Script started on 2024-06-05 20:38:27+05:30 [TERM="xterm-256color" TTY="/dev/pts/0" COLUMNS="80" LINES="24"] [?2004h]0;auto-admin@Ubuntu-22: ~auto-admin@Ubuntu-22:~$ source ros2_humble_ws/sse=tinstall/setup.bash [?2004l [?2004h]0;auto-admin@Ubuntu-22: ~auto-admin@Ubuntu-22:~$ cd hsros2_humble_ws/ [?2004l [?2004h]0;auto-admin@Ubuntu-22: ~/ros2_humble_wsauto-admin@Ubuntu-22:~/ros2_humble_ws$ ros2 launch snp_blending start.launch.xml ros2 launch snp_blending start.launch.xml l [?2004l [INFO] [launch]: All log files can be found below /home/auto-admin/.ros/log/2024-06-05-20-41-00-881104-Ubuntu-22-4863 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [joint_state_publisher-1]: process started with pid [4866] [INFO] [joint_state_publisher_gui-2]: process started with pid [4868] [INFO] [robot_state_publisher-3]: process started with pid [4870] [INFO] [joint_state_publisher-4]: process started with pid [4872] [INFO] [robot_state_publisher-5]: process started with pid [4874] [INFO] [static_transform_publisher-6]: process started with pid [4876] [INFO] [rviz2-7]: process started with pid [4878] [INFO] [reconstruction_sim_node-8]: process started with pid [4904] [INFO] [snp_motion_planning_node-9]: process started with pid [4908] [INFO] [scan_motion_plan_from_file_node-10]: process started with pid [4911] [INFO] [robot_enable_simulator-11]: process started with pid [4913] [INFO] [execution_simulator-12]: process started with pid [4916] [robot_state_publisher-3] [INFO] [1717600261.767055078] [robot_state_publisher]: got segment base [robot_state_publisher-3] [INFO] [1717600261.767136866] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1717600261.767145403] [robot_state_publisher]: got segment buffy_tcp [robot_state_publisher-3] [INFO] [1717600261.767149572] [robot_state_publisher]: got segment cal_target_frame [robot_state_publisher-3] [INFO] [1717600261.767153574] [robot_state_publisher]: got segment camera_color_optical_frame [robot_state_publisher-3] [INFO] [1717600261.767157869] [robot_state_publisher]: got segment floor [robot_state_publisher-3] [INFO] [1717600261.767161751] [robot_state_publisher]: got segment link_b [robot_state_publisher-3] [INFO] [1717600261.767165591] [robot_state_publisher]: got segment link_l [robot_state_publisher-3] [INFO] [1717600261.767169120] [robot_state_publisher]: got segment link_r [robot_state_publisher-3] [INFO] [1717600261.767172673] [robot_state_publisher]: got segment link_s [robot_state_publisher-3] [INFO] [1717600261.767176242] [robot_state_publisher]: got segment link_t [robot_state_publisher-3] [INFO] [1717600261.767179817] [robot_state_publisher]: got segment link_u [robot_state_publisher-3] [INFO] [1717600261.767183325] [robot_state_publisher]: got segment platform [robot_state_publisher-3] [INFO] [1717600261.767187015] [robot_state_publisher]: got segment pushcorp_base [robot_state_publisher-3] [INFO] [1717600261.767190860] [robot_state_publisher]: got segment pushcorp_box [robot_state_publisher-3] [INFO] [1717600261.767194592] [robot_state_publisher]: got segment pushcorp_box_support_1 [robot_state_publisher-3] [INFO] [1717600261.767198422] [robot_state_publisher]: got segment pushcorp_box_support_2 [robot_state_publisher-3] [INFO] [1717600261.767202229] [robot_state_publisher]: got segment pushcorp_compliance [robot_state_publisher-3] [INFO] [1717600261.767223456] [robot_state_publisher]: got segment robot_mount [robot_state_publisher-3] [INFO] [1717600261.767227140] [robot_state_publisher]: got segment table [robot_state_publisher-3] [INFO] [1717600261.767230596] [robot_state_publisher]: got segment tool0 [robot_state_publisher-5] [INFO] [1717600261.787592016] [preview.robot_state_publisher]: got segment base [robot_state_publisher-5] [INFO] [1717600261.795031485] [preview.robot_state_publisher]: got segment base_link [robot_state_publisher-5] [INFO] [1717600261.795055146] [preview.robot_state_publisher]: got segment buffy_tcp [robot_state_publisher-5] [INFO] [1717600261.795059809] [preview.robot_state_publisher]: got segment cal_target_frame [robot_state_publisher-5] [INFO] [1717600261.795063696] [preview.robot_state_publisher]: got segment camera_color_optical_frame [robot_state_publisher-5] [INFO] [1717600261.795067585] [preview.robot_state_publisher]: got segment floor [robot_state_publisher-5] [INFO] [1717600261.795071163] [preview.robot_state_publisher]: got segment link_b [robot_state_publisher-5] [INFO] [1717600261.795074936] [preview.robot_state_publisher]: got segment link_l [robot_state_publisher-5] [INFO] [1717600261.795078486] [preview.robot_state_publisher]: got segment link_r [robot_state_publisher-5] [INFO] [1717600261.795081746] [preview.robot_state_publisher]: got segment link_s [robot_state_publisher-5] [INFO] [1717600261.795085223] [preview.robot_state_publisher]: got segment link_t [robot_state_publisher-5] [INFO] [1717600261.795088570] [preview.robot_state_publisher]: got segment link_u [robot_state_publisher-5] [INFO] [1717600261.795092189] [preview.robot_state_publisher]: got segment platform [robot_state_publisher-5] [INFO] [1717600261.795095770] [preview.robot_state_publisher]: got segment pushcorp_base [robot_state_publisher-5] [INFO] [1717600261.795099315] [preview.robot_state_publisher]: got segment pushcorp_box [robot_state_publisher-5] [INFO] [1717600261.795102791] [preview.robot_state_publisher]: got segment pushcorp_box_support_1 [robot_state_publisher-5] [INFO] [1717600261.795106340] [preview.robot_state_publisher]: got segment pushcorp_box_support_2 [robot_state_publisher-5] [INFO] [1717600261.795109705] [preview.robot_state_publisher]: got segment pushcorp_compliance [robot_state_publisher-5] [INFO] [1717600261.795113343] [preview.robot_state_publisher]: got segment robot_mount [robot_state_publisher-5] [INFO] [1717600261.795116842] [preview.robot_state_publisher]: got segment table [robot_state_publisher-5] [INFO] [1717600261.795120350] [preview.robot_state_publisher]: got segment tool0 [static_transform_publisher-6] [WARN] [1717600261.695254196] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-6] [INFO] [1717600261.811308108] [preview.static_transform_publisher_NsHZQODnAwAtsnnH]: Spinning until stopped - publishing transform [static_transform_publisher-6] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-6] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-6] from 'floor' to 'preview/floor' [rviz2-7] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [joint_state_publisher_gui-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [ERROR] [reconstruction_sim_node-8]: process has died [pid 4904, exit code -4, cmd '/home/auto-admin/ros2_humble_ws/install/snp_scanning/lib/snp_scanning/reconstruction_sim_node --ros-args --params-file /tmp/launch_params_8rpioso5 --params-file /tmp/launch_params_jy14q2b3 -r mesh:=industrial_reconstruction_mesh']. [robot_enable_simulator-11] [INFO] [1717600264.269342621] [robot_enable_server_sim]: Started simulated robot enable node [joint_state_publisher-4] [INFO] [1717600264.627126049] [preview.joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1717600266.248978491] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher-1] [INFO] [1717600266.384587745] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [execution_simulator-12] [INFO] [1717600266.665639362] [motion_execution_simulator]: Started simulated robot execution node [joint_state_publisher_gui-2] [INFO] [1717600267.142506594] [joint_state_publisher_gui]: Centering [rviz2-7] [INFO] [1717600267.810727888] [rviz2]: Stereo is NOT SUPPORTED [rviz2-7] [INFO] [1717600267.820271279] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [joint_state_publisher_gui-2] [INFO] [1717600268.331903350] [joint_state_publisher_gui]: Centering [snp_motion_planning_node-9] [INFO] [1717600268.688877617] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Updating internal planning scene state at most every 0.100000 seconds [rviz2-7] [INFO] [1717600268.932075387] [rviz2]: Stereo is NOT SUPPORTED [snp_motion_planning_node-9] [INFO] [1717600269.327625764] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Publishing maintained environment on '/snp_environment/tesseract_published_environment' [snp_motion_planning_node-9] [INFO] [1717600269.343497948] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Started environment state publishing thread ... [snp_motion_planning_node-9] [INFO] [1717600270.039210929] [snp_planning_server]: Started SNP motion planning server [snp_motion_planning_node-9] [INFO] [1717600270.846083122] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Published the Tesseract Environment State for: 'motoman_mh_180_120' [ERROR] [rviz2-7]: process has died [pid 4878, exit code -9, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /home/auto-admin/ros2_humble_ws/install/snp_blending/share/snp_blending/config/app.rviz --ros-args --params-file /tmp/launch_params_yunwx7mm --params-file /tmp/launch_params_t5ad4_sd --params-file /tmp/launch_params_pzsmxxf4 --params-file /tmp/launch_params_wyrnzf0_ --params-file /tmp/launch_params_t7ip037s --params-file /tmp/launch_params_wgealazn --params-file /tmp/launch_params_e88yenof --params-file /tmp/launch_params_p3s3rtui --params-file /tmp/launch_params_1vg45wew --params-file /tmp/launch_params_xd5zaa2h --params-file /tmp/launch_params_ghqvlkff --params-file /tmp/launch_params_g8bl0dv5 --params-file /tmp/launch_params_wf007apx --params-file /tmp/launch_params_um51oxhu --params-file /tmp/launch_params__o20hugn --params-file /tmp/launch_params_3z302yum --params-file /tmp/launch_params_avff2xjp --params-file /tmp/launch_params_otkn5ajh --params-file /tmp/launch_params_sn4axxqk --params-file /tmp/launch_params_zad3_z3h --params-file /tmp/launch_params_9n_x4epd']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [snp_motion_planning_node-9] [INFO] [1717600328.996140252] [rclcpp]: signal_handler(signum=2) [static_transform_publisher-6] [INFO] [1717600328.996237495] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-3] [INFO] [1717600328.996281421] [rclcpp]: signal_handler(signum=2) [robot_state_publisher-5] [INFO] [1717600329.004225728] [rclcpp]: signal_handler(signum=2) [robot_enable_simulator-11] Traceback (most recent call last): [robot_enable_simulator-11] File "/home/auto-admin/ros2_humble_ws/install/snp_motion_execution/lib/snp_motion_execution/robot_enable_simulator", line 33, in [robot_enable_simulator-11] rclpy.spin(node) [robot_enable_simulator-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin [robot_enable_simulator-11] executor.spin_once() [robot_enable_simulator-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [robot_enable_simulator-11] self._spin_once_impl(timeout_sec) [robot_enable_simulator-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [robot_enable_simulator-11] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [robot_enable_simulator-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [robot_enable_simulator-11] return next(self._cb_iter) [robot_enable_simulator-11] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [robot_enable_simulator-11] wait_set.wait(timeout_nsec) [robot_enable_simulator-11] KeyboardInterrupt [execution_simulator-12] Traceback (most recent call last): [execution_simulator-12] File "/home/auto-admin/ros2_humble_ws/install/snp_motion_execution/lib/snp_motion_execution/execution_simulator", line 44, in [execution_simulator-12] rclpy.spin(node) [execution_simulator-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin [execution_simulator-12] executor.spin_once() [execution_simulator-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [execution_simulator-12] self._spin_once_impl(timeout_sec) [execution_simulator-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [execution_simulator-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [execution_simulator-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [execution_simulator-12] return next(self._cb_iter) [execution_simulator-12] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [execution_simulator-12] wait_set.wait(timeout_nsec) [execution_simulator-12] KeyboardInterrupt [scan_motion_plan_from_file_node-10] Traceback (most recent call last): [ERROR] [joint_state_publisher_gui-2]: process has died [pid 4868, exit code -2, cmd '/opt/ros/humble/lib/joint_state_publisher_gui/joint_state_publisher_gui --ros-args -r __node:=joint_state_publisher_gui -r joint_states:=robot_joint_states']. [scan_motion_plan_from_file_node-10] File "/home/auto-admin/ros2_humble_ws/install/snp_scanning/lib/snp_scanning/scan_motion_plan_from_file_node", line 79, in [scan_motion_plan_from_file_node-10] main() [scan_motion_plan_from_file_node-10] File "/home/auto-admin/ros2_humble_ws/install/snp_scanning/lib/snp_scanning/scan_motion_plan_from_file_node", line 74, in main [scan_motion_plan_from_file_node-10] rclpy.spin(ScanMotionPlanFromFileNode()) [scan_motion_plan_from_file_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin [scan_motion_plan_from_file_node-10] executor.spin_once() [scan_motion_plan_from_file_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once [scan_motion_plan_from_file_node-10] self._spin_once_impl(timeout_sec) [scan_motion_plan_from_file_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl [scan_motion_plan_from_file_node-10] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec) [scan_motion_plan_from_file_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks [scan_motion_plan_from_file_node-10] return next(self._cb_iter) [scan_motion_plan_from_file_node-10] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks [scan_motion_plan_from_file_node-10] wait_set.wait(timeout_nsec) [scan_motion_plan_from_file_node-10] KeyboardInterrupt [ERROR] [scan_motion_plan_from_file_node-10]: process has died [pid 4911, exit code -2, cmd '/home/auto-admin/ros2_humble_ws/install/snp_scanning/lib/snp_scanning/scan_motion_plan_from_file_node --ros-args --params-file /tmp/launch_params_ged8voye']. [ERROR] [robot_enable_simulator-11]: process has died [pid 4913, exit code -2, cmd '/home/auto-admin/ros2_humble_ws/install/snp_motion_execution/lib/snp_motion_execution/robot_enable_simulator --ros-args']. [INFO] [static_transform_publisher-6]: process has finished cleanly [pid 4876] [ERROR] [execution_simulator-12]: process has died [pid 4916, exit code -2, cmd '/home/auto-admin/ros2_humble_ws/install/snp_motion_execution/lib/snp_motion_execution/execution_simulator --ros-args --params-file /tmp/launch_params_23qh58fv']. [snp_motion_planning_node-9] [INFO] [1717600331.205176151] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Stopping env publishing thread [snp_motion_planning_node-9] [INFO] [1717600331.209524947] [snp_planning_server.ROSEnvironmentMonitor_internal.snp_environment_monitor]: Stopped publishing maintained environment. [INFO] [robot_state_publisher-3]: process has finished cleanly [pid 4870] [INFO] [joint_state_publisher-4]: process has finished cleanly [pid 4872] [INFO] [robot_state_publisher-5]: process has finished cleanly [pid 4874] [INFO] [joint_state_publisher-1]: process has finished cleanly [pid 4866] [snp_motion_planning_node-9] You can set logging level with TRAJOPT_LOG_THRESH. Valid values: FATAL ERROR WARN INFO DEBUG TRACE. Defaulting to ERROR [INFO] [snp_motion_planning_node-9]: process has finished cleanly [pid 4908] [?2004h]0;auto-admin@Ubuntu-22: ~/ros2_humble_wsauto-admin@Ubuntu-22:~/ros2_humble_ws$ [?2004l exit Script done on 2024-06-05 20:42:13+05:30 [COMMAND_EXIT_CODE="0"]