Tag Archives: linux

[Solved] ImportError:lib***.so–cannot open shared object file: No such…（pycharm/clion Error but shell No Error）

Problem Description: after the compilation is successful (there is an executable file in the folder), an error is reported when running (Ubuntu) clip, and the error cannot be found So shared library (but shell can execute normally) solution (similar error reporting in pycharm)

/home/luoxinhao/Desktop/mywork/bin/Infantry: error while loading shared libraries: libopencv_features2d.so.4.5: cannot open shared object file: No such file or directory

Reason: the execution of clion may be different from the environment variables of our shell. The following is the solution

Method 1: each time you start the clion, use the terminal to enter the folder where the clion is located and input/clion.SH, it can be executed normally. (feasible but troublesome)

Method 2: soft link method (both shell error reporting and idle error reporting are feasible, but many libraries may need to be linked, one by one)

My clion was successfully modified in this way, but pycharm gave up seven or eight links without completing the chain

1.1 find files

find  / -name  lib**. So (missing DLL)

1.2 establishing soft links

ln -s  /path/to/lib**. so   /usr/lib

1.3 sudo ldconfig

Method 3: modify LD_LIBRARY_Path (for me, it can only solve the shell error, and the modified idle still reports an error)

sudo gedit ~/. bashrc

export LD_LIBRARY_PATH=/where/you/install/lib:$LD_LIBRARY_PATH

sudo source ~/.bashrc

Method 4: modify/etc/LD so.Conf (ibid.)

vim  /etc/ld.so.conf

add  /where/you/install/lib

sudo ldconfig

Method 5: add it to the environment variable (available, used to solve the error reported by idle, which may need to be used in conjunction with method 3, without separate attempt)

First, open pycharm and modify the environment variable of the running configuration in the upper right corner

If you already have an environment variable, type a semicolon after it and paste it.

Paste content is similar to method 3

For example, method 3 is as follows

export LD_LIBRARY_PATH="/opt/intel/openvino_2021.4.689/opencv/lib:$LD_LIBRARY_PATH"

Then add after the semicolon

LD_LIBRARY_PATH=/opt/intel/openvino_2021.4.689/opencv/lib

[Solved] Kibana Error: Kibana server is not ready yet

Background

Visit kinaba in the web page http://localhost:5601 , always prompt “kibana server is not ready yet”.

Execute the following command to view kibana logs,

docker logs kibana

Tips found:

Text

It is suspected that the internal IP of each container changes after the container is restarted.

1. Therefore, execute the following command to check the internal IP of elasticsearch container and find that it is kibana The ES container IP in yaml configuration file is inconsistent with the actual es container IP.

docker inspect --format '{{ .NetworkSettings.IPAddress }}'  es container ID

// Check the id of es container
docker ps

2. Enter kibana container and update kibana.Yaml configuration file. Execute the following command to enter and edit kibana.yaml，

docker exec -it kibana container id /bin/bash
cd config
vi kibana.yml

Replace the IP address of the selected part in the figure below with the actual es container IP address, save and exit kibana.

3. Stop kibana service, delete kibana container and restart kibana.

// 3.1 Stop the kibana service
docker stop kibana container id

// 3.2 Delete the kibana container. (Not delete the kibana image! Not delete the kibana image! Not delete the kibana image!)
docker rm -f kibana container id

// 3.3 Enable running kibana
docker run --name kibana -e ELASTICSEARCH_HOST=http://es_contaner_ip:9200 -p 5601:5601 -d kibana:7.7.0


// Note: The command 'kibana:' in 3.3 above is followed by the kibana version number. To be on the safe side, it is recommended that the version of elasticsearch and kibana remain the same.

4. Browser revisit http://localhost:5601, refresh a few more times to access kibana normally.

[Solved] kafka Error: java.net.UnknownHostException: kafkahost

 

Problem phenomenon:

Today, I wanted to debug the service on my computer. I found that when calling the interface through the gateway, an error related to Kafka was reported, as follows:

java.net.UnknownHostException: kafkahost

Problem analysis:

It can be seen from the error message that the host named kafkahost cannot be recognized.

By viewing the configuration of a service instance of Kafka cluster configuration on Linux server, you can find:

listeners=PLAINTEXT://kafkahost:0091

This configuration uses the {kafkahost} mentioned in the error message. You can see that this service instance listens to the IP port} kafkahost: 0091; By viewing the/etc/hosts file of the Linux server, you can see:

Kafkahost points to the Linux server IP.

