kinova roslaunch j2s7s300_moveit_config j2s7s300_demo.launc logs1

阅读原文时间：2023年07月13日阅读：2

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

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

SUMMARY
========

PARAMETERS
* /controller_list: [{'default': True…
* /move_group/allow_trajectory_execution: True
* /move_group/allowed_execution_duration_scaling: 1.2
* /move_group/allowed_goal_duration_margin: 0.5
* /move_group/arm/planner_configs: ['SBLkConfigDefau…
* /move_group/capabilities: move_group/MoveGr…
* /move_group/controller_list: [{'default': True…
* /move_group/gripper/planner_configs: ['SBLkConfigDefau…
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con…
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon…
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM…
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r…
* /move_group/start_state_max_bounds_error: 0.1
* /pick_place_demo/arm/kinematics_solver_timeout: 0.05
* /pick_place_demo/arm/solve_type: Manipulation2
* /robot_description: <?xml version="1….
* /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic…
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/j2s7s300_joint_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_1/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_1/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_2/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_2/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_3/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_3/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_4/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_4/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_4/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_5/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_5/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_5/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_6/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_6/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_6/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_7/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_7/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_7/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_7/max_velocity: 0.35
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_1/max_velocity: 5
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_2/max_velocity: 5
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_acceleration_limits: False
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_acceleration: 0
* /robot_description_planning/joint_limits/j2s7s300_joint_finger_3/max_velocity: 5
* /robot_description_semantic: <?xml version="1….
* /robot_type: j2s7s300
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver: trac_ik_kinematic…
* /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_attempts: 3
* /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_search_resolution: 0.005
* /rviz_luo_ThinkPad_W530_22398_283357530926853401/arm/kinematics_solver_timeout: 0.005

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

ROS_MASTER_URI=http://localhost:11311

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

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

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

You can start planning now!

[ INFO] [1570784596.671102355]: Loading robot model 'j2s7s300'…
[ WARN] [1570784596.671207486]: Skipping virtual joint 'world_to_base_virtual_joint' because its child frame 'root' does not match the URDF frame 'world'
[ INFO] [1570784596.671265082]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1570784596.881690830]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1570784596.881745577]: Kinematics solver could not be instantiated for joint group arm.
[ INFO] [1570784597.274025918]: Starting scene monitor
[ INFO] [1570784597.277544626]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1570784597.598867797]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1570784597.600629087]: No active joints or end effectors found for group 'arm'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1570784597.601050224]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1570784598.626790635]: Ready to take commands for planning group arm.
[ INFO] [1570784598.626959091]: Looking around: no
[ INFO] [1570784598.627063643]: Replanning: no
[ INFO] [1570784611.169769917]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784611.171539363]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784611.172394932]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172448458]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172488466]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.172519800]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.183709965]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.183778579]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.183982812]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.184053939]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.184176873]: ParallelPlan::solve(): Solution found by one or more threads in 0.012221 seconds
[ INFO] [1570784611.184406728]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.184441988]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.184508073]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.185258860]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185351198]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185454742]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.185579224]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.186391538]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.186507478]: ParallelPlan::solve(): Solution found by one or more threads in 0.002146 seconds
[ INFO] [1570784611.186634975]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.186695476]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784611.187641618]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.187727529]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784611.187927362]: ParallelPlan::solve(): Solution found by one or more threads in 0.001327 seconds
[ INFO] [1570784611.193274241]: SimpleSetup: Path simplification took 0.005195 seconds and changed from 4 to 2 states
[ INFO] [1570784617.468859872]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784617.469375144]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784617.469645690]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469694753]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469754871]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.469801355]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.480485849]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.480554951]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.481003881]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.481043698]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.481133593]: ParallelPlan::solve(): Solution found by one or more threads in 0.011602 seconds
[ INFO] [1570784617.481330347]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481367264]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481405314]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.481484613]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.482264535]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.482315145]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.482425018]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.482466368]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.482599098]: ParallelPlan::solve(): Solution found by one or more threads in 0.001312 seconds
[ INFO] [1570784617.482715361]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.482744686]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784617.483340509]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784617.483597719]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784617.483683361]: ParallelPlan::solve(): Solution found by one or more threads in 0.000998 seconds
[ INFO] [1570784617.488225681]: SimpleSetup: Path simplification took 0.004494 seconds and changed from 3 to 2 states
[ INFO] [1570784619.729716329]: Execution request received
[ INFO] [1570784619.772135687]: Joint_trajectory_action_server received goal!
