###  Run through MoveIt setup manager GUI


* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
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Unpacking libpaper-utils (1.1.24+nmu4ubuntu1) ...
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\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_warehouse
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warehouse/CMakeFiles/moveit_warehouse.dir/src/moveit_message_storage.cpp.o
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warehouse/CMakeFiles/moveit_warehouse.dir/src/planning_scene_world_storage.cpp.o
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warehouse/CMakeFiles/moveit_warehouse.dir/src/constraints_storage.cpp.o
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  * [ Moveit Perception Pipeline Tutorial ](https://ros-planning.github.io/moveit_tutorials/doc/perception_pipeline/perception_pipeline_tutorial.html)
  * [ Octomap Main Webpage ](https://octomap.github.io)


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<== Finished processing package [24 of 26]: 'moveit_setup_assistant'

==> Processing catkin package: 'moveit_simple_controller_manager'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_setup_assistant/env.sh'
==> cmake
/tmp/catkin_workspace/src/moveit/moveit_plugins/moveit_simple_controller_manager
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_simple_controller_manager
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-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_simple_controller_manager'


==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/benchmarks
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks
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-DCATKIN_TEST_RESULTS_DIR=/tmp/catkin_workspace/test_results -G Unix Makefiles
in '/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks'


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


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ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/constrained_goal_sampler.cpp.o
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/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/lib/libmoveit_ompl_interface.so
[ 76%] Built target moveit_ompl_interface
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
[ 84%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/lib/libmoveit_ompl_planner_plugin.so
[ 84%] Built target moveit_ompl_planner_plugin
Scanning dependencies of target moveit_ompl_planner
[ 88%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_planner.dir/src/ompl_planner.cpp.o
[ 92%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_ompl_planner
[ 92%] Built target moveit_ompl_planner
Scanning dependencies of target moveit_demo_construct_constraints_database
[ 96%] Building CXX object
ompl_interface/CMakeFiles/moveit_demo_construct_constraints_database.dir/src/demo_construct_state_database.cpp.o
[100%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_demo_construct_constraints_database
[100%] Built target moveit_demo_construct_constraints_database
<== 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
-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_move_group'


Delete


Selecting previously unselected package libtk8.6:amd64.
Preparing to unpack .../libtk8.6_8.6.5-1_amd64.deb ...
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Build timed out (after 120 minutes). Marking the build as failed.
Build was aborted
[WARNINGS] Skipping publisher since build result is FAILURE
[xUnit] [INFO] - Starting to record.
[xUnit] [INFO] - Processing GoogleTest-1.6
Terminated
[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


\-- Configuring done
\-- Generating done


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###  ROS Buildfarm


![moveit_setup_assistant_configuration_file](/wiki/actuation/assets/moveit_setup_assistant_end.png)


  * Use rosrun to start gazebo empty world:

        roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false recording:=false debug:=true

  * Use rosrun to spawn the robot:

        rosrun gazebo_ros spawn_model -file </path_to_new_urdf/file_name.urdf> -urdf -x 0 -y 0 -z 1 -model panda

[
![../../../_images/setup_assistant_panda_gazebo.png](../../../_images/setup_assistant_panda_gazebo.png)
](../../../_images/setup_assistant_panda_gazebo.png)
##  Step 10: ROS Control  
ROS Control is a set of packages that include controller interfaces,
controller managers, transmissions and hardware_interfaces, for more details
please look at [ ros_control documentation ](http://wiki.ros.org/ros_control)
ROS Control tab can be used to auto generate simulated controllers to actuate
the joints of your robot. This will allow us to provide the correct ROS
interfaces MoveIt.
  * Click on the _ROS Control_ pane selector.
[
![../../../_images/setup_assistant_panda_ros_control.png](../../../_images/setup_assistant_panda_ros_control.png)
](../../../_images/setup_assistant_panda_ros_control.png)
  * Click on _Add Controller_ and you should see the following screen:
  * We will first add Panda arm position controller
  * Enter _Controller Name_ as **arm_position_controller**
  * Choose **position_controllers/JointPositionController** as the controller type
  * Next you have to choose this controller joints, you can add joints individually or add all the joints in a planning group all together.
  * Now, click on Add Planning Group Joints.
[
![../../../_images/setup_assistant_panda_ros_control_create.png](../../../_images/setup_assistant_panda_ros_control_create.png)
](../../../_images/setup_assistant_panda_ros_control_create.png)
  * Choose panda_arm planning group to add all the joints in that group to the arm controller.
[
![../../../_images/setup_assistant_panda_ros_control_add_joints.png](../../../_images/setup_assistant_panda_ros_control_add_joints.png)
](../../../_images/setup_assistant_panda_ros_control_add_joints.png)
  * Click _Save_ to save the selected controller.
##  Step 11: Add Author Information  
Catkin requires author information for publishing purposes
  * Click on the _Author Information_ pane.
  * Enter your name and email address.


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


Either email addresses are anonymous for this group or you need the view
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[ Code ](/dpiet/e1f2ab0e66e6619390a450c280dc2985) [ Revisions  1
](/dpiet/e1f2ab0e66e6619390a450c280dc2985/revisions)


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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


Scanning dependencies of target moveit_planning_scene_interface_python
[ 50%] Building CXX object
planning_scene_interface/CMakeFiles/moveit_planning_scene_interface_python.dir/src/wrap_python_planning_scene_interface.cpp.o
[ 55%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface/lib/python2.7/dist-
packages/moveit_ros_planning_interface/_moveit_planning_scene_interface.so
[ 55%] Built target moveit_planning_scene_interface_python
[ 55%] Built target tf2_msgs_generate_messages_nodejs
[ 55%] Built target tf2_msgs_generate_messages_lisp
[ 55%] Built target tf2_msgs_generate_messages_eus
[ 55%] Built target tf2_msgs_generate_messages_cpp
[ 55%] Built target actionlib_generate_messages_py
[ 55%] Built target actionlib_generate_messages_eus
[ 55%] Built target tf_generate_messages_eus
[ 55%] Built target moveit_ros_manipulation_gencfg
[ 55%] Built target rosgraph_msgs_generate_messages_lisp
[ 55%] Built target rosgraph_msgs_generate_messages_eus
[ 55%] Built target tf_generate_messages_nodejs
[ 55%] Built target roscpp_generate_messages_py
[ 55%] Built target roscpp_generate_messages_lisp
[ 55%] Built target roscpp_generate_messages_eus
[ 55%] Built target roscpp_generate_messages_cpp
[ 55%] Built target visualization_msgs_generate_messages_py
[ 55%] Built target visualization_msgs_generate_messages_nodejs
[ 55%] Built target visualization_msgs_generate_messages_lisp
[ 55%] Built target visualization_msgs_generate_messages_cpp
[ 55%] Built target moveit_ros_planning_gencfg
[ 55%] Built target octomap_msgs_generate_messages_py
[ 55%] Built target octomap_msgs_generate_messages_lisp
[ 55%] Built target visualization_msgs_generate_messages_eus
[ 55%] Built target _catkin_empty_exported_target
[ 55%] Built target actionlib_msgs_generate_messages_py
[ 55%] Built target moveit_msgs_generate_messages_nodejs
[ 55%] Built target geometry_msgs_generate_messages_eus
[ 55%] Built target std_msgs_generate_messages_py
[ 55%] Built target moveit_msgs_generate_messages_lisp
[ 55%] Built target std_msgs_generate_messages_eus
[ 55%] Built target actionlib_generate_messages_lisp
[ 55%] Built target actionlib_msgs_generate_messages_eus
[ 55%] Built target tf_generate_messages_cpp


