kinova environment

luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$ pwd
/home/luo
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$

roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2s7s300    //
   
rosrun kinova_demo joints_action_client.py -v -r j2s7s300 degree -- 90 0 0 0 0 0 0

roslaunch j2s7s300_moveit_config j2s7s300_demo.launch

=====================================================================

luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$ roslaunch j2s7s300_moveit_config j2s7s300_demo.launch
... logging to /home/luo/.ros/log/d4e19cd4-ec05-11e9-acd6-a41731f87155/roslaunch-luo-ThinkPad-W530-22398.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://localhost:34709/

SUMMARY
========

PARAMETERS
 * /controller_list: [{'default': True...
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /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/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/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/start_state_max_bounds_error: 0.1
 * /pick_place_demo/arm/kinematics_solver_timeout: 0.05
 * /pick_place_demo/arm/solve_type: Manipulation2
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_1/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_2/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_3/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_4/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_5/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_6/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_7/max_velocity: 0.35
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_velocity: 5
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_velocity: 5
 * /robot_description_semantic: <?xml version="1....
 * /robot_type: j2s7s300
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_attempts: 3
 * /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_timeout: 0.005

NODES
  /
    j2s7s300_gripper_command_action_server (kinova_driver/gripper_command_action_server)
    j2s7s300_joint_trajectory_action_server (kinova_driver/joint_trajectory_action_server)
    move_group (moveit_ros_move_group/move_group)
    rviz_luo_ThinkPad_W530_22398_283357530926853401 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[j2s7s300_joint_trajectory_action_server-1]: started with pid [22444]
process[j2s7s300_gripper_command_action_server-2]: started with pid [22445]
process[move_group-3]: started with pid [22456]
process[rviz_luo_ThinkPad_W530_22398_283357530926853401-4]: started with pid [22481]
[ INFO] [1570784593.002505310]: Loading robot model 'j2s7s300'...
[ WARN] [1570784593.002577783]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1570784593.002599442]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1570784593.051895088]: rviz version 1.12.17
[ INFO] [1570784593.051965241]: compiled against Qt version 5.5.1
[ INFO] [1570784593.051982639]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1570784593.184576845]: Joint_trajectory_action_server receive feedback of trajectory state from topic: /trajectory_controller/state
[ERROR] [1570784593.231165915]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1570784593.231217727]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1570784593.268624682]: Stereo is NOT SUPPORTED
[ INFO] [1570784593.268713324]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1570784593.275587746]: Gripper_command__action_server receive feedback of trajectory state from topic: /trajectory_controller/state
[ INFO] [1570784593.296642221]: Start Follow_Joint_Trajectory_Action server!
[ INFO] [1570784593.296673923]: Waiting for an plan execution (goal) from Moveit
[ INFO] [1570784593.300442806]: Start Gripper_Command_Trajectory_Action server!
[ INFO] [1570784593.610756327]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1570784593.617723101]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1570784593.617795394]: Starting scene monitor
[ INFO] [1570784593.625616186]: Listening to '/planning_scene'
[ INFO] [1570784593.625722132]: Starting world geometry monitor
[ INFO] [1570784593.633963770]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1570784593.639080342]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1570784594.002341865]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1570784594.033377223]: Initializing OMPL interface using ROS parameters
[ INFO] [1570784594.090443824]: Using planning interface 'OMPL'
[ INFO] [1570784594.097039826]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1570784594.098425670]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1570784594.099420005]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1570784594.100638667]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1570784594.101946195]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1570784594.102786917]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1570784594.102889567]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1570784594.102933292]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1570784594.102974576]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1570784594.102991877]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1570784594.103008864]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1570784594.107514519]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1570784594.108419206]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ INFO] [1570784594.391520165]: Added FollowJointTrajectory controller for j2s7s300
[ INFO] [1570784594.692533847]: Added GripperCommand controller for j2s7s300_gripper
[ INFO] [1570784594.692748803]: Returned 2 controllers in list
[ INFO] [1570784594.729792522]: 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] [1570784594.897718243]:

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

[ INFO] [1570784594.897824487]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1570784594.897899758]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1570784596.671102355]: Loading robot model 'j2s7s300'...
[ WARN] [1570784596.671207486]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1570784596.671265082]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1570784596.881690830]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1570784596.881745577]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1570784597.274025918]: Starting scene monitor
[ INFO] [1570784597.277544626]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1570784597.598867797]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1570784597.600629087]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1570784597.601050224]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1570784598.626790635]: Ready to take commands for planning group arm.
[ INFO] [1570784598.626959091]: Looking around: no
[ INFO] [1570784598.627063643]: Replanning: no
[ INFO] [1570784611.169769917]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784611.171539363]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784611.172394932]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172448458]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172488466]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172519800]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.183709965]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.183778579]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.183982812]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.184053939]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.184176873]: ParallelPlan::solve(): Solution found by one or more threads in 0.012221 seconds
[ INFO] [1570784611.184406728]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.184441988]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.184508073]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.185258860]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185351198]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185454742]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185579224]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.186391538]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.186507478]: ParallelPlan::solve(): Solution found by one or more threads in 0.002146 seconds
[ INFO] [1570784611.186634975]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.186695476]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.187641618]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.187727529]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.187927362]: ParallelPlan::solve(): Solution found by one or more threads in 0.001327 seconds
[ INFO] [1570784611.193274241]: SimpleSetup: Path simplification took 0.005195 seconds and changed from 4 to 2 states
[ INFO] [1570784617.468859872]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784617.469375144]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784617.469645690]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469694753]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469754871]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469801355]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.480485849]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.480554951]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.481003881]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.481043698]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.481133593]: ParallelPlan::solve(): Solution found by one or more threads in 0.011602 seconds
[ INFO] [1570784617.481330347]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481367264]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481405314]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481484613]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.482264535]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.482315145]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.482425018]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.482466368]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.482599098]: ParallelPlan::solve(): Solution found by one or more threads in 0.001312 seconds
[ INFO] [1570784617.482715361]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.482744686]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.483340509]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.483597719]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.483683361]: ParallelPlan::solve(): Solution found by one or more threads in 0.000998 seconds
[ INFO] [1570784617.488225681]: SimpleSetup: Path simplification took 0.004494 seconds and changed from 3 to 2 states
[ INFO] [1570784619.729716329]: Execution request received
[ INFO] [1570784619.772135687]: Joint_trajectory_action_server received goal!
[ INFO] [1570784619.772363064]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784619.772585030]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784629.668730812]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1570784629.668850982]: Execution completed: SUCCEEDED
[ INFO] [1570784648.268848003]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784648.269359134]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784648.269637015]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269762310]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269808773]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269865673]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.280572359]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784648.280730226]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784648.280824906]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.280947308]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.281044096]: ParallelPlan::solve(): Solution found by one or more threads in 0.011481 seconds
[ INFO] [1570784648.281243349]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281285014]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281326584]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281447745]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.282158630]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282240189]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282287226]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282607511]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282720136]: ParallelPlan::solve(): Solution found by one or more threads in 0.001526 seconds
[ INFO] [1570784648.282839175]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.282870993]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.283637721]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.283827806]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.283930775]: ParallelPlan::solve(): Solution found by one or more threads in 0.001116 seconds
[ INFO] [1570784648.287159623]: SimpleSetup: Path simplification took 0.003154 seconds and changed from 3 to 2 states
[ INFO] [1570784651.724247717]: Execution request received
[ INFO] [1570784651.769083120]: Joint_trajectory_action_server received goal!
[ INFO] [1570784651.769151402]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784651.769210487]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784658.871072060]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1570784658.871342174]: Execution completed: SUCCEEDED
[ INFO] [1570784668.271140905]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784668.272206492]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784668.272860062]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.272941504]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.273043882]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.273101880]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.284131047]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284400778]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284504285]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284733088]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284864514]: ParallelPlan::solve(): Solution found by one or more threads in 0.012235 seconds
