zhenhuajz / robot Goto Github PK

[INFO] [1595636818.586091, 0.508000]: Loading controller: FrontRight_controller
[ERROR] [1595636818.590221741, 0.512000000]: Could not load controller 'FrontRight_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/FrontRight_controller')?
[ERROR] [1595636819.591429, 1.510000]: Failed to load FrontRight_controller

[ INFO] [1594950224.565525909, 542.825000000]: ABORTED: No motion plan found. No execution attempted.

[ INFO] [1594949725.713965457, 72.961000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1594949730.716687957, 77.697000000]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1594949730.716766302, 77.697000000]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1594949730.716816437, 77.697000000]: No solution found after 5.002959 seconds
[ INFO] [1594949730.721208981, 77.701000000]: Unable to solve the planning problem
[ INFO] [1594949730.721767843, 77.702000000]: Received event 'stop'

        ...

        coords = np.arange(-0.001, 0.001, 100)
        for offset in coords:
            curr_pose = move_group.get_current_pose().pose
            pose_goal = geometry_msgs.msg.Pose()
            pose_goal.position.x = curr_pose.position.x + offset
            pose_goal.position.y = curr_pose.position.y
            pose_goal.position.z = curr_pose.position.z + offset
            pose_goal.orientation.x = curr_pose.orientation.x
            pose_goal.orientation.y = curr_pose.orientation.y
            pose_goal.orientation.z = curr_pose.orientation.z
            pose_goal.orientation.w = curr_pose.orientation.w
            move_group.set_pose_target(pose_goal)
            move_group.go(pose_goal, wait=True)
            move_group.stop()

        ...