Group 'DroneBody' does not have a parent link

[firass-amor]

hi , first i want to thank you you for sharing your project . i am using ros melodic with gazebo 9 , and after cloning you and catkin_make your project i tried to launch roslaunch hector_moveit_gazebo orchyard_navigation.launch but i gt the following error

[firass-amor]

RLException: [orchyard_navigation.launch] is neither a launch file in package [hector_moveit_gazebo] nor is [hector_moveit_gazebo] a launch file name
The traceback for the exception was written to the log file
firass@firass-GL703VM:/hector-moveit$ source devel/setup.bash
firass@firass-GL703VM:/hector-moveit$ roslaunch hector_moveit_gazebo orchyard_navigation.launch
... logging to /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/roslaunch-firass-GL703VM-4580.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.

redefining global symbol: pi
when processing file: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_base.urdf.xacro
included from: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.urdf.xacro
included from: /home/firass/hector-moveit/src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor_with_kinect.gazebo.xacro
started roslaunch server http://firass-GL703VM:33623/

SUMMARY

PARAMETERS

• /action_timeout: 30.0
• /base_footprint_frame: /base_footprint
• /base_link_frame: /base_link
• /base_stabilized_frame: /base_stabilized
• /command_timeout: 0.5
• /connection_timeout: 10.0
• /controller/attitude/max_roll_pitch: 0.785398163
• /controller/attitude/pitch/d: 20.0
• /controller/attitude/pitch/i: 0.0
• /controller/attitude/pitch/p: 100.0
• /controller/attitude/pitch/publish_state: True
• /controller/attitude/roll/d: 20.0
• /controller/attitude/roll/i: 0.0
• /controller/attitude/roll/p: 100.0
• /controller/attitude/roll/publish_state: True
• /controller/attitude/type: hector_quadrotor_...
• /controller/attitude/yawrate/d: 0.5
• /controller/attitude/yawrate/i: 0.0
• /controller/attitude/yawrate/max: 3.14
• /controller/attitude/yawrate/p: 5.0
• /controller/attitude/yawrate/publish_state: True
• /controller/position/type: hector_quadrotor_...
• /controller/position/x/d: 0.0
• /controller/position/x/i: 0.0
• /controller/position/x/p: 2.0
• /controller/position/y/d: 0.0
• /controller/position/y/i: 0.0
• /controller/position/y/p: 2.0
• /controller/position/yaw/d: 0.0
• /controller/position/yaw/i: 0.0
• /controller/position/yaw/p: 2.0
• /controller/position/z/d: 0.0
• /controller/position/z/i: 0.0
• /controller/position/z/p: 2.0
• /controller/velocity/max_xy: 10.0
• /controller/velocity/type: hector_quadrotor_...
• /controller/velocity/x/antiwindup: True
• /controller/velocity/x/d: 0.0
• /controller/velocity/x/i: 1.0
• /controller/velocity/x/i_clamp: 5.0
• /controller/velocity/x/p: 2.0
• /controller/velocity/x/publish_state: True
• /controller/velocity/y/antiwindup: True
• /controller/velocity/y/d: 0.0
• /controller/velocity/y/i: 1.0
• /controller/velocity/y/i_clamp: 5.0
• /controller/velocity/y/p: 2.0
• /controller/velocity/y/publish_state: True
• /controller/velocity/z/antiwindup: True
• /controller/velocity/z/d: 0.0
• /controller/velocity/z/i: 1.0
• /controller/velocity/z/i_clamp: 5.0
• /controller/velocity/z/max: 5.0
• /controller/velocity/z/p: 5.0
• /controller/velocity/z/publish_state: True
• /dist_tolerance: 0.1
• /estop_deceleration: 1.0
• /estop_relay/lazy: True
• /gazebo/enable_ros_network: True
• /grid_size: 13.0
• /ground_truth_to_tf/frame_id: world
• /ground_truth_to_tf/odometry_topic: ground_truth/state
• /ground_truth_to_tf/tf_prefix:
• /imu_topic:
• /joint_state_publisher/publish_frequency: 50.0
• /joint_state_publisher/source_list: ['/move_group/fak...
• /joint_state_publisher/use_gui: False
• /landing_height: 0.1
• /move_group/DroneBody/default_planner_config: kConfigDefault
• /move_group/DroneBody/planner_configs: ['SBLkConfigDefau...
• /move_group/allow_trajectory_execution: True
• /move_group/controller_list: [{'default': True...
• /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_fake_contr...
• /move_group/moveit_manage_controllers: True
• /move_group/octomap_frame: world
• /move_group/octomap_resolution: 0.25
• /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
• /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
• /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