[ INFO] [1570784668.285100895]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285137647]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285210498]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285446333]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.286597118]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784668.286751054]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.286874038]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.286996340]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.287221135]: ParallelPlan::solve(): Solution found by one or more threads in 0.002146 seconds
[ INFO] [1570784668.287610968]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.287682447]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.289639911]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.290057708]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.290320271]: ParallelPlan::solve(): Solution found by one or more threads in 0.002876 seconds
[ INFO] [1570784668.295888175]: SimpleSetup: Path simplification took 0.005439 seconds and changed from 3 to 2 states
[ INFO] [1570784670.868893696]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1570784670.869042231]: Planning attempt 1 of at most 1
[ INFO] [1570784670.869437955]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784670.869750301]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869781465]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869851275]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869910112]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881052778]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784670.881189793]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881384686]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881523994]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881629219]: ParallelPlan::solve(): Solution found by one or more threads in 0.011993 seconds
[ INFO] [1570784670.881813155]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881848440]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881902717]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881957792]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.882703608]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.882806141]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883338803]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883555394]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883646136]: ParallelPlan::solve(): Solution found by one or more threads in 0.001870 seconds
[ INFO] [1570784670.883809628]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.883865368]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.884464468]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.884667142]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.884794708]: ParallelPlan::solve(): Solution found by one or more threads in 0.001052 seconds
[ INFO] [1570784670.890935144]: SimpleSetup: Path simplification took 0.006087 seconds and changed from 4 to 2 states
[ INFO] [1570784670.970557643]: Joint_trajectory_action_server received goal!
[ INFO] [1570784670.970703852]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784670.970851881]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784679.269777897]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1570784732.268954211]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784732.269347996]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784732.269619733]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269671637]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269716683]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269750932]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.280945001]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281022285]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281090213]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281232794]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281322153]: ParallelPlan::solve(): Solution found by one or more threads in 0.011788 seconds
[ INFO] [1570784732.281500667]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281531243]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281561355]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281607600]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.282704489]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784732.282767389]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.282815090]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.282891669]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.283037519]: ParallelPlan::solve(): Solution found by one or more threads in 0.001582 seconds
[ INFO] [1570784732.283157114]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.283186848]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.283782484]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784732.283980528]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.284087829]: ParallelPlan::solve(): Solution found by one or more threads in 0.000960 seconds
[ INFO] [1570784732.288776907]: SimpleSetup: Path simplification took 0.004559 seconds and changed from 3 to 2 states
[ INFO] [1570784734.385309086]: Execution request received
[ INFO] [1570784734.470608635]: Joint_trajectory_action_server received goal!
[ INFO] [1570784734.470780764]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784734.470883495]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784742.270363228]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1570784742.270558856]: Execution completed: SUCCEEDED
[ INFO] [1570784784.668953613]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784784.669355324]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784784.669653351]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669692709]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669732738]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669771108]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.670938584]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.671028799]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.671070361]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.671341471]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.671422919]: ParallelPlan::solve(): Solution found by one or more threads in 0.001874 seconds
[ INFO] [1570784784.671666169]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671701893]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671742844]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671786026]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.672540040]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.672636151]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.672980018]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.673222294]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.673309708]: ParallelPlan::solve(): Solution found by one or more threads in 0.001695 seconds
[ INFO] [1570784784.673442306]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.673513389]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.674172927]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.674506223]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.674625610]: ParallelPlan::solve(): Solution found by one or more threads in 0.001215 seconds
[ INFO] [1570784784.677325687]: SimpleSetup: Path simplification took 0.002622 seconds and changed from 3 to 2 states
[ INFO] [1570784786.953613152]: Execution request received
[ INFO] [1570784786.971820987]: Joint_trajectory_action_server received goal!
[ INFO] [1570784786.971889654]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784786.971941274]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784797.471194346]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1570784797.471378235]: Execution completed: SUCCEEDED

