Author Archives: Robins

[Solved] C++ Error: terminate called after throwing an instance of ‘char const‘

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0. Error Codes:

//insert
template <class DataType>  
void SeqList<DataType> :: Insert(int i, DataType x)
{
	if (i >= MaxSize)  throw "up";
	if (i < 1 || i > length + 1)  throw "The postions is not right";
	for (int j = length; j >= i; j--)
		data[j] = data[j - 1];             //Note that the jth element exists at the j-1 subscript of the array
	data[i - 1] = x;
	length++;
}


//main function
int main(){
	int r[5]={1, 2, 3, 4, 5};
	SeqList<int> L(r, 5);
	cout<<"The data after performing the insert operation is:"<<endl;
	L.PrintList( );              //output all elements
	try{
//		L.Insert(2,10);
		L.Insert(10,30);
	}catch(char *e){
		cout<<e<<endl; 
	}
	cout<<"The data after performing the insert operation is:"<<endl;
	L.PrintList( );              //output all elements

In fact, the code is still relatively easy, it is an insertion problem in an array, in an inserted array in the wrong position, it will report an exception to handle. But in this program the exception is not caught, but the program will stop for a long time in the middle and show terminate called after throwing an instance of ‘char const*’, the reason for this situation is that the exception does not match up in the catch, the C++ destructor throws The exception will automatically call terminate() to terminate the program. Then how to solve this situation?

1. Problem-solving
In fact, it is very simple to solve the problem, just add const in front of char *e in catch, here char *e is turned into a string constant pointer.

int main(){
	int r[5]={1, 2, 3, 4, 5};
	SeqList<int> L(r, 5);
	cout<<"The data before performing the insert operation is:"<<endl;
	L.PrintList( ); //output all elements
	try{
// L.Insert(2,10);
// The reason for the problem is that the exception type does not match and c++ starts its own exception handling
// Solution: just add const in front of char to make the caught exception variable a constant 
		L.Insert(10,30); // the second parameter 30 will cause an exception to be thrown (i > length + 1)  
	}catch(const char *e){
		cout<<e<<endl; 
	}
	cout<<"After performing the insert operation the data is:"<<endl;
	L.PrintList( ); //output all elements

}

 

[Solved] Error executing Jupyter command ‘notebook‘: [Errno 2] No such file or directory

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Problems:

jupyter-notebook re-install error:

Error executing Jupyter command ‘notebook’: [Errno 2] No such file or directory

or

When you install:

python3 -m pip install jupyter

Start error: Error executing Jupyter command ‘notebook’: [Errno 2] No such file or directory

 

Solution:

Install with the command:

sudo apt install jupyter-notebook

and Start with:

jupyter-notebook

[Solved] Nacos Startup Error: [db-load-error]load jdbc.properties error

1. Check whether it is started in cluster mode

In the startup script startup.CMD, modify mode = “standalone”

2. Check database configuration

In the configuration file conf/application.Properties

It’s very annoying to remove the comments from the database configuration. Because Notepad is set to automatically wrap lines, I think the URL line is open and there are no comments, so I checked it for a long time. It’s really careless!

After these two steps are completed, it is basically OK. If another error occurs:

No DataSource set

The database is not connected!!!

To check the database connection and password, mine is mysql8, which is solved after authorizing the user.

3. Ultimate solution

If we can’t find any problems, we can also adjust the log level to debug or trace, so that the log is detailed enough and can basically locate the problems.

The log path is conf/Nacos-logback.xml

Jjwt error: ERROR 9856 — [nio-8083-exec-2] o.a.c.c. [. [. [. [/]. [dispatch server]

**

Solve jjwt generation error

**
recently, when learning springboot + JWT + Vue, an error occurred while generating JWT. The error code is as follows:

2022-01-07 11:17:32.335 ERROR 9856 --- [nio-8083-exec-2] o.a.c.c.C.[.[.[/].[dispatcherServlet]    : Servlet.service() for servlet [dispatcherServlet] in context with path [] threw exception [Filter execution threw an exception] with root cause

java.lang.ClassNotFoundException: javax.xml.bind.DatatypeConverter
	at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:641) ~[na:na]
	at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:188) ~[na:na]
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:520) ~[na:na]
	at io.jsonwebtoken.impl.Base64Codec.decode(Base64Codec.java:26) ~[jjwt-0.9.1.jar:0.9.1]
	at io.jsonwebtoken.impl.DefaultJwtBuilder.signWith(DefaultJwtBuilder.java:99) ~[jjwt-0.9.1.jar:0.9.1]
	at com.okwind.utils.JwtUtils.generateToken(JwtUtils.java:31) ~[classes/:na]
	at com.okwind.security.LoginSuccessHandler.onAuthenticationSuccess(LoginSuccessHandler.java:32) ~[classes/:na]

