hychiang@hychiang-lab:~/ur5_grip/src/ur5$ roslaunch ur5_gazebo ur5_cubes.launch
... logging to /home/hychiang/.ros/log/a102a5e2-327a-11e9-bbc1-ac220b8958ba/roslaunch-hychiang-lab-12148.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hychiang-lab:40237/
SUMMARY
========
PARAMETERS
* /gazebo_ros_control/pid_gains/elbow_joint/d: 1.0
* /gazebo_ros_control/pid_gains/elbow_joint/i: 0.0
* /gazebo_ros_control/pid_gains/elbow_joint/p: 1.0
* /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/d: 1.0
* /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/i: 0.0
* /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/p: 1.0
* /gazebo_ros_control/pid_gains/shoulder_joint/d: 1.0
* /gazebo_ros_control/pid_gains/shoulder_joint/i: 0.0
* /gazebo_ros_control/pid_gains/shoulder_joint/p: 1.0
* /gazebo_ros_control/pid_gains/shoulder_lift_joint/d: 1.0
* /gazebo_ros_control/pid_gains/shoulder_lift_joint/i: 0.0
* /gazebo_ros_control/pid_gains/shoulder_lift_joint/p: 1.0
* /gazebo_ros_control/pid_gains/shoulder_pan_joint/d: 1.0
* /gazebo_ros_control/pid_gains/shoulder_pan_joint/i: 0.0
* /gazebo_ros_control/pid_gains/shoulder_pan_joint/p: 1.0
* /gazebo_ros_control/pid_gains/wrist_1_joint/d: 1.0
* /gazebo_ros_control/pid_gains/wrist_1_joint/i: 0.0
* /gazebo_ros_control/pid_gains/wrist_1_joint/p: 1.0
* /gazebo_ros_control/pid_gains/wrist_2_joint/d: 1.0
* /gazebo_ros_control/pid_gains/wrist_2_joint/i: 0.0
* /gazebo_ros_control/pid_gains/wrist_2_joint/p: 1.0
* /gazebo_ros_control/pid_gains/wrist_3_joint/d: 1.0
* /gazebo_ros_control/pid_gains/wrist_3_joint/i: 0.0
* /gazebo_ros_control/pid_gains/wrist_3_joint/p: 1.0
* /gripper_controller/action_monitor_rate: 20
* /gripper_controller/goal_tolerance: 0.002
* /gripper_controller/joint: robotiq_85_left_k...
* /gripper_controller/max_effort: 100
* /gripper_controller/stall_timeout: 1.0
* /gripper_controller/stall_velocity_threshold: 0.001
* /gripper_controller/type: position_controll...
* /joint_state_controller/publish_rate: 125
* /joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /state_publisher/publish_frequency: 50.0
* /trajectory_controller/action_monitor_rate: 10
* /trajectory_controller/constraints/elbow_joint/goal: 0.1
* /trajectory_controller/constraints/elbow_joint/trajectory: 0.1
* /trajectory_controller/constraints/goal_time: 0.6
* /trajectory_controller/constraints/shoulder_lift_joint/goal: 0.1
* /trajectory_controller/constraints/shoulder_lift_joint/trajectory: 0.1
* /trajectory_controller/constraints/shoulder_pan_joint/goal: 0.1
* /trajectory_controller/constraints/shoulder_pan_joint/trajectory: 0.1
* /trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
* /trajectory_controller/constraints/wrist_1_joint/goal: 0.1
* /trajectory_controller/constraints/wrist_1_joint/trajectory: 0.1
* /trajectory_controller/constraints/wrist_2_joint/goal: 0.1
* /trajectory_controller/constraints/wrist_2_joint/trajectory: 0.1
* /trajectory_controller/constraints/wrist_3_joint/goal: 0.1
* /trajectory_controller/constraints/wrist_3_joint/trajectory: 0.1
* /trajectory_controller/joints: ['shoulder_pan_jo...
* /trajectory_controller/state_publish_rate: 25
* /trajectory_controller/stop_trajectory_duration: 0.5
* /trajectory_controller/type: position_controll...
