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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
\-- catkin 0.7.11
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Configuring done
\-- Generating done


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


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


\-- chrono
\-- system
\-- date_time


Show original message


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;general;/usr/lib/x86_64-linux-
gnu/libconsole_bridge.so;general;/usr/lib/x86_64-linux-
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gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-
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gnu/libconsole_bridge.so;general;/usr/lib/x86_64-linux-
gnu/libboost_system.so;general;/usr/lib/x86_64-linux-
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gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-
gnu/libboost_iostreams.so;general;/usr/lib/x86_64-linux-
gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-
gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-
gnu/libboost_regex.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so; //Value
Computed by CMake
moveit_kinematics_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/moveit-
kinetic-devel/moveit_kinematics //Value Computed by CMake
moveit_kinematics_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/moveit-
kinetic-devel/moveit_kinematics //Dependencies for the target
moveit_kinematics_base_LIB_DEPENDS:STATIC=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-
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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/librandom_numbers.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/libsrdfdom.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-
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gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-
gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-


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


{{ message }}


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See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/244/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/244/display/redirect)
>

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\-- catkin 0.7.11
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\-- Configuring done
\-- Generating done
\-- 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'
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py_bindings_tools/CMakeFiles/moveit_py_bindings_tools.dir/src/roscpp_initializer.cpp.o
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[ 44%] Built target moveit_planning_scene_interface


The “Passive Joints” section of the setup was autofilled, so we can skip the
details of this window.


###  ROS Buildfarm


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


The next option window is the virtual joints window. Here, you would configure
a robot link with an external frame of reference that is fixed. In this
particular case you can configure the world frame to the world frame as a
virtual joint if you want the origin point of the robot arm to be the same as
the URDF file.


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The next window “ROS Control” can be an important one. Here, you can configure
a ROS controller to control the physical hardware of your robot. This can be
important if you want the MoveIt pipeline to directly interface with your
motors and actuators using different control schemes such as effort, velocity,
or position controllers. In our case, we opted to use the simulation portion
of the ROS controller, which is essentially a fake joint controller.


Aug 15, 2018, 11:31:51 AM  8/15/18


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\-- filesystem
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Reply to author


[ 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
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/work_space/pose_model_state_space.cpp.o
[ 44%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/parameterization/work_space/pose_model_state_space_factory.cpp.o
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ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/threadsafe_state_storage.cpp.o
[ 52%] Building CXX object
ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/state_validity_checker.cpp.o


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


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


<== 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'


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


roslaunch (MoveIt-node-folder-name) move_group_tutorial_interface.launch


To run a robot manipulator pipeline using MoveIt, you would first need to
create the model of the manipulator arm. This is done by creating a URDF
model, which is essentially a 3D geometric representation of the robot.


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


Report message


    find_package(catkin REQUIRED COMPONENTS
    ...
    moveit_core
    moveit_ros_planning_interface
    moveit_visual_tools
    rviz_visual_tools
    ...
    )

    catkin_package(
    ...
    moveit_core
    moveit_ros_planning_interface
    ...
    )


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###  ROS Buildfarm


[ 0%] Built target tf2_msgs_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_eus
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Scanning dependencies of target moveit_move_group_capabilities_base
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CMakeFiles/moveit_move_group_default_capabilities.dir/src/default_capabilities/query_planners_service_capability.cpp.o
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[ 78%] Building CXX object


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panda_arm_hand[BiTRRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327356663]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[ESTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327358320]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[FMTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327359957]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[KPIECEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327361624]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[LBKPIECEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327363281]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[LBTRRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327364996]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[LazyPRMkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327366661]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[LazyPRMstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327368547]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[PDSTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327370225]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[PRMkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327371875]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[PRMstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327373529]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[ProjESTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327375305]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[RRTConnectkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327377180]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm_hand[RRTkConfigDefault]


Forward


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/279/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/279/display/redirect)
>

\------------------------------------------
[...truncated 1.26 MB...]


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    sudo apt install ros-melodic-moveit
    sudo apt install ros-melodic-moveit-visual-tools


(1.12.13-0xenial-20180906-210602-0800) ...
Setting up ros-lunar-kdl-conversions (1.11.9-0xenial-20180817-161657-0800) ...
Setting up ros-lunar-rosconsole-bridge (0.5.2-0xenial-20180906-144932-0800)
...
Setting up ros-lunar-urdf (1.12.12-0xenial-20180906-194744-0800) ...
Setting up ros-lunar-kdl-parser (1.12.11-0xenial-20180906-200801-0800) ...
Setting up ros-lunar-laser-geometry (1.6.4-0xenial-20180906-232133-0800) ...
Setting up ros-lunar-nav-msgs (1.12.6-0xenial-20180817-155923-0800) ...
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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
\-- catkin 0.7.14
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Configuring done
\-- Generating done


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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
\-- catkin 0.7.11
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Configuring done
\-- Generating done


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/235/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/235/display/redirect)
>


Delete


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


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/243/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/243/display/redirect)
>


\-- thread
\-- chrono
\-- atomic


Can maintain a clean state of the robot throughout time that is not affected
by the noise and external disturbances on the physical motor encoders. Can
maintain the most recent state to memory such that, when the motors die and
come back online, they can immediately go to the most recent joint state of
the simulated model.


Once the command finishes running, a URDF file of the desired name should
appear in the same directory as the xacro .xml file or in the specified
desired directory.


Show original message


Skip to content


**__ Updated: ** November 29, 2021


Unpacking qtbase5-private-dev:amd64 (5.5.1+dfsg-16ubuntu7.5) ...
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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


/controller_manager services
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.313-0400 I STORAGE
[initandlisten] WiredTiger message [1630341478:313558][1725:0x7f82ad37bf40],
txn-recover: Main recovery loop: starting at 6/4992
|  [ros2_control_node-5] [ERROR] [1630341478.314437443] [controller_manager]:
The 'type' param not defined for 'panda_hand_controller'.
|  [ERROR] [ros2 run controller_manager spawner.py panda_hand_controller-8]:
process has died [pid 1640, exit code 1, cmd 'ros2 run controller_manager
spawner.py panda_hand_controller'].
|  [ros2_control_node-5] [INFO] [1630341478.354204515] [controller_manager]:
Loading controller 'joint_state_controller'
|  [ros2_control_node-5] Warning: class_loader.impl: SEVERE WARNING!!! A
namespace collision has occured with plugin factory for class
joint_state_broadcaster::JointStateBroadcaster. 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.
|  [ros2_control_node-5] at line 253 in
/opt/ros/foxy/include/class_loader/class_loader_core.hpp
|  [ros2 run controller_manager spawner.py joint_state_controller-9] [INFO]
[1630341478.370911627] [spawner_joint_state_controller]: Loaded
joint_state_controller
|  [ros2_control_node-5] [INFO] [1630341478.371896280] [controller_manager]:
Loading controller 'panda_arm_controller'
|  [ros2_control_node-5] [INFO] [1630341478.380218916] [controller_manager]:
Configuring controller 'joint_state_controller'
|  [mongo_wrapper_ros.py-6] 2021-08-30T12:37:58.380-0400 I STORAGE
[initandlisten] WiredTiger message [1630341478:380414][1725:0x7f82ad37bf40],
txn-recover: Recovering log 6 through 7
|  [ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO]
[1630341478.380840344] [spawner_panda_arm_controller]: Loaded
panda_arm_controller
|  [ros2_control_node-5] [INFO] [1630341478.382107642] [controller_manager]:
Configuring controller 'panda_arm_controller'
|  [ros2_control_node-5] [INFO] [1630341478.382221846] [panda_arm_controller]:
Command interfaces are [position] and and state interfaces are [position
velocity].
|  [ros2_control_node-5] [INFO] [1630341478.382839077] [panda_arm_controller]:


Help


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


Within your package.xml file, include the following in the following sections:


You do not have permission to delete messages in this group


[ 60%] Building CXX object
motion_planning_rviz_plugin/CMakeFiles/moveit_motion_planning_rviz_plugin_core.dir/src/motion_planning_frame_objects.cpp.o


Forward


From here, you will be launched into a MoveIt setup assistant menu, as shown
below:


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To create the xacro .xml file, you would need both the basic geometries of the
robot and the joints of the model. By defining the joints, MoveIt can actuate
these joints.