[ INFO] [1570784619.772363064]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784619.772585030]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784629.668730812]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570784629.668850982]: Execution completed: SUCCEEDED
[ INFO] [1570784648.268848003]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784648.269359134]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784648.269637015]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269762310]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269808773]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.269865673]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.280572359]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784648.280730226]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784648.280824906]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.280947308]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.281044096]: ParallelPlan::solve(): Solution found by one or more threads in 0.011481 seconds
[ INFO] [1570784648.281243349]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281285014]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281326584]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.281447745]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.282158630]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282240189]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282287226]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282607511]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.282720136]: ParallelPlan::solve(): Solution found by one or more threads in 0.001526 seconds
[ INFO] [1570784648.282839175]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.282870993]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784648.283637721]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.283827806]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784648.283930775]: ParallelPlan::solve(): Solution found by one or more threads in 0.001116 seconds
[ INFO] [1570784648.287159623]: SimpleSetup: Path simplification took 0.003154 seconds and changed from 3 to 2 states
[ INFO] [1570784651.724247717]: Execution request received
[ INFO] [1570784651.769083120]: Joint_trajectory_action_server received goal!
[ INFO] [1570784651.769151402]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784651.769210487]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784658.871072060]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570784658.871342174]: Execution completed: SUCCEEDED
[ INFO] [1570784668.271140905]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784668.272206492]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784668.272860062]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.272941504]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.273043882]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.273101880]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.284131047]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284400778]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284504285]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284733088]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.284864514]: ParallelPlan::solve(): Solution found by one or more threads in 0.012235 seconds
[ INFO] [1570784668.285100895]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285137647]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285210498]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.285446333]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.286597118]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784668.286751054]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.286874038]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.286996340]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.287221135]: ParallelPlan::solve(): Solution found by one or more threads in 0.002146 seconds
[ INFO] [1570784668.287610968]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.287682447]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784668.289639911]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.290057708]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784668.290320271]: ParallelPlan::solve(): Solution found by one or more threads in 0.002876 seconds
[ INFO] [1570784668.295888175]: SimpleSetup: Path simplification took 0.005439 seconds and changed from 3 to 2 states
[ INFO] [1570784670.868893696]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1570784670.869042231]: Planning attempt 1 of at most 1
[ INFO] [1570784670.869437955]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784670.869750301]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869781465]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869851275]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.869910112]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881052778]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784670.881189793]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881384686]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881523994]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.881629219]: ParallelPlan::solve(): Solution found by one or more threads in 0.011993 seconds
[ INFO] [1570784670.881813155]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881848440]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881902717]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.881957792]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.882703608]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.882806141]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883338803]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883555394]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.883646136]: ParallelPlan::solve(): Solution found by one or more threads in 0.001870 seconds
[ INFO] [1570784670.883809628]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.883865368]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784670.884464468]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.884667142]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784670.884794708]: ParallelPlan::solve(): Solution found by one or more threads in 0.001052 seconds
[ INFO] [1570784670.890935144]: SimpleSetup: Path simplification took 0.006087 seconds and changed from 4 to 2 states
[ INFO] [1570784670.970557643]: Joint_trajectory_action_server received goal!
