ROS Gazabo仿真问题解决:[ERROR]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/～
ROS Gazabo仿真问题解决: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/～
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（写在最后 哈哈哈）现在感觉这个问题不解决也可以，机械臂竖立的稳稳当当，反而加入pid之后机械臂完全塌了下来，之后就是一系列pid调节的痛苦经历，调了半天终于放弃了，因为我的机械臂是大负载机械臂，调的机械臂漫天飞舞，淦，我直接给pid注掉。了却烦心事，解决不掉就视而不见。哈哈哈哈。
出现的错误形式：
[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
注意我在前几个错误中加黑的部分，这是配置pid的所需要的命名空间路径。出现这个报错的原因就是你在配置文件中的命名路径与pid要求的不匹配而出现的错误。
解决方法：
首先，你需要翻阅你运行的.launch命令的报文输出。查看你读入配置文件后的命名空间路径输出，下图是我报错时的命名路径，以及配置文件的形式。
可以看出命名空间路径存在差异：
期望： Namespace: /nuclear_robot/gazebo_ros_control/pid_gains/～
实际： Namespace: /nuclear_robot/arm1_controller/gains/～
所以我们需要根据期望的命名空间路径来进行配置文件的修改。
起初只是将配置文件在中的gains改为pid_gains，并在pid_gains之前加上一行gazebo_ros_control后，仍没有解决问题，输出如下：
从输出日志上可以看出加载配置文件时只对最后两个关节进行了参数加载，并且在报错的输出中也少了最后两个关节的pid报错。
于是我就将各个关节的pid配置全部搬移到了最后，于是问题就解决了（鼓掌）。
需要注意的就是：在改写配置文件yaml时，注意书写的格式与缩进（非常重要）
以下就是最终的输出（不再有一大段扎眼的红报错）：
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!
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