ros通过moveit控制真实机械臂

1.demo.launch文件

在生成的demo.launch文件中，参数fake_execution的值改为false

  <include file="$(find tk7arm_moveit_interface)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="fake_execution" value="false"/>

2、修改moveit_controller_manager参数

找到move_group.launch 文件中关于 moveit_controller_manager 参数选择那行

    <arg name="moveit_controller_manager" value="tk7arm_description" unless="$(arg fake_execution)"/>
    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>

在moveit生成的接口包中，有两个文件：

fake_moveit_controller_manager.launch.xml
tk7arm_description_moveit_controller_manager.launch.xml

修改不是fake的那个文件

<launch>

  <!-- loads moveit_controller_manager on the parameter server which is taken as argument
    if no argument is passed, moveit_simple_controller_manager will be set -->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>

  <!-- loads ros_controllers to the param server -->
  <!-- <rosparam file="$(find tk7arm_moveit_interface)/config/ros_controllers.yaml"/> -->

  <arg name="execution_type" />
  <arg name="use_controller_manager" default="true" />
  <param name="use_controller_manager" value="$(arg use_controller_manager)" />

  <rosparam file="$(find tk7arm_moveit_interface)/config/tk7arm_ros_controllers.yaml"/>

</launch>

自己新建一个tk7arm_ros_controllers.yaml文件，并填入

controller_list:
  - name: tk7arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    defaunlt: true
    joints:
      - joint0
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
initial:  # Define initial robot poses.
  - group: tk7arm
    pose: upright

joints:
  - joint0
  - joint1
  - joint2
  - joint3
  - joint4
  - joint5
  - joint6

5、解决真实机械臂与joint_states_publisher消息冲突的问题
当控制真实机械臂时，moveit的配置文件中，demo.launch文件中关于joint_states_publisher的一段代码需要注释掉，
因为该程序也在发布机械臂关节状态，而且是一个模拟的状态，与真实机械臂状态是不相符的，若不注释掉该代码，rviz下显示的机械臂状态总是在不停的跳变,将原本的注释，使用真实的传感器发布的/joint_states来控制。
 

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
    <rosparam param="source_list">[/joint_states]</rosparam>
  </node>
  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
    <rosparam param="source_list">[/joint_states]</rosparam>
  </node>

6、解决真实机械臂轨迹执行时间超时的问题。moveit配置文件中有几个参数还需要添加上，否则后续真实机械臂执行轨迹时会报超时的错误。需要在trajectory_execution.launch.xml文件中增加几个参数，来延长允许执行轨迹的时间。

  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="trajectory_execution/allowed_execution_duration_scaling" value="6"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
  <param name="trajectory_execution/execution_duration_monitoring" value="false"/>