Jul 13, 2018, 6:14:01 PM  7/13/18


containing a CMake configuration file for object_recognition_msgs.
object_recognition_msgs_DIR:PATH=/opt/ros/kinetic/share/object_recognition_msgs/cmake
//The directory containing a CMake configuration file for octomap.
octomap_DIR:PATH=/opt/ros/kinetic/share/octomap //The directory containing a
CMake configuration file for octomap_msgs.
octomap_msgs_DIR:PATH=/opt/ros/kinetic/share/octomap_msgs/cmake //Path to a
library. onelib:FILEPATH=/usr/lib/x86_64-linux-gnu/liburdfdom_world.so //The
directory containing a CMake configuration file for orocos_kdl.
orocos_kdl_DIR:PATH=/opt/ros/kinetic/share/orocos_kdl //The directory
containing a CMake configuration file for pcl_conversions.
pcl_conversions_DIR:PATH=/opt/ros/kinetic/share/pcl_conversions/cmake //The
directory containing a CMake configuration file for pcl_msgs.
pcl_msgs_DIR:PATH=/opt/ros/kinetic/share/pcl_msgs/cmake //The directory
containing a CMake configuration file for pcl_ros.
pcl_ros_DIR:PATH=/opt/ros/kinetic/share/pcl_ros/cmake //The directory
containing a CMake configuration file for pluginlib.
pluginlib_DIR:PATH=/opt/ros/kinetic/share/pluginlib/cmake //Value Computed by
CMake
polled_camera_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/image_common/polled_camera
//Dependencies for the target
polled_camera_LIB_DEPENDS:STATIC=general;image_transport;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/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_program_options.so;general;/usr/lib/x86_64-linux-
gnu/libtinyxml.so;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;
//Value Computed by CMake
polled_camera_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/image_common/polled_camera
//The directory containing a CMake configuration file for qt_gui.
qt_gui_DIR:PATH=/opt/ros/kinetic/share/qt_gui/cmake //The directory containing
a CMake configuration file for qt_gui_cpp.


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\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_manipulation
==> make -j1 in '/tmp/catkin_workspace/build_isolated/moveit_ros_manipulation'
[ 8%] Generating dynamic reconfigure files from
pick_place/cfg/PickPlaceDynamicReconfigure.cfg:
/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation/include/moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h
/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation/lib/python2.7/dist-
packages/moveit_ros_manipulation/cfg/PickPlaceDynamicReconfigureConfig.py
Generating reconfiguration files for PickPlaceDynamicReconfigure in
moveit_ros_manipulation
Wrote header file in
/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation/include/moveit_ros_manipulation/PickPlaceDynamicReconfigureConfig.h
[ 8%] Built target moveit_ros_manipulation_gencfg
Scanning dependencies of target moveit_pick_place_planner
[ 16%] Building CXX object
pick_place/CMakeFiles/moveit_pick_place_planner.dir/src/pick_place_params.cpp.o


\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Boost version: 1.58.0


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/239/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/239/display/redirect)
>


(0.6.11-0xenial-20180817-154743-0800) ...
Setting up ros-lunar-xmlrpcpp (1.13.7-0xenial-20180817-154708-0800) ...
Setting up ros-lunar-ros-environment (1.1.0-0xenial-20180808-130835-0800) ...
Setting up ros-lunar-roslz4 (1.13.7-0xenial-20180906-143406-0800) ...
Setting up ros-lunar-rosbag-storage (1.13.7-0xenial-20180906-145206-0800) ...
Setting up ros-lunar-angles (1.9.11-0xenial-20180906-143332-0800) ...
Setting up ros-lunar-class-loader (0.3.9-0xenial-20180808-130658-0800) ...
Setting up ros-lunar-cmake-modules (0.4.1-0xenial-20180808-125407-0800) ...
Setting up ros-lunar-rosbag-migration-rule
(1.0.0-0xenial-20180808-130838-0800) ...
Setting up ros-lunar-eigen-stl-containers (0.1.8-0xenial-20180808-130719-0800)
...
Setting up ros-lunar-random-numbers (0.3.1-1xenial-20180808-130816-0800) ...
Setting up ros-lunar-python-qt-binding (0.3.4-0xenial-20180817-160648-0800)
...
Setting up ros-lunar-media-export (0.2.0-0xenial-20180808-130600-0800) ...
Setting up ros-lunar-ompl (1.3.5-0xenial-20180528-143324-0800) ...
Processing triggers for sgml-base (1.26+nmu4ubuntu1) ...
Setting up docutils-common (0.12+dfsg-1) ...
Processing triggers for sgml-base (1.26+nmu4ubuntu1) ...
Setting up python-docutils (0.12+dfsg-1) ...
update-alternatives: using /usr/share/docutils/scripts/python2/rst-buildhtml
to provide /usr/bin/rst-buildhtml (rst-buildhtml) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2html to
provide /usr/bin/rst2html (rst2html) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2latex to
provide /usr/bin/rst2latex (rst2latex) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2man to
provide /usr/bin/rst2man (rst2man) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2odt to
provide /usr/bin/rst2odt (rst2odt) in auto mode
update-alternatives: using
/usr/share/docutils/scripts/python2/rst2odt_prepstyles to provide
/usr/bin/rst2odt_prepstyles (rst2odt_prepstyles) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2pseudoxml
to provide /usr/bin/rst2pseudoxml (rst2pseudoxml) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2s5 to
provide /usr/bin/rst2s5 (rst2s5) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rst2xetex to
provide /usr/bin/rst2xetex (rst2xetex) in auto mode