• /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
• /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
• /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/BiESTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
• /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
• /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
• /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
• /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/FMTkConfigDefault/cache_cc: 1
• /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
• /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
• /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
• /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
• /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
• /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
• /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/LBTRRTkConfigDefault/epsilon: 0.4
• /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
• /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
• /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
• /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
• /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
• /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
• /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/ProjESTkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
• /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
• /move_group/planner_configs/RRTConnectkConfigDefault/longest_valid_segment_fraction: 0.01
• /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/SPARSkConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
• /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
• /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
• /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
• /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
• /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
• /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
• /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
• /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
• /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
• /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
• /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
• /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
• /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
• /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
• /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
• /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/sensors: [{'point_subsampl...
• /move_group/start_state_max_bounds_error: 0.1
• /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
• /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
• /move_group/trajectory_execution/allowed_start_tolerance: 0.0
• /quadrotor_aerodynamics/C_mxy: 0.074156208
• /quadrotor_aerodynamics/C_mz: 0.050643264
• /quadrotor_aerodynamics/C_wxy: 0.12
• /quadrotor_aerodynamics/C_wz: 0.1
• /quadrotor_propulsion/CT0s: 1.53819048398e-05
• /quadrotor_propulsion/CT1s: -0.00025224
• /quadrotor_propulsion/CT2s: 0.0
• /quadrotor_propulsion/J_M: 2.5730480633e-05
• /quadrotor_propulsion/Psi: 0.00724217982751
• /quadrotor_propulsion/R_A: 0.201084219222
• /quadrotor_propulsion/alpha_m: 0.104863758314
• /quadrotor_propulsion/beta_m: 0.549262344778
• /quadrotor_propulsion/k_m: -7.01163190977e-05
• /quadrotor_propulsion/k_t: 0.0153368647144
• /quadrotor_propulsion/l_m: 0.275
• /robot_description: <?xml version="1....
• /robot_description_planning/joint_limits/virtual_joint/has_acceleration_limits: True
• /robot_description_planning/joint_limits/virtual_joint/has_velocity_limits: True
• /robot_description_planning/joint_limits/virtual_joint/max_acceleration: 0.04
• /robot_description_planning/joint_limits/virtual_joint/max_velocity: 5.0
• /robot_description_semantic: <?xml version="1....
• /robot_state_publisher/publish_frequency: 50.0
• /rosdistro: melodic
• /rosversion: 1.14.12
• /state_timeout: 0.5
• /state_topic:
• /takeoff_height: 0.1
• /tf_prefix:
• /time_in_tolerance: 1.0
• /use_sim_time: True
• /world_frame: world
• /wrench_limits/force/z/max: 30.0
• /wrench_limits/force/z/min: 0.0
• /wrench_limits/torque/x/max: 10.0
• /wrench_limits/torque/y/max: 10.0
• /wrench_limits/torque/z/max: 1.0
• /yaw_tolerance: 0.35

