Category Archives: Error

[Solved] npm install sass@~1.32 sass-loader deepmerge -D Install Error

npm install sass@~1.32 sass-loader deepmerge -D install error:

PS E:\dome\automated-test-platform-vue2> npm install sass@~1.32 sass-loader deepmerge -D
npm ERR! code ERESOLVE
npm ERR! ERESOLVE unable to resolve dependency tree
npm ERR! 
npm ERR! While resolving: [email protected]
npm ERR! Found: [email protected]
npm ERR! node_modules/webpack
npm ERR!   dev webpack@"^3.6.0" from the root project
npm ERR!
npm ERR! peer webpack@"^5.0.0" from [email protected]
npm ERR! node_modules/sass-loader
npm ERR!   dev sass-loader@"*" from the root project
npm ERR!
npm ERR! Fix the upstream dependency conflict, or retry
npm ERR! this command with --force, or --legacy-peer-deps
npm ERR! to accept an incorrect (and potentially broken) dependency resolution.
npm ERR!
npm ERR! See C:\Users\shenyf\AppData\Local\npm-cache\eresolve-report.txt for a full report.

npm ERR! A complete log of this run can be found in:
npm ERR!     C:\Users\shenyf\AppData\Local\npm-cache\_logs\2022-01-13T03_11_17_119Z-debug.log

Solution:

PS E:\dome\automated-test-platform-vue2> npm install sass@~1.32 sass-loader@7 deepmerge -D

added 7 packages, and audited 1277 packages in 8s
63 packages are looking for funding
  run `npm fund` for details

86 vulnerabilities (2 low, 69 moderate, 15 high)

To address issues that do not require attention, run:
  npm audit fix

To address all issues (including breaking changes), run:
  npm audit fix --force

Run `npm audit` for details.

QT calls the API of ffmpeg error [How to Solve]

QT calls the API of ffmpeg, and the error is as follows:

These two errors are caused by the lack of dynamic libraries in the running directory,

Dynamic library:

Program running Directory:

Directly copy all DLLs to the running directory.

QT calls ffmpeg API with the following configuration:

1. This document

Put in the project directory

2. Import and store files and header files

3. Add corresponding header file

4. Copy a dynamic library in the running directory

[Solved] VMware Workstation Unrecoverable error: (vcpu-0) vcpu-0:VERIFY vmcore/vmm/main/cpui

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When I installed VMware Workstation and found that Ubantu can not start with an error:

VMware Workstation Unrecoverable error: (vcpu-0) vcpu-0:VERIFY vmcore/vmm/main/cpui

 

Solution:

Find Intel virtual technology in the bos, set it to enabled, save and reboot, and the virtual machine opens normally.

在这里插入图片描述

在这里插入图片描述

[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

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.

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