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
gazebo_robot_controllers (controller_manager/spawner)
spawn_gazebo_model (gazebo_ros/spawn_model)
state_publisher (robot_state_publisher/state_publisher)
ROS_MASTER_URI=http://localhost:11311
process[gazebo-1]: started with pid [12168]
process[gazebo_gui-2]: started with pid [12173]
process[spawn_gazebo_model-3]: started with pid [12178]
process[gazebo_robot_controllers-4]: started with pid [12179]
process[state_publisher-5]: started with pid [12180]
[ INFO] [1550394466.020048309]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550394466.020687930]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1550394466.103697777]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550394466.104388526]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1550394466.404856, 0.000000]: Loading model XML from ros parameter
[INFO] [1550394466.411048, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1550394467.920364, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1550394468.249349, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1550394468.249768, 0.000000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1550394468.251373, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1550394468.377896611]: Loading gazebo_ros_control plugin
[ INFO] [1550394468.378024450]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1550394468.379109520]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1550394468.716116668]: Loaded gazebo_ros_control.
[ INFO] [1550394468.731512853]: ft_sensor plugin reporting wrench values to the frame [wrist_3_link]
[INFO] [1550394469.252763, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1550394469.255851, 0.000000]: Set model configuration status: SetModelConfiguration: success
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/hychiang/.ros/log/a102a5e2-327a-11e9-bbc1-ac220b8958ba/spawn_gazebo_model-3*.log
[ERROR] [1550394582.275577101]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275643693]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275764450]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275901255]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275988830]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276058521]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276350526]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276448159]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276623309]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276726898]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276837135]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276921407]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277052603]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277143055]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277240088]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277370089]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277408213]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.278852640]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.278889331]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279180039]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279255993]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279810802]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.280061004]: Can't accept new commands. Controller is not running.
I tried to check if my controller_manager is running, but still it appeared normal.
$ rosservice list | grep controller_manager
/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/switch_controller
/controller_manager/unload_controller
# Joint state controller (publish joint states)
joint_state_controller:
publish_rate: 125
type: joint_state_controller/JointStateController
# Gripper controller
gripper_controller:
type: position_controllers/GripperActionController
joint: robotiq_85_left_knuckle_joint
action_monitor_rate: 20
goal_tolerance: 0.002
max_effort: 100
stall_velocity_threshold: 0.001
stall_timeout: 1.0
# Trajectory controller
trajectory_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.05
shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
elbow_joint: {trajectory: 0.1, goal: 0.1}
wrist_1_joint: {trajectory: 0.1, goal: 0.1}
wrist_2_joint: {trajectory: 0.1, goal: 0.1}
wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10
# gazebo_ros_control_params.yaml
gazebo_ros_control/pid_gains:
shoulder_joint: {p: 1.0, i: 0.0, d: 1.0}
shoulder_lift_joint: {p: 1.0, i: 0.0, d: 1.0}
shoulder_pan_joint: {p: 1.0, i: 0.0, d: 1.0}
elbow_joint: {p: 1.0, i: 0.0, d: 1.0}
wrist_1_joint: {p: 1.0, i: 0.0, d: 1.0}
wrist_2_joint: {p: 1.0, i: 0.0, d: 1.0}
wrist_3_joint: {p: 1.0, i: 0.0, d: 1.0}
robotiq_85_left_knuckle_joint: {p: 1.0, i: 0.0, d: 1.0}
<?xml version="1.0"?>
<launch>
<!-- Launch file parameters -->
<arg name="debug" default="false" />