NODES
/
controller_spawner (controller_manager/spawner)
estop_relay (topic_tools/relay)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
gazebo_killer (hector_moveit_config/gazebo_killer.sh)
ground_truth_to_tf (message_to_tf/message_to_tf)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
landing_action (hector_quadrotor_actions/landing_action)
move_group (moveit_ros_move_group/move_group)
pose_action (hector_quadrotor_actions/pose_action)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
spawn_robot (gazebo_ros/spawn_model)
takeoff_action (hector_quadrotor_actions/takeoff_action)

ROS_MASTER_URI=http://localhost:11311

process[gazebo_killer-1]: started with pid [4614]
process[gazebo-2]: started with pid [4618]
process[gazebo_gui-3]: started with pid [4620]
error: list of process IDs must follow -p

Usage:
ps [options]

Try 'ps --help <simple|list|output|threads|misc|all>'
or 'ps --help <s|l|o|t|m|a>'
for additional help text.

For more details see ps(1).
/home/firass/hector-moveit/src/hector_moveit_config/src/gazebo_killer.sh: line 16: [: -gt: unary operator expected
/home/firass/hector-moveit/src/hector_moveit_config/src/gazebo_killer.sh: line 19: [: -gt: unary operator expected
[gazebo_killer-1] process has finished cleanly
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_killer-1*.log
process[robot_state_publisher-4]: started with pid [4628]
process[ground_truth_to_tf-5]: started with pid [4629]
process[controller_spawner-6]: started with pid [4634]
process[estop_relay-7]: started with pid [4637]
process[pose_action-8]: started with pid [4708]
process[landing_action-9]: started with pid [4714]
[ INFO] [1639644212.311040736]: waitForService: Service [/enable_motors] has not been advertised, waiting...
process[takeoff_action-10]: started with pid [4715]
[ WARN] [1639644212.752907768]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[WARN] [1639644212.867529, 0.000000]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1639644212.868395, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
process[spawn_robot-11]: started with pid [4832]
process[joint_state_publisher-12]: started with pid [4937]
process[move_group-13]: started with pid [4950]
process[rviz-14]: started with pid [4982]
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /opt/ros/melodic/lib/moveit_ros_move_group/move_group...(no debugging symbols found)...done.
/home/firass/hector-moveit/src/hector_moveit_config/launch/gdb_settings.gdb: No such file or directory.
Starting program: /opt/ros/melodic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/move_group-13.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644218.942820620]: rviz version 1.13.21
[ INFO] [1639644218.942863563]: compiled against Qt version 5.9.5
[ INFO] [1639644218.942873523]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1639644218.950857757]: Forcing OpenGl version 0.
[INFO] [1639644221.049023, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1639644221.054344, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[ INFO] [1639644221.618260280]: Stereo is NOT SUPPORTED
[ INFO] [1639644221.618486596]: OpenGL device: NV136
[ INFO] [1639644221.618580358]: OpenGl version: 4.3 (GLSL 4.3) limited to GLSL 1.4 on Mesa system.
[ INFO] [1639644222.630077973]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639644222.630303540]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639644222.633090420]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1639644222.633438745]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffe3393700 (LWP 5830)]