There can be multiple ways to integrate the HEBI API with MoveIt, but the
method being discussed in this document would be to have the MoveIt pipeline
run a simulated model of the robot using fake joints and the HEBI motors
follow that simulated model through a ROS topic subscription to MoveIt. There
can be a number of advantages and disadvantages to this method. The advantages
are:


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Select “Create New MoveIt Configuration Package” then select the URDF model
file created earlier. Select “Load Files” to load the URDF file.


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/234/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/234/display/redirect)
>


unread,


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


Reply to author


In brief, the URDF model file is created when converting from a xacro xml
description of the robot model into a URDF model. For a detailed tutorial on
how to build simple xacro and URDF models, look to the following tutorials:


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


\-- Configuring done
\-- Generating done


  * Overview
    * Requirements
  * Installation
  * How to run a MoveIt pipeline
    * Create xacro file and URDF model
    * Run through MoveIt setup manager GUI
    * Simulate URDF model through Rviz
  * Setting Up MoveIt with ROS
  * Setting Up HEBI with ROS
  * Integrating HEBI API with MoveIt
  * Summary
  * See Also
  * Further Reading
  * References


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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\-- system
\-- filesystem
\-- date_time


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\-- system
\-- thread
\-- chrono
\-- date_time
\-- atomic


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###  ROS Buildfarm


\-- 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


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    * [ Stag ](/wiki/sensing/stag/)
    * [ Camera Calibration ](/wiki/sensing/camera-calibration/)
    * [ Computer Vision Consideration ](/wiki/sensing/computer-vision-considerations/)
    * [ Delphi ESR Radar ](/wiki/sensing/delphi-esr-radar/)
    * [ Point Cloud Library, 3D Sensors and Applications ](/wiki/sensing/pcl/)
    * [ Photometric Calibration ](/wiki/sensing/photometric-calibration/)
    * [ Speech Recognition ](/wiki/sensing/speech-recognition/)
    * [ Stereo Vision in OpenCV ](/wiki/sensing/opencv-stereo/)
    * [ Camera-IMU Calibration using kalibr ](/wiki/sensing/camera-imu-calibration/)
    * [ Fiducial Markers ](/wiki/sensing/fiducial-markers/)
    * [ RTK GPS ](/wiki/sensing/gps/)
    * [ Intel Realsense ](/wiki/sensing/realsense/)
    * [ Thermal Cameras ](/wiki/sensing/thermal-cameras/)
  * [ Actuation  ](/wiki/actuation/)
    * [ Motor Controller Feedback ](/wiki/actuation/motor-controller-feedback/)
    * [ PID Control on Arduino ](/wiki/actuation/pid-control-arduino/)
    * [ Linear Actuator Types ](/wiki/actuation/linear-actuator-resources/)
    * [ ULN2003A Motor Controller ](/wiki/actuation/uln2003a-motor-controller/)
    * [ Vedder Electronic Speed Controller ](/wiki/actuation/vedder-electronic-speed-controller/)
    * [ Pure Pursuit Controller for Skid Steering ](/wiki/actuation/Pure-Pursuit-Controller-for-Skid-Steering-Robot.md)
    * [ MoveIt Motion Planning and HEBI Actuator Setup and Integration ](/wiki/actuation/moveit-and-HEBI-integration.md)
    * [ Model Predictive Control Introduction and Setup ](/wiki/actuation/model-predictive-control/)
    * [ Task Prioritization Control for Advanced Manipulator Control ](/wiki/actuation/task-prioritization-control/)
    * [ Drive-by-wire Conversion for Autonomous Vehicle ](/wiki/actuation/drive-by-wire/)
  * [ Machine Learning  ](/wiki/machine-learning/)
    * [ Training darknet on a custom dataset ](/wiki/machine-learning/train-darknet-on-custom-dataset/)
    * [ Custom data-set for segmentation ](/wiki/machine-learning/custom-semantic-data/)
    * [ Python libraries for Reinforcement Learning ](/wiki/machine-learning/python-libraries-for-reinforcement-learning/)
    * [ Reinforcement Learning ](/wiki/machine-learning/intro-to-rl)
    * [ YOLO Integration with ROS and Running with CUDA GPU ](/wiki/sensing/ros-yolo-gpu/)
    * [ YOLOv5 Training and Deployment on NVIDIA Jetson Platforms ](/wiki/machine-learning/yolov5-tensorrt/)
    * [ Mediapipe - Live ML anywhere ](/wiki/machine-learning/mediapipe-live-ml-anywhere.md/)
    * [ NLP for robotics ](/wiki/machine-learning/nlp_for_robotics.md/)
  * [ State Estimation  ](/wiki/state-estimation/)
    * [ Adaptive Monte Carlo Localization ](/wiki/state-estimation/adaptive-monte-carlo-localization/)
    * [ Sensor Fusion and Tracking ](/wiki/state-estimation/radar-camera-sensor-fusion/)
    * [ SBPL Lattice Planner ](/wiki/state-estimation/sbpl-lattice-planner/)
    * [ ORB SLAM2 Setup Guidance ](/wiki/state-estimation/orb-slam2-setup/)
    * [ Visual Servoing ](/wiki/state-estimation/visual-servoing/)
    * [ Cartographer SLAM ROS Integration ](/wiki/state-estimation/Cartographer-ROS-Integration/)


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[ 8%] Building CXX object
distance_field/CMakeFiles/test_distance_field.dir/test/test_distance_field.cpp.o
[ 9%] Linking CXX executable
/tmp/catkin_workspace/devel_isolated/moveit_core/lib/moveit_core/test_distance_field
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Scanning dependencies of target test_robot_model
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robot_model/CMakeFiles/test_robot_model.dir/test/test.cpp.o
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Scanning dependencies of target test_robot_state
[ 41%] Building CXX object
robot_state/CMakeFiles/test_robot_state.dir/test/robot_state_test.cpp.o


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    find_package(catkin REQUIRED_COMPONENTS
    …
    hebi_cpp_api
    ...
    )

    catkin_package(
    …
    hebi_cpp_api
    ...
    )


==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/visualization
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization
-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_visualization'


