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rosrun xacro xacro (input-xacro-filename).xml > (desired-urdf-filename).urdf


    roslaunch (MoveIt-node-folder-name) demo.launch
    roslaunch (ROS-node) (custom-MoveIt-node).launch
    roslaunch (ROS-node) (custom-HEBI-node).launch


* [ Download ZIP  ](/dpiet/e1f2ab0e66e6619390a450c280dc2985/archive/f3119b63966d3fa33d1a10dd907812cc63bead9d.zip)


Implementing your own impedance or position controls takes additional steps to
perform. Here, you would need to publish all your motor hardware feedback
values through a separate ROS topic that you would have to manually subscribe
to. Implementing low-level controllers that directly talk to the motors can be
tricky. When you start using low-level controllers, the physical robot arm
will move around while the simulated arm will stay at its most recent
position. This may be a challenge if you are using the Octomap dynamic
obstacle detection and MoveIt sees the arm as an obstacle because it is not
within where the simulated arm is. The motors can experience some jerking
motions during plan execution, especially if the motors were not at the
starting position of the trajectory to begin with.


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See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/267/display/redirect?page=changes
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/267/display/redirect?page=changes)
>


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[ 60%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/goal_union.cpp.o
[ 64%] Building CXX object
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[ 68%] Building CXX object
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ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/constrained_goal_sampler.cpp.o
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Scanning dependencies of target moveit_ompl_planner_plugin
[ 80%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_planner_plugin.dir/src/ompl_planner_manager.cpp.o
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Scanning dependencies of target moveit_demo_construct_constraints_database
[ 96%] Building CXX object
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<== Finished processing package [14 of 26]: 'moveit_planners_ompl'

==> Processing catkin package: 'moveit_ros_move_group'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/move_group
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group
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in '/tmp/catkin_workspace/build_isolated/moveit_ros_move_group'
\-- Boost version: 1.58.0


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\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
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\-- Using Python nosetests: /usr/bin/nosetests-2.7
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Boost version: 1.58.0
\-- Found the following Boost libraries:


![ROS Buildfarm's profile photo](https://lh3.googleusercontent.com/a/default-
user=s40-c)


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
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\-- Call enable_testing()
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\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Boost version: 1.58.0


\-- Found the following Boost libraries:


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks
==> make -j1 in '/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks'
Scanning dependencies of target moveit_ros_benchmarks
[ 20%] Building CXX object
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Scanning dependencies of target moveit_run_benchmark
[ 80%] Building CXX object
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[100%] Built target moveit_run_benchmark


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/tmp/catkin_workspace/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:608:2:
warning: #warning "else case not yet handled: missing return value!" [-Wcpp]
#warning "else case not yet handled: missing return value!"
^


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
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\-- Using Python nosetests: /usr/bin/nosetests-2.7
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Boost version: 1.58.0


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/276/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/276/display/redirect)
>

\------------------------------------------
[...truncated 1.19 MB...]
Unpacking ros-lunar-object-recognition-msgs
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###  ROS Buildfarm


Sep 10, 2018, 5:14:32 PM  9/10/18


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Build was aborted
[WARNINGS] Skipping publisher since build result is FAILURE
[xUnit] [INFO] - Starting to record.
[xUnit] [INFO] - Processing GoogleTest-1.6


The next window is the “Planning Groups” window. Here, you would configure the
joint groups of the robot model. There are many ways to go about this, but one
method is to create a kinetic chain of joints, given you are working with a
serial manipulator arm.


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fanuc_post_processor_library_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/Programacao/fanuc_rep/fanuc_post_processor-
indigo-devel_tiago/fanuc_post_processor_library //Value Computed by CMake
fanuc_resources_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/fanuc/fanuc_resources
//Value Computed by CMake
fanuc_resources_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/fanuc/fanuc_resources
//The directory containing a CMake configuration file for gencpp.
gencpp_DIR:PATH=/opt/ros/kinetic/share/gencpp/cmake //The directory containing
a CMake configuration file for geneus.
geneus_DIR:PATH=/opt/ros/kinetic/share/geneus/cmake //The directory containing
a CMake configuration file for genlisp.
genlisp_DIR:PATH=/opt/ros/kinetic/share/genlisp/cmake //The directory
containing a CMake configuration file for genmsg.
genmsg_DIR:PATH=/opt/ros/kinetic/share/genmsg/cmake //The directory containing
a CMake configuration file for gennodejs.
gennodejs_DIR:PATH=/opt/ros/kinetic/share/gennodejs/cmake //The directory
containing a CMake configuration file for genpy.
genpy_DIR:PATH=/opt/ros/kinetic/share/genpy/cmake //The directory containing a
CMake configuration file for geometric_shapes.
geometric_shapes_DIR:PATH=/opt/ros/kinetic/share/geometric_shapes/cmake //The
directory containing a CMake configuration file for geometry_msgs.
geometry_msgs_DIR:PATH=/opt/ros/kinetic/share/geometry_msgs/cmake //Value


The next window is the “End Effectors” window. For this particular article, I
will not go into the details of configuring an actuated end effector. Instead,
this particular project opted to go for a simple end effector and as such
configured a simple one through MoveIt. Essentially, the tip link configured
in the kinetic chain portion of the setup was selected as the “Parent Link” of
the end effector.


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\-- Boost version: 1.58.0
\-- Found the following Boost libraries:


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to mikael+b...@osrfoundation.org, ros-build...@googlegroups.com,
13...@2000.jukuin.keio.ac.jp, ch...@live.in, da...@dav.ee,
g.a.van...@tudelft.nl, gm1...@gmail.com, imcma...@gmail.com,
jon.b...@gmail.com, jorge...@swri.org, mathias...@ipa.fraunhofer.de,
m...@v4hn.de, mfer...@fetchrobotics.com, moveit_r...@googlegroups.com,
rhas...@techfak.uni-bielefeld.de


OGRE_STATIC_LIBRARIES:INTERNAL=OgreMain;pthread
OGRE_STATIC_LIBRARY_DIRS:INTERNAL= OGRE_STATIC_LIBS:INTERNAL=
OGRE_STATIC_LIBS_L:INTERNAL= OGRE_STATIC_LIBS_OTHER:INTERNAL=
OGRE_STATIC_LIBS_PATHS:INTERNAL= OGRE_VERSION:INTERNAL=1.9.0 //ADVANCED
property for variable: OPENGL_INCLUDE_DIR OPENGL_INCLUDE_DIR-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: OPENGL_gl_LIBRARY
OPENGL_gl_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
OPENGL_glu_LIBRARY OPENGL_glu_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: OPENGL_xmesa_INCLUDE_DIR OPENGL_xmesa_INCLUDE_DIR-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: OpenMP_CXX_FLAGS
OpenMP_CXX_FLAGS-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
OpenMP_C_FLAGS OpenMP_C_FLAGS-ADVANCED:INTERNAL=1 //Test OpenMP_FLAG_DETECTED
OpenMP_FLAG_DETECTED:INTERNAL=1 //ADVANCED property for variable:
PCL_COMMON_LIBRARY PCL_COMMON_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: PCL_COMMON_LIBRARY_DEBUG PCL_COMMON_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PCL_FEATURES_LIBRARY
PCL_FEATURES_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_FEATURES_LIBRARY_DEBUG PCL_FEATURES_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: PCL_FILTERS_LIBRARY PCL_FILTERS_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_FILTERS_LIBRARY_DEBUG PCL_FILTERS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: PCL_IO_LIBRARY PCL_IO_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PCL_IO_LIBRARY_DEBUG
PCL_IO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_KDTREE_LIBRARY PCL_KDTREE_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: PCL_KDTREE_LIBRARY_DEBUG PCL_KDTREE_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PCL_KEYPOINTS_LIBRARY
PCL_KEYPOINTS_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_KEYPOINTS_LIBRARY_DEBUG PCL_KEYPOINTS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: PCL_OCTREE_LIBRARY PCL_OCTREE_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PCL_OCTREE_LIBRARY_DEBUG
PCL_OCTREE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_OUTOFCORE_LIBRARY PCL_OUTOFCORE_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: PCL_OUTOFCORE_LIBRARY_DEBUG
PCL_OUTOFCORE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: PCL_PEOPLE_LIBRARY PCL_PEOPLE_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: PCL_PEOPLE_LIBRARY_DEBUG PCL_PEOPLE_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PCL_RECOGNITION_LIBRARY
PCL_RECOGNITION_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PCL_RECOGNITION_LIBRARY_DEBUG PCL_RECOGNITION_LIBRARY_DEBUG-


