创建ROS工作空间

创建ROS工作空间

 

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ catkin_make
Base path: /home/bim/catkin_ws
Source space: /home/bim/catkin_ws/src
Build space: /home/bim/catkin_ws/build
Devel space: /home/bim/catkin_ws/devel
Install space: /home/bim/catkin_ws/install
Creating symlink "/home/bim/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/bim/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/bim/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/bim/catkin_ws/install -G Unix Makefiles" in "/home/bim/catkin_ws/build"
####

-- The C compiler identification is GNU 7.5.0


-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/bim/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/home/bim/catkin_ws/build"
####
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

source devel/setup.bash 

 echo $ROS_PACKAGE_PATH

 

bim@bim-Vostro-7570:~/catkin_ws$ echo $ROS_PACKAGE_PATH
/home/bim/catkin_ws/src:/opt/ros/melodic/share
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

realsense-ros    /src/

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ catkin_make
Base path: /home/bim/catkin_ws
Source space: /home/bim/catkin_ws/src
Build space: /home/bim/catkin_ws/build
Devel space: /home/bim/catkin_ws/devel
Install space: /home/bim/catkin_ws/install
####
#### Running command: "cmake /home/bim/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/bim/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/bim/catkin_ws/install -G Unix Makefiles" in "/home/bim/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - realsense2_description
-- ~~  - ddynamic_reconfigure
-- ~~  - realsense2_camera
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'realsense2_description'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_description)
-- +++ processing catkin package: 'ddynamic_reconfigure'
-- ==> add_subdirectory(ddynamic_reconfigure-0.4.1)
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Create Release Build.
-- realsense2_camera: 3 messages, 1 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/bim/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/home/bim/catkin_ws/build"
####
Scanning dependencies of target roscpp_generate_messages_nodejs
Scanning dependencies of target _catkin_empty_exported_target
Scanning dependencies of target ddynamic_reconfigure
Scanning dependencies of target roscpp_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target roscpp_generate_messages_eus
Scanning dependencies of target bond_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_nodejs
[  0%] Built target bond_generate_messages_eus
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[  0%] Built target roscpp_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_nodejs
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[  0%] Built target _catkin_empty_exported_target
Scanning dependencies of target dynamic_reconfigure_generate_messages_py
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Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target roscpp_generate_messages_py
Scanning dependencies of target dynamic_reconfigure_generate_messages_eus
[  0%] Built target dynamic_reconfigure_generate_messages_nodejs
[  0%] Built target dynamic_reconfigure_generate_messages_py
[  2%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/ddynamic_reconfigure.dir/src/ddynamic_reconfigure.cpp.o
[  2%] Built target std_msgs_generate_messages_cpp
[  2%] Built target rosgraph_msgs_generate_messages_py
[  2%] Built target roscpp_generate_messages_py
[  2%] Built target std_msgs_generate_messages_eus
[  2%] Built target dynamic_reconfigure_generate_messages_eus
Scanning dependencies of target rosgraph_msgs_generate_messages_cpp
Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp
Scanning dependencies of target rosgraph_msgs_generate_messages_eus
Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_lisp
Scanning dependencies of target dynamic_reconfigure_gencfg
[  2%] Built target dynamic_reconfigure_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_lisp
[  2%] Built target rosgraph_msgs_generate_messages_cpp
[  2%] Built target rosgraph_msgs_generate_messages_eus
[  2%] Built target dynamic_reconfigure_generate_messages_lisp
[  2%] Built target rosgraph_msgs_generate_messages_lisp
[  2%] Built target dynamic_reconfigure_gencfg
Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs
[  2%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target roscpp_generate_messages_cpp
Scanning dependencies of target diagnostic_msgs_generate_messages_lisp
Scanning dependencies of target diagnostic_msgs_generate_messages_nodejs
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Scanning dependencies of target tf2_msgs_generate_messages_nodejs
[  2%] Built target rosgraph_msgs_generate_messages_nodejs
[  2%] Built target roscpp_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_py
[  2%] Built target diagnostic_msgs_generate_messages_lisp
[  2%] Built target diagnostic_msgs_generate_messages_eus
[  2%] Built target diagnostic_msgs_generate_messages_nodejs
[  2%] Built target tf2_msgs_generate_messages_nodejs
Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target tf2_msgs_generate_messages_eus
[  2%] Built target tf2_msgs_generate_messages_py
Scanning dependencies of target tf2_msgs_generate_messages_cpp
Scanning dependencies of target actionlib_generate_messages_nodejs
Scanning dependencies of target actionlib_generate_messages_py
[  2%] Built target tf2_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_eus
[  2%] Built target tf2_msgs_generate_messages_eus
Scanning dependencies of target tf_generate_messages_nodejs
[  2%] Built target tf2_msgs_generate_messages_cpp
[  2%] Built target actionlib_generate_messages_py
[  2%] Built target actionlib_generate_messages_nodejs
Scanning dependencies of target tf_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_py
[  2%] Built target actionlib_generate_messages_eus
[  2%] Built target tf_generate_messages_nodejs
Scanning dependencies of target bond_generate_messages_lisp
Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_IMUInfo
Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_Extrinsics
[  2%] Built target tf_generate_messages_lisp
Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_Metadata
Scanning dependencies of target _realsense2_camera_generate_messages_check_deps_DeviceInfo
[  2%] Built target actionlib_msgs_generate_messages_py
[  2%] Built target bond_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_cpp
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[  2%] Built target sensor_msgs_generate_messages_cpp
[  2%] Built target actionlib_msgs_generate_messages_nodejs
[  2%] Built target _realsense2_camera_generate_messages_check_deps_IMUInfo
Scanning dependencies of target actionlib_msgs_generate_messages_lisp
[  2%] Built target _realsense2_camera_generate_messages_check_deps_Extrinsics
[  2%] Built target diagnostic_msgs_generate_messages_cpp
[  2%] Built target _realsense2_camera_generate_messages_check_deps_DeviceInfo
[  2%] Built target _realsense2_camera_generate_messages_check_deps_Metadata
Scanning dependencies of target geometry_msgs_generate_messages_nodejs
Scanning dependencies of target geometry_msgs_generate_messages_py
[  2%] Built target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target nav_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_eus
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Scanning dependencies of target nodelet_generate_messages_lisp
[  2%] Built target geometry_msgs_generate_messages_nodejs
[  2%] Built target geometry_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_cpp
[  2%] Built target sensor_msgs_generate_messages_eus
[  2%] Built target nodelet_generate_messages_lisp
[  2%] Built target actionlib_msgs_generate_messages_eus
[  2%] Built target nav_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_eus
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[  2%] Built target tf_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_nodejs
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
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[  2%] Built target geometry_msgs_generate_messages_eus
[  2%] Built target nav_msgs_generate_messages_nodejs
[  2%] Built target nav_msgs_generate_messages_eus
Scanning dependencies of target std_srvs_generate_messages_lisp
[  2%] Built target actionlib_msgs_generate_messages_cpp
[  2%] Built target std_srvs_generate_messages_cpp
[  2%] Built target nav_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_eus
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[  2%] Built target std_srvs_generate_messages_lisp
Scanning dependencies of target bond_generate_messages_cpp
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Scanning dependencies of target geometry_msgs_generate_messages_cpp
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[  2%] Built target tf_generate_messages_eus
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[  2%] Built target nav_msgs_generate_messages_cpp
[  2%] Built target bond_generate_messages_cpp
[  2%] Built target geometry_msgs_generate_messages_lisp
[  2%] Built target geometry_msgs_generate_messages_cpp
[  2%] Built target std_srvs_generate_messages_eus
Scanning dependencies of target actionlib_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
[  2%] Built target sensor_msgs_generate_messages_lisp
Scanning dependencies of target tf_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target std_srvs_generate_messages_py
[  2%] Built target sensor_msgs_generate_messages_nodejs
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[  2%] Built target actionlib_generate_messages_cpp
[  2%] Built target tf_generate_messages_py
[  2%] Built target sensor_msgs_generate_messages_py
Scanning dependencies of target std_srvs_generate_messages_nodejs
[  2%] Built target std_srvs_generate_messages_py
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[  2%] Built target actionlib_generate_messages_lisp
Scanning dependencies of target diagnostic_msgs_generate_messages_py
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[  2%] Built target std_srvs_generate_messages_nodejs
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[  2%] Built target bond_generate_messages_py
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[  2%] Built target nodelet_generate_messages_cpp
[  2%] Built target nodelet_generate_messages_eus
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[  2%] Built target nodelet_generate_messages_nodejs
[  2%] Built target diagnostic_msgs_generate_messages_py
Scanning dependencies of target realsense2_camera_generate_messages_lisp
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[  2%] Built target bond_generate_messages_nodejs
Scanning dependencies of target realsense2_camera_generate_messages_eus
Scanning dependencies of target realsense2_camera_generate_messages_cpp
Scanning dependencies of target realsense2_camera_generate_messages_py
[  5%] Generating Lisp code from realsense2_camera/Metadata.msg
[  8%] Generating Lisp code from realsense2_camera/IMUInfo.msg
[ 11%] Generating Javascript code from realsense2_camera/IMUInfo.msg
[ 14%] Generating Javascript code from realsense2_camera/Metadata.msg
[ 17%] Generating EusLisp code from realsense2_camera/IMUInfo.msg
[ 20%] Generating C++ code from realsense2_camera/IMUInfo.msg
[ 22%] Generating Python from MSG realsense2_camera/IMUInfo
[ 28%] Generating Lisp code from realsense2_camera/Extrinsics.msg
[ 28%] Generating Python from MSG realsense2_camera/Metadata
[ 31%] Generating C++ code from realsense2_camera/Metadata.msg
[ 34%] Generating Javascript code from realsense2_camera/Extrinsics.msg
[ 37%] Generating EusLisp code from realsense2_camera/Metadata.msg
[ 40%] Generating Lisp code from realsense2_camera/DeviceInfo.srv
[ 42%] Generating Javascript code from realsense2_camera/DeviceInfo.srv
[ 42%] Built target realsense2_camera_generate_messages_lisp
[ 45%] Generating EusLisp code from realsense2_camera/Extrinsics.msg
[ 45%] Built target realsense2_camera_generate_messages_nodejs
[ 48%] Generating EusLisp code from realsense2_camera/DeviceInfo.srv
[ 51%] Generating C++ code from realsense2_camera/Extrinsics.msg
[ 54%] Generating EusLisp manifest code for realsense2_camera
[ 57%] Generating C++ code from realsense2_camera/DeviceInfo.srv
[ 60%] Generating Python code from SRV realsense2_camera/DeviceInfo
[ 62%] Generating Python from MSG realsense2_camera/Extrinsics
[ 65%] Generating Python msg __init__.py for realsense2_camera
[ 68%] Generating Python srv __init__.py for realsense2_camera
[ 68%] Built target realsense2_camera_generate_messages_cpp
[ 68%] Built target realsense2_camera_generate_messages_py
[ 68%] Built target realsense2_camera_generate_messages_eus
Scanning dependencies of target realsense2_camera_generate_messages
[ 68%] Built target realsense2_camera_generate_messages
[ 71%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libddynamic_reconfigure.so
[ 71%] Built target ddynamic_reconfigure
Scanning dependencies of target ddynamic_reconfigure_auto_update_test
Scanning dependencies of target test_bool_dynamic_reconfigure_server
Scanning dependencies of target fake_dynamic_reconfigure_server
Scanning dependencies of target realsense2_camera
[ 77%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/test_bool_dynamic_reconfigure_server.dir/test/test_bool_dynamic_reconfigure_server.cpp.o
[ 80%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/ddynamic_reconfigure_auto_update_test.dir/test/ddynamic_reconfigure_auto_update_test.cpp.o
[ 80%] Building CXX object ddynamic_reconfigure-0.4.1/CMakeFiles/fake_dynamic_reconfigure_server.dir/test/fake_dynamic_reconfigure_server.cpp.o
[ 85%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o
[ 85%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/realsense_node_factory.cpp.o
[ 88%] Building CXX object realsense-ros-2.3.2/realsense2_camera/CMakeFiles/realsense2_camera.dir/src/t265_realsense_node.cpp.o
[ 91%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/ddynamic_reconfigure_auto_update_test
[ 94%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/test_bool_dynamic_reconfigure_server
[ 94%] Built target ddynamic_reconfigure_auto_update_test
[ 94%] Built target test_bool_dynamic_reconfigure_server
[ 97%] Linking CXX executable /home/bim/catkin_ws/devel/lib/ddynamic_reconfigure/fake_dynamic_reconfigure_server
[ 97%] Built target fake_dynamic_reconfigure_server
[100%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/librealsense2_camera.so
[100%] Built target realsense2_camera
bim@bim-Vostro-7570:~/catkin_ws$ 

