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issue openedros-noetic-arch/ros-noetic-desktop-full

[Package Request] ros-noetic-joint-trajectory-controller

joint_trajectory_controller:

  • [ ] ros-noetic-joint-trajectory-controller

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PR opened frankaemika/libfranka

Fix missing imports (#65)
+2 -0

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Libor Wagner

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Fix missing imports (#65)

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C++ library for Franka Emika research robots

https://frankaemika.github.io

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issue commentros-noetic-arch/ros-noetic-desktop-full

[Package Request] Franka Emika packages

@acxz do you mean dependencies that are not already in ros-noetic-arch or pacman repositories, these are only the libfranka and panda-moveit-config.

liborw

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issue openedros-noetic-arch/ros-noetic-desktop-full

[Package Request] Franka Emika packages

Please add Franka Emika packages, I will add the PKGBUILDs, thanks.

https://github.com/frankaemika/libfranka:

  • [ ] ros-noetic-libfranka

https://github.com/frankaemika/franka_ros:

  • [ ] ros-noetic-franka-ros (split package)

https://github.com/ros-planning/panda_moveit_config:

  • [ ] ros-noetic-panda-moveit-config

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issue openedros/ros_comm

NameError: 'f' is not defined

Not critical problem, happens when roslaunch is called with additional parameter:

$ xxx@pandart01:~$ roslaunch franka_example_controllers move_to_start.launch test
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python3.8/site-packages/roslaunch/__init__.py", line 246, in main
    _validate_args(parser, options, args)
  File "/opt/ros/melodic/lib/python3.8/site-packages/roslaunch/__init__.py", line 222, in _validate_args
    parser.error("The following input files do not exist: %s"%f)
NameError: name 'f' is not defined

The problem is here (line numbers doesn't match due to different version): https://github.com/ros/ros_comm/blob/a2c4fbe597dd1dda0421bfa1dae5d4cd9c53a42b/tools/roslaunch/src/roslaunch/init.py#L233

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issue openedfrankaemika/franka_ros

franka_control dies when loading position_joint_trajectory_controller

Hi,

the franka_control node dies when loading the position_joint_trajectory_controller, below is the output of the move_to_start.launch howerver, I have also tried, to run separatedly franka_control and then try to load the controller, with the same result.

xxxx@pandart01:~/panda-devel-ws/src$ roslaunch franka_example_controllers move_to_start.launch robot_ip:=192.168.102.11
... logging to /home/wagnelib/.ros/log/64b90fe8-9f45-11ea-8b21-004e019d40e9/roslaunch-pandart01-9855.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://pandart01:33379/

SUMMARY
========

PARAMETERS
 * /franka_control/arm_id: panda
 * /franka_control/cutoff_frequency: 100
 * /franka_control/internal_controller: joint_impedance
 * /franka_control/joint_names: ['panda_joint1', ...
 * /franka_control/rate_limiting: True
 * /franka_control/robot_ip: 192.168.102.11
 * /franka_state_controller/arm_id: panda
 * /franka_state_controller/joint_names: ['panda_joint1', ...
 * /franka_state_controller/publish_rate: 30
 * /franka_state_controller/type: franka_control/Fr...
 * /joint_state_desired_publisher/rate: 30
 * /joint_state_desired_publisher/source_list: ['franka_state_co...
 * /joint_state_publisher/rate: 30
 * /joint_state_publisher/source_list: ['franka_state_co...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'name': 'positi...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'sensor_plugin'...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /position_joint_trajectory_controller/constraints/goal_time: 0.5
 * /position_joint_trajectory_controller/constraints/panda_joint1/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint2/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint3/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint4/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint5/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint6/goal: 0.05
 * /position_joint_trajectory_controller/constraints/panda_joint7/goal: 0.05
 * /position_joint_trajectory_controller/joints: ['panda_joint1', ...
 * /position_joint_trajectory_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES
  /
    controller_spawner (controller_manager/spawner)
    franka_control (franka_control/franka_control_node)
    joint_state_desired_publisher (joint_state_publisher/joint_state_publisher)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    move_to_start (franka_example_controllers/move_to_start.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    state_controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

