[11 of 189] sent to controller
[ INFO] [1607002233.452107227] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[12 of 189] sent to controller
[ INFO] [1607002233.467950668] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[13 of 189] sent to controller
[ INFO] [1607002233.483958492] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[14 of 189] sent to controller
[ INFO] [1607002233.499946303] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[15 of 189] sent to controller
[ INFO] [1607002233.515968917] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[16 of 189] sent to controller
[ INFO] [1607002233.532266084] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[17 of 189] sent to controller
[ INFO] [1607002233.548118273] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[18 of 189] sent to controller
[ INFO] [1607002233.564141646] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[19 of 189] sent to controller
[ INFO] [1607002233.580544055] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[20 of 189] sent to controller
[ INFO] [1607002233.595943843] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[21 of 189] sent to controller
[ INFO] [1607002233.611954732] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[22 of 189] sent to controller
[ INFO] [1607002233.627946584] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[23 of 189] sent to controller
[ INFO] [1607002233.644116221] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[24 of 189] sent to controller
[ INFO] [1607002233.660188200] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[25 of 189] sent to controller
[ INFO] [1607002233.675974836] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[26 of 189] sent to controller
[ INFO] [1607002233.692709807] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[27 of 189] sent to controller
[ INFO] [1607002233.708315797] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[28 of 189] sent to controller
[ INFO] [1607002233.724293792] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[29 of 189] sent to controller
[ INFO] [1607002233.740149694] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[30 of 189] sent to controller
[ INFO] [1607002233.756251733] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[31 of 189] sent to controller
[ INFO] [1607002233.772228185] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[32 of 189] sent to controller
[ INFO] [1607002233.787987628] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[33 of 189] sent to controller
[ INFO] [1607002233.803976176] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[34 of 189] sent to controller
[ INFO] [1607002233.820011880] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[35 of 189] sent to controller
[ INFO] [1607002233.835881658] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[36 of 189] sent to controller
[ INFO] [1607002233.851940988] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[37 of 189] sent to controller
[ INFO] [1607002233.868009112] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[38 of 189] sent to controller
[ INFO] [1607002233.884129497] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[39 of 189] sent to controller
[ INFO] [1607002233.900095877] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[40 of 189] sent to controller
[ INFO] [1607002233.915997592] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[41 of 189] sent to controller
[ INFO] [1607002233.932167678] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[42 of 189] sent to controller
[ INFO] [1607002233.948015440] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[43 of 189] sent to controller
[ INFO] [1607002233.964031639] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[44 of 189] sent to controller
[ INFO] [1607002233.980048824] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[45 of 189] sent to controller
[ INFO] [1607002233.996060429] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[46 of 189] sent to controller
[ INFO] [1607002234.012222222] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[47 of 189] sent to controller
[ INFO] [1607002234.028077938] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[48 of 189] sent to controller
[ INFO] [1607002234.044185179] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[49 of 189] sent to controller
[ INFO] [1607002234.060658262] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[50 of 189] sent to controller
[ INFO] [1607002234.076580470] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[51 of 189] sent to controller
[ INFO] [1607002234.092256801] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[52 of 189] sent to controller
[ INFO] [1607002234.107796921] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[53 of 189] sent to controller
[ INFO] [1607002234.124139807] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[54 of 189] sent to controller
[ INFO] [1607002234.140005937] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[55 of 189] sent to controller
[ INFO] [1607002234.155878763] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[56 of 189] sent to controller
[ INFO] [1607002234.171868130] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[57 of 189] sent to controller
[ INFO] [1607002234.187875919] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[58 of 189] sent to controller
[ INFO] [1607002234.203850243] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[59 of 189] sent to controller
[ INFO] [1607002234.220169006] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[60 of 189] sent to controller
[ INFO] [1607002234.236030231] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[61 of 189] sent to controller
[ INFO] [1607002234.252209422] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[62 of 189] sent to controller
[ INFO] [1607002234.267973544] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[63 of 189] sent to controller
[ INFO] [1607002234.283912118] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[64 of 189] sent to controller
[ INFO] [1607002234.300173209] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[65 of 189] sent to controller
[ INFO] [1607002234.315841005] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[66 of 189] sent to controller
[ INFO] [1607002234.332136388] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[67 of 189] sent to controller
[ INFO] [1607002234.347888850] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[68 of 189] sent to controller
[ INFO] [1607002234.364567750] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[69 of 189] sent to controller
[ INFO] [1607002234.380165362] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[70 of 189] sent to controller
[ INFO] [1607002234.396051777] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[71 of 189] sent to controller