gnu/libboost_program_options.so;general;/usr/lib/x86_64-linux-
gnu/libboost_system.so;general;/usr/lib/x86_64-linux-
gnu/libtinyxml.so;general;moveit_collision_distance_field; //Value Computed by
CMake comm_tcp_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/comm_tcp-master
//Value Computed by CMake
comm_tcp_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/comm_tcp-master //The
directory containing a CMake configuration file for console_bridge.
console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake //The
directory containing a CMake configuration file for control_msgs.
control_msgs_DIR:PATH=/opt/ros/kinetic/share/control_msgs/cmake //The
directory containing a CMake configuration file for controller_manager_msgs.
controller_manager_msgs_DIR:PATH=/opt/ros/kinetic/share/controller_manager_msgs/cmake
//The directory containing a CMake configuration file for cpp_common.
cpp_common_DIR:PATH=/opt/ros/kinetic/share/cpp_common/cmake //Dependencies for
target curlite_LIB_DEPENDS:STATIC= //The directory containing a CMake
configuration file for cv_bridge.
cv_bridge_DIR:PATH=/opt/ros/kinetic/share/cv_bridge/cmake //Value Computed by
CMake damas_hsv_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/damas_hsv
//Value Computed by CMake
damas_hsv_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/damas_hsv //The
directory containing a CMake configuration file for diagnostic_msgs.
diagnostic_msgs_DIR:PATH=/opt/ros/kinetic/share/diagnostic_msgs/cmake //The
directory containing a CMake configuration file for diagnostic_updater.
diagnostic_updater_DIR:PATH=/opt/ros/kinetic/share/diagnostic_updater/cmake
//Value Computed by CMake
driver_base_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/driver_common/driver_base
//The directory containing a CMake configuration file for driver_base.
driver_base_DIR:PATH=/home/robuter/catkin_ws/devel/share/driver_base/cmake
//Value Computed by CMake
driver_base_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/driver_common/driver_base
//Value Computed by CMake
driver_common_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/driver_common/driver_common
//Value Computed by CMake
driver_common_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/driver_common/driver_common
//The directory containing a CMake configuration file for dynamic_reconfigure.
dynamic_reconfigure_DIR:PATH=/opt/ros/kinetic/share/dynamic_reconfigure/cmake
//The directory containing a CMake configuration file for eigen_conversions.
eigen_conversions_DIR:PATH=/opt/ros/kinetic/share/eigen_conversions/cmake
//The directory containing a CMake configuration file for
eigen_stl_containers.


Sign in to forward


Jul 9, 2018, 10:12:52 AM  7/9/18


Sep 13, 2018, 5:27:00 AM  9/13/18


[0m[ INFO] [1539720442.643500524]: CHOMP trajectory initialized using method:
quintic-spline [0m
[0m[ INFO] [1539720442.643620499]: The following collision detectors are
active in the planning scene. [0m
[0m[ INFO] [1539720442.643642213]: HYBRID [0m
[0m[ INFO] [1539720442.643667835]: Active collision detector is: HYBRID [0m
[0m[ INFO] [1539720442.643845314]: First coll check took 0.000140963 [0m
[0m[ INFO] [1539720442.706088853]: Forward kinematics took 0.044251622 [0m
[0m[ INFO] [1539720442.706817587]: iteration: 0 [0m
[0m[ INFO] [1539720442.757923501]: Forward kinematics took 0.050354538 [0m
[0m[ INFO] [1539720442.807900570]: Forward kinematics took 0.049188629 [0m
[0m[ INFO] [1539720442.857554948]: Forward kinematics took 0.048658366 [0m
[0m[ INFO] [1539720442.911699576]: Forward kinematics took 0.053341645 [0m
[0m[ INFO] [1539720442.957985544]: Forward kinematics took 0.045315071 [0m
[0m[ INFO] [1539720443.008515529]: Forward kinematics took 0.049300554 [0m
[0m[ INFO] [1539720443.063445168]: Forward kinematics took 0.053914392 [0m
[0m[ INFO] [1539720443.115646117]: Forward kinematics took 0.050897201 [0m
[0m[ INFO] [1539720443.162202804]: Forward kinematics took 0.045426224 [0m
[0m[ INFO] [1539720443.214839076]: Forward kinematics took 0.051082331 [0m
[0m[ INFO] [1539720443.216731008]: iteration: 10 [0m
[0m[ INFO] [1539720443.261237103]: Forward kinematics took 0.043376469 [0m
[0m[ INFO] [1539720443.302494811]: Forward kinematics took 0.040587607 [0m
[0m[ INFO] [1539720443.348494574]: Forward kinematics took 0.044996285 [0m
[0m[ INFO] [1539720443.393245995]: Forward kinematics took 0.043704311 [0m
[0m[ INFO] [1539720443.440560342]: Forward kinematics took 0.046335996 [0m
[0m[ INFO] [1539720443.482812225]: Forward kinematics took 0.041506209 [0m
[0m[ INFO] [1539720443.524916734]: Forward kinematics took 0.041072153 [0m
[0m[ INFO] [1539720443.566824821]: Forward kinematics took 0.041126188 [0m
[0m[ INFO] [1539720443.611967078]: Forward kinematics took 0.044408304 [0m
[0m[ INFO] [1539720443.657152704]: Forward kinematics took 0.044405300 [0m
[0m[ INFO] [1539720443.657985598]: iteration: 20 [0m
[0m[ INFO] [1539720443.702350217]: Forward kinematics took 0.043658113 [0m
[0m[ INFO] [1539720443.746065577]: Forward kinematics took 0.042675038 [0m
[0m[ INFO] [1539720443.787660218]: Forward kinematics took 0.040751436 [0m
[0m[ INFO] [1539720443.828515568]: Forward kinematics took 0.039580858 [0m
[0m[ INFO] [1539720443.875041364]: Forward kinematics took 0.045575715 [0m
[0m[ INFO] [1539720443.918834781]: Forward kinematics took 0.043038009 [0m
[0m[ INFO] [1539720443.962218398]: Forward kinematics took 0.042136089 [0m
[0m[ INFO] [1539720444.007101598]: Forward kinematics took 0.043765455 [0m
[0m[ INFO] [1539720444.057868878]: Forward kinematics took 0.049615993 [0m


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


unread,


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For this particular project, the main control scheme inputted to the HEBI
motors were position commands. This fits well with our particular use case but
there may be applications where one would need effort or velocity controls
instead. In addition, HEBI supports multi-layered commands so users can send
position, velocity, and/or effort commands within one command to the HEBI
motors and the internal controllers of the motors will balance the different
goals during actuation. See HEBI’s control scheme documentation for further
details:


###  ROS Buildfarm


[ MoveIt Tutorials for ROS ](https://ros-planning.github.io/moveit_tutorials/)


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
\-- Configuring done
\-- Generating done


After launching the robot model, your path-planning software will send
trajectory commands to the motors so that your robot can execute the planned
path. A demo of MoveIt’s path planning capabilities can be viewed by running
the following command, after launching the robot model with demo.launch:


Forward


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


library PCL_KEYPOINTS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_keypoints.so //path to pcl_keypoints library debug
PCL_KEYPOINTS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_keypoints.so //path to modeler headers
PCL_MODELER_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to octree headers
PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to pcl_octree library
PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so //path
to pcl_octree library debug
PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so
//path to outofcore headers
PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to pcl_outofcore
library PCL_OUTOFCORE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_outofcore.so //path to pcl_outofcore library debug
PCL_OUTOFCORE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_outofcore.so //path to people headers
PCL_PEOPLE_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to pcl_people library
PCL_PEOPLE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so //path
to pcl_people library debug
PCL_PEOPLE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so
//path to point_cloud_editor headers
PCL_POINT_CLOUD_EDITOR_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to
recognition headers PCL_RECOGNITION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7
//path to pcl_recognition library
PCL_RECOGNITION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_recognition.so //path to pcl_recognition library debug
PCL_RECOGNITION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_recognition.so //path to registration headers
PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to
pcl_registration library
PCL_REGISTRATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_registration.so //path to pcl_registration library debug
PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_registration.so //path to sample_consensus headers
PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to
pcl_sample_consensus library
PCL_SAMPLE_CONSENSUS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_sample_consensus.so //path to pcl_sample_consensus library debug
PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libpcl_sample_consensus.so //path to search headers
PCL_SEARCH_INCLUDE_DIR:PATH=/usr/include/pcl-1.7 //path to pcl_search library


###  Create xacro file and URDF model


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


update-alternatives: using /usr/share/docutils/scripts/python2/rst2xml to
provide /usr/bin/rst2xml (rst2xml) in auto mode
update-alternatives: using /usr/share/docutils/scripts/python2/rstpep2html to
provide /usr/bin/rstpep2html (rstpep2html) in auto mode
Setting up python-catkin-pkg-modules (0.4.8-1) ...
Setting up python-catkin-pkg (0.4.8-100) ...
Setting up ros-kinetic-catkin (0.7.14-0xenial-20180809-132632-0800) ...
Setting up ros-kinetic-octomap (1.8.1-0xenial-20180809-134711-0800) ...
Setting up libfcl-0.5-dev (0.5.0-3osrf1~xenial3) ...
Setting up python-rospkg-modules (1.1.7-1) ...
Setting up python-rospkg (1.1.7-100) ...
Setting up python-rosdistro-modules (0.6.9-1) ...
Setting up python-rosdistro (0.6.9-100) ...
Setting up python-rosdep (0.12.2-1) ...
Setting up ros-lunar-catkin (0.7.14-0xenial-20180808-125225-0800) ...
Setting up ros-lunar-genmsg (0.5.11-0xenial-20180817-154023-0800) ...
Setting up ros-lunar-gencpp (0.6.0-0xenial-20180817-154445-0800) ...
Setting up ros-lunar-geneus (2.2.6-0xenial-20180817-154429-0800) ...
Setting up ros-lunar-genlisp (0.4.16-0xenial-20180817-154519-0800) ...
Setting up ros-lunar-gennodejs (2.0.1-0xenial-20180817-154803-0800) ...
Setting up ros-lunar-genpy (0.6.7-0xenial-20180817-154412-0800) ...
Setting up ros-lunar-message-generation (0.4.0-0xenial-20180817-155026-0800)
...
Setting up ros-lunar-message-runtime (0.4.12-0xenial-20180817-155131-0800) ...
Setting up ros-lunar-std-msgs (0.5.11-0xenial-20180817-155238-0800) ...
Setting up ros-lunar-actionlib-msgs (1.12.6-0xenial-20180817-155506-0800) ...
Setting up ros-lunar-rosbuild (1.14.4-0xenial-20180817-155437-0800) ...
Setting up ros-lunar-rosconsole (1.13.7-0xenial-20180906-143358-0800) ...
Setting up ros-lunar-rosgraph-msgs (1.11.2-0xenial-20180817-160343-0800) ...
Setting up ros-lunar-roscpp (1.13.7-0xenial-20180906-144934-0800) ...
Setting up ros-lunar-rospack (2.5.2-0xenial-20180906-141127-0800) ...
Setting up ros-lunar-roslib (1.14.4-0xenial-20180906-141724-0800) ...
Setting up ros-lunar-rosgraph (1.13.7-0xenial-20180817-154317-0800) ...
Setting up ros-lunar-rospy (1.13.7-0xenial-20180906-151232-0800) ...
Setting up ros-lunar-rosclean (1.14.4-0xenial-20180817-154045-0800) ...
Setting up ros-lunar-rosmaster (1.13.7-0xenial-20180817-154635-0800) ...
Setting up ros-lunar-rosout (1.13.7-0xenial-20180906-152039-0800) ...
Setting up ros-lunar-rosparam (1.13.7-0xenial-20180817-154920-0800) ...
Setting up ros-lunar-rosunit (1.14.4-0xenial-20180906-143133-0800) ...
Setting up ros-lunar-roslaunch (1.13.7-0xenial-20180906-152323-0800) ...


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


Jul 6, 2018, 5:15:31 PM  7/6/18


Aug 10, 2018, 3:33:03 AM  8/10/18


[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target object_recognition_msgs_generate_messages_py


  * [ Star  0  ](/login?return_to=https%3A%2F%2Fgist.github.com%2Fdpiet%2Fe1f2ab0e66e6619390a450c280dc2985) You must be signed in to star a gist
  * [ Fork  0  ](/login?return_to=https%3A%2F%2Fgist.github.com%2Fdpiet%2Fe1f2ab0e66e6619390a450c280dc2985) You must be signed in to fork a gist


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/253/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/253/display/redirect)
>

\------------------------------------------
[...truncated 1.29 MB...]


The next window is “Author Information” within which you would fill in your
name and the email of the maintainer of this ROS MoveIt node.


[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.