 

bim@bim-Vostro-7570:~/catkin_ws$
bim@bim-Vostro-7570:~/catkin_ws$ source devel/setup.bash
bim@bim-Vostro-7570:~/catkin_ws$

roslaunch realsense2_camera demo_pointcloud.launch

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ roslaunch realsense2_camera demo_pointcloud.launch
... logging to /home/bim/.ros/log/dc668b8a-bbe6-11ee-a111-e470b83aa6e2/roslaunch-bim-Vostro-7570-3909.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.

started roslaunch server http://bim-Vostro-7570:42851/

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: 0
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -1.0
 * /camera/realsense2_camera/color_fps: 30
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 640
 * /camera/realsense2_camera/confidence_fps: 30
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 640
 * /camera/realsense2_camera/depth_fps: 30
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 640
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: True
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: True
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 30
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 0
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 0
 * /camera/realsense2_camera/gyro_fps: 0
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 640
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: camera/odom_in
 * /camera/realsense2_camera/unite_imu_method: none
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [3925]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dc668b8a-bbe6-11ee-a111-e470b83aa6e2
process[rosout-1]: started with pid [3938]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [3955]
process[camera/realsense2_camera-3]: started with pid [3956]
process[camera/rviz-4]: started with pid [3957]
[ INFO] [1706231072.343765512]: Initializing nodelet with 8 worker threads.
[ INFO] [1706231072.895690235]: RealSense ROS v2.3.2
[ INFO] [1706231072.895812521]: Built with LibRealSense v2.50.0
[ INFO] [1706231072.895909109]: Running with LibRealSense v2.50.0
[ INFO] [1706231072.960174362]:  
[ INFO] [1706231072.968745609]: Device with serial number 943222071573 was found.

[ INFO] [1706231072.968800934]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.
[ INFO] [1706231072.968839179]: Device with name Intel RealSense D435I was found.
[ INFO] [1706231072.970002108]: Device with port number 2-1 was found.
[ INFO] [1706231072.970054351]: Device USB type: 3.2
[ INFO] [1706231072.973113587]: getParameters...
[ INFO] [1706231073.065456794]: setupDevice...
[ INFO] [1706231073.065509447]: JSON file is not provided
[ INFO] [1706231073.065534128]: ROS Node Namespace: camera
[ INFO] [1706231073.065559465]: Device Name: Intel RealSense D435I
[ INFO] [1706231073.065582258]: Device Serial No: 943222071573
[ INFO] [1706231073.065607835]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video0
[ INFO] [1706231073.065629109]: Device FW version: 05.15.01.00
[ INFO] [1706231073.065650151]: Device Product ID: 0x0B3A
[ INFO] [1706231073.065670349]: Enable PointCloud: On
[ INFO] [1706231073.065725123]: Align Depth: Off
[ INFO] [1706231073.065744799]: Sync Mode: On
[ INFO] [1706231073.065807421]: Device Sensors: 
[ INFO] [1706231073.070912580]: Stereo Module was found.
 26/01 09:04:33,071 WARNING [139819683608320] (backend-v4l2.cpp:1387) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
[ INFO] [1706231073.083471976]: RGB Camera was found.
[ INFO] [1706231073.083723913]: Motion Module was found.
[ INFO] [1706231073.083799677]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1706231073.083904464]: Add Filter: pointcloud
[ INFO] [1706231073.084684731]: num_filters: 1
[ INFO] [1706231073.084713294]: Setting Dynamic reconfig parameters.
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ WARN] [1706231073.138940977]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1706231073.159874524]: Done Setting Dynamic reconfig parameters.
[ INFO] [1706231073.161781046]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1706231073.162327561]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1706231073.162382298]: setupPublishers...
[ INFO] [1706231073.167388433]: Expected frequency for depth = 30.00000
[ INFO] [1706231073.221876139]: Expected frequency for color = 30.00000
[ INFO] [1706231073.251784267]: setupStreams...
[ INFO] [1706231073.264930195]: SELECTED BASE:Depth, 0
[ INFO] [1706231073.291431574]: RealSense Node Is Up!
[ WARN] [1706231073.387452043]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
 26/01 09:04:33,384 WARNING [139819205359360] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
[ INFO] [1706231073.394498127]: publishing unordered pointcloud.
[ WARN] [1706231073.517756262]: No stream match for pointcloud chosen texture Process - Color
 26/01 09:04:33,709 WARNING [139819214370560] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
================================================================================REQUIRED process [camera/rviz-4] has died!
process has finished cleanly
log file: /home/bim/.ros/log/dc668b8a-bbe6-11ee-a111-e470b83aa6e2/camera-rviz-4*.log
Initiating shutdown!
================================================================================
[camera/rviz-4] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 

 

 

 

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

sudo apt-get install aptitude

sudo aptitude install ros-melodic-simulators ros-melodic-urdf-sim-tutorial

sudo apt-get install ros-melodic-desktop-full

 

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install aptitude
[sudo] password for bim: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following package was automatically installed and is no longer required:
  shim
Use 'sudo apt autoremove' to remove it.
The following additional packages will be installed:
  aptitude-common libcwidget3v5 libsigc++-2.0-0v5
Suggested packages:
  aptitude-doc-en | aptitude-doc apt-xapian-index debtags tasksel libcwidget-dev
The following NEW packages will be installed:
  aptitude aptitude-common libcwidget3v5 libsigc++-2.0-0v5
0 upgraded, 4 newly installed, 0 to remove and 35 not upgraded.
Need to get 2,580 kB of archives.
After this operation, 10.9 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.aliyun.com/ubuntu bionic/main amd64 aptitude-common all 0.8.10-6ubuntu1 [1,014 kB]
Get:2 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libsigc++-2.0-0v5 amd64 2.10.0-2 [10.9 kB]
Get:3 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libcwidget3v5 amd64 0.5.17-7 [286 kB]
Get:4 http://mirrors.aliyun.com/ubuntu bionic/main amd64 aptitude amd64 0.8.10-6ubuntu1 [1,269 kB]
Fetched 2,580 kB in 1s (1,882 kB/s) 
Selecting previously unselected package aptitude-common.
(Reading database ... 249026 files and directories currently installed.)
Preparing to unpack .../aptitude-common_0.8.10-6ubuntu1_all.deb ...
Unpacking aptitude-common (0.8.10-6ubuntu1) ...
Selecting previously unselected package libsigc++-2.0-0v5:amd64.
Preparing to unpack .../libsigc++-2.0-0v5_2.10.0-2_amd64.deb ...
Unpacking libsigc++-2.0-0v5:amd64 (2.10.0-2) ...
Selecting previously unselected package libcwidget3v5:amd64.
Preparing to unpack .../libcwidget3v5_0.5.17-7_amd64.deb ...
Unpacking libcwidget3v5:amd64 (0.5.17-7) ...
Selecting previously unselected package aptitude.
Preparing to unpack .../aptitude_0.8.10-6ubuntu1_amd64.deb ...
Unpacking aptitude (0.8.10-6ubuntu1) ...
Setting up aptitude-common (0.8.10-6ubuntu1) ...
Setting up libsigc++-2.0-0v5:amd64 (2.10.0-2) ...
Setting up libcwidget3v5:amd64 (0.5.17-7) ...
Setting up aptitude (0.8.10-6ubuntu1) ...
update-alternatives: using /usr/bin/aptitude-curses to provide /usr/bin/aptitude (aptitude) in auto mode
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo aptitude install ros-elodic-simulators ros-melodic-urdf-sim-tutorial
Couldn't find any package whose name or description matched "ros-elodic-simulators"
Unable to apply some actions, aborting
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo aptitude install ros-melodic-simulators ros-melodic-urdf-sim-tutorial
ros-melodic-simulators is already installed at the requested version (1.4.1-0bionic.20230620.175233)
ros-melodic-urdf-sim-tutorial is already installed at the requested version (0.4.0-0bionic.20230524.160230)
ros-melodic-simulators is already installed at the requested version (1.4.1-0bionic.20230620.175233)
ros-melodic-urdf-sim-tutorial is already installed at the requested version (0.4.0-0bionic.20230524.160230)
The following packages will be REMOVED:
  shim{u} 
0 packages upgraded, 0 newly installed, 1 to remove and 35 not upgraded.
Need to get 0 B of archives. After unpacking 28.7 kB will be freed.
Do you want to continue? [Y/n/?] y
(Reading database ... 249164 files and directories currently installed.)
Removing shim (15.7-0ubuntu1) ...
                                         
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-desktop-full
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-melodic-desktop-full is already the newest version (1.4.1-0bionic.20230620.175308).
0 upgraded, 0 newly installed, 0 to remove and 35 not upgraded.
bim@bim-Vostro-7570:~/catkin_ws$ 

 

catkin_make

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ catkin_make
Base path: /home/bim/catkin_ws
Source space: /home/bim/catkin_ws/src
Build space: /home/bim/catkin_ws/build
Devel space: /home/bim/catkin_ws/devel
Install space: /home/bim/catkin_ws/install
####
#### Running command: "cmake /home/bim/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/bim/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/bim/catkin_ws/install -G Unix Makefiles" in "/home/bim/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 19 packages in topological order:
-- ~~  - kinova_bringup
-- ~~  - kinova_control
-- ~~  - kinova_gazebo
-- ~~  - realsense2_description
-- ~~  - ddynamic_reconfigure
-- ~~  - kinova_msgs
-- ~~  - kinova_driver
-- ~~  - kinova_arm_moveit_demo
-- ~~  - kinova_demo
-- ~~  - realsense2_camera
-- ~~  - j2n6s300_ikfast
-- ~~  - j2s6s300_ikfast
-- ~~  - j2s7s300_ikfast
-- ~~  - m1n6s300_ikfast
-- ~~  - kinova_description
-- ~~  - j2n6s300_moveit_config
-- ~~  - j2s6s300_moveit_config
-- ~~  - j2s7s300_moveit_config
-- ~~  - m1n6s300_moveit_config
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'kinova_bringup'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_bringup)
-- +++ processing catkin package: 'kinova_control'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_control)
-- +++ processing catkin package: 'kinova_gazebo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_gazebo)
-- +++ processing catkin package: 'realsense2_description'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_description)
-- +++ processing catkin package: 'ddynamic_reconfigure'
-- ==> add_subdirectory(ddynamic_reconfigure-0.4.1)
-- +++ processing catkin package: 'kinova_msgs'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action kinova_msgs/ArmJointAngles /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmJointAngles.action
Generating for action ArmJointAngles
-- Generating .msg files for action kinova_msgs/ArmPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmPose.action
Generating for action ArmPose
-- Generating .msg files for action kinova_msgs/Arm_KinovaPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/Arm_KinovaPose.action
Generating for action Arm_KinovaPose
-- Generating .msg files for action kinova_msgs/SetFingersPosition /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/SetFingersPosition.action
Generating for action SetFingersPosition
-- kinova_msgs: 37 messages, 12 services
-- +++ processing catkin package: 'kinova_driver'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'kinova_arm_moveit_demo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo)
-- Could NOT find moveit_core (missing: moveit_core_DIR)
-- Could not find the required component 'moveit_core'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_core" with
  any of the following names:

    moveit_coreConfig.cmake
    moveit_core-config.cmake

  Add the installation prefix of "moveit_core" to CMAKE_PREFIX_PATH or set
  "moveit_core_DIR" to a directory containing one of the above files.  If
  "moveit_core" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/bim/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/bim/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 

sudo apt-get install ros-melodic-moveit-visual-tools

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-moveit-visual-tools
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libfcl-dev libfcl0.5 liboctomap-dev liboctomap1.8 libqt5x11extras5 libqt5x11extras5-dev ros-melodic-eigen-stl-containers
  ros-melodic-geometric-shapes ros-melodic-graph-msgs ros-melodic-moveit-core ros-melodic-moveit-msgs
  ros-melodic-moveit-ros-occupancy-map-monitor ros-melodic-moveit-ros-planning ros-melodic-object-recognition-msgs
  ros-melodic-octomap ros-melodic-octomap-msgs ros-melodic-pybind11-catkin ros-melodic-random-numbers
  ros-melodic-rviz-visual-tools ros-melodic-srdfdom
The following NEW packages will be installed:
  libfcl-dev libfcl0.5 liboctomap-dev liboctomap1.8 libqt5x11extras5 libqt5x11extras5-dev ros-melodic-eigen-stl-containers
  ros-melodic-geometric-shapes ros-melodic-graph-msgs ros-melodic-moveit-core ros-melodic-moveit-msgs
  ros-melodic-moveit-ros-occupancy-map-monitor ros-melodic-moveit-ros-planning ros-melodic-moveit-visual-tools
  ros-melodic-object-recognition-msgs ros-melodic-octomap ros-melodic-octomap-msgs ros-melodic-pybind11-catkin
  ros-melodic-random-numbers ros-melodic-rviz-visual-tools ros-melodic-srdfdom
0 upgraded, 21 newly installed, 0 to remove and 35 not upgraded.
Need to get 6,304 kB of archives.
After this operation, 52.7 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-eigen-stl-containers amd64 0.1.8-0bionic.20201015.033045 [6,816 B]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-octomap amd64 1.9.8-1bionic.20220514.014425 [191 kB]
Get:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-random-numbers amd64 0.3.2-0bionic.20201015.065429 [28.0 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-geometric-shapes amd64 0.6.6-1bionic.20230415.003055 [87.0 kB]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-graph-msgs amd64 0.1.0-1bionic.20221025.175948 [17.9 kB]
Get:6 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-object-recognition-msgs amd64 0.4.1-0bionic.20221025.191441 [70.1 kB]
Get:7 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-octomap-msgs amd64 0.3.5-1bionic.20221025.175926 [29.4 kB]
Get:8 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-msgs amd64 0.10.1-1bionic.20221025.191657 [665 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-pybind11-catkin amd64 2.4.3-1bionic.20200731.225101 [118 kB]
Get:10 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-srdfdom amd64 0.5.2-1bionic.20221025.185103 [60.5 kB]
Get:11 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-core amd64 1.0.11-1bionic.20230524.160243 [1,195 kB]
Get:12 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-occupancy-map-monitor amd64 1.0.11-1bionic.20230524.162139 [136 kB]
Get:13 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-planning amd64 1.0.11-1bionic.20230524.163120 [788 kB]
Get:14 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-rviz-visual-tools amd64 3.8.0-4bionic.20230330.130003 [1,432 kB]
Get:15 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-visual-tools amd64 3.5.2-0bionic.20230524.164622 [284 kB]
Get:16 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libfcl0.5 amd64 0.5.0-5 [902 kB]
Get:17 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 liboctomap1.8 amd64 1.8.1+dfsg-1 [72.5 kB]
Get:18 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 liboctomap-dev amd64 1.8.1+dfsg-1 [119 kB]
Get:19 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libqt5x11extras5 amd64 5.9.5-0ubuntu1 [8,596 B]
Get:20 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libqt5x11extras5-dev amd64 5.9.5-0ubuntu1 [7,236 B]
Get:21 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libfcl-dev amd64 0.5.0-5 [88.6 kB]
Fetched 6,304 kB in 3s (2,220 kB/s)    
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Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 error

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ catkin_make
Base path: /home/bim/catkin_ws
Source space: /home/bim/catkin_ws/src
Build space: /home/bim/catkin_ws/build
Devel space: /home/bim/catkin_ws/devel
Install space: /home/bim/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/bim/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 19 packages in topological order:
-- ~~  - kinova_bringup
-- ~~  - kinova_control
-- ~~  - kinova_gazebo
-- ~~  - realsense2_description
-- ~~  - ddynamic_reconfigure
-- ~~  - kinova_msgs
-- ~~  - kinova_driver
-- ~~  - kinova_demo
-- ~~  - realsense2_camera
-- ~~  - j2n6s300_ikfast
-- ~~  - j2s6s300_ikfast
-- ~~  - j2s7s300_ikfast
-- ~~  - kinova_arm_moveit_demo
-- ~~  - m1n6s300_ikfast
-- ~~  - kinova_description
-- ~~  - j2n6s300_moveit_config
-- ~~  - j2s6s300_moveit_config
-- ~~  - j2s7s300_moveit_config
-- ~~  - m1n6s300_moveit_config
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'kinova_bringup'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_bringup)
-- +++ processing catkin package: 'kinova_control'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_control)
-- +++ processing catkin package: 'kinova_gazebo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_gazebo)
-- +++ processing catkin package: 'realsense2_description'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_description)
-- +++ processing catkin package: 'ddynamic_reconfigure'
-- ==> add_subdirectory(ddynamic_reconfigure-0.4.1)
-- +++ processing catkin package: 'kinova_msgs'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action kinova_msgs/ArmJointAngles /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmJointAngles.action
-- Generating .msg files for action kinova_msgs/ArmPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmPose.action
-- Generating .msg files for action kinova_msgs/Arm_KinovaPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/Arm_KinovaPose.action
-- Generating .msg files for action kinova_msgs/SetFingersPosition /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/SetFingersPosition.action
-- kinova_msgs: 37 messages, 12 services
-- +++ processing catkin package: 'kinova_driver'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'kinova_demo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Create Release Build.
-- realsense2_camera: 3 messages, 1 services
-- +++ processing catkin package: 'j2n6s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Looking for sgemm_
-- Looking for sgemm_ - found
-- A library with BLAS API found.
-- Looking for cheev_
-- Looking for cheev_ - found
-- A library with LAPACK API found.
-- +++ processing catkin package: 'j2s6s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'j2s7s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'kinova_arm_moveit_demo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find moveit_ros_planning_interface (missing: moveit_ros_planning_interface_DIR)
-- Could not find the required component 'moveit_ros_planning_interface'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "moveit_ros_planning_interface" with any of the following names:

    moveit_ros_planning_interfaceConfig.cmake
    moveit_ros_planning_interface-config.cmake

  Add the installation prefix of "moveit_ros_planning_interface" to
  CMAKE_PREFIX_PATH or set "moveit_ros_planning_interface_DIR" to a directory
  containing one of the above files.  If "moveit_ros_planning_interface"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/bim/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/bim/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1888: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 

sudo apt-get install ros-melodic-moveit-ros-planning-interface

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-moveit-ros-planning-interface
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  liburdfdom-tools python-bs4 python-html5lib python-lxml python-webencodings ros-melodic-eigenpy ros-melodic-moveit-kinematics
  ros-melodic-moveit-ros-manipulation ros-melodic-moveit-ros-move-group ros-melodic-moveit-ros-warehouse ros-melodic-warehouse-ros
Suggested packages:
  python-genshi python-lxml-dbg python-lxml-doc
The following NEW packages will be installed:
  liburdfdom-tools python-bs4 python-html5lib python-lxml python-webencodings ros-melodic-eigenpy ros-melodic-moveit-kinematics
  ros-melodic-moveit-ros-manipulation ros-melodic-moveit-ros-move-group ros-melodic-moveit-ros-planning-interface ros-melodic-moveit-ros-warehouse
  ros-melodic-warehouse-ros
0 upgraded, 12 newly installed, 0 to remove and 35 not upgraded.
Need to get 4,070 kB of archives.
After this operation, 24.3 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-eigenpy amd64 2.9.2-1bionic.20230203.070126 [1,140 kB]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-kinematics amd64 1.0.11-1bionic.20230524.164556 [249 kB]
Get:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-move-group amd64 1.0.11-1bionic.20230524.165143 [344 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-manipulation amd64 1.0.11-1bionic.20230524.170214 [299 kB]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-warehouse-ros amd64 0.9.5-1bionic.20221025.194418 [90.5 kB]
Get:6 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-warehouse amd64 1.0.11-1bionic.20230524.164057 [349 kB]
Get:7 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-planning-interface amd64 1.0.11-1bionic.20230524.170758 [527 kB]
Get:8 http://mirrors.aliyun.com/ubuntu bionic/main amd64 python-bs4 all 4.6.0-1 [67.9 kB]
Get:9 http://mirrors.aliyun.com/ubuntu bionic/main amd64 python-webencodings all 0.5-2 [10.3 kB]
Get:10 http://mirrors.aliyun.com/ubuntu bionic/main amd64 python-html5lib all 0.999999999-1 [83.6 kB]
Get:11 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 python-lxml amd64 4.2.1-1ubuntu0.6 [898 kB]
Get:12 http://mirrors.aliyun.com/ubuntu bionic-updates/universe amd64 liburdfdom-tools amd64 1.0.0-2ubuntu0.1 [12.5 kB]
Fetched 4,070 kB in 2s (1,752 kB/s)           
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(Reading database ... 251040 files and directories currently installed.)
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Unpacking ros-melodic-moveit-ros-warehouse (1.0.11-1bionic.20230524.164057) ...
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Setting up ros-melodic-warehouse-ros (0.9.5-1bionic.20221025.194418) ...
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Setting up python-bs4 (4.6.0-1) ...
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Setting up ros-melodic-moveit-ros-warehouse (1.0.11-1bionic.20230524.164057) ...
Setting up ros-melodic-moveit-kinematics (1.0.11-1bionic.20230524.164556) ...
Setting up ros-melodic-moveit-ros-move-group (1.0.11-1bionic.20230524.165143) ...
Setting up python-html5lib (0.999999999-1) ...
Setting up ros-melodic-moveit-ros-manipulation (1.0.11-1bionic.20230524.170214) ...
Setting up ros-melodic-moveit-ros-planning-interface (1.0.11-1bionic.20230524.170758) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