Analysis error code: at com okwind.utils.JwtUtils. Generatetoken (jwtutils.Java: 31) ~ [classes/: Na] knows that the error occurred in jwtutils Generatetoken (jwtutils.Java: 31) is on line 31 of the tool class.

 26        return Jwts.builder()
 27               .setHeaderParam("typ", "JWT")
 28               .setSubject(username)
 29               .setIssuedAt(nowDate)
 30               .setExpiration(expireDate)
 31               .signWith(SignatureAlgorithm.HS256, app_secret)
 32               .compact();

It means that an exception occurred in generateToken() and it is related to SignatureAlgorithm.HS256.
after analysis, it is referenced:

        <dependency>
            <groupId>io.jsonwebtoken</groupId>
            <artifactId>jjwt</artifactId>
            <version>0.9.1</version>
        </dependency>

jjwt version 0.91 is not supported for new JDK versions. There are two solutions.

Method 1: jdk drops to below 11.
Method 2: keep the jdk version unchanged from the higher version and introduce in pom.xml.

<dependency>
    <groupId>io.jsonwebtoken</groupId>
    <artifactId>jjwt</artifactId>
    <version>0.9.1</version>
</dependency>
<dependency>
    <groupId>javax.xml.bind</groupId>
    <artifactId>jaxb-api</artifactId>
    <version>2.4.0-b180830.0359</version>
</dependency>
<dependency>
    <groupId>com.sun.xml.bind</groupId>
    <artifactId>jaxb-impl</artifactId>
    <version>3.0.0-M4</version>
</dependency>
<dependency>
    <groupId>com.sun.xml.bind</groupId>
    <artifactId>jaxb-core</artifactId>
    <version>3.0.0-M4</version>
</dependency>
<dependency>
    <groupId>javax.activation</groupId>
    <artifactId>activation</artifactId>
    <version>1.1.1</version>
</dependency>

So far, the problem is solved.

Error: Can’t initialize nvrm channel [How to Solve]

After the environment of Jetson nano is installed, debug the python program with Jupiter notebook. After starting
$Jupiter notebook
, a continuous prompt appears in terminal
error: can’t initialize nvrm channel
after query, it is related to the camera input on the nano, but the program does not use the camera. Jupyter can work normally, but it will affect the viewing of debugging information.

Solution:
to bypass this problem, open the chromium browser before starting jupyter, and then jupyter will open the page in the existing browser, so the above error will not appear in terminal.

[Solved] ### Error building SqlSession. ### The error may exist in com/atguigu/dao/SysUserMapper.xml ### Caus 

Error building SqlSession.
The error may exist in com/atguigu/dao/SysUserMapper.xml
Cause: org.apache.ibatis.builder.BuilderException: Error parsing SQL Mapper Configuration. Cause: java.io.IOException: Could not find resource com/atguigu/dao/SysUserMapper.xml

In POM.XML:

<build>
    <!--Configure resources in build, to prevent our resource export from failing-->
    <resources>
        <resource>
            <directory>src/main/resources</directory>
            <includes>
                <include>**/*.properties</include>
                <include>**/*.xml</include>
            </includes>
            <filtering>true</filtering>
        </resource>
        <resource>
            <directory>src/main/java</directory>
            <includes>
                <include>**/*.properties</include>
                <include>**/*.xml</include>
            </includes>
            <filtering>true</filtering>
        </resource></resources>
</build>

[Solved] ××: error while loading shared libraries: ××.so.19: cannot open shared object file: No such file or directory

××: error while loading shared libraries: ××. so. 19: cannot open shared object file: No such file or directory

When starting some programs, the corresponding link library could not find a solution

[root@feng1 build]# ttyd --help
ttyd: error while loading shared libraries: libwebsockets.so.19: cannot open shared object file: No such file or directory
[root@feng1 build]# ttyd --help
ttyd: error while loading shared libraries: libjson-c.so.5: cannot open shared object file: No such file or directory