[ INFO] [1607002234.412158405] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[72 of 189] sent to controller
[ INFO] [1607002234.427845256] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[73 of 189] sent to controller
[ INFO] [1607002234.443790394] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[74 of 189] sent to controller
[ INFO] [1607002234.460246020] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[75 of 189] sent to controller
[ INFO] [1607002234.475980374] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[76 of 189] sent to controller
[ INFO] [1607002234.492114073] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[77 of 189] sent to controller
[ INFO] [1607002234.507805293] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[78 of 189] sent to controller
[ INFO] [1607002234.523977323] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[79 of 189] sent to controller
[ INFO] [1607002234.540088663] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[80 of 189] sent to controller
[ INFO] [1607002234.556001065] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[81 of 189] sent to controller
[ INFO] [1607002234.571994415] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[82 of 189] sent to controller
[ INFO] [1607002234.587988196] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[83 of 189] sent to controller
[ INFO] [1607002234.604026472] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[84 of 189] sent to controller
[ INFO] [1607002234.620125236] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[85 of 189] sent to controller
[ INFO] [1607002234.635940302] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[86 of 189] sent to controller
[ INFO] [1607002234.652057529] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[87 of 189] sent to controller
[ INFO] [1607002234.668049890] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[88 of 189] sent to controller
[ INFO] [1607002234.684064786] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[89 of 189] sent to controller
[ INFO] [1607002234.700412983] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[90 of 189] sent to controller
[ INFO] [1607002234.716751065] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[91 of 189] sent to controller
[ INFO] [1607002234.732159990] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[92 of 189] sent to controller
[ INFO] [1607002234.747977428] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[93 of 189] sent to controller
[ INFO] [1607002234.763956396] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[94 of 189] sent to controller
[ INFO] [1607002234.780287844] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[95 of 189] sent to controller
[ INFO] [1607002234.795886756] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[96 of 189] sent to controller
[ INFO] [1607002234.812030935] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[97 of 189] sent to controller
[ INFO] [1607002234.828065851] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[98 of 189] sent to controller
[ INFO] [1607002234.843975763] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[99 of 189] sent to controller
[ INFO] [1607002234.860255891] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[100 of 189] sent to controller
[ INFO] [1607002234.876104717] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[101 of 189] sent to controller
[ INFO] [1607002234.892124636] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[102 of 189] sent to controller
[ INFO] [1607002234.907912958] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[103 of 189] sent to controller
[ INFO] [1607002234.924011186] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[104 of 189] sent to controller
[ INFO] [1607002234.940064289] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[105 of 189] sent to controller
[ INFO] [1607002234.956069258] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[106 of 189] sent to controller
[ INFO] [1607002234.971954206] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[107 of 189] sent to controller
[ INFO] [1607002234.987801116] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[108 of 189] sent to controller
[ INFO] [1607002235.003962243] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[109 of 189] sent to controller
[ INFO] [1607002235.020009357] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[110 of 189] sent to controller
[ INFO] [1607002235.035967243] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[111 of 189] sent to controller
[ INFO] [1607002235.051917218] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[112 of 189] sent to controller
[ INFO] [1607002235.067954973] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[113 of 189] sent to controller
[ INFO] [1607002235.083958259] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[114 of 189] sent to controller
[ INFO] [1607002235.101039606] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[115 of 189] sent to controller
[ INFO] [1607002235.116512747] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[116 of 189] sent to controller
[ INFO] [1607002235.132268330] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[117 of 189] sent to controller
[ INFO] [1607002235.147882470] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[118 of 189] sent to controller
[ INFO] [1607002235.163894284] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[119 of 189] sent to controller
[ INFO] [1607002235.180019887] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[120 of 189] sent to controller
[ INFO] [1607002235.195991599] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[121 of 189] sent to controller
[ INFO] [1607002235.212113528] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[122 of 189] sent to controller
[ INFO] [1607002235.228018916] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[123 of 189] sent to controller
[ INFO] [1607002235.243840372] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[124 of 189] sent to controller
[ INFO] [1607002235.260140667] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[125 of 189] sent to controller
[ INFO] [1607002235.276091939] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[126 of 189] sent to controller
[ INFO] [1607002235.291965374] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[127 of 189] sent to controller
[ INFO] [1607002235.308111342] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[128 of 189] sent to controller
[ INFO] [1607002235.323892350] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[129 of 189] sent to controller
[ INFO] [1607002235.340119530] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[130 of 189] sent to controller
[ INFO] [1607002235.356091055] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[131 of 189] sent to controller