7.执行demo.launch

robotarm@robotarm:~/ros_demo/tk7arm_igh_demo06$ roslaunch tk7arm_moveit_interface demo.launch 
... logging to /home/robotarm/.ros/log/90c3185e-4b6f-11ec-b4d3-0024d6732560/roslaunch-robotarm-17018.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARN: unrecognized 'param' tag in <include> tag
WARN: unrecognized 'param' tag in <include> tag
started roslaunch server http://robotarm:46485/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['/joint_states']
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/disable_capabilities: 
 * /move_group/initial: [{'pose': 'uprigh...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/joints: ['joint0', 'joint...
 * /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: [{}]
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/tk7arm/longest_valid_segment_fraction: 0.005
 * /move_group/tk7arm/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/tk7arm/projection_evaluator: joints(joint0,joi...
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 6
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: True
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/tk7arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/tk7arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/tk7arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/joint_limits/joint0/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint0/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint0/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint0/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint1/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint2/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint3/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint4/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint5/max_velocity: 3.14
 * /robot_description_planning/joint_limits/joint6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint6/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint6/max_velocity: 3.14
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_robotarm_17018_7688874129564724977 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_state_publisher-1]: started with pid [17080]
process[robot_state_publisher-2]: started with pid [17082]
process[move_group-3]: started with pid [17083]
process[rviz_robotarm_17018_7688874129564724977-4]: started with pid [17084]
[ INFO] [1637570410.785803213]: Loading robot model 'tk7arm_description'...
[ INFO] [1637570410.788745534]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1637570411.170910417]: IK plugin for group 'tk7arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637570411.175837220]: IK Using joint link1 -3.14 3.14
[ INFO] [1637570411.176215461]: IK Using joint link2 -3.14 3.14
[ INFO] [1637570411.176559788]: IK Using joint link3 -3.14 3.14
[ INFO] [1637570411.176805617]: IK Using joint link4 -3.14 3.14
[ INFO] [1637570411.177152722]: IK Using joint link5 -3.14 3.14
[ INFO] [1637570411.177414709]: IK Using joint link6 -3.14 3.14
[ INFO] [1637570411.177654475]: IK Using joint link7 -3.14 3.14
[ INFO] [1637570411.177902326]: Looking in common namespaces for param name: tk7arm/position_only_ik
[ INFO] [1637570411.185670527]: Looking in common namespaces for param name: tk7arm/solve_type
[ INFO] [1637570411.190103957]: Using solve type Speed
[ INFO] [1637570411.324797492]: rviz version 1.13.21
[ INFO] [1637570411.324874485]: compiled against Qt version 5.9.5
[ INFO] [1637570411.324892877]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1637570411.334575492]: Forcing OpenGl version 0.
[ INFO] [1637570411.768359385]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1637570411.775708145]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1637570411.776136637]: Starting planning scene monitor
[ INFO] [1637570411.785189292]: Listening to '/planning_scene'
[ INFO] [1637570411.787274843]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1637570411.791369600]: Listening to '/collision_object'
[ INFO] [1637570411.795103874]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1637570411.796629414]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1637570412.037289320]: Stereo is NOT SUPPORTED
[ INFO] [1637570412.037406481]: OpenGL device: Mesa DRI Intel(R) HD Graphics 5000 (HSW GT3)
[ INFO] [1637570412.037461767]: OpenGl version: 3.0 (GLSL 1.3).
[ INFO] [1637570412.333686643]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1637570412.409157251]: Initializing OMPL interface using ROS parameters
[ INFO] [1637570412.447790957]: Using planning interface 'OMPL'
[ INFO] [1637570412.454507693]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1637570412.456644873]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1637570412.458112777]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637570412.458950424]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1637570412.459676723]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1637570412.460583395]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1637570412.460728315]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1637570412.460783186]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1637570412.460828771]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1637570412.460869016]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1637570412.460913879]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1637570415.650803575]: Loading robot model 'tk7arm_description'...
[ INFO] [1637570415.650887264]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1637570415.897354125]: IK plugin for group 'tk7arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637570415.901538980]: IK Using joint link1 -3.14 3.14
[ INFO] [1637570415.901620358]: IK Using joint link2 -3.14 3.14
[ INFO] [1637570415.901668180]: IK Using joint link3 -3.14 3.14
[ INFO] [1637570415.901699710]: IK Using joint link4 -3.14 3.14
[ INFO] [1637570415.901723811]: IK Using joint link5 -3.14 3.14
[ INFO] [1637570415.901746069]: IK Using joint link6 -3.14 3.14
[ INFO] [1637570415.901767700]: IK Using joint link7 -3.14 3.14
[ INFO] [1637570415.901803303]: Looking in common namespaces for param name: tk7arm/position_only_ik
[ INFO] [1637570415.904581860]: Looking in common namespaces for param name: tk7arm/solve_type
[ INFO] [1637570415.906721431]: Using solve type Speed
[ INFO] [1637570416.821398640]: Starting planning scene monitor
[ INFO] [1637570416.826664281]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1637570417.173703269]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1637570417.502433306]: Waiting for tk7arm_controller/follow_joint_trajectory to come up
[ INFO] [1637570422.194763954]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1637570422.195525515]: Constructing new MoveGroup connection for group 'tk7arm' in namespace ''
[ WARN] [1637570423.502768184]: Waiting for tk7arm_controller/follow_joint_trajectory to come up
[ERROR] [1637570429.546391013]: Action client not connected: tk7arm_controller/follow_joint_trajectory
[ INFO] [1637570429.705249343]: Returned 0 controllers in list
[ INFO] [1637570429.779216570]: 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] [1637570430.256692543]: 