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_simple_controller_manager
==> make -j1 in
'/tmp/catkin_workspace/build_isolated/moveit_simple_controller_manager'
Scanning dependencies of target moveit_simple_controller_manager
[ 50%] Building CXX object
CMakeFiles/moveit_simple_controller_manager.dir/src/moveit_simple_controller_manager.cpp.o
[100%] Linking CXX shared library
/tmp/catkin_workspace/devel_isolated/moveit_simple_controller_manager/lib/libmoveit_simple_controller_manager.so
[100%] Built target moveit_simple_controller_manager
<== Finished processing package [25 of 26]: 'moveit_simple_controller_manager'

==> Processing catkin package: 'moveit_ros_control_interface'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_simple_controller_manager/env.sh'
==> cmake
/tmp/catkin_workspace/src/moveit/moveit_plugins/moveit_ros_control_interface
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_control_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_control_interface'
\-- Using CATKIN_DEVEL_PREFIX:
/tmp/catkin_workspace/devel_isolated/moveit_ros_control_interface
\-- Using CMAKE_PREFIX_PATH:
/tmp/catkin_workspace/devel_isolated/moveit_simple_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_setup_assistant;/tmp/catkin_workspace/devel_isolated/moveit_runtime;/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization;/tmp/catkin_workspace/devel_isolated/moveit_planners_chomp;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface;/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks;/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse;/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction;/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation;/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group;/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl;/tmp/catkin_workspace/devel_isolated/moveit_kinematics;/tmp/catkin_workspace/devel_isolated/moveit_fake_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning;/tmp/catkin_workspace/devel_isolated/moveit_ros_perception;/tmp/catkin_workspace/devel_isolated/moveit_ros;/tmp/catkin_workspace/devel_isolated/moveit_plugins;/tmp/catkin_workspace/devel_isolated/moveit_planners;/tmp/catkin_workspace/devel_isolated/chomp_motion_planner;/tmp/catkin_workspace/devel_isolated/moveit_experimental;/tmp/catkin_workspace/devel_isolated/moveit_controller_manager_example;/tmp/catkin_workspace/devel_isolated/moveit_core;/tmp/catkin_workspace/devel_isolated/moveit_commander;/tmp/catkin_workspace/devel_isolated/moveit;/opt/ros/lunar
\-- This workspace overlays:
/tmp/catkin_workspace/devel_isolated/moveit_simple_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_setup_assistant;/tmp/catkin_workspace/devel_isolated/moveit_runtime;/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization;/tmp/catkin_workspace/devel_isolated/moveit_planners_chomp;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface;/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks;/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse;/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction;/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation;/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group;/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl;/tmp/catkin_workspace/devel_isolated/moveit_kinematics;/tmp/catkin_workspace/devel_isolated/moveit_fake_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning;/tmp/catkin_workspace/devel_isolated/moveit_ros_perception;/tmp/catkin_workspace/devel_isolated/moveit_ros;/tmp/catkin_workspace/devel_isolated/moveit_plugins;/tmp/catkin_workspace/devel_isolated/moveit_planners;/tmp/catkin_workspace/devel_isolated/chomp_motion_planner;/tmp/catkin_workspace/devel_isolated/moveit_experimental;/tmp/catkin_workspace/devel_isolated/moveit_controller_manager_example;/tmp/catkin_workspace/devel_isolated/moveit_core;/tmp/catkin_workspace/devel_isolated/moveit_commander;/tmp/catkin_workspace/devel_isolated/moveit;/opt/ros/lunar


\-- date_time
\-- filesystem
\-- program_options
\-- python
\-- system


Sign in to forward


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/240/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/240/display/redirect)
>


Sep 8, 2018, 3:07:21 AM  9/8/18


45 views


[ 0%] Built target sensor_msgs_generate_messages_lisp
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PC_OPENNI_LIBS_PATHS:INTERNAL= PC_OPENNI_PREFIX:INTERNAL=/usr
PC_OPENNI_STATIC_CFLAGS:INTERNAL=-I/usr/include/ni
PC_OPENNI_STATIC_CFLAGS_I:INTERNAL= PC_OPENNI_STATIC_CFLAGS_OTHER:INTERNAL=
PC_OPENNI_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/ni
PC_OPENNI_STATIC_LDFLAGS:INTERNAL=-lOpenNI
PC_OPENNI_STATIC_LDFLAGS_OTHER:INTERNAL= PC_OPENNI_STATIC_LIBDIR:INTERNAL=
PC_OPENNI_STATIC_LIBRARIES:INTERNAL=OpenNI
PC_OPENNI_STATIC_LIBRARY_DIRS:INTERNAL= PC_OPENNI_STATIC_LIBS:INTERNAL=
PC_OPENNI_STATIC_LIBS_L:INTERNAL= PC_OPENNI_STATIC_LIBS_OTHER:INTERNAL=
PC_OPENNI_STATIC_LIBS_PATHS:INTERNAL= PC_OPENNI_VERSION:INTERNAL=1.5.4.0
PC_OPENNI_libopenni_INCLUDEDIR:INTERNAL= PC_OPENNI_libopenni_LIBDIR:INTERNAL=
PC_OPENNI_libopenni_PREFIX:INTERNAL= PC_OPENNI_libopenni_VERSION:INTERNAL=
//ADVANCED property for variable: PKG_CONFIG_EXECUTABLE PKG_CONFIG_EXECUTABLE-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: PYTHON_EXECUTABLE
PYTHON_EXECUTABLE-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
PYTHON_INCLUDE_DIR PYTHON_INCLUDE_DIR-ADVANCED:INTERNAL=1 //This needs to be
in PYTHONPATH when 'setup.py install' is called. // And it needs to match. But
setuptools won't tell us where // it will install things.
PYTHON_INSTALL_DIR:INTERNAL=lib/python2.7/dist-packages //ADVANCED property
for variable: PYTHON_LIBRARY PYTHON_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED
property for variable: PYTHON_LIBRARY_DEBUG PYTHON_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 YAML_CPP_CFLAGS:INTERNAL= YAML_CPP_CFLAGS_I:INTERNAL=
YAML_CPP_CFLAGS_OTHER:INTERNAL= YAML_CPP_FOUND:INTERNAL=1
YAML_CPP_INCLUDEDIR:INTERNAL=/usr/include YAML_CPP_INCLUDE_DIRS:INTERNAL=
YAML_CPP_LDFLAGS:INTERNAL=-lyaml-cpp YAML_CPP_LDFLAGS_OTHER:INTERNAL=
YAML_CPP_LIBDIR:INTERNAL= YAML_CPP_LIBRARIES:INTERNAL=yaml-cpp
YAML_CPP_LIBRARY_DIRS:INTERNAL= YAML_CPP_LIBS:INTERNAL=
YAML_CPP_LIBS_L:INTERNAL= YAML_CPP_LIBS_OTHER:INTERNAL=
YAML_CPP_LIBS_PATHS:INTERNAL= YAML_CPP_PREFIX:INTERNAL=/usr
YAML_CPP_STATIC_CFLAGS:INTERNAL= YAML_CPP_STATIC_CFLAGS_I:INTERNAL=
YAML_CPP_STATIC_CFLAGS_OTHER:INTERNAL= YAML_CPP_STATIC_INCLUDE_DIRS:INTERNAL=
YAML_CPP_STATIC_LDFLAGS:INTERNAL=-lyaml-cpp
YAML_CPP_STATIC_LDFLAGS_OTHER:INTERNAL= YAML_CPP_STATIC_LIBDIR:INTERNAL=
YAML_CPP_STATIC_LIBRARIES:INTERNAL=yaml-cpp
YAML_CPP_STATIC_LIBRARY_DIRS:INTERNAL= YAML_CPP_STATIC_LIBS:INTERNAL=
YAML_CPP_STATIC_LIBS_L:INTERNAL= YAML_CPP_STATIC_LIBS_OTHER:INTERNAL=
YAML_CPP_STATIC_LIBS_PATHS:INTERNAL= YAML_CPP_VERSION:INTERNAL=0.5.2
YAML_CPP_yaml-cpp_INCLUDEDIR:INTERNAL= YAML_CPP_yaml-cpp_LIBDIR:INTERNAL=
YAML_CPP_yaml-cpp_PREFIX:INTERNAL= YAML_CPP_yaml-cpp_VERSION:INTERNAL=
//Components requested for this build tree.