Oct 17, 2018, 5:42:09 AM  10/17/18


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/275/display/redirect?page=changes
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/275/display/redirect?page=changes)
>


|  [robot_state_publisher-3] [INFO] [1630341477.680677702]
[robot_state_publisher]: got segment panda_link2
|  [robot_state_publisher-3] [INFO] [1630341477.680681914]
[robot_state_publisher]: got segment panda_link3
|  [robot_state_publisher-3] [INFO] [1630341477.680686060]
[robot_state_publisher]: got segment panda_link4
|  [robot_state_publisher-3] [INFO] [1630341477.680690294]
[robot_state_publisher]: got segment panda_link5
|  [robot_state_publisher-3] [INFO] [1630341477.680694491]
[robot_state_publisher]: got segment panda_link6
|  [robot_state_publisher-3] [INFO] [1630341477.680698491]
[robot_state_publisher]: got segment panda_link7
|  [robot_state_publisher-3] [INFO] [1630341477.680702935]
[robot_state_publisher]: got segment panda_link8
|  [robot_state_publisher-3] [INFO] [1630341477.680707519]
[robot_state_publisher]: got segment panda_rightfinger
|  [move_group-4] [WARN] [1630341477.715281255] [move_group.move_group]:
MoveGroup launched without ~default_planning_pipeline specifying the namespace
for the default planning pipeline configuration
|  [move_group-4] [WARN] [1630341477.716467852] [move_group.move_group]:
Falling back to using the the move_group node namespace (deprecated behavior).
|  [move_group-4] Parsing robot urdf xml string.
|  [move_group-4] [INFO] [1630341477.720550743]
[moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00168829 seconds
|  [move_group-4] [INFO] [1630341477.721050571]
[moveit_robot_model.robot_model]: Loading robot model 'panda'...
|  [move_group-4] Link panda_link1 had 1 children
|  [move_group-4] Link panda_link2 had 1 children
|  [move_group-4] Link panda_link3 had 1 children
|  [move_group-4] Link panda_link4 had 1 children
|  [move_group-4] Link panda_link5 had 1 children
|  [move_group-4] Link panda_link6 had 1 children
|  [move_group-4] Link panda_link7 had 1 children
|  [move_group-4] Link panda_link8 had 1 children
|  [move_group-4] Link panda_hand had 2 children
|  [move_group-4] Link panda_leftfinger had 0 children
|  [move_group-4] Link panda_rightfinger had 0 children
|  [move_group-4] [INFO] [1630341477.751178298]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing
maintained planning scene on 'monitored_planning_scene'


[0m [96mLoading 'move_group/MoveGroupExecuteTrajectoryAction'...
[0m [96mLoading 'move_group/MoveGroupGetPlanningSceneService'...
[0m [96mLoading 'move_group/MoveGroupKinematicsService'...
[0m [96mLoading 'move_group/MoveGroupMoveAction'...
[0m [96mLoading 'move_group/MoveGroupPickPlaceAction'...
[0m [96mLoading 'move_group/MoveGroupPlanService'...
[0m [96mLoading 'move_group/MoveGroupQueryPlannersService'...
[0m [96mLoading 'move_group/MoveGroupStateValidationService'...


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user=s40-c)


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Terminated


~~ - moveit_planners
~~ - moveit_plugins
~~ - moveit_ros
~~ - moveit_ros_perception
~~ - moveit_ros_planning
~~ - moveit_fake_controller_manager
~~ - moveit_kinematics
~~ - moveit_planners_ompl
~~ - moveit_ros_move_group
~~ - moveit_ros_manipulation
~~ - moveit_ros_robot_interaction
~~ - moveit_ros_warehouse
~~ - moveit_ros_benchmarks
~~ - moveit_ros_planning_interface
~~ - moveit_planners_chomp
~~ - moveit_ros_visualization
~~ - moveit_runtime
~~ - moveit_setup_assistant
~~ - moveit_simple_controller_manager
~~ - moveit_ros_control_interface
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

==> Processing catkin package: 'moveit'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in
'/tmp/catkin_workspace/build_isolated/moveit'
==> make -j1 tests in '/tmp/catkin_workspace/build_isolated/moveit'
Scanning dependencies of target tests
Built target tests
<== Finished processing package [1 of 26]: 'moveit'

==> Processing catkin package: 'moveit_commander'
==> Building with env: '/tmp/catkin_workspace/devel_isolated/moveit/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in
'/tmp/catkin_workspace/build_isolated/moveit_commander'
==> make -j1 tests in '/tmp/catkin_workspace/build_isolated/moveit_commander'
Scanning dependencies of target tests
Built target tests
<== Finished processing package [2 of 26]: 'moveit_commander'


Copy link


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
\-- Found gtest sources under '/usr/src/gmock': gtests will be built
\-- Using Python nosetests: /usr/bin/nosetests-2.7
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Configuring done
\-- Generating done


Show original message


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
\-- Found gtest sources under '/usr/src/gmock': gtests will be built
\-- Using Python nosetests: /usr/bin/nosetests-2.7
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy


Forward


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_robot_interaction
==> make -j1 in
'/tmp/catkin_workspace/build_isolated/moveit_ros_robot_interaction'
Scanning dependencies of target moveit_robot_interaction
[ 14%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/interactive_marker_helpers.cpp.o
[ 28%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/kinematic_options.cpp.o
[ 42%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/kinematic_options_map.cpp.o
[ 57%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/locked_robot_state.cpp.o
[ 71%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/interaction_handler.cpp.o
[ 85%] Building CXX object
CMakeFiles/moveit_robot_interaction.dir/src/robot_interaction.cpp.o
[100%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction/lib/libmoveit_robot_interaction.so
[100%] Built target moveit_robot_interaction
<== Finished processing package [17 of 26]: 'moveit_ros_robot_interaction'

==> Processing catkin package: 'moveit_ros_warehouse'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/warehouse
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse
-DCMAKE_INSTALL_PREFIX=/tmp/catkin_workspace/install_isolated
-DCATKIN_ENABLE_TESTING=1 -DCATKIN_SKIP_TESTING=0
-DCATKIN_TEST_RESULTS_DIR=/tmp/catkin_workspace/test_results -G Unix Makefiles
in '/tmp/catkin_workspace/build_isolated/moveit_ros_warehouse'


Delete


Sign in to forward


|  $ ros2 launch moveit2_tutorials demo.launch.py
---|---
|  [INFO] [launch]: Default logging verbosity is set to INFO
|  [INFO] [rviz2-1]: process started with pid [1626]
|  [INFO] [static_transform_publisher-2]: process started with pid [1628]
|  [INFO] [robot_state_publisher-3]: process started with pid [1630]
|  [INFO] [move_group-4]: process started with pid [1632]
|  [INFO] [ros2_control_node-5]: process started with pid [1634]
|  [INFO] [mongo_wrapper_ros.py-6]: process started with pid [1636]
|  [INFO] [ros2 run controller_manager spawner.py panda_arm_controller-7]:
process started with pid [1638]
|  [INFO] [ros2 run controller_manager spawner.py panda_hand_controller-8]:
process started with pid [1640]
|  [INFO] [ros2 run controller_manager spawner.py joint_state_controller-9]:
process started with pid [1642]
|  [static_transform_publisher-2] [INFO] [1630341477.665445908]
[static_transform_publisher]: Spinning until killed publishing transform from
'world' to 'panda_link0'
|  [ros2_control_node-5] [INFO] [1630341477.672012752] [controller_manager]:
update rate is 100 Hz
|  [robot_state_publisher-3] Parsing robot urdf xml string.
|  [robot_state_publisher-3] Link panda_link1 had 1 children
|  [robot_state_publisher-3] Link panda_link2 had 1 children
|  [robot_state_publisher-3] Link panda_link3 had 1 children
|  [robot_state_publisher-3] Link panda_link4 had 1 children
|  [robot_state_publisher-3] Link panda_link5 had 1 children
|  [robot_state_publisher-3] Link panda_link6 had 1 children
|  [robot_state_publisher-3] Link panda_link7 had 1 children
|  [robot_state_publisher-3] Link panda_link8 had 1 children
|  [robot_state_publisher-3] Link panda_hand had 2 children
|  [robot_state_publisher-3] Link panda_leftfinger had 0 children
|  [robot_state_publisher-3] Link panda_rightfinger had 0 children
|  [robot_state_publisher-3] [INFO] [1630341477.680552033]
[robot_state_publisher]: got segment panda_hand
|  [robot_state_publisher-3] [INFO] [1630341477.680657474]
[robot_state_publisher]: got segment panda_leftfinger
|  [robot_state_publisher-3] [INFO] [1630341477.680668495]
[robot_state_publisher]: got segment panda_link0
|  [robot_state_publisher-3] [INFO] [1630341477.680673175]
[robot_state_publisher]: got segment panda_link1


unread,


![moveit_setup_assistant_planning_groups](/wiki/actuation/assets/moveit_setup_assistant_planning_groups.png)