This means that the program needs libwebsockets.so.19 and libjson-c.so.5 the functions in the two dynamic link libraries can not be found in the corresponding directory. The dynamic link library under Linux is composed of LD So is responsible for loading, and his configuration file is in etc/LD.so.conf , it is found that there is really no ××.So file under/usr/local/lib configured, we can manually add the specified path to solve the error problem

/environment/libwebsockets/build/lib		## libwebsockets.so.19
/cpack/json-c/build					## libjson-c.so.5

Then refresh the cache and run it again

[root@feng1 build]# sudo ldconfig		

[root@feng1 build]# ttyd --help
ttyd is a tool for sharing terminal over the web

USAGE:
    ttyd [options] <command> [<arguments...>]

VERSION:
    1.6.3-3e37e33

OPTIONS:
    -p, --port              Port to listen (default: 7681, use `0` for random port)
    -i, --interface         Network interface to bind (eg: eth0), or UNIX domain socket path (eg: /var/run/ttyd.sock)
    -c, --credential        Credential for basic authentication (format: username:password)
    -H, --auth-header       HTTP Header name for auth proxy, this will configure ttyd to let a HTTP reverse proxy handle authentication
    -u, --uid               User id to run with
    -g, --gid               Group id to run with
    -s, --signal            Signal to send to the command when exit it (default: 1, SIGHUP)
    -w, --cwd               Working directory to be set for the child program
    -a, --url-arg           Allow client to send command line arguments in URL (eg: http://localhost:7681?arg=foo&arg=bar)
    -R, --readonly          Do not allow clients to write to the TTY
    -t, --client-option     Send option to client (format: key=value), repeat to add more options
    -T, --terminal-type     Terminal type to report, default: xterm-256color
    -O, --check-origin      Do not allow websocket connection from different origin
    -m, --max-clients       Maximum clients to support (default: 0, no limit)
    -o, --once              Accept only one client and exit on disconnection
    -B, --browser           Open terminal with the default system browser
    -I, --index             Custom index.html path
    -b, --base-path         Expected base path for requests coming from a reverse proxy (eg: /mounted/here, max length: 128)
    -P, --ping-interval     Websocket ping interval(sec) (default: 5)
    -S, --ssl               Enable SSL
    -C, --ssl-cert          SSL certificate file path
    -K, --ssl-key           SSL key file path
    -A, --ssl-ca            SSL CA file path for client certificate verification
    -d, --debug             Set log level (default: 7)
    -v, --version           Print the version and exit
    -h, --help              Print this text and exit

Visit https://github.com/tsl0922/ttyd to get more information and report bugs.
[root@feng1 build]#

ROS Gazabo Error: [ERROR]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/ ×65374;

Error form:

[ERROR] [1641817876.599786098, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/base_ link_ to_ body
[ERROR] [1641817876.603696804, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/body_ to_ arm1
[ERROR] [1641817876.606541981, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ to_ arm1_ 01
[ERROR] [1641817876.609254992, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ 01_ to_ arm1_ 02
[ERROR] [1641817876.613152929, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ 02_ to_ arm1_ 03
[ERROR] [1641817876.617461705, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ 03_ to_ arm1_ 04
[ERROR] [1641817876.620764539, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ 04_ to_ arm1_ 05
[ERROR] [1641817876.623382280, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm1_ 05_ to_ wrist1
[ERROR] [1641817876.625858862, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/wrist1_ to_ hand1_ 01
[ERROR] [1641817876.628437624, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/wrist1_ to_ hand1_ 02
[ERROR] [1641817876.634538529, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/body_ to_ arm2_ 01
[ERROR] [1641817876.639608274, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm2_ 01_ to_ arm2_ 02
[ERROR] [1641817876.643080333, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm2_ 02_ to_ arm2_ 03
[ERROR] [1641817876.646745202, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm2_ 03_ to_ arm2_ 04
[ERROR] [1641817876.650024387, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm2_ 04_ to_ arm2_ 05
[ERROR] [1641817876.652968097, 0.001000000]: No p gain specified for pid.  Namespace: /nuclear_ robot/gazebo_ ros_ control/pid_ gains/arm2_ 05_ to_ wrist2

Notice the black part I added in the previous errors, which is the namespace path required to configure the PID. The reason for this error is that the named path in the configuration file does not match the PID requirements.