[ INFO] [1570784670.970703852]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784670.970851881]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784679.269777897]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570784732.268954211]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784732.269347996]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784732.269619733]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269671637]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269716683]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.269750932]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.280945001]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281022285]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281090213]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281232794]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.281322153]: ParallelPlan::solve(): Solution found by one or more threads in 0.011788 seconds
[ INFO] [1570784732.281500667]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281531243]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281561355]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.281607600]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.282704489]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784732.282767389]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.282815090]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.282891669]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.283037519]: ParallelPlan::solve(): Solution found by one or more threads in 0.001582 seconds
[ INFO] [1570784732.283157114]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.283186848]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784732.283782484]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784732.283980528]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784732.284087829]: ParallelPlan::solve(): Solution found by one or more threads in 0.000960 seconds
[ INFO] [1570784732.288776907]: SimpleSetup: Path simplification took 0.004559 seconds and changed from 3 to 2 states
[ INFO] [1570784734.385309086]: Execution request received
[ INFO] [1570784734.470608635]: Joint_trajectory_action_server received goal!
[ INFO] [1570784734.470780764]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784734.470883495]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784742.270363228]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570784742.270558856]: Execution completed: SUCCEEDED
[ INFO] [1570784784.668953613]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570784784.669355324]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570784784.669653351]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669692709]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669732738]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.669771108]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.670938584]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.671028799]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.671070361]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.671341471]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.671422919]: ParallelPlan::solve(): Solution found by one or more threads in 0.001874 seconds
[ INFO] [1570784784.671666169]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671701893]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671742844]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.671786026]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.672540040]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.672636151]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.672980018]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.673222294]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.673309708]: ParallelPlan::solve(): Solution found by one or more threads in 0.001695 seconds
[ INFO] [1570784784.673442306]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.673513389]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570784784.674172927]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570784784.674506223]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570784784.674625610]: ParallelPlan::solve(): Solution found by one or more threads in 0.001215 seconds
[ INFO] [1570784784.677325687]: SimpleSetup: Path simplification took 0.002622 seconds and changed from 3 to 2 states
[ INFO] [1570784786.953613152]: Execution request received
[ INFO] [1570784786.971820987]: Joint_trajectory_action_server received goal!
[ INFO] [1570784786.971889654]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570784786.971941274]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570784797.471194346]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570784797.471378235]: Execution completed: SUCCEEDED
[ INFO] [1570785053.269294895]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785053.269726273]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785053.270000238]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.270040842]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.270095593]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.270130750]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.280964407]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785053.281173947]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.281554334]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.281602681]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.281709471]: ParallelPlan::solve(): Solution found by one or more threads in 0.011779 seconds
[ INFO] [1570785053.281929337]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.281980041]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.282025660]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.282131872]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.282751731]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785053.282988624]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.283088221]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.283166909]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.283266196]: ParallelPlan::solve(): Solution found by one or more threads in 0.001389 seconds
[ INFO] [1570785053.283391323]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.283441870]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785053.284342551]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785053.284400266]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785053.284540353]: ParallelPlan::solve(): Solution found by one or more threads in 0.001183 seconds
[ INFO] [1570785053.289762434]: SimpleSetup: Path simplification took 0.005172 seconds and changed from 3 to 2 states
[ INFO] [1570785055.284345238]: Execution request received
[ INFO] [1570785055.371265475]: Joint_trajectory_action_server received goal!
[ INFO] [1570785055.371498400]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785055.371717033]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785062.769332354]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785062.769461744]: Execution completed: SUCCEEDED
[ INFO] [1570785068.869359861]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785068.869768264]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785068.870056764]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.870086151]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.870170447]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.870229918]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.880975349]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.881144284]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.881199882]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.881571680]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.881695253]: ParallelPlan::solve(): Solution found by one or more threads in 0.011732 seconds
[ INFO] [1570785068.881930400]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.882029945]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.882126087]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.882228596]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.882921759]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.883217315]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.883416697]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.883524390]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.883659292]: ParallelPlan::solve(): Solution found by one or more threads in 0.001809 seconds
[ INFO] [1570785068.883872070]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.883903044]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785068.884789553]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.884862461]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785068.884972829]: ParallelPlan::solve(): Solution found by one or more threads in 0.001179 seconds
[ INFO] [1570785068.889928059]: SimpleSetup: Path simplification took 0.004909 seconds and changed from 4 to 2 states
[ INFO] [1570785069.648395002]: Execution request received
[ INFO] [1570785069.671160119]: Joint_trajectory_action_server received goal!