Selecting previously unselected package libpq-dev.
Preparing to unpack .../libpq-dev_9.5.13-0ubuntu0.16.04_amd64.deb ...
Unpacking libpq-dev (9.5.13-0ubuntu0.16.04) ...
Selecting previously unselected package libsndfile1:amd64.
Preparing to unpack .../libsndfile1_1.0.25-10ubuntu0.16.04.1_amd64.deb ...
Unpacking libsndfile1:amd64 (1.0.25-10ubuntu0.16.04.1) ...
Selecting previously unselected package libpulse0:amd64.
Preparing to unpack .../libpulse0_1%3a8.0-0ubuntu3.10_amd64.deb ...
Unpacking libpulse0:amd64 (1:8.0-0ubuntu3.10) ...
Selecting previously unselected package libpython3.5:amd64.
Preparing to unpack .../libpython3.5_3.5.2-2ubuntu0~16.04.4_amd64.deb ...
Unpacking libpython3.5:amd64 (3.5.2-2ubuntu0~16.04.4) ...
Selecting previously unselected package libshiboken-py3-2.0:amd64.
Preparing to unpack .../libshiboken-
py3-2.0_2.0.0.dev0-0~201604191548~rev1610~pkg23~ubuntu16.04.1_amd64.deb ...
Unpacking libshiboken-py3-2.0:amd64
(2.0.0.dev0-0~201604191548~rev1610~pkg23~ubuntu16.04.1) ...
Selecting previously unselected package libpyside-py3-2.0:amd64.
Preparing to unpack .../libpyside-
py3-2.0_2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1_amd64.deb ...
Unpacking libpyside-py3-2.0:amd64
(2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1) ...
Selecting previously unselected package libshiboken2.0:amd64.
Preparing to unpack
.../libshiboken2.0_2.0.0.dev0-0~201604191548~rev1610~pkg23~ubuntu16.04.1_amd64.deb
...
Unpacking libshiboken2.0:amd64
(2.0.0.dev0-0~201604191548~rev1610~pkg23~ubuntu16.04.1) ...
Selecting previously unselected package libpyside2.0:amd64.
Preparing to unpack
.../libpyside2.0_2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1_amd64.deb
...
Unpacking libpyside2.0:amd64
(2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1) ...
Selecting previously unselected package libinput-dev:amd64.
Preparing to unpack .../libinput-dev_1.6.3-1ubuntu1~16.04.1_amd64.deb ...
Unpacking libinput-dev:amd64 (1.6.3-1ubuntu1~16.04.1) ...
Selecting previously unselected package qtbase5-private-dev:amd64.
Preparing to unpack .../qtbase5-private-dev_5.5.1+dfsg-16ubuntu7.5_amd64.deb
...


Computed by CMake gtest_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/gtest
//Dependencies for the target gtest_LIB_DEPENDS:STATIC=general;-lpthread;
//Value Computed by CMake gtest_SOURCE_DIR:STATIC=/usr/src/gtest //Build
gtest's sample programs. gtest_build_samples:BOOL=OFF //Build all of gtest's
own tests. gtest_build_tests:BOOL=OFF //Disable uses of pthreads in gtest.
gtest_disable_pthreads:BOOL=OFF //Use shared (DLL) run-time lib even when
Google Test is built // as static lib. gtest_force_shared_crt:BOOL=OFF
//Dependencies for the target
gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; //Value
Computed by CMake
hokuyo_node_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/hokuyo_node-
indigo-devel //Value Computed by CMake
hokuyo_node_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/hokuyo_node-indigo-
devel //Value Computed by CMake
image_common_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/image_common/image_common
//Value Computed by CMake
image_common_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/image_common/image_common
//Value Computed by CMake
image_transport_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/image_common/image_transport
//The directory containing a CMake configuration file for image_transport.
image_transport_DIR:PATH=/home/robuter/catkin_ws/devel/share/image_transport/cmake
//Dependencies for the target
image_transport_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-
gnu/libdl.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-
gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-
gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-
gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-
gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-
gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-
gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-
gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-
gnu/libboost_system.so;general;/usr/lib/x86_64-linux-
gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-
gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-
gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-
gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-
gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so;
//Value Computed by CMake
image_transport_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/image_common/image_transport
//Dependencies for the target


Aug 21, 2018, 3:03:53 AM  8/21/18


![moveit_setup_assistant_virtual_joints](/wiki/actuation/assets/moveit_setup_assistant_virtual_joints.png)


###  ROS Buildfarm


[xUnit] [INFO] - Failing BUILD because 'set build failed if errors' option is
activated.


Overall, this article aimed to present a potential method on how to integrate
MoveIt’s versatile package with ROS and connect it with hardware motors, such
as the HEBI motors. There can be other ways to build out the planning and
actuation architecture within the ROS framework and hopefully this article
provides a viable method to build out your robot design.


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Jul 6, 2018, 4:29:28 PM  7/6/18


##  Footer


Reply to author


#  Jenkins build became unstable: Ldev__moveit__ubuntu_xenial_amd64 #233


![moveit_setup_assistant_collision](/wiki/actuation/assets/moveit_setup_assistant_collision_check.png)


Aug 1, 2018, 9:14:11 AM  8/1/18


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\-- Boost version: 1.58.0
\-- Found the following Boost libraries:


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\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_planners_chomp
==> make -j1 run_tests in
'/tmp/catkin_workspace/build_isolated/moveit_planners_chomp'
Scanning dependencies of target clean_test_results_moveit_planners_chomp
Removing test result files from
'/tmp/catkin_workspace/test_results/moveit_planners_chomp'
[ 0%] Built target clean_test_results_moveit_planners_chomp
[ 50%] Built target gtest
[100%] Built target chomp_moveit_test
[100%] Built target tests
Scanning dependencies of target
_run_tests_moveit_planners_chomp_rostest_test_chomp_moveit.test
\-- run_tests.py: execute commands
/opt/ros/lunar/share/rostest/cmake/../../../bin/rostest
--pkgdir=/tmp/catkin_workspace/src/moveit/moveit_planners/chomp/chomp_interface
--package=moveit_planners_chomp --results-filename test_chomp_moveit.xml
--results-base-dir "/tmp/catkin_workspace/test_results"
/tmp/catkin_workspace/src/moveit/moveit_planners/chomp/chomp_interface/test/chomp_moveit.test
... logging to /home/buildfarm/.ros/log/rostest-7dd8a904386e-17422.log
[ROSUNIT] Outputting test results to
/tmp/catkin_workspace/test_results/moveit_planners_chomp/rostest-
test_chomp_moveit.xml
[31m[FATAL] [1539720433.678169062]: Parameter '~moveit_controller_manager' not
specified. This is needed to identify the plugin to use for interacting with
controllers. No paths can be executed. [0m
[0m[ INFO] [1539720432.328576365]: Loading robot model 'rrbot'... [0m
[0m[ INFO] [1539720432.328672716]: No root/virtual joint specified in SRDF.
Assuming fixed joint [0m
[33m[ WARN] [1539720432.412145751]: No kinematics plugins defined. Fill and
load kinematics.yaml! [0m
[0m[ INFO] [1539720432.895942323]: Using collision detector:HYBRID [0m
[0m[ INFO] [1539720433.015984961]: MoveGroup debug mode is OFF [0m
[96mStarting context monitors...
[0m [0m[ INFO] [1539720433.016038345]: Starting scene monitor [0m
[0m[ INFO] [1539720433.032602784]: Listening to '/planning_scene' [0m
[0m[ INFO] [1539720433.032658464]: Starting world geometry monitor [0m
[0m[ INFO] [1539720433.047711241]: Listening to '/collision_object' using
message notifier with target frame '/world ' [0m
[0m[ INFO] [1539720433.069959867]: Listening to '/planning_scene_world' for