sudo apt-get install ros-melodic-moveit-ros-perception

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-moveit-ros-perception
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libglew-dev libglew2.0 libomp-dev libomp5
Suggested packages:
  glew-utils libomp-doc
The following NEW packages will be installed:
  libglew-dev libglew2.0 libomp-dev libomp5 ros-melodic-moveit-ros-perception
0 upgraded, 5 newly installed, 0 to remove and 35 not upgraded.
Need to get 774 kB of archives.
After this operation, 4,179 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-perception amd64 1.0.11-1bionic.20230524.164912 [275 kB]
Get:2 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libglew2.0 amd64 2.0.0-5 [140 kB]
Get:3 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libglew-dev amd64 2.0.0-5 [120 kB]
Get:4 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libomp5 amd64 5.0.1-1 [234 kB]
Get:5 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libomp-dev amd64 5.0.1-1 [5,088 B]
Fetched 774 kB in 1s (1,044 kB/s)      
Selecting previously unselected package libglew2.0:amd64.
(Reading database ... 251502 files and directories currently installed.)
Preparing to unpack .../libglew2.0_2.0.0-5_amd64.deb ...
Unpacking libglew2.0:amd64 (2.0.0-5) ...
Selecting previously unselected package libglew-dev:amd64.
Preparing to unpack .../libglew-dev_2.0.0-5_amd64.deb ...
Unpacking libglew-dev:amd64 (2.0.0-5) ...
Selecting previously unselected package libomp5:amd64.
Preparing to unpack .../libomp5_5.0.1-1_amd64.deb ...
Unpacking libomp5:amd64 (5.0.1-1) ...
Selecting previously unselected package libomp-dev.
Preparing to unpack .../libomp-dev_5.0.1-1_amd64.deb ...
Unpacking libomp-dev (5.0.1-1) ...
Selecting previously unselected package ros-melodic-moveit-ros-perception.
Preparing to unpack .../ros-melodic-moveit-ros-perception_1.0.11-1bionic.20230524.164912_amd64.deb ...
Unpacking ros-melodic-moveit-ros-perception (1.0.11-1bionic.20230524.164912) ...
Setting up libomp5:amd64 (5.0.1-1) ...
Setting up libomp-dev (5.0.1-1) ...
Setting up libglew2.0:amd64 (2.0.0-5) ...
Setting up libglew-dev:amd64 (2.0.0-5) ...
Setting up ros-melodic-moveit-ros-perception (1.0.11-1bionic.20230524.164912) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

sudo apt-get install ros-melodic-moveit-msgs

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-moveit-msgs
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-melodic-moveit-msgs is already the newest version (0.10.1-1bionic.20221025.191657).
ros-melodic-moveit-msgs set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 35 not upgraded.
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 

 