[ INFO] [1570785069.671324529]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785069.671530431]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785079.169402500]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785079.169539704]: Execution completed: SUCCEEDED
[ INFO] [1570785120.270552717]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785120.271717797]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785120.272375153]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.272481737]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.272627336]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.272886143]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.284834074]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.285345727]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785120.286747841]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.287228086]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1570785120.287498992]: ParallelPlan::solve(): Solution found by one or more threads in 0.015288 seconds
[ INFO] [1570785120.288040096]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.288135604]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.288306370]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.288516593]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.290453201]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785120.290951487]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.291999450]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.292488459]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.292772308]: ParallelPlan::solve(): Solution found by one or more threads in 0.004853 seconds
[ INFO] [1570785120.293133412]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.293248923]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785120.294897510]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785120.295746629]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785120.295844380]: ParallelPlan::solve(): Solution found by one or more threads in 0.002849 seconds
[ INFO] [1570785120.299843120]: SimpleSetup: Path simplification took 0.003910 seconds and changed from 3 to 2 states
[ INFO] [1570785121.413653617]: Execution request received
[ INFO] [1570785121.472183606]: Joint_trajectory_action_server received goal!
[ INFO] [1570785121.472256330]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785121.472332487]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785132.070655041]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785132.070868914]: Execution completed: SUCCEEDED
[ INFO] [1570785138.670614551]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785138.671470083]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785138.672126709]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.672212627]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.672334734]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.672432976]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.685184236]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.685397801]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.686043481]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785138.686343658]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.686567183]: ParallelPlan::solve(): Solution found by one or more threads in 0.014678 seconds
[ INFO] [1570785138.686940753]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.687017852]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.687121053]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.687212308]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.688747254]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.688815605]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.689441539]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.689557932]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.689811402]: ParallelPlan::solve(): Solution found by one or more threads in 0.002947 seconds
[ INFO] [1570785138.690068583]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.690171456]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785138.692259083]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785138.692475687]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785138.692803842]: ParallelPlan::solve(): Solution found by one or more threads in 0.002797 seconds
[ INFO] [1570785138.696324195]: SimpleSetup: Path simplification took 0.003433 seconds and changed from 3 to 2 states
[ INFO] [1570785139.301074378]: Execution request received
[ INFO] [1570785139.371218838]: Joint_trajectory_action_server received goal!
[ INFO] [1570785139.371326246]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785139.371468932]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785149.570623424]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785149.570854832]: Execution completed: SUCCEEDED
[ INFO] [1570785155.870560669]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785155.871196301]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785155.871643418]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.871723963]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.871827318]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.871955050]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.883866334]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.884168050]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.884278689]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.884535505]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785155.884756111]: ParallelPlan::solve(): Solution found by one or more threads in 0.013227 seconds
[ INFO] [1570785155.885218272]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.885289698]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.885371519]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.885477823]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.887611771]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.888037539]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.888193696]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.888405022]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.888681645]: ParallelPlan::solve(): Solution found by one or more threads in 0.003574 seconds
[ INFO] [1570785155.888844387]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.889004101]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785155.890434676]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.891619809]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785155.891809503]: ParallelPlan::solve(): Solution found by one or more threads in 0.002985 seconds
[ INFO] [1570785155.897657985]: SimpleSetup: Path simplification took 0.005744 seconds and changed from 4 to 2 states
[ INFO] [1570785157.953746951]: Execution request received
[ INFO] [1570785157.968765594]: Joint_trajectory_action_server received goal!