###  ROS Buildfarm


[initandlisten] ** addresses it should serve responses from, or with
--bind_ip_all to
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten] ** bind to all interfaces. If this behavior is desired, start
the
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten] ** server with --bind_ip 127.0.0.1 to disable this warning.
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten]
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten]
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten] ** WARNING: /sys/kernel/mm/transparent_hugepage/enabled is
'always'.
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten] ** We suggest setting it to 'never'
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.498-0400 I CONTROL
[initandlisten]
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.505-0400 I FTDC
[initandlisten] Initializing full-time diagnostic data capture with directory
'/tmp/db/diagnostic.data'
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.506-0400 I NETWORK
[initandlisten] waiting for connections on port 33829
|  [INFO] [ros2 run controller_manager spawner.py joint_state_controller-9]:
process has finished cleanly [pid 1642]
|  [rviz2-1] [INFO] [1630341480.878254545] [rviz2]: Stereo is NOT SUPPORTED
|  [rviz2-1] [INFO] [1630341480.878505100] [rviz2]: OpenGl version: 3.1 (GLSL
1.4)
|  [rviz2-1] [INFO] [1630341480.918668752] [rviz2]: Stereo is NOT SUPPORTED
|  [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace
collision has occured with plugin factory for class
rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will
OVERWRITE existing one. This situation occurs when libraries containing
plugins are directly linked against an executable (the one running right now
generating this message). Please separate plugins out into their own library
or just don't link against the library and use either
class_loader::ClassLoader/MultiLibraryClassLoader to open.
|  [rviz2-1] at line 253 in
/opt/ros/foxy/include/class_loader/class_loader_core.hpp
|  [rviz2-1] Parsing robot urdf xml string.


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\-- Boost version: 1.58.0


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\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_warehouse
==> make -j1 run_tests in
'/tmp/catkin_workspace/build_isolated/moveit_ros_warehouse'
Scanning dependencies of target run_tests
Built target run_tests
<== Finished processing package [18 of 26]: 'moveit_ros_warehouse'

==> Processing catkin package: 'moveit_ros_benchmarks'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/benchmarks
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks
-DCMAKE_INSTALL_PREFIX=/tmp/catkin_workspace/install_isolated
-DCATKIN_ENABLE_TESTING=1 -DCATKIN_SKIP_TESTING=0
-DCATKIN_TEST_RESULTS_DIR=/tmp/catkin_workspace/test_results -G Unix Makefiles
in '/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks'


[0m [0m[ INFO] [1539720433.995557341]:


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
\-- Found gtest sources under '/usr/src/gmock': gtests will be built
\-- Using Python nosetests: /usr/bin/nosetests-2.7


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13...@2000.jukuin.keio.ac.jp, ch...@live.in, da...@dav.ee,
g.a.van...@tudelft.nl, gm1...@gmail.com, imcma...@gmail.com,
jon.b...@gmail.com, jorge...@swri.org, mathias...@ipa.fraunhofer.de,
m...@v4hn.de, mfer...@fetchrobotics.com, moveit_r...@googlegroups.com,
rhas...@techfak.uni-bielefeld.de


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    * [ Running ROS On An Unsupported OS ](/wiki/common-platforms/ros/ros-unsupported-os)
    * [ Making RC Vehicles Autonomous ](/wiki/common-platforms/rccars-the-complete-guide/)
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Processing triggers for ccache (3.2.4-1) ...
Updating symlinks in /usr/lib/ccache ...
Processing triggers for mime-support (3.59ubuntu1) ...
Setting up libatm1:amd64 (1:2.5.1-1.5) ...
Setting up libjson-c2:amd64 (0.11-4ubuntu2) ...
Setting up libmnl0:amd64 (1.0.3-5) ...
Setting up libgdbm3:amd64 (1.8.3-13.1) ...
Setting up libffi6:amd64 (3.2.1-4) ...
Setting up libglib2.0-0:amd64 (2.48.2-0ubuntu4.1) ...
Setting up libxau6:amd64 (1:1.0.8-1) ...
Setting up libxdmcp6:amd64 (1:1.1.2-1.1) ...
Setting up libxcb1:amd64 (1.11.1-1ubuntu1) ...
Setting up libx11-data (2:1.6.3-1ubuntu2.1) ...
Setting up libx11-6:amd64 (2:1.6.3-1ubuntu2.1) ...
Setting up libxext6:amd64 (2:1.3.3-1) ...
Setting up sgml-base (1.26+nmu4ubuntu1) ...
Setting up cmake-data (3.5.1-1ubuntu3) ...
Setting up liblzo2-2:amd64 (2.08-1.2) ...
Setting up libnettle6:amd64 (3.2-1ubuntu0.16.04.1) ...
Setting up libicu55:amd64 (55.1-7ubuntu0.4) ...
Setting up libxml2:amd64 (2.9.3+dfsg1-1ubuntu0.6) ...
Setting up libarchive13:amd64 (3.1.2-11ubuntu0.16.04.4) ...
Setting up libkrb5support0:amd64 (1.13.2+dfsg-5ubuntu2) ...
Setting up libk5crypto3:amd64 (1.13.2+dfsg-5ubuntu2) ...
Setting up libkeyutils1:amd64 (1.5.9-8ubuntu1) ...
Setting up libkrb5-3:amd64 (1.13.2+dfsg-5ubuntu2) ...
Setting up libgssapi-krb5-2:amd64 (1.13.2+dfsg-5ubuntu2) ...
Setting up libidn11:amd64 (1.32-3ubuntu1.2) ...
Setting up libgmp10:amd64 (2:6.1.0+dfsg-2) ...
Setting up libhogweed4:amd64 (3.2-1ubuntu0.16.04.1) ...
Setting up libp11-kit0:amd64 (0.23.2-5~ubuntu16.04.1) ...
Setting up libtasn1-6:amd64 (4.7-3ubuntu0.16.04.3) ...
Setting up libgnutls30:amd64 (3.4.10-4ubuntu1.4) ...
Setting up libroken18-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libasn1-8-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1) ...
Setting up libhcrypto4-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libheimbase1-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...


\-- Configuring done
\-- Generating done


\-- Boost version: 1.58.0
\-- Found the following Boost libraries:
\-- thread


Once the URDF model is loaded, you will go through the various steps to
configure and set up the MoveIt model. Select “Self-Collisions”. You should
see the following:


Sep 7, 2018, 9:07:29 PM  9/7/18


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/245/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/245/display/redirect)
>


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\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy


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Aug 1, 2018, 10:05:36 AM  8/1/18


Setting up ros-lunar-rostest (1.13.7-0xenial-20180906-152802-0800) ...
Setting up ros-lunar-std-srvs (1.11.2-0xenial-20180817-155351-0800) ...
Setting up ros-lunar-topic-tools (1.13.7-0xenial-20180906-194643-0800) ...
Setting up ros-lunar-rosbag (1.13.7-0xenial-20180906-200502-0800) ...
Setting up ros-lunar-rostopic (1.13.7-0xenial-20180906-202754-0800) ...
Setting up ros-lunar-actionlib (1.11.15-0xenial-20180906-215144-0800) ...
Setting up ros-lunar-geometry-msgs (1.12.6-0xenial-20180817-155806-0800) ...
Setting up ros-lunar-trajectory-msgs (1.12.6-0xenial-20180817-160153-0800) ...
Setting up ros-lunar-control-msgs (1.4.0-1xenial-20180817-160238-0800) ...
Setting up ros-lunar-controller-manager-msgs
(0.13.3-0xenial-20180817-155627-0800) ...
Setting up ros-lunar-sensor-msgs (1.12.6-0xenial-20180906-202017-0800) ...
Setting up ros-lunar-rosmsg (1.13.7-0xenial-20180906-202040-0800) ...
Setting up ros-lunar-rosservice (1.13.7-0xenial-20180906-203816-0800) ...
Setting up ros-lunar-dynamic-reconfigure (1.5.50-0xenial-20181005-102035-0800)
...
Setting up ros-lunar-orocos-kdl (1.3.1-0xenial-20180808-130923-0800) ...
Setting up ros-lunar-eigen-conversions (1.11.9-0xenial-20180817-160523-0800)
...
Setting up ros-lunar-octomap (1.9.0-0xenial-20180808-130605-0800) ...
Setting up ros-lunar-resource-retriever (1.12.4-0xenial-20180906-144854-0800)
...
Setting up ros-lunar-shape-msgs (1.12.6-0xenial-20180817-160134-0800) ...
Setting up ros-lunar-visualization-msgs (1.12.6-0xenial-20180817-160158-0800)
...
Setting up ros-lunar-geometric-shapes (0.5.4-0xenial-20180906-145234-0800) ...
Setting up ros-lunar-message-filters (1.13.7-0xenial-20180906-192952-0800) ...
Setting up ros-lunar-pluginlib (1.11.3-0xenial-20180906-145210-0800) ...
Setting up ros-lunar-image-transport (1.11.13-0xenial-20180906-203733-0800)
...
Setting up ros-lunar-rosnode (1.13.7-0xenial-20180906-213236-0800) ...
Setting up ros-lunar-roswtf (1.13.7-0xenial-20180906-215144-0800) ...
Setting up ros-lunar-tf2-msgs (0.5.18-0xenial-20180817-160407-0800) ...
Setting up ros-lunar-tf2 (0.5.18-0xenial-20180817-160529-0800) ...
Setting up ros-lunar-tf2-py (0.5.18-0xenial-20180906-203310-0800) ...
Setting up ros-lunar-tf2-ros (0.5.18-0xenial-20180906-222352-0800) ...
Setting up ros-lunar-tf (1.11.9-0xenial-20180906-225044-0800) ...
Setting up ros-lunar-interactive-markers (1.11.3-0xenial-20180906-232444-0800)
...
Setting up ros-lunar-joint-state-publisher