[New Thread 0x7fffdbfff700 (LWP 5831)]
[New Thread 0x7fffe2b92700 (LWP 5833)]
[New Thread 0x7fffe2391700 (LWP 5846)]
[New Thread 0x7fffe1b90700 (LWP 5847)]
[New Thread 0x7fffe138f700 (LWP 5860)]
[ INFO] [1639644223.823160810]: Loading robot model 'quadrotor'...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ WARN] [1639644224.434427609]: No kinematics plugins defined. Fill and load kinematics.yaml!
[New Thread 0x7fffdb7fe700 (LWP 6021)]
[ INFO] [1639644224.461449245]: Publishing maintained planning scene on 'monitored_planning_scene'
[New Thread 0x7fffdaffd700 (LWP 6052)]
[ INFO] [1639644224.464422423]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1639644224.464448113]: Starting planning scene monitor
[ INFO] [1639644224.466797351]: Listening to '/planning_scene'
[ INFO] [1639644224.466829517]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1639644224.469148475]: Listening to '/collision_object'
[ INFO] [1639644224.471274797]: Listening to '/planning_scene_world' for planning scene world geometry
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffda3e5700 (LWP 6103)]
[ INFO] [1639644224.594919646]: Listening to '/camera/depth/points' using message filter with target frame 'world '
[New Thread 0x7fffd9be4700 (LWP 6124)]
[ INFO] [1639644224.601840388]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.290838649]: Initializing OMPL interface using ROS parameters
[ERROR] [1639644225.293006452]: Could not find the planner configuration 'kConfigDefault' on the param server
[ INFO] [1639644225.317328278]: Using planning interface 'OMPL'
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.343426271]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1639644225.348337918]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1639644225.349586579]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1639644225.353052443]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1639644225.355498621]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1639644225.359800369]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1639644225.361051072]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1639644225.361111829]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1639644225.361130346]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1639644225.361148349]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1639644225.361161346]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1639644225.361176713]: Using planning request adapter 'Fix Start State Path Constraints'
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[ INFO] [1639644225.417846636, 0.001000000]: Physics dynamic reconfigure ready.
[ INFO] [1639644225.421645172]: Fake controller 'multi_dof_joint_trajectory_simulation' with joints [ virtual_joint ]
[ INFO] [1639644225.422446348]: Returned 1 controllers in list
[ INFO] [1639644225.437550504]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
[INFO] [1639644225.571764, 0.001000]: Calling service /gazebo/spawn_urdf_model
[tcsetpgrp failed in terminal_inferior: Invalid argument]
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[New Thread 0x7fffb3872700 (LWP 6548)]
[New Thread 0x7fffb3071700 (LWP 6558)]
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
[New Thread 0x7fffb2870700 (LWP 6574)]
Loading 'move_group/MoveGroupPickPlaceAction'...
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7fffb1b26700 (LWP 6606)]
[New Thread 0x7fffb1325700 (LWP 6628)]
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1639644225.726207071]:

---

• MoveGroup using:

• - ApplyPlanningSceneService
  

• - ClearOctomapService
  

• - CartesianPathService
  

• - ExecuteTrajectoryAction
  

• - GetPlanningSceneService
  

• - KinematicsService
  

• - MoveAction
  

• - PickPlaceAction
  

• - MotionPlanService
  

• - QueryPlannersService
  

• - StateValidationService
  

---

[ INFO] [1639644225.726258450]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1639644225.726273475]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1639644226.589381276, 0.001000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[INFO] [1639644226.590425, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1639644226.866598660, 0.001000000]: imu plugin missing , defaults to 0s
[ INFO] [1639644226.899817351, 0.001000000]: Camera Plugin (ns = /) <tf_prefix_>, set to ""
[ WARN] [1639644226.899850684, 0.001000000]: dynamic reconfigure is not enabled for this image topic [camera/rgb/image_raw] becuase is not specified
[spawn_robot-11] process has finished cleanly
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/spawn_robot-11*.log
[ INFO] [1639644227.860215166, 0.001000000]: Loading gazebo_ros_control plugin
[ WARN] [1639644227.860368198, 0.001000000]: Desired controller update period (0.010000000 s) is slower than the gazebo simulation period (0.001000000 s).
[ INFO] [1639644227.860460698, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1639644227.861275098, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1639644228.063140247, 0.001000000]: Limits /wrench_limits/force/z initialized z with min 0 and max 30
[ INFO] [1639644228.065510584, 0.001000000]: Limits /wrench_limits/torque/x initialized x with min -10 and max 10
[ INFO] [1639644228.066946016, 0.001000000]: Limits /wrench_limits/torque/y initialized y with min -10 and max 10
[ INFO] [1639644228.068500287, 0.001000000]: Limits /wrench_limits/torque/z initialized z with min -1 and max 1
[ INFO] [1639644228.070270087]: waitForService: Service [/enable_motors] is now available.
[ INFO] [1639644228.125644949, 0.001000000]: Loaded gazebo_ros_control.
Loaded the following quadrotor propulsion model parameters from namespace /quadrotor_propulsion:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = 0
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
[INFO] [1639644228.231894, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1639644228.234296, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1639644228.236345, 0.000000]: Loading controller: controller/position
Loaded the following quadrotor drag model parameters from namespace /quadrotor_aerodynamics:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
[ WARN] [1639644228.306452736, 0.011000000]: Unable to update multi-DOF joint 'virtual_joint': Failure to lookup transform between 'world' and 'base_link' with TF exception: "base_link" passed to lookupTransform argument source_frame does not exist.
[ INFO] [1639644228.412941437, 0.100000000]: Server /action/pose started
[INFO] [1639644228.423493, 0.100000]: Loading controller: controller/velocity
[ INFO] [1639644228.557723578, 0.226000000]: Limits /controller/velocity/z initialized z with min -5 and max 5
[INFO] [1639644228.582493, 0.250000]: Loading controller: controller/attitude
[ INFO] [1639644228.708042488, 0.375000000]: Server /action/landing started
[ INFO] [1639644228.708755383, 0.376000000]: Server /action/takeoff started
[ INFO] [1639644228.713014484, 0.380000000]: Limits /controller/attitude/yawrate initialized yawrate with min -3.14 and max 3.14
[INFO] [1639644228.722457, 0.390000]: Controller Spawner: Loaded controllers: controller/position, controller/velocity, controller/attitude
[ INFO] [1639644228.733706285, 0.400000000]: Enabled wrench output
[INFO] [1639644228.734146, 0.400000]: Started controllers: controller/position, controller/velocity, controller/attitude
[ INFO] [1639644228.743655240, 0.410000000]: Enabled attitude output
[ INFO] [1639644228.743748175, 0.410000000]: Enabled yawrate output
[ INFO] [1639644228.743799684, 0.410000000]: Enabled thrust output
QLayout: Attempting to add QLayout "" to hector_moveit_rviz_plugins::OrchardGridPanel "", which already has a layout
QLayout::addChildLayout: layout "" already has a parent
QWidget::setLayout: Attempting to set QLayout "" on hector_moveit_rviz_plugins::OrchardGridPanel "", which already has a layout
[ INFO] [1639644231.707592263, 3.365000000]: Loading robot model 'quadrotor'...
[ WARN] [1639644231.815267196, 3.472000000]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ INFO] [1639644231.846213372, 3.503000000]: Starting planning scene monitor
[ INFO] [1639644231.850323265, 3.507000000]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1639644231.970213321, 3.627000000]: Group 'DroneBody' does not have a parent link
[ERROR] [1639644231.994227791, 3.651000000]: Unknown type of joint in Jacobian computation
[ INFO] [1639644231.996988260, 3.654000000]: Constructing new MoveGroup connection for group 'DroneBody' in namespace ''
[ INFO] [1639644233.008863127, 4.664000000]: Ready to take commands for planning group DroneBody.
[ INFO] [1639644233.008947517, 4.664000000]: Looking around: no
[ INFO] [1639644233.009005449, 4.664000000]: Replanning: no
[ERROR] [1639644233.010813729, 4.666000000]: Unknown type of joint in Jacobian computation
[ERROR] [1639644233.011144227, 4.667000000]: Unknown type of joint in Jacobian computation
Killed
[gazebo_gui-3] process has died [pid 4620, exit code 137, cmd /opt/ros/melodic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_gui-3.log].
log file: /home/firass/.ros/log/179f20ea-5e4c-11ec-b0f8-5c5f67bfd899/gazebo_gui-3*.log

[eliabntt]

+1

[javier99nl]

Hi were you able to solve them??

[eliabntt]

no I gave up and used a different method. What do you need to do @javier99nl?