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/273/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/273/display/redirect)
>

\------------------------------------------
[...truncated 1.67 MB...]


Forward


Show original message


Controller state will be published at 50.00 Hz.
|  [ros2_control_node-5] [INFO] [1630341478.383203813] [panda_arm_controller]:
Action status changes will be monitored at 20.00 Hz.
|  [move_group-4] [INFO] [1630341478.385227638]
[moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory
controller for panda_arm_controller
|  [move_group-4] [INFO] [1630341478.385525797]
[moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in
list
|  [move_group-4] [INFO] [1630341478.386337912]
[moveit_ros.trajectory_execution_manager]: Trajectory execution is managing
controllers
|  [move_group-4] [INFO] [1630341478.386358915] [move_group.move_group]:
MoveGroup debug mode is ON
|  [ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO]
[1630341478.401715936] [spawner_panda_arm_controller]: Configured and started
panda_arm_controller
|  [move_group-4] [INFO] [1630341478.415152651] [move_group.move_group]:
|  [move_group-4]
|  [move_group-4] ********************************************************
|  [move_group-4] * MoveGroup using:
|  [move_group-4] * - ApplyPlanningSceneService
|  [move_group-4] * - ClearOctomapService
|  [move_group-4] * - CartesianPathService
|  [move_group-4] * - ExecuteTrajectoryAction
|  [move_group-4] * - GetPlanningSceneService
|  [move_group-4] * - KinematicsService
|  [move_group-4] * - MoveAction
|  [move_group-4] * - MotionPlanService
|  [move_group-4] * - QueryPlannersService
|  [move_group-4] * - StateValidationService
|  [move_group-4] ********************************************************
|  [move_group-4]
|  [move_group-4] [INFO] [1630341478.415205054]
[moveit_move_group_capabilities_base.move_group_context]: MoveGroup context
using planning plugin ompl_interface/OMPLPlanner
|  [move_group-4] [INFO] [1630341478.415215031]
[moveit_move_group_capabilities_base.move_group_context]: MoveGroup context
initialization complete
|  [move_group-4] Loading 'move_group/ApplyPlanningSceneService'...


In particular, the “Move Group C++ Interface” tutorial is a good starting
point to get the MoveIt pipeline up and running. Following the tutorial, one
can run a simple pose or joint goal target on the simulated robot and observe
the arm plan and move through RViz. Note that in order to run the code on the
simulated robot, you would need to launch the robot model beforehand. You can
doing this by running the demo.launch command before running your custom
MoveIt code:


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jon.b...@gmail.com, jorge...@swri.org, mathias...@ipa.fraunhofer.de,
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user=s40-c)


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


###  ROS Buildfarm


Oct 17, 2018, 4:07:31 AM  10/17/18


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/233/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/233/display/redirect)
>


<== Finished processing package [21 of 26]: 'moveit_planners_chomp'

==> Processing catkin package: 'moveit_ros_visualization'
==> Building with env:
'/tmp/catkin_workspace/devel_isolated/moveit_planners_chomp/env.sh'
==> cmake /tmp/catkin_workspace/src/moveit/moveit_ros/visualization
-DCATKIN_DEVEL_PREFIX=/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization
-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_visualization'
\-- Boost version: 1.58.0
\-- Found the following Boost libraries:
\-- thread
\-- date_time
\-- system
\-- filesystem
\-- chrono
\-- atomic
\-- Using CATKIN_DEVEL_PREFIX:
/tmp/catkin_workspace/devel_isolated/moveit_ros_visualization
\-- Using CMAKE_PREFIX_PATH:
/tmp/catkin_workspace/devel_isolated/moveit_planners_chomp;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface;/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks;/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse;/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction;/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation;/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group;/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl;/tmp/catkin_workspace/devel_isolated/moveit_kinematics;/tmp/catkin_workspace/devel_isolated/moveit_fake_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning;/tmp/catkin_workspace/devel_isolated/moveit_ros_perception;/tmp/catkin_workspace/devel_isolated/moveit_ros;/tmp/catkin_workspace/devel_isolated/moveit_plugins;/tmp/catkin_workspace/devel_isolated/moveit_planners;/tmp/catkin_workspace/devel_isolated/chomp_motion_planner;/tmp/catkin_workspace/devel_isolated/moveit_experimental;/tmp/catkin_workspace/devel_isolated/moveit_controller_manager_example;/tmp/catkin_workspace/devel_isolated/moveit_core;/tmp/catkin_workspace/devel_isolated/moveit_commander;/tmp/catkin_workspace/devel_isolated/moveit;/opt/ros/lunar
\-- This workspace overlays:
/tmp/catkin_workspace/devel_isolated/moveit_planners_chomp;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning_interface;/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks;/tmp/catkin_workspace/devel_isolated/moveit_ros_warehouse;/tmp/catkin_workspace/devel_isolated/moveit_ros_robot_interaction;/tmp/catkin_workspace/devel_isolated/moveit_ros_manipulation;/tmp/catkin_workspace/devel_isolated/moveit_ros_move_group;/tmp/catkin_workspace/devel_isolated/moveit_planners_ompl;/tmp/catkin_workspace/devel_isolated/moveit_kinematics;/tmp/catkin_workspace/devel_isolated/moveit_fake_controller_manager;/tmp/catkin_workspace/devel_isolated/moveit_ros_planning;/tmp/catkin_workspace/devel_isolated/moveit_ros_perception;/tmp/catkin_workspace/devel_isolated/moveit_ros;/tmp/catkin_workspace/devel_isolated/moveit_plugins;/tmp/catkin_workspace/devel_isolated/moveit_planners;/tmp/catkin_workspace/devel_isolated/chomp_motion_planner;/tmp/catkin_workspace/devel_isolated/moveit_experimental;/tmp/catkin_workspace/devel_isolated/moveit_controller_manager_example;/tmp/catkin_workspace/devel_isolated/moveit_core;/tmp/catkin_workspace/devel_isolated/moveit_commander;/tmp/catkin_workspace/devel_isolated/moveit;/opt/ros/lunar
\-- 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 0.7.11
\-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
\-- Configuring done
\-- Generating done
\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_visualization


[ The Construct tutorial #1: Basic URDF & RViz
](https://www.youtube.com/watch?v=Ale55LcdZeE) [ The Construct tutorial #2:
URDF + Xacro ](https://www.youtube.com/watch?v=2lfwBpH-Ty8)