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##  See Also


###  ROS Buildfarm


Once you have run through the setup assistant pipeline, you can now run a demo
of the robot. MoveIt has already created a launch file to launch the robot, so
all you need to do is call the launch file through the terminal.


![ROS Buildfarm's profile photo](https://lh3.googleusercontent.com/a/default-
user=s40-c)


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/236/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/236/display/redirect)
>


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[xUnit] [INFO] - There are errors when processing test results.
[xUnit] [INFO] - Skipping tests recording.


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FIND_PACKAGE_MESSAGE_DETAILS_qhull:INTERNAL=[/usr/lib/x86_64-linux-
gnu/libqhull.so][/usr/include][v()] //ADVANCED property for variable:
GLEW_INCLUDE_DIR GLEW_INCLUDE_DIR-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: GLEW_LIBRARY GLEW_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: GLUT_INCLUDE_DIR GLUT_INCLUDE_DIR-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: GLUT_Xi_LIBRARY GLUT_Xi_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: GLUT_Xmu_LIBRARY GLUT_Xmu_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: GLUT_glut_LIBRARY
GLUT_glut_LIBRARY-ADVANCED:INTERNAL=1 GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE
GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include
GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest
GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/robuter/catkin_ws/build/gtest
GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main //ADVANCED property for
variable: GTEST_INCLUDE_DIR GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: GTEST_LIBRARY GTEST_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: GTEST_LIBRARY_DEBUG GTEST_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: GTEST_MAIN_LIBRARY
GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
GTEST_MAIN_LIBRARY_DEBUG GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: LAPACK_Accelerate_LIBRARY
LAPACK_Accelerate_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: LAPACK_goto2_LIBRARY LAPACK_goto2_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: LAPACK_lapack_LIBRARY LAPACK_lapack_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: LAPACK_lapack_WORKS
LAPACK_lapack_WORKS-ADVANCED:INTERNAL=1 //Have function cheev_
LAPACK_lapack_WORKS:INTERNAL=1 //ADVANCED property for variable:
LAPACK_vecLib_LIBRARY LAPACK_vecLib_LIBRARY-ADVANCED:INTERNAL=1
LIBFCL_CFLAGS:INTERNAL=-std=c++11 LIBFCL_CFLAGS_I:INTERNAL=
LIBFCL_CFLAGS_OTHER:INTERNAL=-std=c++11 LIBFCL_FOUND:INTERNAL=1
LIBFCL_INCLUDEDIR:INTERNAL=/usr/include LIBFCL_INCLUDE_DIRS:INTERNAL=
LIBFCL_LDFLAGS:INTERNAL=-lfcl LIBFCL_LDFLAGS_OTHER:INTERNAL=
LIBFCL_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu LIBFCL_LIBRARIES:INTERNAL=fcl
LIBFCL_LIBRARY_DIRS:INTERNAL= LIBFCL_LIBS:INTERNAL= LIBFCL_LIBS_L:INTERNAL=
LIBFCL_LIBS_OTHER:INTERNAL= LIBFCL_LIBS_PATHS:INTERNAL=
LIBFCL_PREFIX:INTERNAL=/usr LIBFCL_STATIC_CFLAGS:INTERNAL=-std=c++11
LIBFCL_STATIC_CFLAGS_I:INTERNAL=
LIBFCL_STATIC_CFLAGS_OTHER:INTERNAL=-std=c++11
LIBFCL_STATIC_INCLUDE_DIRS:INTERNAL= LIBFCL_STATIC_LDFLAGS:INTERNAL=-lfcl
LIBFCL_STATIC_LDFLAGS_OTHER:INTERNAL= LIBFCL_STATIC_LIBDIR:INTERNAL=
LIBFCL_STATIC_LIBRARIES:INTERNAL=fcl LIBFCL_STATIC_LIBRARY_DIRS:INTERNAL=


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[ 75%] Building CXX object
warehouse/CMakeFiles/moveit_warehouse_save_as_text.dir/src/save_as_text.cpp.o
[ 80%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse/lib/moveit_ros_warehouse/moveit_warehouse_save_as_text
[ 80%] Built target moveit_warehouse_save_as_text
Scanning dependencies of target moveit_save_to_warehouse
[ 85%] Building CXX object
warehouse/CMakeFiles/moveit_save_to_warehouse.dir/src/save_to_warehouse.cpp.o
[ 90%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse/lib/moveit_ros_warehouse/moveit_save_to_warehouse
[ 90%] Built target moveit_save_to_warehouse
Scanning dependencies of target moveit_warehouse_services
[ 95%] Building CXX object
warehouse/CMakeFiles/moveit_warehouse_services.dir/src/warehouse_services.cpp.o
[100%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse/lib/moveit_ros_warehouse/moveit_warehouse_services
[100%] Built target moveit_warehouse_services


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Aug 14, 2018, 7:15:40 AM  8/14/18


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/237/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/237/display/redirect)
>


Jul 6, 2018, 4:01:29 PM  7/6/18


\-- filesystem
\-- program_options
\-- system


containing a CMake configuration file for roslib.
roslib_DIR:PATH=/opt/ros/kinetic/share/roslib/cmake //The directory containing
a CMake configuration file for roslz4.
roslz4_DIR:PATH=/opt/ros/kinetic/share/roslz4/cmake //The directory containing
a CMake configuration file for rospack.
rospack_DIR:PATH=/opt/ros/kinetic/share/rospack/cmake //The directory
containing a CMake configuration file for rospy.
rospy_DIR:PATH=/opt/ros/kinetic/share/rospy/cmake //The directory containing a
CMake configuration file for rostest.
rostest_DIR:PATH=/opt/ros/kinetic/share/rostest/cmake //The directory
containing a CMake configuration file for rostime.
rostime_DIR:PATH=/opt/ros/kinetic/share/rostime/cmake //The directory
containing a CMake configuration file for rqt_gui.
rqt_gui_DIR:PATH=/opt/ros/kinetic/share/rqt_gui/cmake //The directory
containing a CMake configuration file for rqt_gui_cpp.
rqt_gui_cpp_DIR:PATH=/opt/ros/kinetic/share/rqt_gui_cpp/cmake //The directory
containing a CMake configuration file for rviz.
rviz_DIR:PATH=/opt/ros/kinetic/share/rviz/cmake //The directory containing a
CMake configuration file for self_test.
self_test_DIR:PATH=/opt/ros/kinetic/share/self_test/cmake //The directory
containing a CMake configuration file for sensor_msgs.
sensor_msgs_DIR:PATH=/opt/ros/kinetic/share/sensor_msgs/cmake //The directory
containing a CMake configuration file for shape_msgs.
shape_msgs_DIR:PATH=/opt/ros/kinetic/share/shape_msgs/cmake //Value Computed
by CMake
simple_message_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/simple_message
//The directory containing a CMake configuration file for simple_message.
simple_message_DIR:PATH=/home/robuter/catkin_ws/devel/share/simple_message/cmake
//Dependencies for the target
simple_message_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-
gnu/libboost_signals.so;general;/usr/lib/x86_64-linux-
gnu/libboost_filesystem.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-
gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-
gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-
gnu/libboost_system.so;general;/usr/lib/x86_64-linux-
gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-
gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-
gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-
gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-
gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so;