process[franka_control-1]: started with pid [9873]
process[state_controller_spawner-2]: started with pid [9874]
process[robot_state_publisher-3]: started with pid [9875]
process[joint_state_publisher-4]: started with pid [9876]
process[joint_state_desired_publisher-5]: started with pid [9877]
process[controller_spawner-6]: started with pid [9882]
process[move_group-7]: started with pid [9885]
process[move_to_start-8]: started with pid [9889]
[ INFO] [1590495337.835523587]: Loading robot model 'panda'...
[ INFO] [1590495337.922965893]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1590495337.925129362]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1590495337.925580975]: Starting planning scene monitor
[ INFO] [1590495337.927396875]: Listening to '/planning_scene'
[ INFO] [1590495337.927634489]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1590495337.929385006]: Listening to '/collision_object'
[ INFO] [1590495337.931050324]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1590495337.948013007]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1590495337.951453579]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[INFO] [1590495337.958376]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1590495337.960622]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1590495337.962829]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1590495337.964931]: Loading controller: franka_state_controller
[INFO] [1590495337.973801]: Controller Spawner: Loaded controllers: franka_state_controller
[ INFO] [1590495337.979794112]: Initializing OMPL interface using ROS parameters
[INFO] [1590495337.980709]: Started controllers: franka_state_controller
[ INFO] [1590495337.999712529]: Using planning interface 'OMPL'
[ INFO] [1590495338.001722845]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1590495338.002044258]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1590495338.002376747]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1590495338.002745200]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1590495338.003033374]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1590495338.003352593]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1590495338.003401811]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1590495338.003416816]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1590495338.003478227]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1590495338.003553133]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1590495338.003566802]: Using planning request adapter 'Add Time Parameterization'
[INFO] [1590495338.049862]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1590495338.052475]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1590495338.055199]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1590495338.058062]: Loading controller: position_joint_trajectory_controller
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/impl/tcpros_service.py", line 522, in call
    responses = transport.receive_once()
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/impl/tcpros_base.py", line 737, in receive_once
    self.stat_bytes += recv_buff(sock, b, p.buff_size)
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/impl/tcpros_base.py", line 109, in recv_buff
    raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
rospy.exceptions.TransportTerminated: unable to receive data from sender, check sender's logs for details

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 212, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 190, in main
    resp = load_controller(name)
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/impl/tcpros_service.py", line 532, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[INFO] [1590495338.670895]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1590495338.671874]: Stopping all controllers...
[WARN] [1590495338.674262]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
================================================================================REQUIRED process [franka_control-1] has died!
process has died [pid 9873, exit code -11, cmd /opt/ros/melodic/lib/franka_control/franka_control_node __name:=franka_control __log:=/home/wagnelib/.ros/log/64b90fe8-9f45-11ea-8b21-004e019d40e9/franka_control-1.log].
log file: /home/wagnelib/.ros/log/64b90fe8-9f45-11ea-8b21-004e019d40e9/franka_control-1*.log
Initiating shutdown!
================================================================================
[move_to_start-8] killing on exit
[move_group-7] killing on exit
[controller_spawner-6] killing on exit
[joint_state_desired_publisher-5] killing on exit
[joint_state_publisher-4] killing on exit
[robot_state_publisher-3] killing on exit
[state_controller_spawner-2] killing on exit
[franka_control-1] killing on exit
[INFO] [1590495338.815808]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1590495338.820003]: Stopping all controllers...
[WARN] [1590495338.842573]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/franka_example_controllers/move_to_start.py", line 9, in <module>
    rospy.wait_for_message('move_group/status', GoalStatusArray)
  File "/opt/ros/melodic/lib/python3.8/site-packages/rospy/client.py", line 428, in wait_for_message
    raise rospy.exceptions.ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

shutting down processing monitor...
... shutting down processing monitor complete
done

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issue closedfrankaemika/libfranka

Example to get the robot into transport pose

Is is possible to add example to move the robot into transport pose. I have tried the joint_point_to_point_motion with the transport joint state from the manual in radians (0 -0.5599 0 -2.97 0 0 0.7854) which resulted in self_collision_avoidance_violation.

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liborw

issue commentfrankaemika/libfranka

Example to get the robot into transport pose

Ok, the solution is the button in Desk > Settings > System > Move to Pack Pose

liborw

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issue openedfrankaemika/libfranka

Example to get the robot into transport pose

Is is possible to add example to move the robot into transport pose. I have tried the joint_point_to_point_motion with the transport joint state from the manual in radians (0 -0.5599 0 -2.97 0 0 0.7854) which resulted in self_collision_avoidance_violation.

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issue openedfrankaemika/libfranka

Other way to unlock joints than from desk

Is it possible to unlock joints programmatically?

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Libor Wagner

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Add all archs

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pull request commentros-planning/panda_moveit_config

Add tranposrt joint state

This is a transport state of the robot, the joint configuration in which you can pack it in the box in which it came, so I guess that it could be useful for others.

liborw

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Pull request review commentros-melodic-arch/ros-melodic-franka-control

New package PKGBUILD

+diff --unified --recursive --text franka_ros-release-release-melodic-franka_control-0.6.0-1/CMakeLists.txt franka_ros-release-release-melodic-franka_control-0.6.0-1.new/CMakeLists.txt+--- franka_ros-release-release-melodic-franka_control-0.6.0-1/CMakeLists.txt	2019-07-11 09:54:40.000000000 +0200

Yeah forgot to remove the patch it was not used, fixed.