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[ ![@dpiet](https://avatars.githubusercontent.com/u/1090018?s=64&v=4)
](/dpiet)


Aug 7, 2018, 8:08:24 AM  8/7/18


Setting up libwayland-server0:amd64 (1.12.0-1~ubuntu16.04.3) ...
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Setting up libegl1-mesa:amd64 (18.0.5-0ubuntu0~16.04.1) ...
update-alternatives: using /usr/lib/x86_64-linux-gnu/mesa-egl/ld.so.conf to
provide /etc/ld.so.conf.d/x86_64-linux-gnu_EGL.conf (x86_64-linux-
gnu_egl_conf) in auto mode
Setting up libgraphite2-3:amd64 (1.3.10-0ubuntu0.16.04.1) ...
Setting up libharfbuzz0b:amd64 (1.0.1-1ubuntu0.1) ...
Setting up libevdev2:amd64 (1.4.6+dfsg-1) ...
Setting up libgudev-1.0-0:amd64 (1:230-2) ...
Setting up libwacom-common (0.22-1~ubuntu16.04.1) ...
Setting up libwacom2:amd64 (0.22-1~ubuntu16.04.1) ...
Setting up libinput-bin (1.6.3-1ubuntu1~16.04.1) ...
Setting up libinput10:amd64 (1.6.3-1ubuntu1~16.04.1) ...
Setting up libdbus-1-3:amd64 (1.10.6-1ubuntu3.3) ...
Setting up libqt5dbus5:amd64 (5.5.1+dfsg-16ubuntu7.5) ...
Setting up libproxy1v5:amd64 (0.4.11-5ubuntu1) ...
Setting up libqt5network5:amd64 (5.5.1+dfsg-16ubuntu7.5) ...
Setting up libsm6:amd64 (2:1.2.2-1) ...
Setting up libxcb-icccm4:amd64 (0.4.1-1ubuntu1) ...
Setting up libxcb-shm0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-util1:amd64 (0.4.0-0ubuntu3) ...
Setting up libxcb-image0:amd64 (0.4.0-1build1) ...
Setting up libxcb-keysyms1:amd64 (0.4.0-1) ...
Setting up libxcb-randr0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-render0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-render-util0:amd64 (0.3.9-1) ...
Setting up libxcb-shape0:amd64 (1.11.1-1ubuntu1) ...


Report message


[0m[ INFO] [1539720433.995854884]: MoveGroup context using planning plugin
chomp_interface/CHOMPPlanner [0m
[0m[ INFO] [1539720433.995878995]: MoveGroup context initialization complete
[0m


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  * [ MoveIt Tutorials for ROS ](https://ros-planning.github.io/moveit_tutorials/)
  * [ The Construct tutorial #1: Basic URDF & RViz ](https://www.youtube.com/watch?v=Ale55LcdZeE)
  * [ The Construct tutorial #2: URDF + Xacro ](https://www.youtube.com/watch?v=2lfwBpH-Ty8)
  * [ HEBI Scope download page ](https://www.hebirobotics.com/apps)
  * [ HEBI C++ API Documentation ](https://docs.hebi.us/tools.html#cpp-api)


##  Integrating HEBI API with MoveIt


Clear search


git clone https://github.com/HebiRobotics/hebi_description.git


Oct 24, 2018, 10:18:07 PM  10/24/18


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member email addresses permission to view the original message


rviz_1.12.16-0xenial-20180906-235727-0800_amd64.deb ...
Unpacking ros-lunar-rviz (1.12.16-0xenial-20180906-235727-0800) ...
Selecting previously unselected package ros-lunar-urdfdom-py.
Preparing to unpack .../ros-lunar-urdfdom-
py_0.3.3-0xenial-20180808-131036-0800_amd64.deb ...
Unpacking ros-lunar-urdfdom-py (0.3.3-0xenial-20180808-131036-0800) ...
Selecting previously unselected package ros-lunar-srdfdom.
Preparing to unpack .../ros-lunar-
srdfdom_0.4.2-0xenial-20180906-213222-0800_amd64.deb ...
Unpacking ros-lunar-srdfdom (0.4.2-0xenial-20180906-213222-0800) ...
Selecting previously unselected package ros-lunar-tf-conversions.
Preparing to unpack .../ros-lunar-tf-
conversions_1.11.9-0xenial-20180907-024529-0800_amd64.deb ...
Unpacking ros-lunar-tf-conversions (1.11.9-0xenial-20180907-024529-0800) ...
Selecting previously unselected package ros-lunar-warehouse-ros.
Preparing to unpack .../ros-lunar-warehouse-
ros_0.9.0-0xenial-20180906-235232-0800_amd64.deb ...
Unpacking ros-lunar-warehouse-ros (0.9.0-0xenial-20180906-235232-0800) ...
Selecting previously unselected package ros-lunar-xacro.
Preparing to unpack .../ros-lunar-
xacro_1.12.2-0xenial-20180906-212602-0800_amd64.deb ...
Unpacking ros-lunar-xacro (1.12.2-0xenial-20180906-212602-0800) ...


###  ROS Buildfarm


Overall, the method here was to implement two separate ROS nodes, one node to
initialize the MoveIt robot model, perform path planning, and output joint
states and the other ROS node to communicate to the physical motors, subscribe
to MoveIt’s joint states topic, and send position commands to the physical
motors. For example, MoveIt publishes the joint states of the robot model
constantly through the /joint_states ROS topic. A HEBI node could subscribe to
the /joint_states topic, translate the subscribed message to joint positions
for each HEBI motor, and send those commands to the HEBI motors via a HEBI
command.


[xUnit] [INFO] - [GoogleTest-1.6] - 24 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'.
[xUnit] [ERROR] - The result file '< [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/ws/catkin_workspace/test_results/moveit_ros_planning_interface/rostest-
test_python_move_group.xml
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/ws/catkin_workspace/test_results/moveit_ros_planning_interface/rostest-
test_python_move_group.xml) '> for the metric 'GoogleTest' is empty. The
result file has been skipped.
[xUnit] [INFO] - Failing BUILD because 'set build failed if errors' option is
activated.


See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/262/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/262/display/redirect)
>


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[0m [96mLoading 'move_group/MoveGroupPickPlaceAction'...
[0m [96mLoading 'move_group/MoveGroupPlanService'...
[0m [96mLoading 'move_group/MoveGroupQueryPlannersService'...
[0m [96mLoading 'move_group/MoveGroupStateValidationService'...
[0m [0m[ INFO] [1536347237.573225423]:

********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[0m
[0m[ INFO] [1536347237.573279546]: MoveGroup context using planning plugin
ompl_interface/OMPLPlanner [0m
[0m[ INFO] [1536347237.573294032]: MoveGroup context initialization complete
[0m
[92m
You can start planning now!

[0mBuild timed out (after 120 minutes). Marking the build as failed.