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[0m[ INFO] [1539720448.073282640]: Forward kinematics took 0.047395061 [0m
[0m[ INFO] [1539720448.122184881]: Forward kinematics took 0.047818586 [0m
[0m[ INFO] [1539720448.179481893]: Forward kinematics took 0.056230671 [0m
[0m[ INFO] [1539720448.237060727]: Forward kinematics took 0.056361832 [0m
[0m[ INFO] [1539720448.288030190]: Forward kinematics took 0.050058819 [0m
[0m[ INFO] [1539720448.343921978]: Forward kinematics took 0.054761938 [0m
[0m[ INFO] [1539720448.397222504]: Forward kinematics took 0.052061851 [0m
[0m[ INFO] [1539720448.397999596]: iteration: 110 [0m
[0m[ INFO] [1539720448.448796254]: Forward kinematics took 0.050075976 [0m
[0m[ INFO] [1539720448.500710809]: Forward kinematics took 0.050791944 [0m
[0m[ INFO] [1539720448.550267042]: Forward kinematics took 0.048733290 [0m
[0m[ INFO] [1539720448.597494115]: Forward kinematics took 0.046138082 [0m
[0m[ INFO] [1539720448.632789267]: Forward kinematics took 0.034228298 [0m
[0m[ INFO] [1539720448.667826605]: Forward kinematics took 0.034270557 [0m
[0m[ INFO] [1539720448.707043527]: Forward kinematics took 0.038444358 [0m
[0m[ INFO] [1539720448.7531


[ 56%] Building CXX object
planning_scene_monitor/CMakeFiles/demo_scene.dir/demos/demo_scene.cpp.o
[ 58%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/demo_scene
[ 58%] Built target demo_scene
Scanning dependencies of target moveit_visualize_robot_collision_volume
[ 60%] Building CXX object
planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/src/visualize_robot_collision_volume.cpp.o
[ 61%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_visualize_robot_collision_volume
[ 61%] Built target moveit_visualize_robot_collision_volume
Scanning dependencies of target moveit_display_random_state
[ 63%] Building CXX object
planning_components_tools/CMakeFiles/moveit_display_random_state.dir/src/display_random_state.cpp.o
[ 65%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_display_random_state
[ 65%] Built target moveit_display_random_state
Scanning dependencies of target moveit_publish_scene_from_text
[ 67%] Building CXX object
planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/src/publish_scene_from_text.cpp.o
[ 69%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_publish_scene_from_text
[ 69%] Built target moveit_publish_scene_from_text
Scanning dependencies of target moveit_print_planning_model_info
[ 70%] Building CXX object
planning_components_tools/CMakeFiles/moveit_print_planning_model_info.dir/src/print_planning_model_info.cpp.o
[ 72%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_print_planning_model_info
[ 72%] Built target moveit_print_planning_model_info
Scanning dependencies of target moveit_evaluate_collision_checking_speed
[ 74%] Building CXX object
planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/src/evaluate_collision_checking_speed.cpp.o
[ 76%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_evaluate_collision_checking_speed
[ 76%] Built target moveit_evaluate_collision_checking_speed
Scanning dependencies of target moveit_kinematics_speed_and_validity_evaluator
[ 78%] Building CXX object
planning_components_tools/CMakeFiles/moveit_kinematics_speed_and_validity_evaluator.dir/src/kinematics_speed_and_validity_evaluator.cpp.o
[ 80%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_kinematics_speed_and_validity_evaluator


Finally, within the “Configuration File” portion of the setup assistant, the
GUI will drop all the configured files to a set folder location. If this is a
first-time setup, normally you would like to check off all the selected file
options. Otherwise, you may want to only drop the files that you have changed
since the last setup instance. Specify a “Configuration Package Save Path”
location and select “Generate Package”. Once that is completed, you can select
“Exit Setup Assistant”.


##  References


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[xUnit] [INFO] - Stop build.


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/257/display/redirect?page=changes
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/257/display/redirect?page=changes)
>


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Delete


###  ROS Buildfarm


|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] MongoDB starting : pid=1725 port=33829 dbpath=/tmp/db 64-bit
host=LAPTOP-N06C44K6
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] db version v3.6.8
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] git version: 8e540c0b6db93ce994cc548f000900bdc740f80a
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] OpenSSL version: OpenSSL 1.1.1f 31 Mar 2020
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] allocator: tcmalloc
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] modules: none
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] build environment:
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] distarch: x86_64
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] target_arch: x86_64
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.894-0400 I CONTROL
[initandlisten] options: { net: { port: 33829 }, storage: { dbPath: "/tmp/db"
} }
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.895-0400 I - [initandlisten]
Detected data files in /tmp/db created by the 'wiredTiger' storage engine, so
setting the active storage engine to 'wiredTiger'.
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.895-0400 I STORAGE
[initandlisten]
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.895-0400 I STORAGE
[initandlisten] ** WARNING: Using the XFS filesystem is strongly recommended
with the WiredTiger storage engine
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.895-0400 I STORAGE
[initandlisten] ** See http://dochub.mongodb.org/core/prodnotes-filesystem
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:57.895-0400 I STORAGE
[initandlisten] wiredtiger_open config:
create,cache_size=3406M,session_max=20000,eviction=(threads_min=4,threads_max=4),config_base=false,statistics=(fast),cache_cursors=false,compatibility=(release="3.0",require_max="3.0"),log=(enabled=true,archive=true,path=journal,compressor=snappy),file_manager=(close_idle_time=100000),statistics_log=(wait=0),verbose=(recovery_progress),
|  [ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO]
[1630341478.107901087] [spawner_panda_hand_controller]: Waiting for
/controller_manager services
|  [ros2 run controller_manager spawner.py joint_state_controller-9] [INFO]
[1630341478.146953644] [spawner_joint_state_controller]: Waiting for


[ 31%] Building CXX object
robot_state_rviz_plugin/CMakeFiles/moveit_robot_state_rviz_plugin.dir/src/plugin_init.cpp.o
[ 33%] Building CXX object
robot_state_rviz_plugin/CMakeFiles/moveit_robot_state_rviz_plugin.dir/moveit_robot_state_rviz_plugin_automoc.cpp.o
[ 35%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization/lib/libmoveit_robot_state_rviz_plugin.so
[ 35%] Built target moveit_robot_state_rviz_plugin
[ 37%] Automatic moc for target moveit_planning_scene_rviz_plugin_core
Generating moc_planning_scene_display.cpp
[ 37%] Built target moveit_planning_scene_rviz_plugin_core_automoc
Scanning dependencies of target moveit_planning_scene_rviz_plugin_core
[ 39%] Building CXX object
planning_scene_rviz_plugin/CMakeFiles/moveit_planning_scene_rviz_plugin_core.dir/src/planning_scene_display.cpp.o
[ 41%] Building CXX object
planning_scene_rviz_plugin/CMakeFiles/moveit_planning_scene_rviz_plugin_core.dir/moveit_planning_scene_rviz_plugin_core_automoc.cpp.o
[ 43%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization/lib/libmoveit_planning_scene_rviz_plugin_core.so
[ 43%] Built target moveit_planning_scene_rviz_plugin_core
[ 45%] Automatic moc for target moveit_planning_scene_rviz_plugin
[ 45%] Built target moveit_planning_scene_rviz_plugin_automoc
Scanning dependencies of target moveit_planning_scene_rviz_plugin
[ 47%] Building CXX object
planning_scene_rviz_plugin/CMakeFiles/moveit_planning_scene_rviz_plugin.dir/src/plugin_init.cpp.o
[ 49%] Building CXX object
planning_scene_rviz_plugin/CMakeFiles/moveit_planning_scene_rviz_plugin.dir/moveit_planning_scene_rviz_plugin_automoc.cpp.o
[ 50%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization/lib/libmoveit_planning_scene_rviz_plugin.so
[ 50%] Built target moveit_planning_scene_rviz_plugin
[ 52%] Automatic moc for target moveit_motion_planning_rviz_plugin_core
Generating moc_motion_planning_display.cpp
Generating moc_motion_planning_frame.cpp
Generating moc_motion_planning_param_widget.cpp
[ 52%] Built target moveit_motion_planning_rviz_plugin_core_automoc
Scanning dependencies of target moveit_motion_planning_rviz_plugin_core
[ 54%] Building CXX object
motion_planning_rviz_plugin/CMakeFiles/moveit_motion_planning_rviz_plugin_core.dir/src/motion_planning_frame.cpp.o
[ 56%] Building CXX object
motion_planning_rviz_plugin/CMakeFiles/moveit_motion_planning_rviz_plugin_core.dir/src/motion_planning_frame_context.cpp.o
[ 58%] Building CXX object
motion_planning_rviz_plugin/CMakeFiles/moveit_motion_planning_rviz_plugin_core.dir/src/motion_planning_frame_planning.cpp.o


This way, the robot model and description launch first, then the custom MoveIt
node is able to use the robot model to move the robot and publish joints to
/joint_states. Then the custom HEBI motors are able to read off those
/joint_states and publish directly to the physical motors.