catkin_make

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ catkin_make
Base path: /home/bim/catkin_ws
Source space: /home/bim/catkin_ws/src
Build space: /home/bim/catkin_ws/build
Devel space: /home/bim/catkin_ws/devel
Install space: /home/bim/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/bim/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/bim/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/bim/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bim/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 19 packages in topological order:
-- ~~  - kinova_bringup
-- ~~  - kinova_control
-- ~~  - kinova_gazebo
-- ~~  - realsense2_description
-- ~~  - ddynamic_reconfigure
-- ~~  - kinova_msgs
-- ~~  - kinova_driver
-- ~~  - kinova_demo
-- ~~  - realsense2_camera
-- ~~  - j2n6s300_ikfast
-- ~~  - j2s6s300_ikfast
-- ~~  - j2s7s300_ikfast
-- ~~  - m1n6s300_ikfast
-- ~~  - kinova_arm_moveit_demo
-- ~~  - kinova_description
-- ~~  - j2n6s300_moveit_config
-- ~~  - j2s6s300_moveit_config
-- ~~  - j2s7s300_moveit_config
-- ~~  - m1n6s300_moveit_config
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'kinova_bringup'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_bringup)
-- +++ processing catkin package: 'kinova_control'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_control)
-- +++ processing catkin package: 'kinova_gazebo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_gazebo)
-- +++ processing catkin package: 'realsense2_description'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_description)
-- +++ processing catkin package: 'ddynamic_reconfigure'
-- ==> add_subdirectory(ddynamic_reconfigure-0.4.1)
-- +++ processing catkin package: 'kinova_msgs'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action kinova_msgs/ArmJointAngles /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmJointAngles.action
-- Generating .msg files for action kinova_msgs/ArmPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/ArmPose.action
-- Generating .msg files for action kinova_msgs/Arm_KinovaPose /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/Arm_KinovaPose.action
-- Generating .msg files for action kinova_msgs/SetFingersPosition /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_msgs/action/SetFingersPosition.action
-- kinova_msgs: 37 messages, 12 services
-- +++ processing catkin package: 'kinova_driver'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'kinova_demo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realsense-ros-2.3.2/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Create Release Build.
-- realsense2_camera: 3 messages, 1 services
-- +++ processing catkin package: 'j2n6s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'j2s6s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'j2s7s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'm1n6s300_ikfast'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- +++ processing catkin package: 'kinova_arm_moveit_demo'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   date_time
--   thread
--   chrono
--   atomic
-- +++ processing catkin package: 'kinova_description'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_description)
-- +++ processing catkin package: 'j2n6s300_moveit_config'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config)
-- +++ processing catkin package: 'j2s6s300_moveit_config'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s6s300_moveit_config)
-- +++ processing catkin package: 'j2s7s300_moveit_config'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s7s300_moveit_config)
-- +++ processing catkin package: 'm1n6s300_moveit_config'
-- ==> add_subdirectory(kinova-ros-noetic-devel/kinova_moveit/robot_configs/m1n6s300_moveit_config)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/bim/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/home/bim/catkin_ws/build"
####
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmPoseAction
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_CartesianForce
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_PoseVelocityWithFingers
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetNullSpaceModeState
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Start
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesActionResult
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ZeroTorques
[  0%] Built target ddynamic_reconfigure
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_PoseVelocityWithFingers
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_CartesianForce
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_ZeroTorques
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseActionResult
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesActionFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionResult
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmPoseFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmPoseActionGoal
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesResult
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_JointAngles
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesAction
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseActionResult
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetEndEffectorOffset
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionGoal
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_PoseVelocityWithFingerVelocity
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseResult
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_KinovaPose
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetTorqueControlParameters
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseGoal
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseResult
Scanning dependencies of target actionlib_msgs_generate_messages_py
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_FingerPosition
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ClearTrajectories
[  0%] Built target _kinova_msgs_generate_messages_check_deps_SetTorqueControlParameters
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionActionResult
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[  0%] Built target actionlib_msgs_generate_messages_py
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_JointTorque
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionAction
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetTorqueControlMode
[  0%] Built target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseGoal
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_SetForceControlParams
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_JointVelocity
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_SetFingersPositionActionResult
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionActionGoal
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_SetFingersPositionFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseAction
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_AddPoseToCartesianTrajectory
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_HomeArm
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_RunCOMParametersEstimation
[  0%] Built target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseAction
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmPoseActionFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseActionGoal
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseActionFeedback
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Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmPoseResult
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[  0%] Built target _kinova_msgs_generate_messages_check_deps_ArmPoseActionFeedback
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_ArmJointAnglesGoal
Scanning dependencies of target _kinova_msgs_generate_messages_check_deps_Stop
[  0%] Built target _kinova_msgs_generate_messages_check_deps_Arm_KinovaPoseActionGoal
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
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Scanning dependencies of target actionlib_msgs_generate_messages_nodejs
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Scanning dependencies of target geometry_msgs_generate_messages_eus
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Scanning dependencies of target j2n6s300_arm_moveit_ikfast_plugin
Scanning dependencies of target j2s6s300_arm_moveit_ikfast_plugin
Scanning dependencies of target j2s7s300_robot_arm_moveit_ikfast_plugin
[  0%] Built target diagnostic_msgs_generate_messages_py
Scanning dependencies of target m1n6s300_mico_arm_moveit_ikfast_plugin
[  0%] Built target std_srvs_generate_messages_eus
Scanning dependencies of target kinova_msgs_generate_messages_py
[  1%] Built target fake_dynamic_reconfigure_server
[  2%] Built target test_bool_dynamic_reconfigure_server
[  2%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/CMakeFiles/j2n6s300_arm_moveit_ikfast_plugin.dir/src/j2n6s300_arm_ikfast_moveit_plugin.cpp.o
[  3%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/CMakeFiles/j2s6s300_arm_moveit_ikfast_plugin.dir/src/j2s6s300_arm_ikfast_moveit_plugin.cpp.o
[  4%] Generating Python from MSG kinova_msgs/ArmJointAnglesAction
[  4%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/CMakeFiles/m1n6s300_mico_arm_moveit_ikfast_plugin.dir/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp.o
[  4%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/CMakeFiles/j2s7s300_robot_arm_moveit_ikfast_plugin.dir/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp.o
[  4%] Generating Python from MSG kinova_msgs/SetFingersPositionGoal
[  4%] Built target ddynamic_reconfigure_auto_update_test
[  4%] Generating Python from MSG kinova_msgs/ArmJointAnglesActionResult
Scanning dependencies of target kinova_msgs_generate_messages_cpp
[  4%] Generating C++ code from kinova_msgs/ArmJointAnglesAction.msg
[  5%] Generating C++ code from kinova_msgs/ArmJointAnglesActionResult.msg
[  5%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseActionResult
[  6%] Generating Python from MSG kinova_msgs/ArmPoseAction
[  6%] Generating C++ code from kinova_msgs/SetFingersPositionGoal.msg
[  6%] Generating Python from MSG kinova_msgs/CartesianForce
[  6%] Generating Python from MSG kinova_msgs/SetFingersPositionActionResult
[  6%] Generating C++ code from kinova_msgs/Arm_KinovaPoseActionResult.msg
[  7%] Generating C++ code from kinova_msgs/ArmPoseAction.msg
[  8%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseAction
[  8%] Generating Python from MSG kinova_msgs/SetFingersPositionActionFeedback
[  8%] Generating C++ code from kinova_msgs/CartesianForce.msg
[  8%] Generating C++ code from kinova_msgs/SetFingersPositionActionResult.msg
[  8%] Generating Python from MSG kinova_msgs/ArmPoseActionGoal
[  9%] Generating Python from MSG kinova_msgs/JointVelocity
[ 10%] Generating C++ code from kinova_msgs/Arm_KinovaPoseAction.msg
[ 10%] Generating C++ code from kinova_msgs/SetFingersPositionActionFeedback.msg
[ 10%] Generating Python from MSG kinova_msgs/ArmJointAnglesActionFeedback
[ 10%] Generating Python from MSG kinova_msgs/PoseVelocityWithFingers
[ 10%] Generating C++ code from kinova_msgs/ArmPoseActionGoal.msg
[ 10%] Generating C++ code from kinova_msgs/JointVelocity.msg
[ 10%] Generating Python from MSG kinova_msgs/KinovaPose
[ 11%] Generating C++ code from kinova_msgs/ArmJointAnglesActionFeedback.msg
[ 11%] Generating C++ code from kinova_msgs/PoseVelocityWithFingers.msg
[ 11%] Generating C++ code from kinova_msgs/KinovaPose.msg
[ 12%] Generating Python from MSG kinova_msgs/JointAngles
[ 13%] Generating C++ code from kinova_msgs/JointAngles.msg
[ 13%] Generating C++ code from kinova_msgs/Arm_KinovaPoseGoal.msg
[ 13%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseGoal
[ 13%] Generating C++ code from kinova_msgs/SetFingersPositionAction.msg
[ 14%] Generating C++ code from kinova_msgs/PoseVelocity.msg
[ 14%] Generating Python from MSG kinova_msgs/SetFingersPositionAction
[ 14%] Generating C++ code from kinova_msgs/JointTorque.msg
[ 14%] Generating C++ code from kinova_msgs/ArmJointAnglesActionGoal.msg
[ 14%] Generating C++ code from kinova_msgs/SetFingersPositionActionGoal.msg
[ 15%] Generating Python from MSG kinova_msgs/PoseVelocity
[ 15%] Generating Python from MSG kinova_msgs/JointTorque
[ 16%] Generating C++ code from kinova_msgs/SetFingersPositionFeedback.msg
[ 16%] Generating C++ code from kinova_msgs/ArmPoseGoal.msg
[ 16%] Generating Python from MSG kinova_msgs/ArmJointAnglesActionGoal
[ 17%] Generating Python from MSG kinova_msgs/SetFingersPositionActionGoal
[ 17%] Generating C++ code from kinova_msgs/PoseVelocityWithFingerVelocity.msg
[ 18%] Generating C++ code from kinova_msgs/ArmPoseActionFeedback.msg
[ 18%] Generating Python from MSG kinova_msgs/SetFingersPositionFeedback
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:320:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
   setValues(robot_description, group_name, base_name, tip_name, search_discretization);
                                                                                      ^
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
                               ^~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:343:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
   setValues(robot_description, group_name, base_name, tip_name, search_discretization);
                                                                                      ^
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
                               ^~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double>&, double, const std::vector<double>&, std::vector<double>&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
[ 18%] Generating Python from MSG kinova_msgs/ArmPoseGoal
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/src/j2s7s300_robot_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double>&, double, const std::vector<double>&, std::vector<double>&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:980:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:980:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:981:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:981:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:985:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:985:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:986:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:986:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:1078:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess + search_discretization_ * counter;
                                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:1078:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess + search_discretization_ * counter;
                                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/src/j2s6s300_arm_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
[ 18%] Generating C++ code from kinova_msgs/Arm_KinovaPoseResult.msg
[ 18%] Generating C++ code from kinova_msgs/ArmPoseFeedback.msg
[ 18%] Generating Python from MSG kinova_msgs/PoseVelocityWithFingerVelocity
[ 19%] Generating Python from MSG kinova_msgs/ArmPoseActionFeedback
[ 20%] Generating C++ code from kinova_msgs/Arm_KinovaPoseFeedback.msg
[ 20%] Generating C++ code from kinova_msgs/FingerPosition.msg
[ 20%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseResult
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:320:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
   setValues(robot_description, group_name, base_name, tip_name, search_discretization);
                                                                                      ^
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
                               ^~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:320:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
   setValues(robot_description, group_name, base_name, tip_name, search_discretization);
                                                                                      ^
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
                               ^~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double>&, double, const std::vector<double>&, std::vector<double>&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
[ 20%] Generating Python from MSG kinova_msgs/ArmPoseFeedback
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/src/j2n6s300_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double>&, double, const std::vector<double>&, std::vector<double>&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:880:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:881:63: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
                                                               ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:885:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:886:82: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
                                                                                  ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
/home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:975:30: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess+search_discretization_*counter;
                              ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/bim/catkin_ws/src/kinova-ros-noetic-devel/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/src/m1n6s300_mico_arm_ikfast_moveit_plugin.cpp:49:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:597:25: note: declared here
   [[deprecated]] double search_discretization_;
                         ^~~~~~~~~~~~~~~~~~~~~~
[ 20%] Generating C++ code from kinova_msgs/ArmJointAnglesFeedback.msg
[ 20%] Generating C++ code from kinova_msgs/Arm_KinovaPoseActionFeedback.msg
[ 21%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseFeedback
[ 21%] Generating Python from MSG kinova_msgs/FingerPosition
[ 22%] Generating C++ code from kinova_msgs/ArmPoseResult.msg
[ 22%] Generating Python from MSG kinova_msgs/ArmJointAnglesFeedback
[ 22%] Generating C++ code from kinova_msgs/ArmPoseActionResult.msg
[ 23%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseActionFeedback
[ 23%] Generating C++ code from kinova_msgs/SetFingersPositionResult.msg