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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Oct 14, 2018, 8:26:32 AM  10/14/18


_Boost_COMPONENTS_SEARCHED:INTERNAL=atomic;chrono;date_time;filesystem;iostreams;program_options;python;regex;serialization;signals;system;thread
//Last used Boost_INCLUDE_DIR value.
_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include //Last used
Boost_LIBRARY_DIR_DEBUG value.
_Boost_LIBRARY_DIR_DEBUG_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu //Last used
Boost_LIBRARY_DIR_RELEASE value.
_Boost_LIBRARY_DIR_RELEASE_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu //Last used
Boost_NAMESPACE value. _Boost_NAMESPACE_LAST:INTERNAL=boost //Last used
Boost_USE_MULTITHREADED value. _Boost_USE_MULTITHREADED_LAST:INTERNAL=TRUE
__pkg_config_checked_EIGEN3:INTERNAL=1 __pkg_config_checked_LIBFCL:INTERNAL=1
__pkg_config_checked_NEW_YAMLCPP:INTERNAL=1
__pkg_config_checked_OGRE:INTERNAL=1 __pkg_config_checked_PC_EIGEN:INTERNAL=1
__pkg_config_checked_PC_FLANN:INTERNAL=1
__pkg_config_checked_PC_OPENNI:INTERNAL=1
__pkg_config_checked_PC_OPENNI2:INTERNAL=1
__pkg_config_checked_YAML_CPP:INTERNAL=1 prefix_result:INTERNAL=/usr/lib


\-- Found the following Boost libraries:


rosrun moveit_setup_assistant setup_assistant.launch


\-- filesystem
\-- system
\-- Using CATKIN_DEVEL_PREFIX:
/tmp/catkin_workspace/devel_isolated/moveit_ros_benchmarks


unread,


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


##  Overview


Here, you can configure different aspects of each motor including their IP
addresses, family names, motor names, effort limits, and internal PID gains.
The more important fields to configure in order to get the motors up and
running would be the family names and motor names.


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


Oct 17, 2018, 9:33:32 PM  10/17/18


##  Summary


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Processing triggers for libc-bin (2.23-0ubuntu10) ...
Processing triggers for systemd (229-4ubuntu21.4) ...


[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[PRMstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327117093]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[ProjESTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327119740]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[RRTConnectkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327122515]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[RRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327140496]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[RRTstarkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327143023]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[SBLkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327144847]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[SPARSkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327146604]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[SPARStwokConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327148488]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[STRIDEkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327150148]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[TRRTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327152002]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
hand[TrajOptDefault]
|  [rviz2-1] [INFO] [1630341485.327153821]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[rviz2-1] [INFO] [1630341485.327155538]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[BFMTkConfigDefault]
|  [rviz2-1] [INFO] [1630341485.327261782]
[moveit_ros_visualization.motion_planning_frame_planning]: planner id:
panda_arm[BKPIECEkConfigDefault]


qt_gui_cpp_DIR:PATH=/opt/ros/kinetic/share/qt_gui_cpp/cmake //Value Computed
by CMake r_image_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/r_image
//Value Computed by CMake
r_image_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/r_image //Value Computed
by CMake r_platform_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/r_platform
//The directory containing a CMake configuration file for r_platform.
r_platform_DIR:PATH=/home/robuter/catkin_ws/devel/share/r_platform/cmake
//Value Computed by CMake
r_platform_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/r_platform //The
directory containing a CMake configuration file for random_numbers.
random_numbers_DIR:PATH=/opt/ros/kinetic/share/random_numbers/cmake //The
directory containing a CMake configuration file for resource_retriever.
resource_retriever_DIR:PATH=/opt/ros/kinetic/share/resource_retriever/cmake
//Value Computed by CMake
robanuc_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/robanuc //Value
Computed by CMake
robanuc_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/robanuc //Value Computed
by CMake robonuc_BINARY_DIR:STATIC=/home/robuter/catkin_ws/build/robonuc
//Value Computed by CMake
robonuc_SOURCE_DIR:STATIC=/home/robuter/catkin_ws/src/robonuc //The directory
containing a CMake configuration file for rosbag.
rosbag_DIR:PATH=/opt/ros/kinetic/share/rosbag/cmake //The directory containing
a CMake configuration file for rosbag_storage.
rosbag_storage_DIR:PATH=/opt/ros/kinetic/share/rosbag_storage/cmake //The
directory containing a CMake configuration file for rosconsole.
rosconsole_DIR:PATH=/opt/ros/kinetic/share/rosconsole/cmake //The directory
containing a CMake configuration file for rosconsole_bridge.
rosconsole_bridge_DIR:PATH=/opt/ros/kinetic/share/rosconsole_bridge/cmake
//The directory containing a CMake configuration file for roscpp.
roscpp_DIR:PATH=/opt/ros/kinetic/share/roscpp/cmake //The directory containing
a CMake configuration file for roscpp_serialization.
roscpp_serialization_DIR:PATH=/opt/ros/kinetic/share/roscpp_serialization/cmake
//The directory containing a CMake configuration file for roscpp_traits.
roscpp_traits_DIR:PATH=/opt/ros/kinetic/share/roscpp_traits/cmake //The
directory containing a CMake configuration file for rosgraph.
rosgraph_DIR:PATH=/opt/ros/kinetic/share/rosgraph/cmake //The directory
containing a CMake configuration file for rosgraph_msgs.
rosgraph_msgs_DIR:PATH=/opt/ros/kinetic/share/rosgraph_msgs/cmake //The
directory containing a CMake configuration file for roslaunch.
roslaunch_DIR:PATH=/opt/ros/kinetic/share/roslaunch/cmake //The directory


Oct 21, 2018, 8:03:35 PM  10/21/18


The disadvantages are:


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\-- Configuring done
\-- Generating done


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Setting up libwind0-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1) ...
Setting up libhx509-5-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libkrb5-26-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libheimntlm0-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libgssapi3-heimdal:amd64 (1.7~git20150920+dfsg-4ubuntu1.16.04.1)
...
Setting up libsasl2-modules-db:amd64 (2.1.26.dfsg1-14build1) ...
Setting up libsasl2-2:amd64 (2.1.26.dfsg1-14build1) ...
Setting up libldap-2.4-2:amd64 (2.4.42+dfsg-2ubuntu3.3) ...
Setting up librtmp1:amd64 (2.4+20151223.gitfa8646d-1ubuntu0.1) ...
Setting up libcurl3:amd64 (7.47.0-1ubuntu2.9) ...
Setting up libjsoncpp1:amd64 (1.7.2-1) ...
Setting up cmake (3.5.1-1ubuntu3) ...
Setting up fonts-dejavu-core (2.35-1) ...
Setting up ucf (3.0036) ...
Setting up fontconfig-config (2.11.94-0ubuntu1.1) ...
Setting up libpng12-0:amd64 (1.2.54-1ubuntu1.1) ...
Setting up libfreetype6:amd64 (2.6.1-0.1ubuntu2.3) ...
Setting up libfontconfig1:amd64 (2.11.94-0ubuntu1.1) ...
Setting up fontconfig (2.11.94-0ubuntu1.1) ...
Regenerating fonts cache... done.
Setting up libdrm-common (2.4.91-2~16.04.1) ...
Setting up libdrm2:amd64 (2.4.91-2~16.04.1) ...
Setting up libglapi-mesa:amd64 (18.0.5-0ubuntu0~16.04.1) ...
Setting up libx11-xcb1:amd64 (2:1.6.3-1ubuntu2.1) ...
Setting up libxcb-dri2-0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-dri3-0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-glx0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-present0:amd64 (1.11.1-1ubuntu1) ...
Setting up libxcb-sync1:amd64 (1.11.1-1ubuntu1) ...
Setting up libxdamage1:amd64 (1:1.1.4-2) ...
Setting up libxfixes3:amd64 (1:5.0.1-2) ...
Setting up libxshmfence1:amd64 (1.2-1) ...
Setting up libxxf86vm1:amd64 (1:1.1.4-1) ...
Setting up libdrm-amdgpu1:amd64 (2.4.91-2~16.04.1) ...
Setting up libpciaccess0:amd64 (0.13.4-1) ...
Setting up libdrm-intel1:amd64 (2.4.91-2~16.04.1) ...