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/271/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/271/display/redirect)
>

\------------------------------------------
[...truncated 1.17 MB...]
Setting up tk (8.6.0+9) ...
Setting up tk-dev:amd64 (8.6.0+9) ...
Setting up libwacom-bin (0.22-1~ubuntu16.04.1) ...
Setting up libwxbase3.0-0v5:amd64 (3.0.2+dfsg-1.3ubuntu0.1) ...
Setting up libwxgtk3.0-0v5:amd64 (3.0.2+dfsg-1.3ubuntu0.1) ...
Setting up libx11-doc (2:1.6.3-1ubuntu2.1) ...
Setting up libyaml-cpp0.5v5:amd64 (0.5.2-4ubuntu1~16.04.4) ...
Setting up libyaml-cpp-dev (0.5.2-4ubuntu1~16.04.4) ...
Setting up manpages-dev (4.04-2) ...
Setting up mesa-va-drivers:amd64 (18.0.5-0ubuntu0~16.04.1) ...
Setting up python3-sip (4.17+dfsg-1build1) ...
Setting up sip-dev (4.17+dfsg-1build1) ...
Setting up python3.5-dev (3.5.2-2ubuntu0~16.04.4) ...
Setting up python3-dev (3.5.1-3) ...
Setting up python3-sip-dev (4.17+dfsg-1build1) ...
Setting up python-sip (4.17+dfsg-1build1) ...
Setting up python-sip-dev (4.17+dfsg-1build1) ...
Setting up pyqt5-dev (5.5.1+dfsg-3ubuntu4) ...
Setting up python-bs4 (4.4.1-1) ...
Setting up python-chardet (2.3.0-2) ...
Setting up python-crypto (2.6.1-6ubuntu0.16.04.3) ...
Setting up python-defusedxml (0.4.1-2ubuntu0.16.04.1) ...
Setting up python-ecdsa (0.13-2) ...
Setting up python-html5lib (0.999-4) ...
Setting up python-lxml (3.5.0-1build1) ...
Setting up python-netifaces (0.10.4-0.1build2) ...
Setting up python-numpy (1:1.11.0-1ubuntu1) ...
Setting up python-pam (0.4.2-13.2ubuntu2) ...
Setting up python-paramiko (1.16.0-1ubuntu0.1) ...
Setting up python-pil:amd64 (3.1.2-0ubuntu1.1) ...
Setting up python-pygments (2.1+dfsg-1) ...
Setting up python-pyqt5 (5.5.1+dfsg-3ubuntu4) ...
Setting up python-pyqt5.qtsvg (5.5.1+dfsg-3ubuntu4) ...


[ 56%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/projection_evaluators.cpp.o


(debug) Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_filesystem.so //Boost filesystem library (release)
Boost_FILESYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_filesystem.so //Path to a file.
Boost_INCLUDE_DIR:PATH=/usr/include //Boost iostreams library (debug)
Boost_IOSTREAMS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_iostreams.so //Boost iostreams library (release)
Boost_IOSTREAMS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_iostreams.so //Boost library directory DEBUG
Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu //Boost library
directory RELEASE Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu
//Boost program_options library (debug)
Boost_PROGRAM_OPTIONS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_program_options.so //Boost program_options library (release)
Boost_PROGRAM_OPTIONS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_program_options.so //Boost python library (debug)
Boost_PYTHON_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_python.so //Boost python library (release)
Boost_PYTHON_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_python.so //Boost regex library (debug)
Boost_REGEX_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_regex.so
//Boost regex library (release)
Boost_REGEX_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_regex.so //Boost serialization library (debug)
Boost_SERIALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_serialization.so //Boost serialization library (release)
Boost_SERIALIZATION_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_serialization.so //Boost signals library (debug)
Boost_SIGNALS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_signals.so //Boost signals library (release)
Boost_SIGNALS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_signals.so //Boost system library (debug)
Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_system.so //Boost system library (release)
Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_system.so //Boost thread library (debug)
Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_thread.so //Boost thread library (release)
Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_thread.so //List of ';' separated packages to exclude


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\-- Boost version: 1.58.0
\-- Found the following Boost libraries:


MoveIt is a package within ROS primarily used to plan and actuate robot
manipulators and mobile platforms. The package includes multiple path planning
libraries, a framework to simulate robots within ROS using Gazebo, and plugins
to dynamically build 3D occupancy maps for obstacle avoidance. There is also
functionality to control physical motors and actuators using MoveIt
controllers.


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##  Skip links


configuration file for moveit_ros_perception.
moveit_ros_perception_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_perception/cmake
//Value Computed by CMake
moveit_ros_perception_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/perception //Value Computed by CMake
moveit_ros_planning_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_ros/planning //The directory containing a CMake
configuration file for moveit_ros_planning.
moveit_ros_planning_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_planning/cmake
//Value Computed by CMake
moveit_ros_planning_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/planning //Value Computed by CMake
moveit_ros_planning_interface_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_ros/planning_interface //The directory containing a CMake
configuration file for moveit_ros_planning_interface.
moveit_ros_planning_interface_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_planning_interface/cmake
//Value Computed by CMake
moveit_ros_planning_interface_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/planning_interface //Value Computed by CMake
moveit_ros_robot_interaction_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_ros/robot_interaction //The directory containing a CMake
configuration file for moveit_ros_robot_interaction.
moveit_ros_robot_interaction_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_robot_interaction/cmake
//Value Computed by CMake
moveit_ros_robot_interaction_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/robot_interaction //Value Computed by CMake
moveit_ros_visualization_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_ros/visualization //The directory containing a CMake
configuration file for moveit_ros_visualization.
moveit_ros_visualization_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_visualization/cmake
//Value Computed by CMake
moveit_ros_visualization_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/visualization //Value Computed by CMake
moveit_ros_warehouse_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_ros/warehouse //The directory containing a CMake
configuration file for moveit_ros_warehouse.
moveit_ros_warehouse_DIR:PATH=/home/robuter/catkin_ws/devel/share/moveit_ros_warehouse/cmake
//Value Computed by CMake
moveit_ros_warehouse_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_ros/warehouse //Value Computed by CMake


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user=s40-c)


To install HEBI dependencies, input the following:


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[xUnit] [INFO] - [GoogleTest-1.6] - No test report file(s) were found with the
pattern 'catkin_workspace/test_results/**/*.xml' relative to '< [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/ws/
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/ws/) '> for the
testing framework 'GoogleTest-1.6'. Did you enter a pattern relative to the
correct directory? Did you generate the result report(s) for 'GoogleTest-1.6'?
[xUnit] [WARNING] - No test reports found for the metric 'GoogleTest' with the
resolved pattern 'catkin_workspace/test_results/**/*.xml'.
[xUnit] [INFO] - Skipping the metric tool processing.