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

[ INFO] [1637570430.257433962]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1637570430.257539697]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1637570431.186871605]: Ready to take commands for planning group tk7arm.
[ INFO] [1637570431.220952532]: Looking around: no
[ INFO] [1637570431.221380790]: Replanning: no
[ INFO] [1637570499.247702460]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1637570499.251533452]: Planning attempt 1 of at most 1
[ INFO] [1637570499.287053598]: Planner configuration 'tk7arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1637570499.292133034]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.292471999]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.292545350]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.292846231]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.297675717]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.300825905]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.302046094]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.302171122]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1637570499.302834224]: ParallelPlan::solve(): Solution found by one or more threads in 0.011117 seconds
[ INFO] [1637570499.303627975]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.303770448]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.303849769]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.304942778]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.306392363]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.306756857]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.308230250]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.312681114]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.313424917]: ParallelPlan::solve(): Solution found by one or more threads in 0.010027 seconds
[ INFO] [1637570499.313978253]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.318814905]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1637570499.320979234]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.323738274]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1637570499.326011611]: ParallelPlan::solve(): Solution found by one or more threads in 0.012366 seconds
[ INFO] [1637570499.340186609]: SimpleSetup: Path simplification took 0.013899 seconds and changed from 4 to 2 states
[ INFO] [1637570499.347747391]: Returned 0 controllers in list
[ERROR] [1637570499.347875378]: Unable to identify any set of controllers that can actuate the specified joints: [ joint0 joint1 joint2 joint3 joint4 joint5 joint6 ]
[ERROR] [1637570499.347918707]: Known controllers and their joints:

[ERROR] [1637570499.347984696]: Apparently trajectory initialization failed
[ INFO] [1637570499.365674749]: ABORTED: Solution found but controller failed during execution
[ INFO] [1637570523.564188952]: Stopping planning scene monitor
[ WARN] [1637570523.599635945]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[ INFO] [1637570523.609964887]: Loading robot model 'tk7arm_description'...
[ INFO] [1637570523.610043004]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1637570523.939781787]: IK plugin for group 'tk7arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1637570523.950596752]: IK Using joint link1 -3.14 3.14
[ INFO] [1637570523.950683611]: IK Using joint link2 -3.14 3.14
[ INFO] [1637570523.950713830]: IK Using joint link3 -3.14 3.14
[ INFO] [1637570523.950737257]: IK Using joint link4 -3.14 3.14
[ INFO] [1637570523.950760457]: IK Using joint link5 -3.14 3.14
[ INFO] [1637570523.950782084]: IK Using joint link6 -3.14 3.14
[ INFO] [1637570523.950803087]: IK Using joint link7 -3.14 3.14
[ INFO] [1637570523.950824184]: Looking in common namespaces for param name: tk7arm/position_only_ik
[ INFO] [1637570523.954053432]: Looking in common namespaces for param name: tk7arm/solve_type
[ INFO] [1637570523.958808360]: Using solve type Speed
[ INFO] [1637570524.471293392]: Starting planning scene monitor
[ INFO] [1637570524.475730054]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1637570524.757545243]: Constructing new MoveGroup connection for group 'tk7arm' in namespace ''
[ INFO] [1637570524.799914813]: Ready to take commands for planning group tk7arm.
[ INFO] [1637570524.799972886]: Looking around: no
[ INFO] [1637570524.799992633]: Replanning: no