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image_transport_plugins_LIB_DEPENDS:STATIC=general;image_transport; //Value
Computed by CMake
industrial_core_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_core
//Value Computed by CMake
industrial_core_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/industrial_core/industrial_core
//Value Computed by CMake
industrial_deprecated_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_deprecated
//Value Computed by CMake
industrial_deprecated_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/industrial_core/industrial_deprecated
//Value Computed by CMake
industrial_msgs_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_msgs
//The directory containing a CMake configuration file for industrial_msgs.
industrial_msgs_DIR:PATH=/home/robuter/catkin_ws/devel/share/industrial_msgs/cmake
//Value Computed by CMake
industrial_msgs_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/industrial_core/industrial_msgs
//Value Computed by CMake
industrial_robot_client_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_robot_client
//The directory containing a CMake configuration file for
industrial_robot_client.
industrial_robot_client_DIR:PATH=/home/robuter/catkin_ws/devel/share/industrial_robot_client/cmake
//Dependencies for the target
industrial_robot_client_LIB_DEPENDS:STATIC=general;simple_message; //Value
Computed by CMake
industrial_robot_client_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/industrial_core/industrial_robot_client
//Dependencies for the target
industrial_robot_client_bswap_LIB_DEPENDS:STATIC=general;simple_message_bswap;
//Dependencies for target industrial_robot_client_dummy_LIB_DEPENDS:STATIC=
//Value Computed by CMake
industrial_robot_simulator_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_robot_simulator
//Value Computed by CMake
industrial_robot_simulator_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/industrial_core/industrial_robot_simulator
//Value Computed by CMake
industrial_trajectory_filters_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/industrial_core/industrial_trajectory_filters
//The directory containing a CMake configuration file for
industrial_trajectory_filters.
industrial_trajectory_filters_DIR:PATH=/home/robuter/catkin_ws/devel/share/industrial_trajectory_filters/cmake
//Dependencies for the target
industrial_trajectory_filters_LIB_DEPENDS:STATIC=general;moveit_rdf_loader;general;moveit_kinematics_plugin_loader;general;moveit_robot_model_loader;general;moveit_constraint_sampler_manager_loader;general;moveit_planning_pipeline;general;moveit_trajectory_execution_manager;general;moveit_plan_execution;general;moveit_planning_scene_monitor;general;moveit_collision_plugin_loader;general;moveit_lazy_free_space_updater;general;moveit_point_containment_filter;general;moveit_occupancy_map_monitor;general;moveit_pointcloud_octomap_updater_core;general;moveit_semantic_world;general;moveit_exceptions;general;moveit_background_processing;general;moveit_kinematics_base;general;moveit_robot_model;general;moveit_transforms;general;moveit_robot_state;general;moveit_robot_trajectory;general;moveit_planning_interface;general;moveit_collision_detection;general;moveit_collision_detection_fcl;general;moveit_kinematic_constraints;general;moveit_planning_scene;general;moveit_constraint_samplers;general;moveit_planning_request_adapter;general;moveit_profiler;general;moveit_trajectory_processing;general;moveit_distance_field;general;moveit_kinematics_metrics;general;moveit_dynamics_solver;general;/usr/lib/x86_64-linux-
gnu/libboost_iostreams.so;general;/opt/ros/kinetic/lib/libeigen_conversions.so;general;/opt/ros/kinetic/lib/libgeometric_shapes.so;general;/opt/ros/kinetic/lib/liboctomap.so;general;/opt/ros/kinetic/lib/liboctomath.so;general;/opt/ros/kinetic/lib/libkdl_parser.so;general;/opt/ros/kinetic/lib/liborocos-
kdl.so.1.3.0;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-


Report message


Build timed out (after 120 minutes). Marking the build as failed.
Build was aborted
[WARNINGS] Skipping publisher since build result is FAILURE
[xUnit] [INFO] - Starting to record.
[xUnit] [INFO] - Processing GoogleTest-1.6


[ 87%] Built target moveit_cached_ik_kinematics_plugin
Scanning dependencies of target measure_ik_call_cost
[ 93%] Building CXX object
cached_ik_kinematics_plugin/CMakeFiles/measure_ik_call_cost.dir/src/measure_ik_call_cost.cpp.o
[100%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_kinematics/lib/moveit_kinematics/measure_ik_call_cost
[100%] Built target measure_ik_call_cost
<== Finished processing package [13 of 26]: 'moveit_kinematics'

==> Processing catkin package: 'moveit_planners_ompl'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_kinematics/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_planners/ompl
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl
-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_planners_ompl'


###  ROS Buildfarm


Next, you will need to navigate to your catkin workspace src directory and
clone the necessary GIT repositories from HEBI:


<== 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'


\-- program_options
\-- chrono
\-- atomic


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[ 0%] Built target std_srvs_generate_messages_cpp
[ 0%] Built target tf_generate_messages_eus
[ 0%] Built target tf2_msgs_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_eus
[ 0%] Built target tf2_msgs_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_nodejs
[ 0%] Built target visualization_msgs_generate_messages_nodejs
Scanning dependencies of target moveit_move_group_capabilities_base
[ 5%] Building CXX object
CMakeFiles/moveit_move_group_capabilities_base.dir/src/move_group_context.cpp.o
[ 10%] Building CXX object
CMakeFiles/moveit_move_group_capabilities_base.dir/src/move_group_capability.cpp.o
[ 15%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group/lib/libmoveit_move_group_capabilities_base.so
[ 15%] Built target moveit_move_group_capabilities_base
Scanning dependencies of target move_group
[ 21%] Building CXX object CMakeFiles/move_group.dir/src/move_group.cpp.o
[ 26%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group/lib/moveit_ros_move_group/move_group
[ 26%] Built target move_group
Scanning dependencies of target list_move_group_capabilities
[ 31%] Building CXX object
CMakeFiles/list_move_group_capabilities.dir/src/list_capabilities.cpp.o
[ 36%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group/lib/moveit_ros_move_group/list_move_group_capabilities
[ 36%] Built target list_move_group_capabilities
Scanning dependencies of target moveit_move_group_default_capabilities
[ 42%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/move_action_capability.cpp.o
[ 47%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/plan_service_capability.cpp.o
[ 52%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/execute_trajectory_service_capability.cpp.o
[ 57%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/execute_trajectory_action_capability.cpp.o
[ 63%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/query_planners_service_capability.cpp.o
[ 68%] Building CXX object
CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/kinematics_service_capability.cpp.o
[ 73%] Building CXX object


\-- catkin 0.7.14


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


NOTE: There are tutorials available online that go through the “Add Joints”
method to create the planning group, which can be another viable configuration
option to explore.


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


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/260/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/260/display/redirect)
>

\------------------------------------------
[...truncated 1.38 MB...]
[ 61%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/passive_joints_widget.cpp.o
[ 64%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/perception_widget.cpp.o
[ 66%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/configuration_files_widget.cpp.o
[ 69%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/ros_controllers_widget.cpp.o
[ 71%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/controller_edit_widget.cpp.o
[ 74%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/navigation_widget.cpp.o
[ 76%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/header_widget.cpp.o
[ 79%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/setup_assistant_widget.cpp.o
[ 82%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/setup_screen_widget.cpp.o
[ 84%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/simulation_widget.cpp.o
[ 87%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/src/widgets/author_information_widget.cpp.o
[ 89%] Building CXX object
CMakeFiles/moveit_setup_assistant_widgets.dir/moveit_setup_assistant_widgets_automoc.cpp.o
[ 92%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_setup_assistant/lib/libmoveit_setup_assistant_widgets.so
[ 92%] Built target moveit_setup_assistant_widgets
Scanning dependencies of target moveit_setup_assistant
[ 94%] Building CXX object
CMakeFiles/moveit_setup_assistant.dir/src/setup_assistant_main.cpp.o
[ 97%] Building CXX object
CMakeFiles/moveit_setup_assistant.dir/moveit_setup_assistant_automoc.cpp.o
[100%] Linking CXX executable


[ ](https://www.google.com.hk/intl/en/about/products?tab=gh)