[ INFO] [1607002235.372174505] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[132 of 189] sent to controller
[ INFO] [1607002235.387983405] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[133 of 189] sent to controller
[ INFO] [1607002235.403904637] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[134 of 189] sent to controller
[ INFO] [1607002235.420126255] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[135 of 189] sent to controller
[ INFO] [1607002235.436088451] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[136 of 189] sent to controller
[ INFO] [1607002235.452111598] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[137 of 189] sent to controller
[ INFO] [1607002235.468158634] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[138 of 189] sent to controller
[ INFO] [1607002235.484152401] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[139 of 189] sent to controller
[ INFO] [1607002235.501205098] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[140 of 189] sent to controller
[ INFO] [1607002235.517036360] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[141 of 189] sent to controller
[ INFO] [1607002235.532833977] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[142 of 189] sent to controller
[ INFO] [1607002235.548122137] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[143 of 189] sent to controller
[ INFO] [1607002235.564085959] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[144 of 189] sent to controller
[ INFO] [1607002235.580930318] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[145 of 189] sent to controller
[ INFO] [1607002235.596064259] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[146 of 189] sent to controller
[ INFO] [1607002235.611981964] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[147 of 189] sent to controller
[ INFO] [1607002235.628008352] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[148 of 189] sent to controller
[ INFO] [1607002235.644033484] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[149 of 189] sent to controller
[ INFO] [1607002235.660273705] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[150 of 189] sent to controller
[ INFO] [1607002235.676015161] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[151 of 189] sent to controller
[ INFO] [1607002235.692370811] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[152 of 189] sent to controller
[ INFO] [1607002235.708019955] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[153 of 189] sent to controller
[ INFO] [1607002235.723995680] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[154 of 189] sent to controller
[ INFO] [1607002235.740067807] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[155 of 189] sent to controller
[ INFO] [1607002235.756003829] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[156 of 189] sent to controller
[ INFO] [1607002235.772093221] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[157 of 189] sent to controller
[ INFO] [1607002235.788155501] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[158 of 189] sent to controller
[ INFO] [1607002235.803906473] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[159 of 189] sent to controller
[ INFO] [1607002235.820142328] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[160 of 189] sent to controller
[ INFO] [1607002235.836383231] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[161 of 189] sent to controller
[ INFO] [1607002235.852125454] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[162 of 189] sent to controller
[ INFO] [1607002235.867918617] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[163 of 189] sent to controller
[ INFO] [1607002235.883931234] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[164 of 189] sent to controller
[ INFO] [1607002235.900251848] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[165 of 189] sent to controller
[ INFO] [1607002235.916072118] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[166 of 189] sent to controller
[ INFO] [1607002235.932135501] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[167 of 189] sent to controller
[ INFO] [1607002235.948153384] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[168 of 189] sent to controller
[ INFO] [1607002235.964139944] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[169 of 189] sent to controller
[ INFO] [1607002235.980197869] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[170 of 189] sent to controller
[ INFO] [1607002235.996029851] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[171 of 189] sent to controller
[ INFO] [1607002236.012137168] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[172 of 189] sent to controller
[ INFO] [1607002236.027872401] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[173 of 189] sent to controller
[ INFO] [1607002236.044020269] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[174 of 189] sent to controller
[ INFO] [1607002236.060215584] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[175 of 189] sent to controller
[ INFO] [1607002236.075887750] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[176 of 189] sent to controller
[ INFO] [1607002236.092244836] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[177 of 189] sent to controller
[ INFO] [1607002236.107933154] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[178 of 189] sent to controller
[ INFO] [1607002236.123830011] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[179 of 189] sent to controller
[ INFO] [1607002236.140210851] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[180 of 189] sent to controller
[ INFO] [1607002236.156132382] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[181 of 189] sent to controller
[ INFO] [1607002236.172135712] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[182 of 189] sent to controller
[ INFO] [1607002236.187965458] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[183 of 189] sent to controller
[ INFO] [1607002236.204072494] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[184 of 189] sent to controller
[ INFO] [1607002236.220079660] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[185 of 189] sent to controller
[ INFO] [1607002236.235944224] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[186 of 189] sent to controller
[ INFO] [1607002236.252521186] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[187 of 189] sent to controller
[ INFO] [1607002236.268695212] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[188 of 189] sent to controller
[ INFO] [1607002236.283992827] [/motion_streaming_interface] [ros.industrial_robot_client]: Point[189 of 189] sent to controller
[ INFO] [1607002236.289625225] [/motion_streaming_interface] [ros.industrial_robot_client]: Trajectory streaming complete, setting state to IDLE