[ 23%] Generating Python from MSG kinova_msgs/ArmPoseResult
[ 25%] Generating C++ code from kinova_msgs/ArmJointAnglesGoal.msg
[ 25%] Generating Python from MSG kinova_msgs/ArmPoseActionResult
[ 25%] Generating C++ code from kinova_msgs/Arm_KinovaPoseActionGoal.msg
[ 25%] Generating Python from MSG kinova_msgs/SetFingersPositionResult
[ 25%] Generating C++ code from kinova_msgs/ArmJointAnglesResult.msg
[ 26%] Generating Python from MSG kinova_msgs/ArmJointAnglesGoal
[ 26%] Generating Python from MSG kinova_msgs/Arm_KinovaPoseActionGoal
[ 27%] Generating C++ code from kinova_msgs/SetNullSpaceModeState.srv
[ 27%] Generating C++ code from kinova_msgs/SetTorqueControlMode.srv
[ 27%] Generating Python from MSG kinova_msgs/ArmJointAnglesResult
[ 28%] Generating Python code from SRV kinova_msgs/SetNullSpaceModeState
[ 28%] Generating C++ code from kinova_msgs/Start.srv
[ 28%] Generating Python code from SRV kinova_msgs/SetTorqueControlMode
[ 28%] Generating C++ code from kinova_msgs/SetEndEffectorOffset.srv
[ 28%] Generating Python code from SRV kinova_msgs/Start
[ 29%] Generating Python code from SRV kinova_msgs/SetEndEffectorOffset
[ 29%] Generating Python code from SRV kinova_msgs/Stop
[ 30%] Generating C++ code from kinova_msgs/Stop.srv
[ 30%] Generating Python code from SRV kinova_msgs/HomeArm
[ 30%] Generating C++ code from kinova_msgs/HomeArm.srv
[ 30%] Generating Python code from SRV kinova_msgs/RunCOMParametersEstimation
[ 31%] Generating Python code from SRV kinova_msgs/ZeroTorques
[ 31%] Generating Python code from SRV kinova_msgs/ClearTrajectories
[ 31%] Generating Python code from SRV kinova_msgs/SetForceControlParams
[ 31%] Generating C++ code from kinova_msgs/RunCOMParametersEstimation.srv
Scanning dependencies of target kinova_msgs_generate_messages_nodejs
[ 31%] Generating Javascript code from kinova_msgs/ArmJointAnglesAction.msg
[ 31%] Generating Javascript code from kinova_msgs/ArmJointAnglesActionResult.msg
[ 32%] Generating Python code from SRV kinova_msgs/AddPoseToCartesianTrajectory
[ 32%] Generating Javascript code from kinova_msgs/SetFingersPositionGoal.msg
[ 32%] Generating Python code from SRV kinova_msgs/SetTorqueControlParameters
[ 33%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseActionResult.msg
[ 33%] Generating Javascript code from kinova_msgs/ArmPoseAction.msg
[ 34%] Generating C++ code from kinova_msgs/ZeroTorques.srv
[ 34%] Generating C++ code from kinova_msgs/ClearTrajectories.srv
[ 34%] Generating Javascript code from kinova_msgs/CartesianForce.msg
[ 34%] Generating Python msg __init__.py for kinova_msgs
[ 35%] Generating Javascript code from kinova_msgs/SetFingersPositionActionResult.msg
[ 35%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseAction.msg
[ 35%] Generating Javascript code from kinova_msgs/SetFingersPositionActionFeedback.msg
[ 36%] Generating Python srv __init__.py for kinova_msgs
[ 37%] Generating Javascript code from kinova_msgs/ArmPoseActionGoal.msg
[ 37%] Generating C++ code from kinova_msgs/SetForceControlParams.srv
[ 37%] Generating Javascript code from kinova_msgs/JointVelocity.msg
[ 38%] Generating C++ code from kinova_msgs/AddPoseToCartesianTrajectory.srv
[ 38%] Generating Javascript code from kinova_msgs/ArmJointAnglesActionFeedback.msg
[ 38%] Built target kinova_msgs_generate_messages_py
Scanning dependencies of target kinova_msgs_generate_messages_lisp
[ 38%] Generating Javascript code from kinova_msgs/PoseVelocityWithFingers.msg
[ 38%] Generating Lisp code from kinova_msgs/ArmJointAnglesAction.msg
[ 39%] Generating Javascript code from kinova_msgs/KinovaPose.msg
[ 39%] Generating Lisp code from kinova_msgs/ArmJointAnglesActionResult.msg
[ 39%] Generating Javascript code from kinova_msgs/JointAngles.msg
[ 40%] Generating Lisp code from kinova_msgs/SetFingersPositionGoal.msg
[ 40%] Generating C++ code from kinova_msgs/SetTorqueControlParameters.srv
[ 40%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseGoal.msg
[ 40%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseActionResult.msg
[ 40%] Generating Javascript code from kinova_msgs/PoseVelocity.msg
[ 41%] Generating Javascript code from kinova_msgs/SetFingersPositionAction.msg
[ 41%] Generating Lisp code from kinova_msgs/ArmPoseAction.msg
[ 41%] Generating Javascript code from kinova_msgs/JointTorque.msg
Scanning dependencies of target kinova_msgs_generate_messages_eus
[ 42%] Generating Lisp code from kinova_msgs/CartesianForce.msg
[ 42%] Generating EusLisp code from kinova_msgs/ArmJointAnglesAction.msg
[ 43%] Generating Javascript code from kinova_msgs/ArmJointAnglesActionGoal.msg
[ 43%] Generating Lisp code from kinova_msgs/SetFingersPositionActionResult.msg
[ 43%] Generating EusLisp code from kinova_msgs/ArmJointAnglesActionResult.msg
[ 43%] Generating Javascript code from kinova_msgs/SetFingersPositionActionGoal.msg
[ 43%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseAction.msg
[ 43%] Built target kinova_msgs_generate_messages_cpp
[ 43%] Generating Javascript code from kinova_msgs/SetFingersPositionFeedback.msg
[ 44%] Built target realsense2_camera_generate_messages_cpp
[ 45%] Generating EusLisp code from kinova_msgs/SetFingersPositionGoal.msg
[ 46%] Generating Lisp code from kinova_msgs/SetFingersPositionActionFeedback.msg
[ 47%] Built target realsense2_camera_generate_messages_eus
[ 47%] Generating Javascript code from kinova_msgs/ArmPoseGoal.msg
[ 50%] Built target realsense2_camera_generate_messages_py
[ 50%] Generating Lisp code from kinova_msgs/ArmPoseActionGoal.msg
[ 50%] Generating Lisp code from kinova_msgs/JointVelocity.msg
[ 50%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseActionResult.msg
[ 51%] Generating Javascript code from kinova_msgs/PoseVelocityWithFingerVelocity.msg
[ 51%] Generating Javascript code from kinova_msgs/ArmPoseActionFeedback.msg
[ 51%] Generating Lisp code from kinova_msgs/ArmJointAnglesActionFeedback.msg
[ 51%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseResult.msg
[ 51%] Generating EusLisp code from kinova_msgs/ArmPoseAction.msg
[ 52%] Generating Lisp code from kinova_msgs/PoseVelocityWithFingers.msg
[ 53%] Generating Javascript code from kinova_msgs/ArmPoseFeedback.msg
[ 53%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseFeedback.msg
[ 53%] Generating Lisp code from kinova_msgs/KinovaPose.msg
[ 53%] Generating Javascript code from kinova_msgs/FingerPosition.msg
[ 54%] Generating EusLisp code from kinova_msgs/CartesianForce.msg
[ 54%] Generating EusLisp code from kinova_msgs/SetFingersPositionActionResult.msg
[ 55%] Generating Lisp code from kinova_msgs/JointAngles.msg
[ 55%] Generating Javascript code from kinova_msgs/ArmJointAnglesFeedback.msg
[ 55%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseAction.msg
[ 55%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseActionFeedback.msg
[ 56%] Generating EusLisp code from kinova_msgs/SetFingersPositionActionFeedback.msg
[ 57%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseGoal.msg
[ 58%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libj2s7s300_robot_arm_moveit_ikfast_plugin.so
[ 58%] Generating Javascript code from kinova_msgs/ArmPoseResult.msg
[ 58%] Generating Lisp code from kinova_msgs/SetFingersPositionAction.msg
[ 58%] Generating EusLisp code from kinova_msgs/ArmPoseActionGoal.msg
[ 58%] Generating EusLisp code from kinova_msgs/JointVelocity.msg
[ 58%] Generating Javascript code from kinova_msgs/ArmPoseActionResult.msg
[ 58%] Generating Lisp code from kinova_msgs/PoseVelocity.msg
[ 59%] Generating Javascript code from kinova_msgs/SetFingersPositionResult.msg
[ 60%] Generating EusLisp code from kinova_msgs/ArmJointAnglesActionFeedback.msg
[ 60%] Generating Lisp code from kinova_msgs/JointTorque.msg
[ 61%] Generating EusLisp code from kinova_msgs/PoseVelocityWithFingers.msg
[ 61%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libj2s6s300_arm_moveit_ikfast_plugin.so
[ 61%] Generating Javascript code from kinova_msgs/ArmJointAnglesGoal.msg
[ 61%] Generating Lisp code from kinova_msgs/ArmJointAnglesActionGoal.msg
[ 61%] Built target j2s7s300_robot_arm_moveit_ikfast_plugin
[ 61%] Generating Javascript code from kinova_msgs/Arm_KinovaPoseActionGoal.msg
[ 61%] Generating EusLisp code from kinova_msgs/KinovaPose.msg
[ 61%] Generating Lisp code from kinova_msgs/SetFingersPositionActionGoal.msg
[ 61%] Generating EusLisp code from kinova_msgs/JointAngles.msg
[ 62%] Built target realsense2_camera_generate_messages_nodejs
[ 63%] Generating Javascript code from kinova_msgs/ArmJointAnglesResult.msg
[ 63%] Generating Lisp code from kinova_msgs/SetFingersPositionFeedback.msg
[ 65%] Built target realsense2_camera_generate_messages_lisp
[ 65%] Generating Javascript code from kinova_msgs/SetNullSpaceModeState.srv
[ 66%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseGoal.msg
[ 66%] Generating Javascript code from kinova_msgs/SetTorqueControlMode.srv
[ 67%] Generating Lisp code from kinova_msgs/ArmPoseGoal.msg
[ 68%] Built target realsense2_camera
[ 69%] Generating Javascript code from kinova_msgs/Start.srv
[ 69%] Built target realsense2_camera_generate_messages
[ 69%] Generating Javascript code from kinova_msgs/SetEndEffectorOffset.srv
[ 69%] Generating Javascript code from kinova_msgs/Stop.srv
[ 69%] Generating Lisp code from kinova_msgs/PoseVelocityWithFingerVelocity.msg
[ 69%] Generating EusLisp code from kinova_msgs/SetFingersPositionAction.msg
[ 69%] Built target j2s6s300_arm_moveit_ikfast_plugin
[ 69%] Generating Javascript code from kinova_msgs/HomeArm.srv
[ 70%] Generating Javascript code from kinova_msgs/RunCOMParametersEstimation.srv
[ 70%] Generating Javascript code from kinova_msgs/ZeroTorques.srv
[ 70%] Generating Javascript code from kinova_msgs/ClearTrajectories.srv
[ 70%] Generating Lisp code from kinova_msgs/ArmPoseActionFeedback.msg
[ 71%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseResult.msg
[ 72%] Generating Javascript code from kinova_msgs/SetForceControlParams.srv
[ 72%] Generating Lisp code from kinova_msgs/ArmPoseFeedback.msg
[ 72%] Generating EusLisp code from kinova_msgs/PoseVelocity.msg
[ 73%] Generating EusLisp code from kinova_msgs/JointTorque.msg
[ 73%] Generating Javascript code from kinova_msgs/AddPoseToCartesianTrajectory.srv
[ 73%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseFeedback.msg
[ 73%] Generating EusLisp code from kinova_msgs/ArmJointAnglesActionGoal.msg
[ 73%] Generating EusLisp code from kinova_msgs/SetFingersPositionActionGoal.msg
[ 73%] Generating Javascript code from kinova_msgs/SetTorqueControlParameters.srv
[ 73%] Generating EusLisp code from kinova_msgs/SetFingersPositionFeedback.msg
[ 75%] Generating Lisp code from kinova_msgs/FingerPosition.msg
[ 76%] Generating EusLisp code from kinova_msgs/ArmPoseGoal.msg
[ 76%] Built target kinova_msgs_generate_messages_nodejs
[ 76%] Generating EusLisp code from kinova_msgs/PoseVelocityWithFingerVelocity.msg
[ 76%] Generating Lisp code from kinova_msgs/ArmJointAnglesFeedback.msg
[ 76%] Generating EusLisp code from kinova_msgs/ArmPoseActionFeedback.msg
[ 76%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseActionFeedback.msg
[ 76%] Generating Lisp code from kinova_msgs/ArmPoseResult.msg
[ 77%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseResult.msg
[ 78%] Generating Lisp code from kinova_msgs/ArmPoseActionResult.msg
[ 78%] Generating EusLisp code from kinova_msgs/ArmPoseFeedback.msg
[ 78%] Generating Lisp code from kinova_msgs/SetFingersPositionResult.msg
[ 78%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseFeedback.msg
[ 78%] Generating Lisp code from kinova_msgs/ArmJointAnglesGoal.msg
[ 79%] Generating Lisp code from kinova_msgs/Arm_KinovaPoseActionGoal.msg
[ 79%] Generating Lisp code from kinova_msgs/ArmJointAnglesResult.msg
[ 79%] Generating Lisp code from kinova_msgs/SetNullSpaceModeState.srv
[ 80%] Generating EusLisp code from kinova_msgs/FingerPosition.msg
[ 81%] Generating Lisp code from kinova_msgs/SetTorqueControlMode.srv
[ 81%] Generating Lisp code from kinova_msgs/Start.srv
[ 81%] Generating Lisp code from kinova_msgs/SetEndEffectorOffset.srv
[ 81%] Generating EusLisp code from kinova_msgs/ArmJointAnglesFeedback.msg
[ 81%] Generating EusLisp code from kinova_msgs/ArmPoseResult.msg
[ 81%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseActionFeedback.msg
[ 82%] Generating EusLisp code from kinova_msgs/ArmPoseActionResult.msg
[ 82%] Generating Lisp code from kinova_msgs/Stop.srv
[ 82%] Generating EusLisp code from kinova_msgs/SetFingersPositionResult.msg
[ 83%] Generating Lisp code from kinova_msgs/HomeArm.srv
[ 83%] Generating Lisp code from kinova_msgs/RunCOMParametersEstimation.srv
[ 83%] Generating EusLisp code from kinova_msgs/ArmJointAnglesGoal.msg
[ 84%] Generating EusLisp code from kinova_msgs/Arm_KinovaPoseActionGoal.msg
[ 84%] Generating Lisp code from kinova_msgs/ZeroTorques.srv
[ 84%] Generating EusLisp code from kinova_msgs/ArmJointAnglesResult.msg
[ 84%] Generating EusLisp code from kinova_msgs/SetNullSpaceModeState.srv
[ 85%] Generating EusLisp code from kinova_msgs/SetTorqueControlMode.srv
[ 86%] Generating Lisp code from kinova_msgs/ClearTrajectories.srv
[ 86%] Generating Lisp code from kinova_msgs/SetForceControlParams.srv
[ 86%] Generating Lisp code from kinova_msgs/AddPoseToCartesianTrajectory.srv
[ 87%] Generating Lisp code from kinova_msgs/SetTorqueControlParameters.srv
[ 87%] Generating EusLisp code from kinova_msgs/Start.srv
[ 87%] Generating EusLisp code from kinova_msgs/SetEndEffectorOffset.srv
[ 87%] Generating EusLisp code from kinova_msgs/Stop.srv
[ 88%] Generating EusLisp code from kinova_msgs/HomeArm.srv
[ 88%] Generating EusLisp code from kinova_msgs/RunCOMParametersEstimation.srv
[ 88%] Built target kinova_msgs_generate_messages_lisp
[ 88%] Generating EusLisp code from kinova_msgs/ZeroTorques.srv
[ 89%] Generating EusLisp code from kinova_msgs/ClearTrajectories.srv
[ 89%] Generating EusLisp code from kinova_msgs/SetForceControlParams.srv
[ 89%] Generating EusLisp code from kinova_msgs/AddPoseToCartesianTrajectory.srv
[ 90%] Generating EusLisp code from kinova_msgs/SetTorqueControlParameters.srv
[ 90%] Generating EusLisp manifest code for kinova_msgs
[ 90%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libm1n6s300_mico_arm_moveit_ikfast_plugin.so
[ 90%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libj2n6s300_arm_moveit_ikfast_plugin.so
[ 90%] Built target m1n6s300_mico_arm_moveit_ikfast_plugin
[ 90%] Built target j2n6s300_arm_moveit_ikfast_plugin
[ 90%] Built target kinova_msgs_generate_messages_eus
Scanning dependencies of target gripper_command_action_server
Scanning dependencies of target kinova_tf_updater
Scanning dependencies of target kinova_driver
Scanning dependencies of target kinova_msgs_generate_messages
Scanning dependencies of target joint_trajectory_action_server
[ 90%] Built target kinova_msgs_generate_messages
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/joint_trajectory_action_server.dir/src/joint_trajectory_action/joint_trajectory_action_server.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/gripper_command_action_server.dir/src/joint_trajectory_action/gripper_command_action_server.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_tf_updater.dir/src/kinova_ros_types.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_tf_updater.dir/src/nodes/kinova_tf_updater.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_tf_updater.dir/src/kinova_arm_kinematics.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_api.cpp.o
[ 90%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_arm.cpp.o
[ 91%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_comm.cpp.o
[ 91%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_tool_pose_action.cpp.o
[ 91%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_joint_angles_action.cpp.o
[ 92%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_fingers_action.cpp.o
[ 92%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_ros_types.cpp.o
[ 93%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_driver/kinova_tf_updater
[ 93%] Built target kinova_tf_updater
[ 93%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_driver.dir/src/kinova_joint_trajectory_controller.cpp.o
[ 93%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_driver/joint_trajectory_action_server
[ 93%] Built target joint_trajectory_action_server
[ 94%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_driver/gripper_command_action_server
[ 94%] Built target gripper_command_action_server
[ 95%] Linking CXX shared library /home/bim/catkin_ws/devel/lib/libkinova_driver.so
[ 95%] Built target kinova_driver
Scanning dependencies of target kinova_interactive_control
Scanning dependencies of target kinova_arm_driver
Scanning dependencies of target work_scene
Scanning dependencies of target motion_plan
Scanning dependencies of target pick_place
Scanning dependencies of target test_accuracy
[ 95%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeFiles/work_scene.dir/src/work_scene.cpp.o
[ 96%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_arm_driver.dir/src/nodes/kinova_arm_driver.cpp.o
[ 96%] Building CXX object kinova-ros-noetic-devel/kinova_driver/CMakeFiles/kinova_interactive_control.dir/src/nodes/kinova_interactive_control.cpp.o
[ 97%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeFiles/motion_plan.dir/src/motion_plan.cpp.o
[ 97%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeFiles/pick_place.dir/src/pick_place.cpp.o
[ 97%] Building CXX object kinova-ros-noetic-devel/kinova_moveit/kinova_arm_moveit_demo/CMakeFiles/test_accuracy.dir/src/test_accuracy.cpp.o
[ 98%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_arm_moveit_demo/work_scene
[ 98%] Built target work_scene
[ 98%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_driver/kinova_arm_driver
[ 98%] Built target kinova_arm_driver
[ 98%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_arm_moveit_demo/motion_plan
[ 98%] Built target motion_plan
[ 98%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_driver/kinova_interactive_control
[ 98%] Built target kinova_interactive_control
[100%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_arm_moveit_demo/pick_place
[100%] Built target pick_place
[100%] Linking CXX executable /home/bim/catkin_ws/devel/lib/kinova_arm_moveit_demo/test_accuracy
[100%] Built target test_accuracy
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 