Solution:

First, you need to go through the message output of the .launch command you ran. Look at the namespace path output after you read in the configuration file. The image below shows the namespace path when I reported the error, and the form of the configuration file.

Differences in namespace paths can be seen at

Expected: Namespace: /nuclear_robot/gazebo_ros_control/pid_gains/~

Actual: Namespace: /nuclear_robot/arm1_controller/gains/~

So we need to make the configuration file changes based on the expected namespace path.

After initially just changing the configuration file in the gains to pid_gains and adding the line gazebo_ros_control before pid_gains, the problem is still not solved and the output is as follows.

From the output log, I could see that only the last two joints were loaded with parameters when the configuration file was loaded, and the pid of the last two joints was missing from the output of the error report.

So I moved the pid configuration of each joint to the end, and the problem was solved.

It should be noted that when rewriting the configuration file yaml, pay attention to the writing format and indentation (very important)

The following is the final output (there is no longer a large section of dazzling red error reports):

started roslaunch server http://localhost:41631/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm1/longest_valid_segment_fraction: 0.005
 * /move_group/arm1/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/arm1/projection_evaluator: joints(body_to_ar...
 * /move_group/arm1_gripper/longest_valid_segment_fraction: 0.005
 * /move_group/arm1_gripper/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/arm1_gripper/projection_evaluator: joints(wrist1_to_...
 * /move_group/arm2/longest_valid_segment_fraction: 0.005
 * /move_group/arm2/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/arm2/projection_evaluator: joints(body_to_ar...
 * /move_group/arm2_gripper/longest_valid_segment_fraction: 0.005
 * /move_group/arm2_gripper/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/arm2_gripper/projection_evaluator: joints(wrist2_to_...
 * /move_group/body/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/disable_capabilities: 
 * /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_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /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: [{'point_subsampl...
 * /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
 * /nuclear_robot/arm1_controller/joints: ['body_to_arm1', ...
 * /nuclear_robot/arm1_controller/type: position_controll...
 * /nuclear_robot/arm1_gripper_controller/joints: ['wrist1_to_hand1...
 * /nuclear_robot/arm1_gripper_controller/type: position_controll...
 * /nuclear_robot/arm2_controller/joints: ['body_to_arm2_01...
 * /nuclear_robot/arm2_controller/type: position_controll...
 * /nuclear_robot/arm2_gripper_controller/joints: ['wrist2_to_hand2...
 * /nuclear_robot/arm2_gripper_controller/type: position_controll...
 * /nuclear_robot/body_controller/joints: ['base_link_to_bo...
 * /nuclear_robot/body_controller/type: position_controll...
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_01_to_arm1_02/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_01_to_arm1_02/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_01_to_arm1_02/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_01_to_arm1_02/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_02_to_arm1_03/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_02_to_arm1_03/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_02_to_arm1_03/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_02_to_arm1_03/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_03_to_arm1_04/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_03_to_arm1_04/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_03_to_arm1_04/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_03_to_arm1_04/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_04_to_arm1_05/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_04_to_arm1_05/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_04_to_arm1_05/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_04_to_arm1_05/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_05_to_wrist1/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_05_to_wrist1/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_05_to_wrist1/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_05_to_wrist1/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_to_arm1_01/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_to_arm1_01/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_to_arm1_01/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm1_to_arm1_01/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_01_to_arm2_02/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_01_to_arm2_02/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_01_to_arm2_02/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_01_to_arm2_02/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_02_to_arm2_03/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_02_to_arm2_03/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_02_to_arm2_03/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_02_to_arm2_03/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_03_to_arm2_04/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_03_to_arm2_04/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_03_to_arm2_04/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_03_to_arm2_04/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_04_to_arm2_05/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_04_to_arm2_05/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_04_to_arm2_05/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_04_to_arm2_05/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_05_to_wrist2/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_05_to_wrist2/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_05_to_wrist2/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/arm2_05_to_wrist2/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/base_link_to_body/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/base_link_to_body/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/base_link_to_body/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/base_link_to_body/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm1/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm1/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm1/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm1/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm2_01/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm2_01/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm2_01/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/body_to_arm2_01/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_01/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_01/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_01/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_01/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_02/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_02/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_02/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist1_to_hand1_02/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_01/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_01/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_01/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_01/p: 1000.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_02/d: 0.1