Since I accessed the Kafka service on the Linux server in the native service, I naturally could not resolve to kafkahost. Therefore, you need to add the corresponding configuration in the hosts file of this machine!

Solution:

Find the hosts file path of this machine:

C:\Windows\System32\drivers\etc

Add the following configuration at the end of the file to identify kafkahost as the Linux server IP:

Restart the local service and call the interface again without any error:

[Solved] VMware Create a Virtual Machine Error: unsuccessful

VMware encountered a classic error when creating a virtual machine:

Attempting to start up from:
EFI VMware Virtual SCSI Hard Drive (0.0) … unsuccessful.
EFI VMware Virtual SATA CDROM Drive (1.0) … unsuccessful.
EFI Network…

Solution:
1 Find the VMX file in the installation directory of the virtual machine
2 Delete firmware = “EFI”
3 Save and restart the virtual machine to install normally

Linux: How to Solve vim ~/.bashrc Execute Error

1. If you want to add environment variables under Linux, execute VIM ~/The bashrc command has the following error:

2. Execute sudo apt update first to see what happens

3. Execute sudo apt install — reinstall command not found

4. Finally, execute sudo sudo chmod -R o+r /var/lib/command-not-found/ to successfully solve the problem!

[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!

[Solved] yum error: rpmdb: BDB0113 Thread/process

error

shell> yum info subversion
error: rpmdb: BDB0113 Thread/process 1765361/140192760330112 failed: BDB1507 Thread died in Berkeley DB library
error: db5 error(-30973) from dbenv->failchk: BDB0087 DB_RUNRECOVERY: Fatal error, run database recovery
error: cannot open Packages index using db5 -  (-30973)
error: cannot open Packages database in /var/lib/rpm
Error: Error: rpmdb open failed

Solution:

shell> mv /var/lib/rpm/__db.00* /tmp/&&yum clean all

[Solved] pxp_lib.h:19:10: fatal error: linux/pxp_device.h: No such file or directory 


ERROR: imx-lib-1_5.8+AUTOINC+3f777974c0-r0 do_compile: oe_runmake failed
ERROR: imx-lib-1_5.8+AUTOINC+3f777974c0-r0 do_compile: Execution of '/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/temp/run.do_compile.612337' failed with exit code 1
ERROR: Logfile of failure stored in: /sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/temp/log.do_compile.612337
Log data follows:
| DEBUG: Executing shell function do_compile
| NOTE: make -j 1 CROSS_COMPILE=arm-fsl-linux-gnueabi- PLATFORM= INCLUDE=-I/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/recipe-sysroot/usr/include/imx all
| make -C pxp all
| make[1]: Entering directory '/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/git/pxp'
| arm-fsl-linux-gnueabi-gcc  -mthumb -mfpu=neon -mfloat-abi=hard -mcpu=cortex-a7 -fstack-protector-strong  -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security --sysroot=/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/recipe-sysroot -D -I/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/recipe-sysroot/usr/include/imx -Wall -fPIC  -O2 -pipe -g -feliminate-unused-debug-types -fmacro-prefix-map=/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0=/usr/src/debug/imx-lib/1_5.8+AUTOINC+3f777974c0-r0                      -fdebug-prefix-map=/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0=/usr/src/debug/imx-lib/1_5.8+AUTOINC+3f777974c0-r0                      -fdebug-prefix-map=/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/recipe-sysroot=                      -fdebug-prefix-map=/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/recipe-sysroot-native=  -c pxp_lib.c -o pxp_lib.o
| <command-line>: error: macro names must be identifiers
| In file included from pxp_lib.c:26:
| pxp_lib.h:19:10: fatal error: linux/pxp_device.h: No such file or directory
|    19 | #include <linux/pxp_device.h>
|       |          ^~~~~~~~~~~~~~~~~~~~
| compilation terminated.
| make[1]: *** [Makefile:30: pxp_lib.o] Error 1
| make[1]: Leaving directory '/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/git/pxp'
| make: *** [Makefile:17: pxp] Error 2
| ERROR: oe_runmake failed
| WARNING: exit code 1 from a shell command.
| ERROR: Execution of '/sd1/jarvis-workspace/build-x11/tmp/work/cortexa7t2hf-neon-mx6ul-fsl-linux-gnueabi/imx-lib/1_5.8+AUTOINC+3f777974c0-r0/temp/run.do_compile.612337' failed with exit code 1

Error resolution:

meta-jarvis/recipes-bsp/imx-lib/imx-lib_git.bbappend



ADD:


PLATFORM_mx6ull = "IMX6UL"