<arg if= "$(arg debug)" name="DEBUG" value="screen"/>
<arg unless = "$(arg debug)" name="DEBUG" value="log"/>
<!-- Controllers config -->
<rosparam file="$(find ur5_gazebo)/controller/ur5gripper_controllers.yaml"
command="load" />
<!-- Load controllers -->
<node name="gazebo_robot_controllers" pkg="controller_manager" type="spawner"
output="$(arg DEBUG)"
args="joint_state_controller trajectory_controller gripper_controller"/>
<!-- TF -->
<node pkg="robot_state_publisher" type="state_publisher"
name="state_publisher">
<param name="publish_frequency" type="double" value="50" />
</node>
</launch>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
</robot>
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur5_joint_limited_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- measured from model -->
<!--property name="shoulder_height" value="0.089159" /-->
<!--property name="shoulder_offset" value="0.13585" /-->
<!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!--property name="upper_arm_length" value="0.42500" /-->
<!--property name="elbow_offset" value="0.1197" /-->
<!-- CAD measured -->
<!--property name="forearm_length" value="0.39225" /-->
<!--property name="wrist_1_length" value="0.093" /-->
<!-- CAD measured -->
<!--property name="wrist_2_length" value="0.09465" /-->
<!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<!--property name="wrist_3_length" value="0.0823" /-->
<!-- manually measured -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
<axis xyz="0 0 1"/>
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="8.393"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
<axis xyz="0 1 0"/>
<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
<axis xyz="0 1 0"/>
<limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/ur5/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
degrees)
-->
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
<child link="tool0"/>
</joint>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
[rospy.client][INFO] 2019-02-17 17:30:57,490: init_node, name[/spawn_gazebo_model], pid[14504]
[xmlrpc][INFO] 2019-02-17 17:30:57,490: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2019-02-17 17:30:57,490: Started XML-RPC server [http://hychiang-lab:35709/]
[rospy.init][INFO] 2019-02-17 17:30:57,490: ROS Slave URI: [http://hychiang-lab:35709/]
[rospy.impl.masterslave][INFO] 2019-02-17 17:30:57,491: _ready: http://hychiang-lab:35709/
[rospy.registration][INFO] 2019-02-17 17:30:57,491: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2019-02-17 17:30:57,491: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2019-02-17 17:30:57,591: registered with master
[rospy.rosout][INFO] 2019-02-17 17:30:57,591: initializing /rosout core topic
[rospy.rosout][INFO] 2019-02-17 17:30:57,593: connected to core topic /rosout
[rospy.simtime][INFO] 2019-02-17 17:30:57,595: initializing /clock core topic
[rospy.simtime][INFO] 2019-02-17 17:30:57,597: connected to core topic /clock
[rosout][INFO] 2019-02-17 17:30:57,600: Loading model XML from ros parameter
[rosout][INFO] 2019-02-17 17:30:57,605: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2019-02-17 17:30:57,835: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2019-02-17 17:30:59,071: topic[/clock] adding connection to [http://hychiang-lab:35641/], count 0
[rosout][INFO] 2019-02-17 17:30:59,114: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2019-02-17 17:30:59,325: Spawn status: SpawnModel: Successfully spawned entity
[rosout][INFO] 2019-02-17 17:30:59,326: Waiting for service /gazebo/set_model_configuration
[rosout][INFO] 2019-02-17 17:30:59,328: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[rosout][INFO] 2019-02-17 17:31:00,330: Calling service /gazebo/set_model_configuration
[rosout][INFO] 2019-02-17 17:31:00,333: Set model configuration status: SetModelConfiguration: success
[rospy.core][INFO] 2019-02-17 17:31:00,333: signal_shutdown [atexit]
[rospy.internal][INFO] 2019-02-17 17:31:00,335: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2019-02-17 17:31:00,335: topic[/clock] removing connection to http://hychiang-lab:35641/
[rospy.internal][WARNING] 2019-02-17 17:31:00,336: Unknown error initiating TCP/IP socket to hychiang-lab:45963 (http://hychiang-lab:35641/): Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 557, in connect
self.read_header()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 650, in read_header
self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
AttributeError: 'NoneType' object has no attribute 'buff_size'
[rospy.topics][ERROR] 2019-02-17 17:31:00,336: Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 326, in close
c.close()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 838, in close
self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'
[rospy.impl.masterslave][INFO] 2019-02-17 17:31:00,336: atexit