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_02/i: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_02/i_clamp: 0.0
 * /nuclear_robot/gazebo_ros_control/pid_gains/wrist2_to_hand2_02/p: 1000.0
 * /nuclear_robot/joint_state_controller/publish_rate: 50
 * /nuclear_robot/joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm1/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm1/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm1/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm2/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm2/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm2/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/body/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/body/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/body/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/arm1_01_to_arm1_02/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_01_to_arm1_02/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_01_to_arm1_02/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_01_to_arm1_02/max_velocity: 0
 * /robot_description_planning/joint_limits/arm1_02_to_arm1_03/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_02_to_arm1_03/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_02_to_arm1_03/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_02_to_arm1_03/max_velocity: 0
 * /robot_description_planning/joint_limits/arm1_03_to_arm1_04/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_03_to_arm1_04/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_03_to_arm1_04/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_03_to_arm1_04/max_velocity: 0
 * /robot_description_planning/joint_limits/arm1_04_to_arm1_05/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_04_to_arm1_05/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_04_to_arm1_05/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_04_to_arm1_05/max_velocity: 0
 * /robot_description_planning/joint_limits/arm1_05_to_wrist1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_05_to_wrist1/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_05_to_wrist1/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_05_to_wrist1/max_velocity: 0
 * /robot_description_planning/joint_limits/arm1_to_arm1_01/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm1_to_arm1_01/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm1_to_arm1_01/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm1_to_arm1_01/max_velocity: 0
 * /robot_description_planning/joint_limits/arm2_01_to_arm2_02/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm2_01_to_arm2_02/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm2_01_to_arm2_02/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm2_01_to_arm2_02/max_velocity: 0
 * /robot_description_planning/joint_limits/arm2_02_to_arm2_03/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm2_02_to_arm2_03/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm2_02_to_arm2_03/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm2_02_to_arm2_03/max_velocity: 0
 * /robot_description_planning/joint_limits/arm2_03_to_arm2_04/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm2_03_to_arm2_04/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm2_03_to_arm2_04/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm2_03_to_arm2_04/max_velocity: 0
 * /robot_description_planning/joint_limits/arm2_04_to_arm2_05/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm2_04_to_arm2_05/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm2_04_to_arm2_05/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm2_04_to_arm2_05/max_velocity: 0
 * /robot_description_planning/joint_limits/arm2_05_to_wrist2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm2_05_to_wrist2/has_velocity_limits: False
 * /robot_description_planning/joint_limits/arm2_05_to_wrist2/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm2_05_to_wrist2/max_velocity: 0
 * /robot_description_planning/joint_limits/base_link_to_body/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/base_link_to_body/has_velocity_limits: False
 * /robot_description_planning/joint_limits/base_link_to_body/max_acceleration: 0
 * /robot_description_planning/joint_limits/base_link_to_body/max_velocity: 0
 * /robot_description_planning/joint_limits/body_to_arm1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/body_to_arm1/has_velocity_limits: False
 * /robot_description_planning/joint_limits/body_to_arm1/max_acceleration: 0
 * /robot_description_planning/joint_limits/body_to_arm1/max_velocity: 0
 * /robot_description_planning/joint_limits/body_to_arm2_01/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/body_to_arm2_01/has_velocity_limits: False
 * /robot_description_planning/joint_limits/body_to_arm2_01/max_acceleration: 0
 * /robot_description_planning/joint_limits/body_to_arm2_01/max_velocity: 0
 * /robot_description_planning/joint_limits/wrist1_to_hand1_01/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist1_to_hand1_01/has_velocity_limits: False
 * /robot_description_planning/joint_limits/wrist1_to_hand1_01/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist1_to_hand1_01/max_velocity: 0
 * /robot_description_planning/joint_limits/wrist1_to_hand1_02/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist1_to_hand1_02/has_velocity_limits: False
 * /robot_description_planning/joint_limits/wrist1_to_hand1_02/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist1_to_hand1_02/max_velocity: 0
 * /robot_description_planning/joint_limits/wrist2_to_hand2_01/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist2_to_hand2_01/has_velocity_limits: False
 * /robot_description_planning/joint_limits/wrist2_to_hand2_01/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist2_to_hand2_01/max_velocity: 0
 * /robot_description_planning/joint_limits/wrist2_to_hand2_02/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist2_to_hand2_02/has_velocity_limits: False
 * /robot_description_planning/joint_limits/wrist2_to_hand2_02/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist2_to_hand2_02/max_velocity: 0
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_xavier_3542_1884457764229678358 (rviz/rviz)
    urdf_spawner (gazebo_ros/spawn_model)
  /nuclear_robot/
    arm_controller_spawner (controller_manager/spawner)
    joint_controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [3556]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4bb68466-7212-11ec-be33-1cbfcea047cb
process[rosout-1]: started with pid [3570]
started core service [/rosout]