[Solved] igb Compile Error: igb_main.c:10044:7: error: implicit declaration of function ‘isdigit’

Recently, the IGB compiler driver found this problem:

zacha@Superman:~/igb/igb-5.7.2/src$ make
#@+ echo "*** The target kernel has CONFIG_MODULE_SIG_ALL enabled, but" ; echo "*** the signing key cannot be found. Module signing has been" ; echo "*** disabled for this build." ; make  ccflags-y="" -C "/lib/modules/4.15.0-142-generic/build" CONFIG_IGB=m CONFIG_MODULE_SIG=n CONFIG_MODULE_SIG_ALL= M="/home/zacha/igb/igb-5.7.2/src"   modules  
make -C /home/zacha/yulong810/kernel M=/home/zacha/igb/igb-5.7.2/src CROSS_COMPILE=arm-linux-gnueabihf- ARCH=arm
make[1]: Entering directory '/home/zacha/yulong810/kernel'
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_main.o
/home/zacha/igb/igb-5.7.2/src/igb_main.c: In function ‘igb_get_os_driver_version’:
/home/zacha/igb/igb-5.7.2/src/igb_main.c:10044:7: error: implicit declaration of function ‘isdigit’ [-Werror=implicit-function-declaration]
   if(!isdigit(*c) && *c != '.')
       ^~~~~~~
cc1: some warnings being treated as errors
scripts/Makefile.build:303: recipe for target '/home/zacha/igb/igb-5.7.2/src/igb_main.o' failed
make[2]: *** [/home/zacha/igb/igb-5.7.2/src/igb_main.o] Error 1
Makefile:1519: recipe for target '_module_/home/zacha/igb/igb-5.7.2/src' failed
make[1]: *** [_module_/home/zacha/igb/igb-5.7.2/src] Error 2
make[1]: Leaving directory '/home/zacha/yulong810/kernel'
Makefile:88: recipe for target 'default' failed
make: *** [default] Error 2

There are also solutions online:
https://github.com/geerlingguy/raspberry-pi-pcie-devices/issues/3

Solution:

Add #include <linux/ctype.h> inigb)main.c
then compile and generate IGB.ko

zacha@Superman:~/igb/igb-5.7.2/src$ make
#@+ echo "*** The target kernel has CONFIG_MODULE_SIG_ALL enabled, but" ; echo "*** the signing key cannot be found. Module signing has been" ; echo "*** disabled for this build." ; make  ccflags-y="" -C "/lib/modules/4.15.0-142-generic/build" CONFIG_IGB=m CONFIG_MODULE_SIG=n CONFIG_MODULE_SIG_ALL= M="/home/zacha/igb/igb-5.7.2/src"   modules  
make -C /home/zacha/yulong810/kernel M=/home/zacha/igb/igb-5.7.2/src CROSS_COMPILE=arm-linux-gnueabihf- ARCH=arm
make[1]: Entering directory '/home/zacha/yulong810/kernel'
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_main.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_api.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_ethtool.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_hwmon.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_mbx.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_mac.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_manage.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_nvm.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_param.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_phy.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_procfs.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_vmdq.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_82575.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/e1000_i210.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_debugfs.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/igb_ptp.o
  CC [M]  /home/zacha/igb/igb-5.7.2/src/kcompat.o
  LD [M]  /home/zacha/igb/igb-5.7.2/src/igb.o
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /home/zacha/igb/igb-5.7.2/src/igb.mod.o
  LD [M]  /home/zacha/igb/igb-5.7.2/src/igb.ko
make[1]: Leaving directory '/home/zacha/yulong810/kernel'

[Solved] Android8.1 Compile Error: SSL error when connecting to the Jack server

An error occurs when compiling the source code of RK embedded development board
problem:

Solution:

CD/etc/java-8-openjdk/security/to this directory; sudo vim java. Security (note that it needs to be opened and modified by the root user); Delete the “tlsv1, tlsv1.1” configurations and save to exit:
restart the jack server:

cd /prebuilts/sdk/tools/ 
./jack-admin kill-server 
./jack-admin start-server

After recompiling the source code, the problem will no longer be reported

[Solved] CentOS Use Yum to install dependency: error: rpmdb open failed

When installing dependencies using Yum in CentOS, the following errors are reported:

the solution is as follows:

Execute the following commands in order

 # Go to the directory where rpmdb is located
 cd /var/lib/rpm
 # Clear the original rpmdb file
 rm -f __db.*
 # Rebuild the rpm database
 rpm --rebuilddb
 # Clear all yum caches
 yum clean all

After execution, use Yum to install the dependent packages normally