Forward


|  [rviz2-1] [INFO] [1630341481.375428603] [moveit_rdf_loader.rdf_loader]:
Loaded robot model in 0.00112083 seconds
|  [rviz2-1] [INFO] [1630341481.375511708] [moveit_robot_model.robot_model]:
Loading robot model 'panda'...
|  [rviz2-1] [ERROR] [1630341485.032354505]
[moveit_ros_visualization.motion_planning_frame]: Action server:
/recognize_objects not available
|  [rviz2-1] Parsing robot urdf xml string.
|  [rviz2-1] Parsing robot urdf xml string.
|  [rviz2-1] [INFO] [1630341485.205140321] [moveit_rdf_loader.rdf_loader]:
Loaded robot model in 0.000624233 seconds
|  [rviz2-1] [INFO] [1630341485.205177482] [moveit_robot_model.robot_model]:
Loading robot model 'panda'...
|  [rviz2-1] [INFO] [1630341485.205250314] [moveit_rdf_loader.rdf_loader]:
Loaded robot model in 0.000730244 seconds
|  [rviz2-1] [INFO] [1630341485.205268673] [moveit_robot_model.robot_model]:
Loading robot model 'panda'...
|  [rviz2-1] [ERROR] [1630341485.216396543]
[moveit_background_processing.background_processing]: Exception caught while
processing action 'loadRobotModel': parameter 'panda_arm.kinematics_solver'
has already been declared
|  [rviz2-1] Link panda_link1 had 1 children
|  [rviz2-1] Link panda_link2 had 1 children
|  [rviz2-1] Link panda_link3 had 1 children
|  [rviz2-1] Link panda_link4 had 1 children
|  [rviz2-1] Link panda_link5 had 1 children
|  [rviz2-1] Link panda_link6 had 1 children
|  [rviz2-1] Link panda_link7 had 1 children
|  [rviz2-1] Link panda_link8 had 1 children
|  [rviz2-1] Link panda_hand had 2 children
|  [rviz2-1] Link panda_leftfinger had 0 children
|  [rviz2-1] Link panda_rightfinger had 0 children
|  [rviz2-1] [INFO] [1630341485.252524265]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning
scene monitor
|  [rviz2-1] [INFO] [1630341485.253433570]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to
'/monitored_planning_scene'
|  [rviz2-1] [INFO] [1630341485.270221217]
[interactive_marker_display_94166892987056]: Connected on namespace:


###  Simulate URDF model through Rviz


Either email addresses are anonymous for this group or you need the view
member email addresses permission to view the original message


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
\-- Found gtest sources under '/usr/src/gmock': gtests will be built
\-- Using Python nosetests: /usr/bin/nosetests-2.7
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy


In the “3D perception” window, you can configure a point cloud or depth map
topic to interface with MoveIt. Here, the Octomap plugin for MoveIt will look
at this topic and configure obstacles within the environment, as shown in
RViz. This is an important window if you want to configure dynamic obstacles
for the robot to be aware of and avoid.


\-- Using PYTHON_EXECUTABLE: /usr/bin/python
\-- Using Debian Python package layout
\-- Using empy: /usr/bin/empy
\-- Using CATKIN_ENABLE_TESTING: 1
\-- Call enable_testing()
\-- Using CATKIN_TEST_RESULTS_DIR: /tmp/catkin_workspace/test_results
\-- Found gmock sources under '/usr/src/gmock': gmock will be built
\-- Found gtest sources under '/usr/src/gmock': gtests will be built
\-- Using Python nosetests: /usr/bin/nosetests-2.7


* Embed


Aug 21, 2018, 4:16:30 AM  8/21/18


Report message


generators CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=123 //ADVANCED property for
variable: CMAKE_OBJCOPY CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: CMAKE_OBJDUMP CMAKE_OBJDUMP-ADVANCED:INTERNAL=1 //ADVANCED
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CMake installation. CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.5 //ADVANCED
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CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-
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CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for
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property for variable: CMAKE_STRIP CMAKE_STRIP-ADVANCED:INTERNAL=1 //uname
command CMAKE_UNAME:INTERNAL=/bin/uname //ADVANCED property for variable:
CMAKE_VERBOSE_MAKEFILE CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: CURL_INCLUDE_DIR CURL_INCLUDE_DIR-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CURL_LIBRARY CURL_LIBRARY-
ADVANCED:INTERNAL=1 EIGEN3_CFLAGS:INTERNAL=-I/usr/include/eigen3
EIGEN3_CFLAGS_I:INTERNAL= EIGEN3_CFLAGS_OTHER:INTERNAL=
EIGEN3_FOUND:INTERNAL=1 EIGEN3_INCLUDEDIR:INTERNAL=
EIGEN3_INCLUDE_DIRS:INTERNAL=/usr/include/eigen3 EIGEN3_LDFLAGS:INTERNAL=
EIGEN3_LDFLAGS_OTHER:INTERNAL= EIGEN3_LIBDIR:INTERNAL=
EIGEN3_LIBRARIES:INTERNAL= EIGEN3_LIBRARY_DIRS:INTERNAL= EIGEN3_LIBS:INTERNAL=
EIGEN3_LIBS_L:INTERNAL= EIGEN3_LIBS_OTHER:INTERNAL=
EIGEN3_LIBS_PATHS:INTERNAL= EIGEN3_PREFIX:INTERNAL=/usr


|  [rviz2-1] [INFO] [1630341485.327378963]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[RRTstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327380606]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[SBLkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327382185]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[SPARSkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327383837]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[SPARStwokConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327387849]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[STRIDEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327389734]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[TRRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327391489]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[TrajOptDefault]
|  [rviz2-1] [INFO] [1630341485.357332084]
[interactive_marker_display_94166892987056]: Service response received for
initialization

[ Sign up for free ](/join?source=comment-gist) **to join this conversation on
GitHub** . Already have an account? [ Sign in to comment
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==> make -j1 in
'/tmp/catkin_workspace/build_isolated/moveit_ros_visualization'
[ 1%] Automatic moc for target moveit_rviz_plugin_render_tools
Generating moc_trajectory_panel.cpp
Generating moc_trajectory_visualization.cpp
[ 1%] Built target moveit_rviz_plugin_render_tools_automoc
Scanning dependencies of target moveit_rviz_plugin_render_tools
[ 3%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/render_shapes.cpp.o
[ 5%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/robot_state_visualization.cpp.o
[ 7%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/planning_scene_render.cpp.o
[ 9%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/planning_link_updater.cpp.o
[ 11%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/octomap_render.cpp.o
[ 13%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/trajectory_visualization.cpp.o
[ 15%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/src/trajectory_panel.cpp.o
[ 17%] Building CXX object
rviz_plugin_render_tools/CMakeFiles/moveit_rviz_plugin_render_tools.dir/moveit_rviz_plugin_render_tools_automoc.cpp.o
[ 19%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization/lib/libmoveit_rviz_plugin_render_tools.so
[ 19%] Built target moveit_rviz_plugin_render_tools
[ 21%] Automatic moc for target moveit_robot_state_rviz_plugin_core
Generating moc_robot_state_display.cpp
[ 21%] Built target moveit_robot_state_rviz_plugin_core_automoc
Scanning dependencies of target moveit_robot_state_rviz_plugin_core
[ 23%] Building CXX object
robot_state_rviz_plugin/CMakeFiles/moveit_robot_state_rviz_plugin_core.dir/src/robot_state_display.cpp.o
[ 25%] Building CXX object
robot_state_rviz_plugin/CMakeFiles/moveit_robot_state_rviz_plugin_core.dir/moveit_robot_state_rviz_plugin_core_automoc.cpp.o
[ 27%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization/lib/libmoveit_robot_state_rviz_plugin_core.so
[ 27%] Built target moveit_robot_state_rviz_plugin_core
[ 29%] Automatic moc for target moveit_robot_state_rviz_plugin
[ 29%] Built target moveit_robot_state_rviz_plugin_automoc
Scanning dependencies of target moveit_robot_state_rviz_plugin


Delete


For tutorials on how to run HEBI through C++ using the ROS framework, refer to
the C++ API documentation from HEBI: [ HEBI C++ API Documentation
](https://docs.hebi.us/tools.html#cpp-api)


Sign in to forward


###  Requirements


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/241/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/241/display/redirect)
>

\------------------------------------------
[...truncated 1.13 MB...]
Unpacking libnetcdf-cxx-legacy-dev (4.2-4) ...
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Unpacking libpaper1:amd64 (1.1.24+nmu4ubuntu1) ...
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Preparing to unpack .../libpaper-utils_1.1.24+nmu4ubuntu1_amd64.deb ...


Setting up libxcb-render0-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-randr0-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-shape0-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-xfixes0-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-sync-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-present-dev:amd64 (1.11.1-1ubuntu1) ...
Setting up libxshmfence-dev:amd64 (1.2-1) ...
Setting up libxcb-dri2-0-dev:amd64 (1.11.1-1ubuntu1) ...


[ Groups  ](./my-groups "Groups")


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/263/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/263/display/redirect)
>


Forward


Sep 20, 2018, 2:29:38 AM  9/20/18


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\-- Configuring done
\-- Generating done


Copy link


[ 0%] Built target std_srvs_generate_messages_lisp
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