[ INFO] [1570785157.968837761]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785157.968895433]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785166.370657187]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785166.370821100]: Execution completed: SUCCEEDED
[ INFO] [1570785177.870759159]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785177.871758255]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785177.872478848]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.872575656]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.872731551]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.872848459]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.885074639]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785177.885249083]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785177.885489896]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785177.886426298]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785177.886776261]: ParallelPlan::solve(): Solution found by one or more threads in 0.014517 seconds
[ INFO] [1570785177.887267912]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.887369122]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.887574943]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.887657921]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.889138829]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785177.889639685]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785177.890026329]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785177.890429030]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785177.890671093]: ParallelPlan::solve(): Solution found by one or more threads in 0.003506 seconds
[ INFO] [1570785177.891030094]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.891171777]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785177.893006077]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785177.893135543]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785177.893421151]: ParallelPlan::solve(): Solution found by one or more threads in 0.002492 seconds
[ INFO] [1570785177.902342964]: SimpleSetup: Path simplification took 0.008756 seconds and changed from 3 to 2 states
[ INFO] [1570785178.491150060]: Execution request received
[ INFO] [1570785178.571202300]: Joint_trajectory_action_server received goal!
[ INFO] [1570785178.571292410]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785178.571368047]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785187.270682743]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785187.270895080]: Execution completed: SUCCEEDED
[ INFO] [1570785207.970712843]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785207.971239769]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785207.971544072]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.971654991]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.971814721]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.972062530]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.983591906]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.983931495]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.984494197]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.984753474]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.985002645]: ParallelPlan::solve(): Solution found by one or more threads in 0.013546 seconds
[ INFO] [1570785207.985424366]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.985516195]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.985609477]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.985686339]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.986735498]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785207.987773449]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.987851593]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.988350730]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.988579068]: ParallelPlan::solve(): Solution found by one or more threads in 0.003248 seconds
[ INFO] [1570785207.988902492]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.988967567]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785207.990222884]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785207.990603870]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785207.990884607]: ParallelPlan::solve(): Solution found by one or more threads in 0.002093 seconds
[ INFO] [1570785207.997421372]: SimpleSetup: Path simplification took 0.006401 seconds and changed from 3 to 2 states
[ INFO] [1570785390.011250001]: Execution request received
[ INFO] [1570785390.070625226]: Joint_trajectory_action_server received goal!
[ INFO] [1570785390.070689957]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785390.070741453]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785399.469532493]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785399.469724479]: Execution completed: SUCCEEDED
[ INFO] [1570785411.168438586]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785411.168923793]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785411.169225448]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.169254323]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.169294593]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.169363123]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.180102819]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785411.180478598]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785411.180613558]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.180652548]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.180775201]: ParallelPlan::solve(): Solution found by one or more threads in 0.011639 seconds
[ INFO] [1570785411.180988359]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.181025377]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.181184048]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.181282422]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.181841525]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.181881821]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.182102200]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785411.182227165]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.182339494]: ParallelPlan::solve(): Solution found by one or more threads in 0.001408 seconds
[ INFO] [1570785411.182567447]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.182623198]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785411.183576851]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.183619090]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785411.183802958]: ParallelPlan::solve(): Solution found by one or more threads in 0.001300 seconds
[ INFO] [1570785411.186315808]: SimpleSetup: Path simplification took 0.002452 seconds and changed from 3 to 2 states
[ INFO] [1570785419.997125570]: Execution request received
[ INFO] [1570785420.071372411]: Joint_trajectory_action_server received goal!
[ INFO] [1570785420.071592148]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785420.071773768]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785428.270640500]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785428.270916236]: Execution completed: SUCCEEDED
[ INFO] [1570785452.369457921]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785452.369897863]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785452.370239542]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.370289724]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.370332663]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.370375663]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.370878064]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785452.371227585]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.371454069]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.371662828]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.371723810]: ParallelPlan::solve(): Solution found by one or more threads in 0.001616 seconds
[ INFO] [1570785452.371888649]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.371929261]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.371962289]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.372020805]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.372634793]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785452.372776779]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.372913216]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.373019373]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.373118441]: ParallelPlan::solve(): Solution found by one or more threads in 0.001263 seconds
[ INFO] [1570785452.373237858]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.373272650]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785452.374059774]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.374194461]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785452.374320613]: ParallelPlan::solve(): Solution found by one or more threads in 0.001115 seconds
[ INFO] [1570785452.378632330]: SimpleSetup: Path simplification took 0.004239 seconds and changed from 3 to 2 states
[ INFO] [1570785470.100075886]: Execution request received
[ INFO] [1570785470.172303944]: Joint_trajectory_action_server received goal!