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Pull request review commentros-melodic-arch/ros-melodic-franka-ros

New package PKGBUILD

+pkgname='ros-melodic-franka-ros'+pkgver='0.6.0'+pkgrel=2

Is it really that big problem? For me it is a second version of the package, as I have changed the source from release to base repository, and in order to test the build on my build machine I had to bump the version.

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issue commentros-melodic-arch/ros-melodic-desktop-full

[Package Request] franka emika pakcages

There will be one more ros-melodic-panda-moveit-config

liborw

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issue commentros-melodic-arch/ros-melodic-desktop-full

[Package Request] franka emika pakcages

Ok, should I use the release repository (https://github.com/frankaemika/franka_ros-release) or the base (https://github.com/frankaemika/franka_ros) ?

liborw

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issue openedros-melodic-arch/ros-melodic-desktop-full

[package offer] franka emika pakcages

Hi,

I have created packages for franka emika robot:

ros-melodic-franka-control ros-melodic-franka-description ros-melodic-franka-example-controllers ros-melodic-franka-gripper ros-melodic-franka-hw ros-melodic-franka-msgs ros-melodic-franka-ros ros-melodic-franka-visualization ros-melodic-libfranka

how could i add them here?

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pull request commentros-melodic-arch/ros-melodic-mk

Fix _dir variable

Ok, fixed for all the other PRs, there are more similar problems, basically all packages from ros, ros_comm, moveit... i guess that there is some script to update the package which does not take in account the sub directories, i can make PRs for all if it would help, but probably it would be better to fix that script?

Didn't know where to put it, is the some ros-arch wide discussion?

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pull request commentros-melodic-arch/ros-melodic-mk

Fix _dir variable

As the package would not build i guess that there is no need for new pkgrel?

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Fix _dir var.

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Fix missing dependenci (cpp_common)

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PR opened ros-melodic-arch/ros-melodic-rosgraph

Fixing build problems
  • Removed obsolete patch
  • Fix _dir var.
+3 -29

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Removed obsolete patch

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PR opened ros-melodic-arch/ros-melodic-mk

Fix _dir variable

Will not build like this, probably new structure of the ros repository:

==> Retrieving sources...
  -> Found ros-melodic-mk-1.14.8.tar.gz
==> WARNING: Skipping all source file integrity checks.
==> Extracting sources...
  -> Extracting ros-melodic-mk-1.14.8.tar.gz with bsdtar
==> Starting build()...
grep: /build/ros-melodic-mk/src/ros-1.14.8/mk: No such file or directory
CMake Error: The source directory "/build/ros-melodic-mk/src/ros-1.14.8/mk" does not exist.
Specify --help for usage, or press the help button on the CMake GUI.
==> ERROR: A failure occurred in build().
    Aborting...
+1 -1

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Fix _dir variable Will not build like this, probably new structure of the ros repository: ``` ==> Retrieving sources... -> Found ros-melodic-mk-1.14.8.tar.gz ==> WARNING: Skipping all source file integrity checks. ==> Extracting sources... -> Extracting ros-melodic-mk-1.14.8.tar.gz with bsdtar ==> Starting build()... grep: /build/ros-melodic-mk/src/ros-1.14.8/mk: No such file or directory CMake Error: The source directory "/build/ros-melodic-mk/src/ros-1.14.8/mk" does not exist. Specify --help for usage, or press the help button on the CMake GUI. ==> ERROR: A failure occurred in build(). Aborting... ```

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ros-melodic-mkAUR package

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Just single repl

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issue openedros-melodic-arch/ros-melodic-cv-bridge

Relative path: wont build in chroot

The relative path in prepare section wont work when build in chroot, following patch should fix that:

diff --git a/PKGBUILD b/PKGBUILD
index 20f9108..6ff8b0c 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -48,8 +48,8 @@ sha256sums=('c8db35dbb6b470cdedb45195f725bc2cfda7f0dc3155e16a5a37e4b48e29fa59'

 prepare() {
   cd "${srcdir}/${_dir}"
-  patch -uN src/module.hpp ../../../endian-fix.patch || return 1
-  patch -uN CMakeLists.txt ../../../boost-fix.patch || return 1
+  patch -uN src/module.hpp ${srcdir}/endian-fix.patch || return 1
+  patch -uN CMakeLists.txt ${srcdir}/boost-fix.patch || return 1
 }

 build() {

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