ADVANCED:INTERNAL=1 //ADVANCED property for variable: BLAS_scsl_LIBRARY
BLAS_scsl_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
BLAS_sgemm_LIBRARY BLAS_sgemm_LIBRARY-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: BLAS_sunperf_LIBRARY BLAS_sunperf_LIBRARY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: BLAS_vecLib_LIBRARY BLAS_vecLib_LIBRARY-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_ATOMIC_LIBRARY_DEBUG Boost_ATOMIC_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_ATOMIC_LIBRARY_RELEASE
Boost_ATOMIC_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: Boost_CHRONO_LIBRARY_DEBUG Boost_CHRONO_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_CHRONO_LIBRARY_RELEASE Boost_CHRONO_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_DEBUG
Boost_DATE_TIME_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: Boost_DATE_TIME_LIBRARY_RELEASE Boost_DATE_TIME_LIBRARY_RELEASE-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: Boost_DIR Boost_DIR-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_FILESYSTEM_LIBRARY_DEBUG Boost_FILESYSTEM_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_FILESYSTEM_LIBRARY_RELEASE Boost_FILESYSTEM_LIBRARY_RELEASE-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: Boost_INCLUDE_DIR
Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_IOSTREAMS_LIBRARY_DEBUG Boost_IOSTREAMS_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_IOSTREAMS_LIBRARY_RELEASE Boost_IOSTREAMS_LIBRARY_RELEASE-
ADVANCED:INTERNAL=1 //ADVANCED property for variable: Boost_LIBRARY_DIR_DEBUG
Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_LIBRARY_DIR_RELEASE Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_PROGRAM_OPTIONS_LIBRARY_DEBUG
Boost_PROGRAM_OPTIONS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: Boost_PROGRAM_OPTIONS_LIBRARY_RELEASE
Boost_PROGRAM_OPTIONS_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property
for variable: Boost_PYTHON_LIBRARY_DEBUG Boost_PYTHON_LIBRARY_DEBUG-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_PYTHON_LIBRARY_RELEASE Boost_PYTHON_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_REGEX_LIBRARY_DEBUG
Boost_REGEX_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 //ADVANCED property for
variable: Boost_REGEX_LIBRARY_RELEASE Boost_REGEX_LIBRARY_RELEASE-
ADVANCED:INTERNAL=1 //ADVANCED property for variable:
Boost_SERIALIZATION_LIBRARY_DEBUG Boost_SERIALIZATION_LIBRARY_DEBUG-


\-- Build files have been written to:
/tmp/catkin_workspace/build_isolated/moveit_ros_move_group
==> make -j1 in '/tmp/catkin_workspace/build_isolated/moveit_ros_move_group'
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target _catkin_empty_exported_target
[ 0%] Built target visualization_msgs_generate_messages_eus
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[ 0%] Built target geometry_msgs_generate_messages_cpp
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[ 0%] Built target octomap_msgs_generate_messages_nodejs
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[ 0%] Built target std_srvs_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_py


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See < [
http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/269/display/redirect
](http://build.ros.org/job/Ldev__moveit__ubuntu_xenial_amd64/269/display/redirect)
>


PC_FLANN_CFLAGS:INTERNAL= PC_FLANN_CFLAGS_I:INTERNAL=
PC_FLANN_CFLAGS_OTHER:INTERNAL= PC_FLANN_FOUND:INTERNAL=1
PC_FLANN_INCLUDEDIR:INTERNAL=/usr/include PC_FLANN_INCLUDE_DIRS:INTERNAL=
PC_FLANN_LDFLAGS:INTERNAL=-lflann_cpp PC_FLANN_LDFLAGS_OTHER:INTERNAL=
PC_FLANN_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu
PC_FLANN_LIBRARIES:INTERNAL=flann_cpp PC_FLANN_LIBRARY_DIRS:INTERNAL=
PC_FLANN_LIBS:INTERNAL= PC_FLANN_LIBS_L:INTERNAL=
PC_FLANN_LIBS_OTHER:INTERNAL= PC_FLANN_LIBS_PATHS:INTERNAL=
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PC_FLANN_STATIC_INCLUDE_DIRS:INTERNAL=
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PC_OPENNI2_PREFIX:INTERNAL= PC_OPENNI2_STATIC_CFLAGS:INTERNAL=
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PC_OPENNI2_STATIC_LIBDIR:INTERNAL= PC_OPENNI2_STATIC_LIBS:INTERNAL=
PC_OPENNI2_STATIC_LIBS_L:INTERNAL= PC_OPENNI2_STATIC_LIBS_OTHER:INTERNAL=
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PC_OPENNI2_libopenni2_INCLUDEDIR:INTERNAL=
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PC_OPENNI2_libopenni2_VERSION:INTERNAL=
PC_OPENNI_CFLAGS:INTERNAL=-I/usr/include/ni PC_OPENNI_CFLAGS_I:INTERNAL=
PC_OPENNI_CFLAGS_OTHER:INTERNAL= PC_OPENNI_FOUND:INTERNAL=1
PC_OPENNI_INCLUDEDIR:INTERNAL=/usr/include/ni
PC_OPENNI_INCLUDE_DIRS:INTERNAL=/usr/include/ni
PC_OPENNI_LDFLAGS:INTERNAL=-lOpenNI PC_OPENNI_LDFLAGS_OTHER:INTERNAL=
PC_OPENNI_LIBDIR:INTERNAL=/usr/lib PC_OPENNI_LIBRARIES:INTERNAL=OpenNI
PC_OPENNI_LIBRARY_DIRS:INTERNAL= PC_OPENNI_LIBS:INTERNAL=
PC_OPENNI_LIBS_L:INTERNAL= PC_OPENNI_LIBS_OTHER:INTERNAL=


Oct 22, 2018, 7:07:54 AM  10/22/18


[xUnit] [INFO] - Stop build.