\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Boost version: 1.58.0


[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[RRTConnectkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327324517]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[RRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327327508]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[RRTstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327330163]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[SBLkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327332746]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[SPARSkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327335546]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[SPARStwokConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327338250]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[STRIDEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327340843]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[TRRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327345319]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[TrajOptDefault]
|  [rviz2-1] [INFO] [1630341485.327348044]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand
|  [rviz2-1] [INFO] [1630341485.327349831]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[BFMTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327351553]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[BKPIECEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327353349]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[BiESTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327354997]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:


[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target object_recognition_msgs_generate_messages_py


\-- 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


To use MoveIt within ROS, modify the CMakeLists.txt file in the following
sections:


Build timed out (after 120 minutes). Marking the build as failed.
Build was aborted
[WARNINGS] Skipping publisher since build result is FAILURE
[xUnit] [INFO] - Starting to record.
[xUnit] [INFO] - Processing GoogleTest-1.6


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_planning_interface
==> make -j1 in
'/tmp/catkin_workspace/build_isolated/moveit_ros_planning_interface'
Scanning dependencies of target moveit_py_bindings_tools
[ 5%] Building CXX object
py_bindings_tools/CMakeFiles/moveit_py_bindings_tools.dir/src/roscpp_initializer.cpp.o
[ 11%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface/lib/libmoveit_py_bindings_tools.so
[ 11%] Built target moveit_py_bindings_tools
Scanning dependencies of target moveit_py_bindings_tools_python
[ 16%] Building CXX object
py_bindings_tools/CMakeFiles/moveit_py_bindings_tools_python.dir/src/wrap_python_roscpp_initializer.cpp.o
[ 22%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface/lib/python2.7/dist-
packages/moveit_ros_planning_interface/_moveit_roscpp_initializer.so
[ 22%] Built target moveit_py_bindings_tools_python
Scanning dependencies of target moveit_common_planning_interface_objects
[ 27%] Building CXX object
common_planning_interface_objects/CMakeFiles/moveit_common_planning_interface_objects.dir/src/common_objects.cpp.o
[ 33%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface/lib/libmoveit_common_planning_interface_objects.so
[ 33%] Built target moveit_common_planning_interface_objects
Scanning dependencies of target moveit_planning_scene_interface
[ 38%] Building CXX object
planning_scene_interface/CMakeFiles/moveit_planning_scene_interface.dir/src/planning_scene_interface.cpp.o
[ 44%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface/lib/libmoveit_planning_scene_interface.so
[ 44%] Built target moveit_planning_scene_interface
Scanning dependencies of target moveit_planning_scene_interface_python
[ 50%] Building CXX object
planning_scene_interface/CMakeFiles/moveit_planning_scene_interface_python.dir/src/wrap_python_planning_scene_interface.cpp.o


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


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###  ROS Buildfarm


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\-- date_time
\-- thread
\-- serialization


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks
==> make -j1 run_tests in
'/tmp/catkin_workspace/build_isolated/moveit_ros_benchmarks'
Scanning dependencies of target run_tests
Built target run_tests
<== Finished processing package [19 of 26]: 'moveit_ros_benchmarks'

==> Processing catkin package: 'moveit_ros_planning_interface'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/planning_interface
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface
-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_planning_interface'


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[ 80%] Built target moveit_kinematics_speed_and_validity_evaluator
Scanning dependencies of target moveit_evaluate_state_operations_speed
[ 81%] Building CXX object
planning_components_tools/CMakeFiles/moveit_evaluate_state_operations_speed.dir/src/evaluate_state_operations_speed.cpp.o
[ 83%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/moveit_evaluate_state_operations_speed
[ 83%] Built target moveit_evaluate_state_operations_speed
Scanning dependencies of target moveit_trajectory_execution_manager
[ 85%] Building CXX object
trajectory_execution_manager/CMakeFiles/moveit_trajectory_execution_manager.dir/src/trajectory_execution_manager.cpp.o
[ 87%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/libmoveit_trajectory_execution_manager.so
[ 87%] Built target moveit_trajectory_execution_manager
Scanning dependencies of target test_controller_manager_plugin
[ 89%] Building CXX object
trajectory_execution_manager/CMakeFiles/test_controller_manager_plugin.dir/test/test_moveit_controller_manager_plugin.cpp.o
[ 90%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/libtest_controller_manager_plugin.so
[ 90%] Built target test_controller_manager_plugin
Scanning dependencies of target test_controller_manager
[ 92%] Building CXX object
trajectory_execution_manager/CMakeFiles/test_controller_manager.dir/test/test_app.cpp.o
[ 94%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/moveit_ros_planning/test_controller_manager
[ 94%] Built target test_controller_manager
Scanning dependencies of target moveit_plan_execution
[ 96%] Building CXX object
plan_execution/CMakeFiles/moveit_plan_execution.dir/src/plan_with_sensing.cpp.o
[ 98%] Building CXX object
plan_execution/CMakeFiles/moveit_plan_execution.dir/src/plan_execution.cpp.o
[100%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/lib/libmoveit_plan_execution.so
[100%] Built target moveit_plan_execution
<== Finished processing package [11 of 26]: 'moveit_ros_planning'

==> Processing catkin package: 'moveit_fake_controller_manager'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_ros_planning/env.sh'
==> cmake
/tmp/catkin_workspace/src/moveit/moveit_plugins/moveit_fake_controller_manager


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See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/251/display/redirect?page=changes
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/251/display/redirect?page=changes)
>


Select “Add Group”. Fill in a name for the planning group you are using. Next,
select “Kinematic Solver”. The most common solver is the
“kdl_kinematics_plugin/KDLKinematicsPlugin” option. Next, select the “Group
Default Planner”. The most common planner is “RRTConnect”. The next step is to
define your kinematic chain. Select “Add Kin. Chain” option. Given how you set
up your URDF model, the chain of joints and linkages should be created and
shown for you. All you have to do is to select the base link, which is the
“world” link, and the tip link which is the “end_link/INPUT_INTERFACE” in this
case. Afterwards, select “Save”.