[ INFO] [1570785470.172434692]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785470.172581982]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785477.571548248]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785477.571659991]: Execution completed: SUCCEEDED
[ INFO] [1570785533.568565780]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785533.569406519]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785533.569715122]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.569774559]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.569810662]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.569846170]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.580836591]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785533.581110221]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.581259249]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.581452825]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.581538325]: ParallelPlan::solve(): Solution found by one or more threads in 0.011906 seconds
[ INFO] [1570785533.581751590]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.581785637]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.581825890]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.581873111]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.582786394]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.582899533]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.582956077]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.583348715]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.583529734]: ParallelPlan::solve(): Solution found by one or more threads in 0.001824 seconds
[ INFO] [1570785533.583687476]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.583733595]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785533.584564860]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.584696104]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785533.584799943]: ParallelPlan::solve(): Solution found by one or more threads in 0.001150 seconds
[ INFO] [1570785533.591084835]: SimpleSetup: Path simplification took 0.006204 seconds and changed from 3 to 2 states
[ INFO] [1570785570.301247314]: Execution request received
[ INFO] [1570785570.371152140]: Joint_trajectory_action_server received goal!
[ INFO] [1570785570.371317955]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785570.371511595]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785579.370668034]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785579.370879163]: Execution completed: SUCCEEDED
[ INFO] [1570785623.068394237]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785623.068818756]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785623.069113117]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.069149260]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.069212522]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.069253309]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.080137607]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785623.080231337]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.080378635]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.080449519]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785623.080529879]: ParallelPlan::solve(): Solution found by one or more threads in 0.011490 seconds
[ INFO] [1570785623.080725398]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.080763858]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.080805610]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.080858482]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.081568520]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.081708552]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785623.081817141]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.081852080]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.081953665]: ParallelPlan::solve(): Solution found by one or more threads in 0.001282 seconds
[ INFO] [1570785623.082091242]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.082160047]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785623.082677697]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785623.082954786]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785623.083042202]: ParallelPlan::solve(): Solution found by one or more threads in 0.000992 seconds
[ INFO] [1570785623.085561436]: SimpleSetup: Path simplification took 0.002430 seconds and changed from 3 to 2 states
[ INFO] [1570785623.813085447]: Execution request received
[ INFO] [1570785623.871305781]: Joint_trajectory_action_server received goal!
[ INFO] [1570785623.871503802]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785623.871642356]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785628.370557521]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785628.370849755]: Execution completed: SUCCEEDED
[ INFO] [1570785640.068545247]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785640.069327095]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785640.069633268]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.069673059]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.069700120]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.069750574]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.080572028]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785640.080997262]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.081041044]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.081081568]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.081205838]: ParallelPlan::solve(): Solution found by one or more threads in 0.011666 seconds
[ INFO] [1570785640.081387809]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.081438899]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.081546189]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.081597421]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.082405406]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.082564627]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.082703746]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.082754821]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.082876936]: ParallelPlan::solve(): Solution found by one or more threads in 0.001537 seconds
[ INFO] [1570785640.083016071]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.083053627]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785640.083923826]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.084040746]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785640.084143213]: ParallelPlan::solve(): Solution found by one or more threads in 0.001182 seconds
[ INFO] [1570785640.087724630]: SimpleSetup: Path simplification took 0.003514 seconds and changed from 3 to 2 states
[ INFO] [1570785640.949720594]: Execution request received
[ INFO] [1570785640.970806113]: Joint_trajectory_action_server received goal!