=====================================================================

luo@luo-ThinkPad-W530:~$
luo@luo-ThinkPad-W530:~$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2s7s300
... logging to /home/luo/.ros/log/d4e19cd4-ec05-11e9-acd6-a41731f87155/roslaunch-luo-ThinkPad-W530-21017.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://localhost:34733/

SUMMARY
========

PARAMETERS
 * /j2s7s300_driver/connection_type: USB
 * /j2s7s300_driver/ethernet/local_broadcast_port: 25025
 * /j2s7s300_driver/ethernet/local_cmd_port: 25000
 * /j2s7s300_driver/ethernet/local_machine_IP: 192.168.100.100
 * /j2s7s300_driver/ethernet/subnet_mask: 255.255.255.0
 * /j2s7s300_driver/jointSpeedLimitParameter1: 10
 * /j2s7s300_driver/jointSpeedLimitParameter2: 20
 * /j2s7s300_driver/robot_name: j2s7s300
 * /j2s7s300_driver/robot_type: j2s7s300
 * /j2s7s300_driver/serial_number: not_set
 * /j2s7s300_driver/torque_parameters/publish_torque_with_gravity_compensation: False
 * /j2s7s300_driver/torque_parameters/use_estimated_COM_parameters: False
 * /j2s7s300_driver/use_jaco_v1_fingers: False
 * /kinova_number_of_robots: 2
 * /kinova_robots: [{'serial': 'PJ00...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    j2s7s300_driver (kinova_driver/kinova_arm_driver)
    j2s7s300_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [21030]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d4e19cd4-ec05-11e9-acd6-a41731f87155
process[rosout-1]: started with pid [21043]
started core service [/rosout]
process[j2s7s300_driver-2]: started with pid [21060]
process[j2s7s300_state_publisher-3]: started with pid [21061]
[ INFO] [1570784541.654492904]: kinova_robotType is j2s7s300.
[ INFO] [1570784541.655336583]: kinova_robotName is j2s7s300.
[ INFO] [1570784541.663701045]: Initializing Kinova USB API (header version: 50300, library version: 5.2.0)
[ INFO] [1570784541.831268379]: Found 1 device(s), using device at index 0 (model: Spherical 7DOF Serv, serial number: PJ00900006514125-0 , code version: 393733, code revision: 6)
[ INFO] [1570784541.904300258]: Initializing fingers...this will take a few seconds and the fingers should open completely
[ INFO] [1570784544.157135330]: The arm is ready to use.
j2s7s300_joint_1 j2s7s300_joint_2 j2s7s300_joint_3 j2s7s300_joint_4 j2s7s300_joint_5 j2s7s300_joint_6 j2s7s300_joint_7
[ INFO] [1570784619.779128748]: Trajectory controller Receive trajectory with points number: 20
[ INFO] [1570784619.789978025]: Moved to point 0
[ INFO] [1570784620.378511232]: Moved to point 1
[ INFO] [1570784620.878641833]: Moved to point 2
[ INFO] [1570784621.340106098]: Moved to point 3
[ INFO] [1570784621.830005487]: Moved to point 4
[ INFO] [1570784622.320100701]: Moved to point 5
[ INFO] [1570784622.809577376]: Moved to point 6
[ INFO] [1570784623.290550222]: Moved to point 7
[ INFO] [1570784623.781576887]: Moved to point 8
[ INFO] [1570784624.278603292]: Moved to point 9
[ INFO] [1570784624.751886367]: Moved to point 10
[ INFO] [1570784625.232827781]: Moved to point 11
[ INFO] [1570784625.722663391]: Moved to point 12
[ INFO] [1570784626.209519749]: Moved to point 13
[ INFO] [1570784626.698622602]: Moved to point 14
[ INFO] [1570784627.180644270]: Moved to point 15
[ INFO] [1570784627.677537255]: Moved to point 16
[ INFO] [1570784628.152754225]: Moved to point 17
[ INFO] [1570784628.642950109]: Moved to point 18
[ INFO] [1570784629.223157593]: Moved to point 19
[ INFO] [1570784651.776727671]: Trajectory controller Receive trajectory with points number: 24
[ INFO] [1570784651.787048906]: Moved to point 0
[ INFO] [1570784652.227859347]: Moved to point 1
[ INFO] [1570784652.493561137]: Moved to point 2
[ INFO] [1570784652.787702120]: Moved to point 3
[ INFO] [1570784653.048801872]: Moved to point 4
[ INFO] [1570784653.313646180]: Moved to point 5
[ INFO] [1570784653.596545733]: Moved to point 6
[ INFO] [1570784653.879675858]: Moved to point 7
[ INFO] [1570784654.140384465]: Moved to point 8
[ INFO] [1570784654.407663498]: Moved to point 9
[ INFO] [1570784654.678696269]: Moved to point 10
[ INFO] [1570784654.976898369]: Moved to point 11
[ INFO] [1570784655.229934717]: Moved to point 12
[ INFO] [1570784655.508670879]: Moved to point 13
[ INFO] [1570784655.778588404]: Moved to point 14
[ INFO] [1570784656.050597687]: Moved to point 15
[ INFO] [1570784656.320249798]: Moved to point 16
[ INFO] [1570784656.594516089]: Moved to point 17
[ INFO] [1570784656.877766114]: Moved to point 18
[ INFO] [1570784657.140206220]: Moved to point 19
[ INFO] [1570784657.411877916]: Moved to point 20