\-- regex


\-- 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


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_planning_interface
==> make -j1 run_tests in
'/tmp/catkin_workspace/build_isolated/moveit_ros_planning_interface'
Scanning dependencies of target
clean_test_results_moveit_ros_planning_interface
Removing test result files from
'/tmp/catkin_workspace/test_results/moveit_ros_planning_interface'
[ 0%] Built target clean_test_results_moveit_ros_planning_interface
[ 20%] Built target moveit_common_planning_interface_objects
[ 40%] Built target moveit_planning_scene_interface
[ 40%] Built target tf2_msgs_generate_messages_nodejs
[ 40%] Built target tf2_msgs_generate_messages_lisp
[ 40%] Built target tf2_msgs_generate_messages_eus
[ 40%] Built target tf2_msgs_generate_messages_cpp
[ 40%] Built target actionlib_generate_messages_py
[ 40%] Built target actionlib_generate_messages_eus
[ 40%] Built target tf_generate_messages_eus
[ 40%] Built target moveit_ros_manipulation_gencfg
[ 40%] Built target rosgraph_msgs_generate_messages_lisp
[ 40%] Built target rosgraph_msgs_generate_messages_eus
[ 40%] Built target tf_generate_messages_nodejs
[ 40%] Built target roscpp_generate_messages_py
[ 40%] Built target roscpp_generate_messages_lisp
[ 40%] Built target roscpp_generate_messages_eus
[ 40%] Built target roscpp_generate_messages_cpp
[ 40%] Built target visualization_msgs_generate_messages_py
[ 40%] Built target visualization_msgs_generate_messages_nodejs
[ 40%] Built target visualization_msgs_generate_messages_lisp
[ 40%] Built target visualization_msgs_generate_messages_cpp
[ 40%] Built target moveit_ros_planning_gencfg
[ 40%] Built target octomap_msgs_generate_messages_py
[ 40%] Built target octomap_msgs_generate_messages_lisp
[ 40%] Built target visualization_msgs_generate_messages_eus
[ 40%] Built target _catkin_empty_exported_target
[ 40%] Built target actionlib_msgs_generate_messages_py
[ 40%] Built target moveit_msgs_generate_messages_nodejs
[ 40%] Built target geometry_msgs_generate_messages_eus
[ 40%] Built target std_msgs_generate_messages_py
[ 40%] Built target moveit_msgs_generate_messages_lisp


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##  Setting Up HEBI with ROS


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Unpacking qttools5-dev-tools (5.5.1-3ubuntu0.1) ...
Selecting previously unselected package qtdeclarative5-private-dev:amd64.
Preparing to unpack .../qtdeclarative5-private-dev_5.5.1-2ubuntu6_amd64.deb
...
Unpacking qtdeclarative5-private-dev:amd64 (5.5.1-2ubuntu6) ...
Selecting previously unselected package libqt5xmlpatterns5:amd64.
Preparing to unpack .../libqt5xmlpatterns5_5.5.1-2build1_amd64.deb ...
Unpacking libqt5xmlpatterns5:amd64 (5.5.1-2build1) ...
Selecting previously unselected package libqt5xmlpatterns5-dev:amd64.
Preparing to unpack .../libqt5xmlpatterns5-dev_5.5.1-2build1_amd64.deb ...
Unpacking libqt5xmlpatterns5-dev:amd64 (5.5.1-2build1) ...
Selecting previously unselected package libqt5xmlpatterns5-private-dev:amd64.
Preparing to unpack .../libqt5xmlpatterns5-private-dev_5.5.1-2build1_amd64.deb
...
Unpacking libqt5xmlpatterns5-private-dev:amd64 (5.5.1-2build1) ...
Selecting previously unselected package libqt5x11extras5:amd64.
Preparing to unpack .../libqt5x11extras5_5.5.1-3build1_amd64.deb ...
Unpacking libqt5x11extras5:amd64 (5.5.1-3build1) ...
Selecting previously unselected package libqt5x11extras5-dev:amd64.
Preparing to unpack .../libqt5x11extras5-dev_5.5.1-3build1_amd64.deb ...
Unpacking libqt5x11extras5-dev:amd64 (5.5.1-3build1) ...
Selecting previously unselected package libpyside2-dev.
Preparing to unpack
.../libpyside2-dev_2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1_amd64.deb
...
Unpacking libpyside2-dev
(2.0.0+dev-0~201604151742~rev1858~pkg38~ubuntu16.04.1) ...
Selecting previously unselected package libpython3.5-dev:amd64.
Preparing to unpack .../libpython3.5-dev_3.5.2-2ubuntu0~16.04.4_amd64.deb ...
Unpacking libpython3.5-dev:amd64 (3.5.2-2ubuntu0~16.04.4) ...
Selecting previously unselected package libpython3-dev:amd64.
Preparing to unpack .../libpython3-dev_3.5.1-3_amd64.deb ...
Unpacking libpython3-dev:amd64 (3.5.1-3) ...
Selecting previously unselected package libqhull7:amd64.
Preparing to unpack .../libqhull7_2015.2-1_amd64.deb ...
Unpacking libqhull7:amd64 (2015.2-1) ...
Selecting previously unselected package libqhull-dev:amd64.
Preparing to unpack .../libqhull-dev_2015.2-1_amd64.deb ...
Unpacking libqhull-dev:amd64 (2015.2-1) ...
Selecting previously unselected package libqt5sql5-sqlite:amd64.


  1. Ubuntu 18.04 operating system
  2. ROS Melodic framework


|  [move_group-4] [INFO] [1630341477.752027766]
[moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for
joint states
|  [move_group-4] [INFO] [1630341477.752950220]
[moveit_ros.current_state_monitor]: Listening to joint states on topic
'joint_states'
|  [move_group-4] [INFO] [1630341477.753781897]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to
'/attached_collision_object' for attached collision objects
|  [move_group-4] [INFO] [1630341477.754315590]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning
scene monitor
|  [move_group-4] [INFO] [1630341477.755149203]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to
'/planning_scene'
|  [move_group-4] [INFO] [1630341477.755556866]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world
geometry update monitor for collision objects, attached objects, octomap
updates.
|  [move_group-4] [INFO] [1630341477.757126400]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to
'collision_object'
|  [move_group-4] [INFO] [1630341477.758613240]
[moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to
'planning_scene_world' for planning scene world geometry
|  [move_group-4] [WARN] [1630341477.758679164]
[moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap.
Assuming resolution = 0.1 instead
|  [move_group-4] [ERROR] [1630341477.758718843]
[moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap
updates
|  [move_group-4] [INFO] [1630341477.761368849]
[moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline
'move_group'
|  [move_group-4] [INFO] [1630341477.792065618]
[moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
|  [move_group-4] [INFO] [1630341477.796577780]
[moveit_ros.add_time_optimal_parameterization]: Param
'move_group.path_tolerance' was not set. Using default value: 0.100000
|  [move_group-4] [INFO] [1630341477.796654246]


Oct 11, 2018, 6:08:11 AM  10/11/18


Forward


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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()
\-- 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


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/238/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/238/display/redirect)
>


FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a //Path to a
library. FLANN_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libflann_cpp_s.a //Path to a library.
FLYCAPTURE2:FILEPATH=/usr/lib/libflycapture.so //Path to a file.
GLEW_INCLUDE_DIR:PATH=/usr/include //Path to a library.
GLEW_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLEW.so //Path to a file.
GLUT_INCLUDE_DIR:PATH=/usr/include //Path to a library.
GLUT_Xi_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libXi.so //Path to a
library. GLUT_Xmu_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libXmu.so //Path
to a library. GLUT_glut_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libglut.so
//Path to a file. GTEST_INCLUDE_DIR:PATH=/usr/include //Path to a library.
GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND //Path to a library.
GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND //Path to a library.
GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND //Path to a library.
GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND //Path to
a library. LAPACK_Accelerate_LIBRARY:FILEPATH=LAPACK_Accelerate_LIBRARY-
NOTFOUND //Path to a library.
LAPACK_goto2_LIBRARY:FILEPATH=LAPACK_goto2_LIBRARY-NOTFOUND //Path to a
library. LAPACK_lapack_LIBRARY:FILEPATH=/usr/lib/liblapack.so //Path to a
library. LAPACK_vecLib_LIBRARY:FILEPATH=LAPACK_vecLib_LIBRARY-NOTFOUND //Path
to a library. LIBFCL_LIBRARIES_FULL:FILEPATH=/usr/lib/x86_64-linux-
gnu/libfcl.so //Path to a file. LIBUSB_1_INCLUDE_DIR:PATH=/usr/include //Path
to a library. LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-
gnu/libusb-1.0.so //Path to a library.
LOG4CXX_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/liblog4cxx.so //lsb_release
executable was found LSB_FOUND:BOOL=TRUE //Path to a program.
LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release //Path to a program.
NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 //Path to a library.
OMPLAPPBASE_LIBRARY:FILEPATH=OMPLAPPBASE_LIBRARY-NOTFOUND //Path to a library.
OMPLAPP_LIBRARY:FILEPATH=OMPLAPP_LIBRARY-NOTFOUND //Path to a file.
OMPL_CONFIG:FILEPATH=/opt/ros/kinetic/include/ompl/config.h //The directory
containing a CMake configuration file for OMPL.
OMPL_DIR:PATH=/opt/ros/kinetic/share/ompl //Path to a file.
OMPL_INCLUDE_DIRS:PATH=/opt/ros/kinetic/include/ompl/base //Path to OMPL
library OMPL_LIBRARIES:FILEPATH=/opt/ros/kinetic/lib/x86_64-linux-
gnu/libompl.so //Path to a library.
OMPL_LIBRARY:FILEPATH=/opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so //Path
to a file. OPENGL_INCLUDE_DIR:PATH=/usr/include //Path to a library.
OPENGL_gl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGL.so //Path to a
library. OPENGL_glu_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLU.so


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


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


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\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_planners_ompl
==> make -j1 in '/tmp/catkin_workspace/build_isolated/moveit_planners_ompl'
[ 4%] Generating dynamic reconfigure files from
ompl_interface/cfg/OMPLDynamicReconfigure.cfg:
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/include/moveit_planners_ompl/OMPLDynamicReconfigureConfig.h
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/lib/python2.7/dist-
packages/moveit_planners_ompl/cfg/OMPLDynamicReconfigureConfig.py
Generating reconfiguration files for OMPLDynamicReconfigure in
moveit_planners_ompl
Wrote header file in
/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl/include/moveit_planners_ompl/OMPLDynamicReconfigureConfig.h
[ 4%] Built target moveit_planners_ompl_gencfg
Scanning dependencies of target moveit_ompl_interface
[ 8%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/ompl_interface.cpp.o
[ 12%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/planning_context_manager.cpp.o
[ 16%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/constraints_library.cpp.o
[ 20%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/model_based_planning_context.cpp.o
[ 24%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/model_based_state_space.cpp.o
[ 28%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/model_based_state_space_factory.cpp.o
[ 32%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/joint_space/joint_model_state_space.cpp.o
[ 36%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/joint_space/joint_model_state_space_factory.cpp.o
[ 40%] Building CXX object
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rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
|  [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] [WARN] [1630341485.280126665]
[moveit_robot_model.joint_model_group]: comparing input tip: panda_link8 to
this groups tip: panda_link8
|  [rviz2-1] [INFO] [1630341485.285779285]
[moveit_ros_visualization.motion_planning_frame]: group panda_arm
|  [rviz2-1] [INFO] [1630341485.285817152]
[moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup
connection for group 'panda_arm' in namespace ''
|  [rviz2-1] [WARN] [1630341485.286201708] [rcl.logging_rosout]: Publisher
already registered for provided node name. If this is due to multiple nodes
with the same name then all logs for that logger name will go out over the
existing publisher. As soon as any node with that name is destructed it will
unregister the publisher, preventing any further logs for that name from being
published on the rosout topic.
|  [rviz2-1] [INFO] [1630341485.303305933] [move_group_interface]: Ready to
take commands for planning group panda_arm.
|  [rviz2-1] [INFO] [1630341485.303497564] [move_group_interface]: Looking
around: no
|  [rviz2-1] [INFO] [1630341485.303513236] [move_group_interface]: Replanning:
no
|  [rviz2-1] [INFO] [1630341485.324461437]
[interactive_marker_display_94166892987056]: Sending request for interactive
markers
|  [rviz2-1] [INFO] [1630341485.326846249]
[moveit_ros_visualization.motion_planning_frame_planning]: POPULATING PLANNERS
75 grp: panda_arm
|  [rviz2-1] [INFO] [1630341485.327020448]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id: hand


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\-- Boost version: 1.58.0
\-- Found the following Boost libraries:
\-- thread
\-- chrono
\-- system
\-- date_time
\-- atomic


Jul 13, 2018, 9:05:33 AM  7/13/18


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\-- catkin 0.7.14


##  Setting Up MoveIt with ROS


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![moveit_setup_assistant_kinematic_chain](/wiki/actuation/assets/moveit_setup_assistant_planning_group_kinematic_chain.png)


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\-- Configuring done
\-- Generating done


[ INFO] [1539720446.012970515]: Forward kinematics took 0.048837423 [0m
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[0m[ INFO] [1539720446.307896422]: Forward kinematics took 0.048601831 [0m
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[0m[ INFO] [1539720446.596918258]: iteration: 80 [0m
[0m[ INFO] [1539720446.649026204]: Forward kinematics took 0.051088577 [0m
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[0m[ INFO] [1539720447.151153935]: Forward kinematics took 0.061851091 [0m
[0m[ INFO] [1539720447.263648073]: Forward kinematics took 0.111197695 [0m
[0m[ INFO] [1539720447.264971751]: iteration: 90 [0m
[0m[ INFO] [1539720447.352755602]: Forward kinematics took 0.086019275 [0m
[0m[ INFO] [1539720447.481878733]: Forward kinematics took 0.123986833 [0m
[0m[ INFO] [1539720447.530895072]: Forward kinematics took 0.048018080 [0m
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[0m[ INFO] [1539720447.626225862]: Forward kinematics took 0.049684955 [0m
[0m[ INFO] [1539720447.673986164]: Forward kinematics took 0.046657688 [0m
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[0m[ INFO] [1539720447.925584757]: Forward kinematics took 0.045474805 [0m
[0m[ INFO] [1539720447.973288419]: Forward kinematics took 0.046694790 [0m
[0m[ INFO] [1539720448.024823955]: Forward kinematics took 0.050459249 [0m


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/278/display/redirect?page=changes
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/278/display/redirect?page=changes)
>


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


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