 

 

 cd kinova-ros-noetic-devel

sudo cp kinova_driver/udev/10-kinova-arm.rules  /etc/udev/rules.d/

cd ../../

sudo apt-get install ros-elodic-moveit

 

 

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ ls
build  devel  src
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ cd src
bim@bim-Vostro-7570:~/catkin_ws/src$ 
bim@bim-Vostro-7570:~/catkin_ws/src$ 
bim@bim-Vostro-7570:~/catkin_ws/src$ ls
CMakeLists.txt              ddynamic_reconfigure-0.4.1.tar.gz  kinova-ros-noetic-devel.zip  realsense-ros-2.3.2.tar.gz
ddynamic_reconfigure-0.4.1  kinova-ros-noetic-devel            realsense-ros-2.3.2
bim@bim-Vostro-7570:~/catkin_ws/src$ 
bim@bim-Vostro-7570:~/catkin_ws/src$ 
bim@bim-Vostro-7570:~/catkin_ws/src$ cd kinova-ros-noetic-devel
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ sudo cp kinova_driver/udev/10-kinova-arm.rules  /etc/udev/rules.d/
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ 
bim@bim-Vostro-7570:~/catkin_ws/src/kinova-ros-noetic-devel$ cd ../../
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ ls
build  devel  src
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-elodic-moveit
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package ros-elodic-moveit
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-moveit
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  python-pyassimp ros-melodic-chomp-motion-planner ros-melodic-moveit-commander ros-melodic-moveit-fake-controller-manager ros-melodic-moveit-planners
  ros-melodic-moveit-planners-chomp ros-melodic-moveit-planners-ompl ros-melodic-moveit-plugins ros-melodic-moveit-ros ros-melodic-moveit-ros-benchmarks
  ros-melodic-moveit-ros-control-interface ros-melodic-moveit-ros-robot-interaction ros-melodic-moveit-ros-visualization ros-melodic-moveit-setup-assistant
  ros-melodic-moveit-simple-controller-manager ros-melodic-ompl
The following NEW packages will be installed:
  python-pyassimp ros-melodic-chomp-motion-planner ros-melodic-moveit ros-melodic-moveit-commander ros-melodic-moveit-fake-controller-manager
  ros-melodic-moveit-planners ros-melodic-moveit-planners-chomp ros-melodic-moveit-planners-ompl ros-melodic-moveit-plugins ros-melodic-moveit-ros
  ros-melodic-moveit-ros-benchmarks ros-melodic-moveit-ros-control-interface ros-melodic-moveit-ros-robot-interaction ros-melodic-moveit-ros-visualization
  ros-melodic-moveit-setup-assistant ros-melodic-moveit-simple-controller-manager ros-melodic-ompl
0 upgraded, 17 newly installed, 0 to remove and 35 not upgraded.
Need to get 4,245 kB of archives.
After this operation, 19.7 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-chomp-motion-planner amd64 1.0.11-1bionic.20230524.162930 [101 kB]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-commander amd64 1.0.11-1bionic.20230524.172116 [43.2 kB]
Get:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-planners-chomp amd64 1.0.11-1bionic.20230524.172107 [34.8 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-ompl amd64 1.4.2-5bionic.20191212.045602 [1,527 kB]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-planners-ompl amd64 1.0.11-1bionic.20230524.165125 [362 kB]
Get:6 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-planners amd64 1.0.11-1bionic.20230524.172437 [2,648 B]
Get:7 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-fake-controller-manager amd64 1.0.11-1bionic.20230524.164523 [66.8 kB]
Get:8 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-simple-controller-manager amd64 1.0.11-1bionic.20230524.162355 [161 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-control-interface amd64 1.0.11-1bionic.20230524.163633 [147 kB]
Get:10 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-plugins amd64 1.0.11-1bionic.20230524.164701 [2,588 B]
Get:11 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-benchmarks amd64 1.0.11-1bionic.20230524.165615 [196 kB]
Get:12 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-robot-interaction amd64 1.0.11-1bionic.20230524.164056 [125 kB]
Get:13 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros-visualization amd64 1.0.11-1bionic.20230524.172112 [547 kB]
Get:14 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-ros amd64 1.0.11-1bionic.20230524.173722 [3,112 B]
Get:15 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit-setup-assistant amd64 1.0.11-1bionic.20230524.174615 [850 kB]
Get:16 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-moveit amd64 1.0.11-1bionic.20230524.175103 [9,796 B]
Get:17 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 python-pyassimp all 4.1.0~dfsg-3 [65.8 kB]
Fetched 4,245 kB in 0s (15.0 MB/s)         
Selecting previously unselected package ros-melodic-chomp-motion-planner.
(Reading database ... 251577 files and directories currently installed.)
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Setting up ros-melodic-chomp-motion-planner (1.0.11-1bionic.20230524.162930) ...
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Setting up ros-melodic-moveit-simple-controller-manager (1.0.11-1bionic.20230524.162355) ...
Setting up python-pyassimp (4.1.0~dfsg-3) ...
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Setting up ros-melodic-moveit-planners-ompl (1.0.11-1bionic.20230524.165125) ...
Setting up ros-melodic-moveit-ros-robot-interaction (1.0.11-1bionic.20230524.164056) ...
Setting up ros-melodic-moveit-ros-control-interface (1.0.11-1bionic.20230524.163633) ...
Setting up ros-melodic-moveit-commander (1.0.11-1bionic.20230524.172116) ...
Setting up ros-melodic-moveit-ros-visualization (1.0.11-1bionic.20230524.172112) ...
Setting up ros-melodic-moveit-planners (1.0.11-1bionic.20230524.172437) ...
Setting up ros-melodic-moveit-ros (1.0.11-1bionic.20230524.173722) ...
Setting up ros-melodic-moveit-plugins (1.0.11-1bionic.20230524.164701) ...
Setting up ros-melodic-moveit-setup-assistant (1.0.11-1bionic.20230524.174615) ...
Setting up ros-melodic-moveit (1.0.11-1bionic.20230524.175103) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
View Code

 

 

sudo apt-get install ros-melodic-trac-ik

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-trac-ik
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libnlopt-dev libnlopt0 ros-melodic-trac-ik-examples ros-melodic-trac-ik-kinematics-plugin ros-melodic-trac-ik-lib ros-melodic-trac-ik-python swig swig3.0
Suggested packages:
  swig-doc swig-examples swig3.0-examples swig3.0-doc
The following NEW packages will be installed:
  libnlopt-dev libnlopt0 ros-melodic-trac-ik ros-melodic-trac-ik-examples ros-melodic-trac-ik-kinematics-plugin ros-melodic-trac-ik-lib
  ros-melodic-trac-ik-python swig swig3.0
0 upgraded, 9 newly installed, 0 to remove and 35 not upgraded.
Need to get 1,691 kB of archives.
After this operation, 7,913 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-trac-ik-lib amd64 1.5.1-1bionic.20221025.185147 [94.1 kB]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-trac-ik-examples amd64 1.5.1-1bionic.20230524.155531 [23.6 kB]
Get:3 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-trac-ik-kinematics-plugin amd64 1.5.1-1bionic.20230524.162115 [37.9 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-trac-ik-python amd64 1.5.1-1bionic.20221025.205709 [96.7 kB]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic/main amd64 ros-melodic-trac-ik amd64 1.5.1-1bionic.20230524.162948 [4,380 B]
Get:6 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 swig3.0 amd64 3.0.12-1 [1,094 kB]
Get:7 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 swig amd64 3.0.12-1 [6,460 B]
Get:8 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libnlopt0 amd64 2.4.2+dfsg-4 [162 kB]
Get:9 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libnlopt-dev amd64 2.4.2+dfsg-4 [172 kB]
Fetched 1,691 kB in 2s (761 kB/s)     
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Setting up swig3.0 (3.0.12-1) ...
Setting up libnlopt0:amd64 (2.4.2+dfsg-4) ...
Setting up swig (3.0.12-1) ...
Setting up libnlopt-dev:amd64 (2.4.2+dfsg-4) ...
Setting up ros-melodic-trac-ik-lib (1.5.1-1bionic.20221025.185147) ...
Setting up ros-melodic-trac-ik-python (1.5.1-1bionic.20221025.205709) ...
Setting up ros-melodic-trac-ik-examples (1.5.1-1bionic.20230524.155531) ...
Setting up ros-melodic-trac-ik-kinematics-plugin (1.5.1-1bionic.20230524.162115) ...
Setting up ros-melodic-trac-ik (1.5.1-1bionic.20230524.162948) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
View Code

 

 

 

 

==========visip====================

sudo apt-get install ros-melodic-visp

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ sudo apt-get install ros-melodic-visp
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libcoin80-dev libcoin80v5 libdjvulibre-dev libdmtx-dev libdmtx0a liblcms2-dev liblqr-1-0-dev libmagick++-6-headers libmagick++-6.q16-7 libmagick++-6.q16-dev
  libmagick++-dev libmagickcore-6-arch-config libmagickcore-6-headers libmagickcore-6.q16-dev libmagickwand-6-headers libmagickwand-6.q16-dev libois-1.3.0v5
  libois-dev librsvg2-dev libv4l-dev libv4l2rds0 libwmf-dev libxpm-dev libzbar-dev libzbar0
Suggested packages:
  libcoin80-doc libopenal0a libsimage-dev librsvg2-doc libwmf-doc
The following NEW packages will be installed:
  libcoin80-dev libcoin80v5 libdjvulibre-dev libdmtx-dev libdmtx0a liblcms2-dev liblqr-1-0-dev libmagick++-6-headers libmagick++-6.q16-7 libmagick++-6.q16-dev
  libmagick++-dev libmagickcore-6-arch-config libmagickcore-6-headers libmagickcore-6.q16-dev libmagickwand-6-headers libmagickwand-6.q16-dev libois-1.3.0v5
  libois-dev librsvg2-dev libv4l-dev libv4l2rds0 libwmf-dev libxpm-dev libzbar-dev libzbar0 ros-melodic-visp
0 upgraded, 26 newly installed, 0 to remove and 35 not upgraded.
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Get:3 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagickcore-6-arch-config amd64 8:6.9.7.4+dfsg-16ubuntu6.15 [25.2 kB]
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Get:6 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagick++-6-headers all 8:6.9.7.4+dfsg-16ubuntu6.15 [47.2 kB]
Get:7 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagick++-6.q16-7 amd64 8:6.9.7.4+dfsg-16ubuntu6.15 [139 kB]
Get:8 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libdjvulibre-dev amd64 3.5.27.1-8ubuntu0.4 [2,382 kB]
Get:9 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 liblcms2-dev amd64 2.9-1ubuntu0.1 [9,096 kB]
Get:10 http://mirrors.aliyun.com/ubuntu bionic/main amd64 liblqr-1-0-dev amd64 0.4.2-2.1 [69.1 kB]
Get:11 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 librsvg2-dev amd64 2.40.20-2ubuntu0.2 [10.7 kB]
Get:12 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libwmf-dev amd64 0.2.8.4-12 [172 kB]
Get:13 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagickcore-6.q16-dev amd64 8:6.9.7.4+dfsg-16ubuntu6.15 [975 kB]
Get:14 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagickwand-6.q16-dev amd64 8:6.9.7.4+dfsg-16ubuntu6.15 [290 kB]
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Get:16 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libmagick++-dev all 8:6.9.7.4+dfsg-16ubuntu6.15 [1,408 B]                                    
Get:17 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libcoin80v5 amd64 3.1.4~abc9f50+dfsg3-2 [2,380 kB]                                                
Get:18 http://mirrors.aliyun.com/ubuntu bionic-security/main amd64 libxpm-dev amd64 1:3.5.12-1ubuntu0.18.04.2 [88.1 kB]                                         
Get:19 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libcoin80-dev amd64 3.1.4~abc9f50+dfsg3-2 [2,858 kB]                                              
Get:20 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libdmtx-dev amd64 0.7.4-2 [46.4 kB]                                                               
Get:21 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libv4l2rds0 amd64 1.14.2-1 [15.6 kB]                                                                  
Get:22 http://mirrors.aliyun.com/ubuntu bionic/main amd64 libv4l-dev amd64 1.14.2-1 [107 kB]                                                                    
Get:23 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libzbar0 amd64 0.10+doc-10.1build2 [75.7 kB]                                                      
Get:24 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libzbar-dev amd64 0.10+doc-10.1build2 [97.3 kB]                                                   
Get:25 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libois-1.3.0v5 amd64 1.3.0+dfsg0-6 [44.1 kB]                                                      
Get:26 http://mirrors.aliyun.com/ubuntu bionic/universe amd64 libois-dev amd64 1.3.0+dfsg0-6 [78.2 kB]                                                          
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bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
View Code