[ INFO] [1570784657.691634581]: Moved to point 21
[ INFO] [1570784657.979677040]: Moved to point 22
[ INFO] [1570784658.403724390]: Moved to point 23
[ INFO] [1570784670.977903817]: Trajectory controller Receive trajectory with points number: 31
[ INFO] [1570784670.988413140]: Moved to point 0
[ INFO] [1570784671.402689799]: Moved to point 1
[ INFO] [1570784671.649543579]: Moved to point 2
[ INFO] [1570784671.909970451]: Moved to point 3
[ INFO] [1570784672.178721401]: Moved to point 4
[ INFO] [1570784672.408678970]: Moved to point 5
[ INFO] [1570784672.677734268]: Moved to point 6
[ INFO] [1570784672.912619800]: Moved to point 7
[ INFO] [1570784673.178736418]: Moved to point 8
[ INFO] [1570784673.410943371]: Moved to point 9
[ INFO] [1570784673.678764857]: Moved to point 10
[ INFO] [1570784673.909930671]: Moved to point 11
[ INFO] [1570784674.178732585]: Moved to point 12
[ INFO] [1570784674.408721360]: Moved to point 13
[ INFO] [1570784674.678746069]: Moved to point 14
[ INFO] [1570784674.908650185]: Moved to point 15
[ INFO] [1570784675.177619344]: Moved to point 16
[ INFO] [1570784675.409641138]: Moved to point 17
[ INFO] [1570784675.677619614]: Moved to point 18
[ INFO] [1570784675.920265964]: Moved to point 19
[ INFO] [1570784676.177608971]: Moved to point 20
[ INFO] [1570784676.420268346]: Moved to point 21
[ INFO] [1570784676.678789852]: Moved to point 22
[ INFO] [1570784676.920735843]: Moved to point 23
[ INFO] [1570784677.178702896]: Moved to point 24
[ INFO] [1570784677.420735049]: Moved to point 25
[ INFO] [1570784677.676609973]: Moved to point 26
[ INFO] [1570784677.921068107]: Moved to point 27
[ INFO] [1570784678.178749115]: Moved to point 28
[ INFO] [1570784678.420296753]: Moved to point 29
[ INFO] [1570784678.839925745]: Moved to point 30
[ INFO] [1570784734.478160786]: Trajectory controller Receive trajectory with points number: 24
[ INFO] [1570784734.488583660]: Moved to point 0
[ INFO] [1570784734.949181999]: Moved to point 1
[ INFO] [1570784735.249672851]: Moved to point 2
[ INFO] [1570784735.578815559]: Moved to point 3
[ INFO] [1570784735.877750602]: Moved to point 4
[ INFO] [1570784736.176803791]: Moved to point 5
[ INFO] [1570784736.478915072]: Moved to point 6
[ INFO] [1570784736.778907774]: Moved to point 7
[ INFO] [1570784737.076696686]: Moved to point 8
[ INFO] [1570784737.378741792]: Moved to point 9
[ INFO] [1570784737.688675640]: Moved to point 10
[ INFO] [1570784737.996843141]: Moved to point 11
[ INFO] [1570784738.295788531]: Moved to point 12
[ INFO] [1570784738.600696598]: Moved to point 13
[ INFO] [1570784738.901724208]: Moved to point 14
[ INFO] [1570784739.213729771]: Moved to point 15
[ INFO] [1570784739.511027306]: Moved to point 16
[ INFO] [1570784739.812696688]: Moved to point 17
[ INFO] [1570784740.121094815]: Moved to point 18
[ INFO] [1570784740.421521981]: Moved to point 19
[ INFO] [1570784740.731242895]: Moved to point 20
[ INFO] [1570784741.031040260]: Moved to point 21
[ INFO] [1570784741.342028473]: Moved to point 22
[ INFO] [1570784741.799725277]: Moved to point 23
[ INFO] [1570784786.978964543]: Trajectory controller Receive trajectory with points number: 27
[ INFO] [1570784786.989473349]: Moved to point 0
[ INFO] [1570784787.496854537]: Moved to point 1
[ INFO] [1570784787.878828957]: Moved to point 2
[ INFO] [1570784788.250720122]: Moved to point 3
[ INFO] [1570784788.620171974]: Moved to point 4
[ INFO] [1570784788.994771128]: Moved to point 5
[ INFO] [1570784789.378880304]: Moved to point 6
[ INFO] [1570784789.750475201]: Moved to point 7
[ INFO] [1570784790.120217401]: Moved to point 8
[ INFO] [1570784790.495860029]: Moved to point 9
[ INFO] [1570784790.876908349]: Moved to point 10
[ INFO] [1570784791.240262857]: Moved to point 11
[ INFO] [1570784791.614926347]: Moved to point 12
[ INFO] [1570784791.990948906]: Moved to point 13
[ INFO] [1570784792.375845037]: Moved to point 14
[ INFO] [1570784792.740761152]: Moved to point 15
[ INFO] [1570784793.112851268]: Moved to point 16
[ INFO] [1570784793.495805775]: Moved to point 17
[ INFO] [1570784793.879810058]: Moved to point 18
[ INFO] [1570784794.240190710]: Moved to point 19
[ INFO] [1570784794.610170677]: Moved to point 20
[ INFO] [1570784794.994840798]: Moved to point 21
[ INFO] [1570784795.376813361]: Moved to point 22
[ INFO] [1570784795.741122105]: Moved to point 23
[ INFO] [1570784796.111221008]: Moved to point 24
[ INFO] [1570784796.496880394]: Moved to point 25
[ INFO] [1570784797.000789454]: Moved to point 26