process[gazebo-2]: started with pid [3588]
process[gazebo_gui-3]: started with pid [3593]
process[urdf_spawner-4]: started with pid [3598]
process[nuclear_robot/joint_controller_spawner-5]: started with pid [3600]
process[robot_state_publisher-6]: started with pid [3601]
process[nuclear_robot/arm_controller_spawner-7]: started with pid [3602]
process[move_group-8]: started with pid [3607]
process[rviz_xavier_3542_1884457764229678358-9]: started with pid [3617]
[ INFO] [1641818347.545128890]: Loading robot model 'nuclear_robot'...
[ INFO] [1641818347.715709828]: rviz version 1.13.23
[ INFO] [1641818347.715824138]: compiled against Qt version 5.9.5
[ INFO] [1641818347.715864397]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1641818347.749134869]: Forcing OpenGl version 0.
[INFO] [1641818348.011125, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1641818348.055441, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1641818348.547783589]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641818348.559743776]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641818348.566375745]: Stereo is NOT SUPPORTED
[ INFO] [1641818348.566578700]: OpenGL device: NVIDIA Tegra Xavier (nvgpu)/integrated
[ INFO] [1641818348.566671761]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1641818348.718173637]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641818348.731496713]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1641818349.077115, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1641818349.117439, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1641818349.851304741]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1641818350.047844, 0.065000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1641818350.455892, 0.191000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1641818350.504658217, 0.191000000]: Physics dynamic reconfigure ready.
[urdf_spawner-4] process has finished cleanly
log file: /home/nvidia/.ros/log/4bb68466-7212-11ec-be33-1cbfcea047cb/urdf_spawner-4*.log
[ INFO] [1641818351.543491188, 0.191000000]: Loading gazebo_ros_control plugin
[ INFO] [1641818351.543737345, 0.191000000]: Starting gazebo_ros_control plugin in namespace: /nuclear_robot
[ INFO] [1641818351.545993945, 0.191000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1641818351.770328428, 0.191000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1641818351.786675984, 0.191000000]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1641818351.786780950, 0.191000000]: Starting planning scene monitor
[ INFO] [1641818351.805653249, 0.191000000]: Listening to '/planning_scene'
[ INFO] [1641818351.805806761, 0.191000000]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1641818351.826313355, 0.191000000]: Listening to '/collision_object'
[ INFO] [1641818351.848235576, 0.191000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1641818353.272323132, 0.191000000]: Loaded gazebo_ros_control.
[ INFO] [1641818353.434858522, 0.267000000]: Loading robot model 'nuclear_robot'...
[INFO] [1641818353.512072, 0.297000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1641818353.536834, 0.306000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1641818353.546685, 0.309000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1641818353.553371, 0.312000]: Loading controller: joint_state_controller
[INFO] [1641818353.571423, 0.319000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1641818353.592808, 0.327000]: Loading controller: body_controller
[INFO] [1641818353.649680, 0.349000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1641818353.971944, 0.481000]: Loading controller: arm1_controller
[INFO] [1641818353.975383, 0.483000]: Started controllers: joint_state_controller
[INFO] [1641818354.369832, 0.643000]: Loading controller: arm2_controller
[INFO] [1641818354.838744, 0.890000]: Loading controller: arm1_gripper_controller
[INFO] [1641818355.158097, 1.074000]: Loading controller: arm2_gripper_controller
[INFO] [1641818355.530871, 1.273000]: Controller Spawner: Loaded controllers: body_controller, arm1_controller, arm2_controller, arm1_gripper_controller, arm2_gripper_controller
[INFO] [1641818355.572662, 1.305000]: Started controllers: body_controller, arm1_controller, arm2_controller, arm1_gripper_controller, arm2_gripper_controller
[ INFO] [1641818358.639781941, 2.912000000]: Starting planning scene monitor
[ INFO] [1641818358.668084437, 2.931000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1641818359.836115338, 3.608000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1641818364.846962463, 6.492000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1641818364.847315762, 6.492000000]: Constructing new MoveGroup connection for group 'arm1' in namespace ''
[ INFO] [1641818372.590419868, 11.084000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'base_footprint '
[ INFO] [1641818372.635730211, 11.110000000]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1641818372.705597859, 11.153000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1641818373.225410564, 11.469000000]: Using planning interface 'OMPL'
[ INFO] [1641818373.237741139, 11.476000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1641818373.245810079, 11.480000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1641818373.248707577, 11.481000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641818373.251800798, 11.483000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641818373.254419081, 11.485000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1641818373.256732420, 11.486000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1641818373.256952847, 11.487000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1641818373.257069942, 11.487000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1641818373.257232158, 11.487000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1641818373.257344580, 11.487000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1641818373.257447402, 11.487000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1641818373.590199704, 11.685000000]: Added FollowJointTrajectory controller for nuclear_robot/body_controller
[ INFO] [1641818373.903175756, 11.878000000]: Added FollowJointTrajectory controller for nuclear_robot/arm1_controller
[ INFO] [1641818374.116014519, 12.016000000]: Added FollowJointTrajectory controller for nuclear_robot/arm2_controller
[ INFO] [1641818374.531673849, 12.239000000]: Added FollowJointTrajectory controller for nuclear_robot/arm1_gripper_controller
[ INFO] [1641818374.824725386, 12.420000000]: Added FollowJointTrajectory controller for nuclear_robot/arm2_gripper_controller
[ INFO] [1641818374.824951318, 12.422000000]: Returned 5 controllers in list
[ INFO] [1641818374.904395635, 12.466000000]: Trajectory execution is managing controllers
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'...
[ INFO] [1641818375.401474395, 12.760000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1641818375.401743977, 12.760000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1641818375.401805836, 12.760000000]: MoveGroup context initialization complete

