rst-tu-dortmund / phantomx_rst Goto Github PK

grasp001@grasp001:~$ roslaunch phantomx_rst arm.launch
... logging to /home/grasp001/.ros/log/4f2a40c2-9fb4-11e7-a723-001ee5e9312a/roslaunch-grasp001-30835.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/grasp001/catkin_ws/src/phantomx_rst/turtlebot_arm_description/urdf/pincher_arm.urdf.xacro

xacro:if: unknown attribute(s): xmlns:xacro
xacro:if: unknown attribute(s): xmlns:xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://grasp001:34819/

SUMMARY
========

PARAMETERS
 * /arbotix/controllers/arm_controller/action_name: arm_controller/fo...
 * /arbotix/controllers/arm_controller/joints: ['arm_shoulder_pa...
 * /arbotix/controllers/arm_controller/onboard: False
 * /arbotix/controllers/arm_controller/rate: 50
 * /arbotix/controllers/arm_controller/type: follow_controller
 * /arbotix/joints/arm_elbow_flex_joint/id: 3
 * /arbotix/joints/arm_elbow_flex_joint/max_angle: 136
 * /arbotix/joints/arm_elbow_flex_joint/max_speed: 160
 * /arbotix/joints/arm_elbow_flex_joint/min_angle: -139
 * /arbotix/joints/arm_elbow_flex_joint/type: dynamixel
 * /arbotix/joints/arm_shoulder_lift_joint/id: 2
 * /arbotix/joints/arm_shoulder_lift_joint/max_angle: 126
 * /arbotix/joints/arm_shoulder_lift_joint/max_speed: 160
 * /arbotix/joints/arm_shoulder_lift_joint/min_angle: -119
 * /arbotix/joints/arm_shoulder_lift_joint/type: dynamixel
 * /arbotix/joints/arm_shoulder_pan_joint/id: 1
 * /arbotix/joints/arm_shoulder_pan_joint/max_angle: 140
 * /arbotix/joints/arm_shoulder_pan_joint/max_speed: 160
 * /arbotix/joints/arm_shoulder_pan_joint/min_angle: -140
 * /arbotix/joints/arm_shoulder_pan_joint/neutral: 512
 * /arbotix/joints/arm_shoulder_pan_joint/type: dynamixel
 * /arbotix/joints/arm_wrist_flex_joint/id: 4
 * /arbotix/joints/arm_wrist_flex_joint/max_angle: 96
 * /arbotix/joints/arm_wrist_flex_joint/max_speed: 160
 * /arbotix/joints/arm_wrist_flex_joint/min_angle: -98
 * /arbotix/joints/arm_wrist_flex_joint/type: dynamixel
 * /arbotix/joints/gripper_joint/id: 5
 * /arbotix/joints/gripper_joint/max_angle: 50
 * /arbotix/joints/gripper_joint/max_speed: 50
 * /arbotix/joints/gripper_joint/min_angle: -60
 * /arbotix/joints/gripper_joint/neutral: 250
 * /arbotix/joints/gripper_joint/type: dynamixel
 * /arbotix/port: /dev/ttyUSB0
 * /arbotix/read_rate: 10
 * /arbotix/sim: False
 * /arbotix/source: pincher_arm.yaml
 * /arbotix/write_rate: 10
 * /gripper_controller/center: 0
 * /gripper_controller/joint: gripper_joint
 * /gripper_controller/max_opening: 0.031
 * /gripper_controller/min_opening: 0.002
 * /gripper_controller/model: parallel
 * /gripper_controller/neutral: 0.015
 * /gripper_controller/pad_width: 0.002
 * /gripper_controller/scale: 1
 * /gripper_controller/source: pincher_gripper.yaml
 * /gripper_controller/tighten: 0.001
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    arbotix (arbotix_python/arbotix_driver)
    fake_joint_pub (turtlebot_arm_description/fake_joint_pub.py)
    gripper_controller (arbotix_controllers/gripper_controller)
    robot_state_pub (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [30849]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f2a40c2-9fb4-11e7-a723-001ee5e9312a
process[rosout-1]: started with pid [30862]
started core service [/rosout]
process[fake_joint_pub-2]: started with pid [30879]
process[robot_state_pub-3]: started with pid [30880]
process[arbotix-4]: started with pid [30881]
process[gripper_controller-5]: started with pid [30882]
[INFO] [1506098246.536328]: Started ArbotiX connection on port /dev/ttyUSB0.
[INFO] [1506098246.656993]: Started FollowController (arm_controller). Joints: ['arm_shoulder_pan_joint', 'arm_shoulder_lift_joint', 'arm_elbow_flex_joint', 'arm_wrist_flex_joint'] on C1
[INFO] [1506098246.661118]: ArbotiX connected.
maximum recursion depth exceeded while getting the str of an object
maximum recursion depth exceeded while getting the str of an object
maximum recursion depth exceeded while getting the str of an object
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.
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sudo chmod 777 /dev/ttyUSB0   
roslaunch phantomx_rst arm.launch
roslaunch phantomx_rst arm_sim.launch
roslaunch phantomx_rst arm_rviz.launch
roslaunch phantomx_rst move_group.launch
rosrun phantomx_control moveit_control