Delete


# This is the CMakeCache file. # For build in directory:
/home/robuter/catkin_ws/build # It was generated by CMake: /usr/bin/cmake #
You can edit this file to change values found and used by cmake. # If you do
not want to change any of the values, simply exit the editor. # If you do want
to change a value, simply edit, save, and exit the editor. # The syntax for
the file is as follows: # KEY:TYPE=VALUE # KEY is the name of a variable in
the cache. # TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
# VALUE is the current value for the KEY. ######################## # EXTERNAL
cache entries ######################## //Path to a library.
BLAS_Accelerate_LIBRARY:FILEPATH=BLAS_Accelerate_LIBRARY-NOTFOUND //Path to a
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//Path to a library. BLAS_cxml_LIBRARY:FILEPATH=BLAS_cxml_LIBRARY-NOTFOUND
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//Path to a library. BLAS_essl_LIBRARY:FILEPATH=BLAS_essl_LIBRARY-NOTFOUND
//Path to a library. BLAS_f77blas_LIBRARY:FILEPATH=BLAS_f77blas_LIBRARY-
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BLAS_sunperf_LIBRARY:FILEPATH=BLAS_sunperf_LIBRARY-NOTFOUND //Path to a
library. BLAS_vecLib_LIBRARY:FILEPATH=BLAS_vecLib_LIBRARY-NOTFOUND //The
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BOOST_THREAD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so //Build
shared libraries (DLLs). BUILD_SHARED_LIBS:BOOL=ON //Boost atomic library
(debug) Boost_ATOMIC_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
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Boost_ATOMIC_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
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gnu/libboost_chrono.so //Boost chrono library (release)
Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
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Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_date_time.so //Boost date_time library (release)
Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-
gnu/libboost_date_time.so //The directory containing a CMake configuration
file for Boost. Boost_DIR:PATH=Boost_DIR-NOTFOUND //Boost filesystem library


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[0m [31m[ERROR] [1539720436.134736317]: Found empty JointState message [0m
[31m[ERROR] [1539720438.742016847]: Goal state violates joint limits [0m
[31m[ERROR] [1539720440.041352865]: Only joint-space goals are supported [0m
[31m[ERROR] [1539720441.441233398]: Start state is empty [0m
[0m[ INFO] [1539720435.441402831]: Planning request received for MoveGroup
action. Forwarding to planning pipeline. [0m
[0m[ INFO] [1539720435.467525616]: Setting joint joint1 to position 1 [0m
[0m[ INFO] [1539720435.467583445]: Setting joint joint2 to position 1 [0m
[0m[ INFO] [1539720435.467751331]: Start is 0 end 1 short 1 [0m
[0m[ INFO] [1539720435.468266958]: CHOMP trajectory initialized using method:
quintic-spline [0m
[0m[ INFO] [1539720435.470280748]: The following collision detectors are
active in the planning scene. [0m
[0m[ INFO] [1539720435.470330670]: HYBRID [0m
[0m[ INFO] [1539720435.470354485]: Active collision detector is: HYBRID [0m
[0m[ INFO] [1539720435.983564609]: First coll check took 0.513086512 [0m
[0m[ INFO] [1539720436.115517287]: Forward kinematics took 0.062608127 [0m
[0m[ INFO] [1539720436.132843366]: iteration: 0 [0m
[0m[ INFO] [1539720436.134260920]: Chomp Got mesh to mesh safety at iter 0.
Breaking out early. [0m
[0m[ INFO] [1539720436.134305000]: Chomp path is collision free [0m
[0m[ INFO] [1539720436.134343334]: Terminated after 1 iterations, using path
from iteration -1 [0m
[0m[ INFO] [1539720436.134358415]: Optimization core finished in 0.081508 sec
[0m
[0m[ INFO] [1539720436.134372118]: Time per iteration 0.0815194 [0m
[0m[ INFO] [1539720438.741760751]: Planning request received for MoveGroup
action. Forwarding to planning pipeline. [0m
[0m[ INFO] [1539720438.741924331]: Setting joint joint1 to position 100 [0m
[0m[ INFO] [1539720438.741942864]: Setting joint joint2 to position 2.0944 [0m
[0m[ INFO] [1539720438.741977580]: Start is 0 end 100 short -0.530965 [0m
[0m[ INFO] [1539720440.041199308]: Planning request received for MoveGroup
action. Forwarding to planning pipeline. [0m
[0m[ INFO] [1539720441.441137299]: Planning request received for MoveGroup
action. Forwarding to planning pipeline. [0m
[0m[ INFO] [1539720442.643063305]: Planning request received for MoveGroup
action. Forwarding to planning pipeline. [0m
[0m[ INFO] [1539720442.643227690]: Setting joint joint1 to position 1.5708 [0m
[0m[ INFO] [1539720442.643253243]: Setting joint joint2 to position 0 [0m
[0m[ INFO] [1539720442.643283699]: Start is 0 end 1.5708 short 1.5708 [0m


[ Raw
](/dpiet/e1f2ab0e66e6619390a450c280dc2985/raw/f3119b63966d3fa33d1a10dd907812cc63bead9d/Console%2520output%2520after%2520ros2-control%2520package%2520install%2520check)


Show original message


The best option to choose here is to slide the “Sampling Density” slider all
the way to the right to the highest density setting. With this setting, the
GUI will compute all pairs of geometries that can collide with each other and
pairs that will definitely not. Select “Generate Collision Matrix” to compute
the non-colliding geometry pairs of the model.


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


[ 55%] Built target octomap_msgs_generate_messages_cpp
[ 55%] Built target trajectory_msgs_generate_messages_py
[ 55%] Built target roscpp_generate_messages_nodejs
[ 55%] Built target shape_msgs_generate_messages_cpp
[ 55%] Built target trajectory_msgs_generate_messages_eus
[ 55%] Built target geometry_msgs_generate_messages_nodejs
[ 55%] Built target shape_msgs_generate_messages_py
[ 55%] Built target actionlib_msgs_generate_messages_lisp
[ 55%] Built target std_msgs_generate_messages_lisp
[ 55%] Built target geometry_msgs_generate_messages_lisp
[ 55%] Built target rosgraph_msgs_generate_messages_cpp
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[ 55%] Built target tf2_msgs_generate_messages_py
[ 55%] Built target actionlib_msgs_generate_messages_nodejs
[ 55%] Built target object_recognition_msgs_generate_messages_eus
[ 55%] Built target rosgraph_msgs_generate_messages_nodejs
[ 55%] Built target moveit_msgs_generate_messages_cpp
[ 55%] Built target sensor_msgs_generate_messages_cpp
[ 55%] Built target tf_generate_messages_lisp
[ 55%] Built target rosgraph_msgs_generate_messages_py
[ 55%] Built target moveit_msgs_generate_messages_eus
[ 55%] Built target moveit_msgs_generate_messages_py
[ 55%] Built target actionlib_generate_messages_nodejs
[ 55%] Built target std_msgs_generate_messages_cpp
[ 55%] Built target actionlib_msgs_generate_messages_cpp
[ 55%] Built target sensor_msgs_generate_messages_eus
[ 55%] Built target sensor_msgs_generate_messages_nodejs
[ 55%] Built target actionlib_generate_messages_cpp
[ 55%] Built target sensor_msgs_generate_messages_py
[ 55%] Built target sensor_msgs_generate_messages_lisp
[ 55%] Built target object_recognition_msgs_generate_messages_py
[ 55%] Built target std_msgs_generate_messages_nodejs
[ 55%] Built target geometry_msgs_generate_messages_py
[ 55%] Built target trajectory_msgs_generate_messages_lisp
[ 55%] Built target tf_generate_messages_py
[ 55%] Built target object_recognition_msgs_generate_messages_nodejs
[ 55%] Built target trajectory_msgs_generate_messages_nodejs
[ 55%] Built target octomap_msgs_generate_messages_nodejs
[ 55%] Built target geometry_msgs_generate_messages_cpp
[ 55%] Built target trajectory_msgs_generate_messages_cpp


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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Setting up libdrm-nouveau2:amd64 (2.4.91-2~16.04.1) ...
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###  ROS Buildfarm


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