You can start planning now!

HLS ERROR: [IMPL 213-28] Failed to generate IP. [How to Solve]

Problem Description:

The following problems occur when using HLS to synthesize or package IP
error: [impl 213-28] failed to generate IP
command ‘ap_ Source ‘returned error code

has been tested in HLS of three versions (2018.3, 2020.1 and 2020.2) successively, and all errors are reported. The existing solutions (modifying the file name) do not work

Solution:

Adjust the system time of window to be less than or equal to 2021
this problem can be solved

[Solved] JSON parse error: Cannot construct instance of 

JSON parse error: Cannot construct instance of `com.request.ApplyRequest$Detail` (although at least one Creator exists): can only instantiate non-static inner class by using default, no-argument constructor; nested exception is com.fasterxml.jackson.databind.exc.MismatchedInputException: Cannot construct instance of `com.request.ApplyRequest$Detail` (although at least one Creator exists): can only instantiate non-static inner class by using default, no-argument constructor\n at [Source: (PushbackInputStream); line: 8, column: 13] (through reference chain: com.request.ApplyRequest[\"detailList\"]->java.util.ArrayList[0])

 

The problem appears: can only instantiate non-static inner class by using default
When you declare an inner class as an attribute of the current class, you need to make the inner class static, otherwise it won’t be loaded during class loading!
Solution: Declare the inner class as static directly!

[nltk_data] Error loading wordnet_ic: HTTP Error 404: Not Found

Error loading XXXX: http Error 404: not found
XXXX can be WordNet or nltk_ Any package in data

Solution:

    1. 1. local download

    Find the package you need → copy the corresponding address → download → unzip to “your nltk_data path \nltk_data\corpora”
    For example: “wordnet_ic” “https://raw.githubusercontent.com/nltk/nltk_data/gh-pages/packages/corpora/ wordnet_ic.zip”

    <package id="wordnet_ic" 
name="WordNet-InfoContent" 
version="3.0" 
webpage="http://wn-similarity.sourceforge.net" 
unzip="1" 
unzipped_size="34220359" 
size="12056682" 
checksum="25f0185b31693fa11ea898e4feda528c" 
subdir="corpora" 
url="https://raw.githubusercontent.com/nltk/nltk_data/gh-pages/packages/corpora/wordnet_ic.zip" />

    2. Unzip directly
    when we install nltk, XXX.Zip will be included in “your nltk_data path\nltk_data\corpora”. We can first search to see if the package you need exists in the corpora directory. If so, just unzip it directly. Easy.