Tag Archives: ubuntu

[Solved] Ubuntu Server 18.4 System /etc/sudoers: syntax error near line 32

Cause: Because the /etc/sudoers file was previously edited with a problem, the default Ubuntu system could not use sudo to raise power after saving, and could not use root privileges causing a big problem; the default Ubuntu system root was not allowed to log in, and the root login password had not been set before; sadly, it could not be modified by directly logging into the root account.

The problem is in /etc/sudoers: syntax error near line 32 of the sudoers file.

Solution.

1. open two shell windows with the normal user “ubuntu”.

2, in the first ssh session execute “echo $$” and write down the PID

3, in the second ssh session, execute “pkttyagent –process PID”.

4. Execute “pkexec visudo” in the first ssh session and then enter the password in the second ssh session. This will give you access to the /etc/sudoers file, then you will know the error line and modify the data.

5. Use the nano editor for editing by default.

1、Execute "Ctrl+O" #Save
2, after the implementation of "Ctrl + O", the output will be "File Name to Write sudoers.tmp", in tmp after the implementation of the carriage return * 
3、Execute "Ctrl+X "* #Exit

At this time, when you open the shell link, you will not report an error when using sudo and Su rights raising behavior;

[Solved] catkin_make Error: pkg_resources.DistributionNotFound: pyparsing

A new workspace is created and catkin_make gives the following error:

Base path: /home/caohaojie/ros_ws
Source space: /home/caohaojie/ros_ws/src
Build space: /home/caohaojie/ros_ws/build
Devel space: /home/caohaojie/ros_ws/devel
Install space: /home/caohaojie/ros_ws/install
####
#### Running command: "cmake /home/caohaojie/ros_ws/src -DCATKIN_DEVEL_PREFIX=/home/caohaojie/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/caohaojie/ros_ws/install -G Unix Makefiles" in "/home/caohaojie/ros_ws/build"
####
-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at CMakeLists.txt:22 (message):
  Search for 'catkin' in workspace failed (catkin_find_pkg catkin
  /home/caohaojie/ros_ws/src): Traceback (most recent call last):
    File "/home/caohaojie/.local/bin/catkin_find_pkg", line 5, in <module>
      from pkg_resources import load_entry_point
    File "build/bdist.linux-x86_64/egg/pkg_resources.py", line 2603, in <module>
    File "build/bdist.linux-x86_64/egg/pkg_resources.py", line 666, in require
    File "build/bdist.linux-x86_64/egg/pkg_resources.py", line 565, in resolve
  pkg_resources.DistributionNotFound: pyparsing

-- Configuring incomplete, errors occurred!
See also "/home/caohaojie/ros_ws/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed

 

Solution:
Downgrade the version of catkin-pkg
$pip3 install catkin-pkg==0.4.16 

[Solved] Ubuntu: su Switch root Error: Authentication failure

[Ubuntu] solve the problem of error reporting when switching root with Su: authentication failure user authentication failure

Question:

Authentication failure occurs when Ubuntu uses Su to switch root. Authentication fails

Error reporting reason:

Because the Ubuntu system does not activate the root user by default, you need to activate it manually and then use the Su command

Solution:

Enter the following code to set the root password

sudo passwd root

[Solved] ubuntu Boot Error: /dev/nume0n1p2:clean

This is an error that cannot be reported in the graphical interface. Sometimes this problem occurs when the driver or program is updated.

Solution:
Ctrl + Alt + F2 enter the command line, enter the user name and password, and then enter the update library: sudo apt update

update kernel:
sudo apt upgrade

check for updates:
sudo apt install - f

delete old kernel:
sudo apt autoremove

Restart: reboot
Congratulations on your success!