And here you can find the wireshark file.

Wireshark.lnk.pcapng.zip

Thank you for your help, let me know if it doesn't fit or if anything else can be useful.

@gavanderhoorn
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Does it start executing the trajectory of 189 points, or does it not even attempt to do that?

The wireshark capture shows the controller returns FAILURE for a lot of trajectory points, which is perhaps not being handled correctly the client on the ROS side.

I'll have to check the VAL3 again to see under what conditions the controller will return FAILURE.

Could you perhaps also post a photo of the teach pendant when the robot stops moving? The driver should show a status screen on the teach pendant. It would be informative to see a photo of that.

@Aurelien-rkz
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Yes, he started the 189-point trajectory but got stuck during it.

Here is the picture at the moment of the blockage :

20201203_162754

@gavanderhoorn
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It's interesting it shows the progress for point 120 to be stuck at 120.9999999999999. That seems to point to a problem not with the communication between the ROS PC and the controller, but with something getting stuck on the controller (ie: VAL3 side).

@marshallpowell97: would you happen to have any ideas perhaps?

@Aurelien-rkz
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I noticed that the moveID does not start at 0 but at -1. Is this normal? Because this could explains why point 120 is stuck at 120.9999999999999.

This can be found in the staubli_val3_driver/staubli_val3_driver/val3/ros_server/motionControl.pgx file at the line 27.

sart2

But this does not solve the problem. Here is a picture when the blockage occurs with the moveID starting at 0

issue

@gavanderhoorn
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Just to let you know: I've not forgotten about this issue, but I haven't been able to find anything immediately in the code.

As I currently don't have access to a CS9 (or CS8 for that matter), it's difficult for me to test.

I'm still hoping @marshallpowell97 could add something.

I noticed that the moveID does not start at 0 but at -1. Is this normal?

yes, it's just a trick as trajectories start a 0, and you're seeing the initial values of the display items here I believe.

Because this could explains why point 120 is stuck at 120.9999999999999.

I'm not sure I follow. The progress is a direct copy of whatever VAL 3 interpreter returns.

@gavanderhoorn
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Is this still a problem?

@benthebear93 benthebear93 mentioned this issue Aug 21, 2021
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