 

 

roslaunch src/kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/j2s7s300_demo.launch

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ roslaunch src/kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/j2s7s300_demo.launch
... logging to /home/bim/.ros/log/bff1d8b2-bbfd-11ee-a111-e470b83aa6e2/roslaunch-bim-Vostro-7570-6775.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.

Resource not found: The following package was not found in <arg default="$(find j2s7s300_moveit_config)/default_warehouse_mongo_db" name="db_path"/>: j2s7s300_moveit_config
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/opt/ros/melodic/share
The traceback for the exception was written to the log file
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
View Code

 

source ~/.bashrc

 

vim  ~/.bashrc              ********************

export ROS_HOSTNAME=localhost
export ROS_MASTER_URL=http://localhost:11311


source /opt/ros/melodic/setup.bash source ~/catkin_ws/devel/setup.bash

 

source ~/.bashrc

 

1:   roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2s7s300

2:   roslaunch src/kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/j2s7s300_demo.launch

 

bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ 
bim@bim-Vostro-7570:~/catkin_ws$ roslaunch src/kinova-ros-noetic-devel/kinova_moveit/robot_configs/j2s7s300_moveit_config/launch/j2s7s300_demo.launch
... logging to /home/bim/.ros/log/bff1d8b2-bbfd-11ee-a111-e470b83aa6e2/roslaunch-bim-Vostro-7570-9067.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.

started roslaunch server http://localhost:37427/

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
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /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/default_acceleration_scaling_factor: 1
 * /robot_description_planning/default_velocity_scaling_factor: 1
 * /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: melodic
 * /rosversion: 1.14.13
 * /rviz_bim_Vostro_7570_9067_5512380311456965167/arm/kinematics_solver: trac_ik_kinematic...
 * /rviz_bim_Vostro_7570_9067_5512380311456965167/arm/kinematics_solver_attempts: 3
 * /rviz_bim_Vostro_7570_9067_5512380311456965167/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_bim_Vostro_7570_9067_5512380311456965167/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_bim_Vostro_7570_9067_5512380311456965167 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[j2s7s300_joint_trajectory_action_server-1]: started with pid [9137]
process[j2s7s300_gripper_command_action_server-2]: started with pid [9138]
process[move_group-3]: started with pid [9152]
process[rviz_bim_Vostro_7570_9067_5512380311456965167-4]: started with pid [9179]
[ INFO] [1706241067.901161703]: Loading robot model 'j2s7s300'...
[ WARN] [1706241067.902466732]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1706241067.902505017]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1706241067.974624518]: rviz version 1.13.30
[ INFO] [1706241067.974675509]: compiled against Qt version 5.9.5
[ INFO] [1706241067.974691300]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1706241067.979934417]: Forcing OpenGl version 0.
[ WARN] [1706241068.163142905]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1706241068.164314587]: Gripper_command__action_server receive feedback of trajectory state from topic: /trajectory_controller/state
[ WARN] [1706241068.176011832]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1706241068.183930418]: IK Using joint j2s7s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1706241068.183970668]: IK Using joint j2s7s300_link_2 0.820305 5.46288
[ INFO] [1706241068.183996662]: IK Using joint j2s7s300_link_3 -3.40282e+38 3.40282e+38
[ INFO] [1706241068.184018426]: IK Using joint j2s7s300_link_4 0.523599 5.75959
[ INFO] [1706241068.184041525]: IK Using joint j2s7s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1706241068.184062692]: IK Using joint j2s7s300_link_6 1.13446 5.14872
[ INFO] [1706241068.184085257]: IK Using joint j2s7s300_link_7 -3.40282e+38 3.40282e+38
[ INFO] [1706241068.184116805]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1706241068.187386681]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1706241068.191141144]: Using solve type Speed
[ INFO] [1706241068.191818908]: Start Gripper_Command_Trajectory_Action server!
[ INFO] [1706241068.204276804]: Joint_trajectory_action_server receive feedback of trajectory state from topic: /trajectory_controller/state
[ INFO] [1706241068.274652739]: Start Follow_Joint_Trajectory_Action server!
[ INFO] [1706241068.274685531]: Waiting for an plan execution (goal) from Moveit
[ INFO] [1706241068.522548727]: Stereo is NOT SUPPORTED
[ INFO] [1706241068.522659246]: OpenGL device: Mesa DRI Intel(R) HD Graphics 630 (Kaby Lake GT2) 
[ INFO] [1706241068.522696246]: OpenGl version: 3.0 (GLSL 1.3).
[ INFO] [1706241068.570419467]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1706241068.573494068]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1706241068.573568073]: Starting planning scene monitor
[ INFO] [1706241068.576352163]: Listening to '/planning_scene'
[ INFO] [1706241068.576385084]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1706241068.579193423]: Listening to '/collision_object'
[ INFO] [1706241068.582784563]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1706241068.583920610]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1706241068.897302988]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1706241068.921993431]: Initializing OMPL interface using ROS parameters
[ INFO] [1706241068.953475914]: Using planning interface 'OMPL'
[ INFO] [1706241068.958133741]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1706241068.959242146]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1706241068.959848283]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1706241068.960866349]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1706241068.961364000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1706241068.961864999]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1706241068.961922749]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1706241068.961957213]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1706241068.961983668]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1706241068.962012612]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1706241068.962039736]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1706241069.243291106]: Added FollowJointTrajectory controller for j2s7s300
[ INFO] [1706241069.547815872]: Added GripperCommand controller for j2s7s300_gripper
[ INFO] [1706241069.548066375]: Returned 2 controllers in list
[ INFO] [1706241069.613304267]: 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] [1706241069.808529165]: 

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

[ INFO] [1706241069.808637726]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1706241069.808698547]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1706241071.892195299]: Loading robot model 'j2s7s300'...
[ WARN] [1706241071.892299160]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1706241071.892371410]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1706241072.161268825]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_bim_Vostro_7570_9067_5512380311456965167/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1706241072.175007911]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1706241072.181265712]: IK Using joint j2s7s300_link_1 -3.40282e+38 3.40282e+38
[ INFO] [1706241072.181307724]: IK Using joint j2s7s300_link_2 0.820305 5.46288
[ INFO] [1706241072.181342509]: IK Using joint j2s7s300_link_3 -3.40282e+38 3.40282e+38
[ INFO] [1706241072.181369687]: IK Using joint j2s7s300_link_4 0.523599 5.75959
[ INFO] [1706241072.181394092]: IK Using joint j2s7s300_link_5 -3.40282e+38 3.40282e+38
[ INFO] [1706241072.181411859]: IK Using joint j2s7s300_link_6 1.13446 5.14872
[ INFO] [1706241072.181436949]: IK Using joint j2s7s300_link_7 -3.40282e+38 3.40282e+38
[ INFO] [1706241072.181464770]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1706241072.183764733]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1706241072.185980633]: Using solve type Speed
[ INFO] [1706241072.610145611]: Starting planning scene monitor
[ INFO] [1706241072.613775273]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1706241072.863332648]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1706241073.982761772]: Ready to take commands for planning group arm.
[ INFO] [1706241073.983342438]: Looking around: no
[ INFO] [1706241073.983639422]: Replanning: no
[ INFO] [1706241098.956812807]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1706241098.957088566]: Planning attempt 1 of at most 1
[ INFO] [1706241098.958931706]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1706241098.960068418]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.960155365]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.960284967]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.960328324]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.971665156]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.971768002]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.971810909]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.971849215]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.972003143]: ParallelPlan::solve(): Solution found by one or more threads in 0.012411 seconds
[ INFO] [1706241098.972221389]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.972273133]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.972352650]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.973483524]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.973647920]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.973705734]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.973840962]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241098.975338541]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241098.975516989]: ParallelPlan::solve(): Solution found by one or more threads in 0.003336 seconds
[ INFO] [1706241098.975758339]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.975801050]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241098.977351188]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241098.977604418]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241098.977958161]: ParallelPlan::solve(): Solution found by one or more threads in 0.002242 seconds
[ INFO] [1706241098.987616283]: SimpleSetup: Path simplification took 0.009098 seconds and changed from 3 to 2 states
[ INFO] [1706241098.991561664]: Disabling trajectory recording
[ INFO] [1706241099.057257615]: Joint_trajectory_action_server received goal!
[ INFO] [1706241099.057388768]: Joint_trajectory_action_server accepted goal!
[ INFO] [1706241099.057514418]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1706241106.905029665]: Controller j2s7s300 successfully finished
[ INFO] [1706241107.159821255]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1706241177.459253921]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1706241177.459431923]: Planning attempt 1 of at most 1
[ INFO] [1706241177.460459015]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1706241177.461227606]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.461369258]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.461522389]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.461644213]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.475838584]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.476090324]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.476256902]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.476670153]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.477388829]: ParallelPlan::solve(): Solution found by one or more threads in 0.016421 seconds
[ INFO] [1706241177.478135437]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.478407700]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.478576702]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.478718654]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.482089642]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.482210532]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.482996057]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.483509839]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.483934227]: ParallelPlan::solve(): Solution found by one or more threads in 0.006049 seconds
[ INFO] [1706241177.484289434]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.484442225]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1706241177.487177675]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1706241177.488308949]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1706241177.488768190]: ParallelPlan::solve(): Solution found by one or more threads in 0.004543 seconds
[ INFO] [1706241177.511954937]: SimpleSetup: Path simplification took 0.023074 seconds and changed from 3 to 2 states
[ INFO] [1706241177.557323050]: Joint_trajectory_action_server received goal!
[ INFO] [1706241177.557392645]: Joint_trajectory_action_server accepted goal!
[ INFO] [1706241177.557501030]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1706241186.504869532]: Controller j2s7s300 successfully finished
View Code

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

https://zhuanlan.zhihu.com/p/614797635

https://blog.csdn.net/weixin_43904973/article/details/130648260

 

 

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posted @ 2024-01-26 09:15  西北逍遥  阅读(7)  评论(0编辑  收藏  举报