[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

launch file Run Error: Resourcenotfound: XXX [How to Solve]

launch File run Error:

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 308, in main
    p.start()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 750, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 722, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 686, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 589, in _include_tag
    inc_filename = self.resolve_args(tag.attributes['file'].value, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 207, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: lslidar_c16_decoder
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/lskk/lego_loam_ws/src
ROS path [2]=/opt/ros/kinetic/share

 

 

Solution:
For ResourceNotFound: xxx class issues. If it is an installation package, perform the corresponding installation; for this error, the file is not found, check the lslidar_c16_decoder item in launch and modify it.

 

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] sys.stderr.write(f“ERROR: {exc}“) SyntaxError: invalid syntax

There was an error querying the version of Ubuntu after installing PIP3

Traceback (most recent call last):
  File "/usr/local/bin/pip3", line 7, in <module>
    from pip._internal.cli.main import main
  File "/usr/local/lib/python3.5/dist-packages/pip/_internal/cli/main.py", line 57
    sys.stderr.write(f"ERROR: {exc}")
                                   ^
SyntaxError: invalid syntax

Solution:

wget https://bootstrap.pypa.io/pip/3.5/get-pip.py

After downloading, execute the following command

python3 get-pip.py

[Solved] Shell loop execute error: syntax error: bad for loop variable 

#!/bin/bash

for ((i = 10 ; i>=0 ; i--))
do
	echo $i
done

Syntax error: bad for loop variable

The reason is that since Ubuntu 6.10, Ubuntu has replaced the previous default bash shell with dash shell; It shows that the/bin/sh link reverses/bin/dash instead of the traditional/bin/bash.

Question 1: why #/ Bin/bash doesn’t work?

./execution will read #/ Bin/bash specifies the shell parser, and the script needs execution permission

Executing with SH will not read #/ Bin/bash, which is equivalent to executing the/bin/sh shell script and passing it in as a parameter. The script does not need execution permission, but only reading permission

Solution 1:

Execute sudo dpkg reconfigure dash and select No

Solution 2:

Modify cycle


for i in `seq 1 10`                                                                                                
do                                                                                                               
        echo $i                                                                                                  
done                                                                                                             
         
OR
                                                                                                        
for i in {0..10}                                                                                                 
do                                                                                                               
        echo $i                                                                                                  
done

[Solved] Win10 install Ubuntu error: wslregisterdistribution failed with error: 0x8007019e

This article is reproduced in \ Author: Buyan \ original text: win10 installs Ubuntu system and reports the error wslregisterdistribution failed with error: 0x8007019e – jova – blog Garden (cnblogs. Com)

When installing the Ubuntu system in the windows app store, the error wslregisterdistribution failed with error: 0x8007019e is reported

1. Error reporting:

Installing, this may take a few minutes... Installation Failed! Error: 0x8007019e Press any key to continue...

2. Cause: Windows subsystem support is not installed.

3. Solution:

1. Win + X, select windows PowerShell (administrator)

2. Input: enable windowsoptionalfeature – Online – featurename Microsoft Windows subsystem Linux

3. Enter, enter y, restart!

4. Reopen the installed subsystem, wait a few minutes, and enter the account and password.

**

 

Vmware Virtual Machine ubuntu Compile Error: fatal error: Killed signal terminated program cc1plus

VMware virtual machine
Ubuntu compiles opencv with an error of 92%.
fatal error: killed signal terminated program cc1plus.

Cause: the virtual machine is out of allocated memory.

Close the client, edit the client settings, and expand the memory to 4G.

After confirmation, restart the virtual machine and execute the compile command again. Generally, the system will compile and will not restart.

[Solved] NameError: name ‘reload’ is not defined on ROS melody terminal

Solve in Ubuntu 18 After installing ROS melody under 04, the terminal appears NameError: name ‘reload’ is not defined

Method 1:

Comment out the melodic source in .bashrc, .zshrc, for example:

# source /opt/ros/melodic/setup.zsh

Method 2:

Comment out the code in /opt/ROS/melody/lib/python2.7/dist-packages/sitecustomize.py

#coding=utf8
#import sys
#reload(sys)
#sys.setdefaultencoding('utf8')