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]2;/home/robolab_ros/catkin_ws2/src/mobile-manipulator/pioneerlx_ur5/launch/mobile_manipulator-cart.launch
started roslaunch server http://POD41:56921/

SUMMARY
========

PARAMETERS
 * /arm_controller/gains/arm_elbow_joint/d: 10
 * /arm_controller/gains/arm_elbow_joint/i: 0.01
 * /arm_controller/gains/arm_elbow_joint/i_clamp: 1
 * /arm_controller/gains/arm_elbow_joint/p: 120
 * /arm_controller/gains/arm_shoulder_lift_joint/d: 0.1
 * /arm_controller/gains/arm_shoulder_lift_joint/i: 0.001
 * /arm_controller/gains/arm_shoulder_lift_joint/i_clamp: 1
 * /arm_controller/gains/arm_shoulder_lift_joint/p: 100
 * /arm_controller/gains/arm_shoulder_pan_joint/d: 0.1
 * /arm_controller/gains/arm_shoulder_pan_joint/i: 0.001
 * /arm_controller/gains/arm_shoulder_pan_joint/i_clamp: 1
 * /arm_controller/gains/arm_shoulder_pan_joint/p: 100
 * /arm_controller/gains/arm_wrist_1_joint/d: 0.1
 * /arm_controller/gains/arm_wrist_1_joint/i: 0.001
 * /arm_controller/gains/arm_wrist_1_joint/i_clamp: 1
 * /arm_controller/gains/arm_wrist_1_joint/p: 120
 * /arm_controller/gains/arm_wrist_2_joint/d: 0.1
 * /arm_controller/gains/arm_wrist_2_joint/i: 0.001
 * /arm_controller/gains/arm_wrist_2_joint/i_clamp: 1
 * /arm_controller/gains/arm_wrist_2_joint/p: 120
 * /arm_controller/gains/arm_wrist_3_joint/d: 0.1
 * /arm_controller/gains/arm_wrist_3_joint/i: 0.001
 * /arm_controller/gains/arm_wrist_3_joint/i_clamp: 1
 * /arm_controller/gains/arm_wrist_3_joint/p: 120
 * /arm_controller/joints: ['arm_shoulder_pa...
 * /arm_controller/type: position_controll...
 * /controller_list: [{'name': 'arm_co...
 * /generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /generic_hw_control_loop/loop_hz: 300
 * /hardware_interface/joints: ['arm_shoulder_pa...
 * /hardware_interface/sim_control_mode: 1
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm_controller/gains/arm_elbow_joint/d: 10
 * /move_group/arm_controller/gains/arm_elbow_joint/i: 0.01
 * /move_group/arm_controller/gains/arm_elbow_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_elbow_joint/p: 120
 * /move_group/arm_controller/gains/arm_shoulder_lift_joint/d: 0.1
 * /move_group/arm_controller/gains/arm_shoulder_lift_joint/i: 0.001
 * /move_group/arm_controller/gains/arm_shoulder_lift_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_shoulder_lift_joint/p: 100
 * /move_group/arm_controller/gains/arm_shoulder_pan_joint/d: 0.1
 * /move_group/arm_controller/gains/arm_shoulder_pan_joint/i: 0.001
 * /move_group/arm_controller/gains/arm_shoulder_pan_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_shoulder_pan_joint/p: 100
 * /move_group/arm_controller/gains/arm_wrist_1_joint/d: 0.1
 * /move_group/arm_controller/gains/arm_wrist_1_joint/i: 0.001
 * /move_group/arm_controller/gains/arm_wrist_1_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_wrist_1_joint/p: 120
 * /move_group/arm_controller/gains/arm_wrist_2_joint/d: 0.1
 * /move_group/arm_controller/gains/arm_wrist_2_joint/i: 0.001
 * /move_group/arm_controller/gains/arm_wrist_2_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_wrist_2_joint/p: 120
 * /move_group/arm_controller/gains/arm_wrist_3_joint/d: 0.1
 * /move_group/arm_controller/gains/arm_wrist_3_joint/i: 0.001
 * /move_group/arm_controller/gains/arm_wrist_3_joint/i_clamp: 1
 * /move_group/arm_controller/gains/arm_wrist_3_joint/p: 120
 * /move_group/arm_controller/joints: ['arm_shoulder_pa...
 * /move_group/arm_controller/type: position_controll...
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'name': 'arm_co...
 * /move_group/disable_capabilities: 
 * /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /move_group/generic_hw_control_loop/loop_hz: 300
 * /move_group/hardware_interface/joints: ['arm_shoulder_pa...
 * /move_group/hardware_interface/sim_control_mode: 1
 * /move_group/jiggle_fraction: 0.05
 * /move_group/joint_state_controller/publish_rate: 125
 * /move_group/joint_state_controller/type: joint_state_contr...
 * /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/moveit_sim_hw_interface/joint_model_group: ur5_group
 * /move_group/moveit_sim_hw_interface/joint_model_group_pose: todo_state_name
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/AnytimePathShortening/hybridize: True
 * /move_group/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
 * /move_group/planner_configs/AnytimePathShortening/num_planners: 4
 * /move_group/planner_configs/AnytimePathShortening/planners: 
 * /move_group/planner_configs/AnytimePathShortening/shortcut: True
 * /move_group/planner_configs/AnytimePathShortening/type: geometric::Anytim...
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 10.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.01
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'filtered_cloud...
 * /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: 1.0
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/ur5_group/allowed_planning_time: 0.5
 * /move_group/ur5_group/default_planner_config: RRTConnect
 * /move_group/ur5_group/enforce_joint_model_state_space: True
 * /move_group/ur5_group/longest_valid_segment_fraction: 0.1
 * /move_group/ur5_group/planner_configs: ['AnytimePathShor...
 * /move_group/ur5_group/projection_evaluator: joints(arm_should...
 * /moveit_sim_hw_interface/joint_model_group: ur5_group
 * /moveit_sim_hw_interface/joint_model_group_pose: todo_state_name
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/ur5_group/arm_prefix: arm_
 * /robot_description_kinematics/ur5_group/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/ur5_group/kinematics_solver_search_resolution: 0.003
 * /robot_description_kinematics/ur5_group/kinematics_solver_timeout: 0.5
 * /robot_description_planning/default_acceleration_scaling_factor: 1.0
 * /robot_description_planning/default_velocity_scaling_factor: 1.0
 * /robot_description_planning/joint_limits/arm_elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/arm_wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/arm_wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/arm_wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/arm_wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/arm_wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/arm_wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /robot_state_publisher/ignore_timestamp: True
 * /robot_state_publisher/publish_frequency: 100.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /ur5_group/arm_prefix: arm_
 * /ur5_group/kinematics_solver: trac_ik_kinematic...
 * /ur5_group/kinematics_solver_search_resolution: 0.003
 * /ur5_group/kinematics_solver_timeout: 0.5
 * /ur_driver/base_frame: arm_base
 * /ur_driver/max_payload: 5.0
 * /ur_driver/max_velocity: 10.0
 * /ur_driver/min_payload: 0.0
 * /ur_driver/prefix: arm_
 * /ur_driver/robot_ip_address: 192.168.160.34
 * /ur_driver/servoj_time: 0.008
 * /ur_driver/tool_frame: arm_tool0_controller
 * /ur_driver/use_lowbandwidth_trajectory_follower: True

NODES
  /
    controller_spawner (controller_manager/spawner)
    ld_arcl_cmd (ld_arcl/ld_arcl_cmd)
    ld_arcl_outgoing (ld_arcl/ld_arcl_outgoing)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ur_driver (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [30327]