[ INFO] [1570785640.970877197]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785640.970946871]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785650.668555850]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785650.668664726]: Execution completed: SUCCEEDED
[ INFO] [1570785671.168437904]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785671.168847824]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785671.169179015]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.169217205]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.169292230]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.169356734]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.179981089]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785671.180303166]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.180399552]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785671.180534073]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.180666413]: ParallelPlan::solve(): Solution found by one or more threads in 0.011576 seconds
[ INFO] [1570785671.180965790]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.181037295]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.181231341]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.181754173]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785671.181928603]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.182007122]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.182196243]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.182720675]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.182856331]: ParallelPlan::solve(): Solution found by one or more threads in 0.001981 seconds
[ INFO] [1570785671.183126716]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.183189785]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785671.184080607]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.184114269]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785671.184308597]: ParallelPlan::solve(): Solution found by one or more threads in 0.001296 seconds
[ INFO] [1570785671.187598015]: SimpleSetup: Path simplification took 0.003234 seconds and changed from 3 to 2 states
[ INFO] [1570785672.381581555]: Execution request received
[ INFO] [1570785672.472481878]: Joint_trajectory_action_server received goal!
[ INFO] [1570785672.472632401]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785672.472762423]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785678.070621851]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785678.070767133]: Execution completed: SUCCEEDED
[ INFO] [1570785708.768406904]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785708.768839895]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785708.769120405]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.769152803]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.769218779]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.769255042]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.780190662]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785708.780296269]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.780403490]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.780662364]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785708.780799504]: ParallelPlan::solve(): Solution found by one or more threads in 0.011759 seconds
[ INFO] [1570785708.781085175]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.781206751]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.781355863]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.781458909]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.782346091]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.782557853]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.782660056]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.782758288]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.782876985]: ParallelPlan::solve(): Solution found by one or more threads in 0.001882 seconds
[ INFO] [1570785708.783070108]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.783115206]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785708.784184121]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.784296395]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785708.784528819]: ParallelPlan::solve(): Solution found by one or more threads in 0.001521 seconds
[ INFO] [1570785708.790146662]: SimpleSetup: Path simplification took 0.005521 seconds and changed from 3 to 2 states
[ INFO] [1570785710.013956442]: Execution request received
[ INFO] [1570785710.068713048]: Joint_trajectory_action_server received goal!
[ INFO] [1570785710.068777764]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785710.068848964]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785717.969873326]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785717.970117194]: Execution completed: SUCCEEDED
[ INFO] [1570785823.368360785]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570785823.368749616]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570785823.369003690]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.369039273]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.369133510]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.369187762]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.380344622]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.380424944]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.380512504]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.380578439]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.380650894]: ParallelPlan::solve(): Solution found by one or more threads in 0.011725 seconds
[ INFO] [1570785823.380846164]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.380888468]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.380931035]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.380997043]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.381691567]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785823.381795045]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.381825093]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.381893541]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.382025682]: ParallelPlan::solve(): Solution found by one or more threads in 0.001240 seconds
[ INFO] [1570785823.382141549]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.382170017]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570785823.382863988]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570785823.382898538]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570785823.383070426]: ParallelPlan::solve(): Solution found by one or more threads in 0.000955 seconds
[ INFO] [1570785823.387357466]: SimpleSetup: Path simplification took 0.004239 seconds and changed from 3 to 2 states
[ INFO] [1570785828.773359013]: Execution request received
[ INFO] [1570785828.871185851]: Joint_trajectory_action_server received goal!
[ INFO] [1570785828.871327227]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570785828.871421523]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570785838.370650662]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570785838.370807699]: Execution completed: SUCCEEDED
[ INFO] [1570788005.946962756]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788005.947369151]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788005.947670030]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.947713356]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.947753677]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.947784516]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.958903614]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.959167361]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.959285598]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.959652998]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.959752224]: ParallelPlan::solve(): Solution found by one or more threads in 0.012199 seconds
[ INFO] [1570788005.959934184]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.959983030]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.960040524]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.960116624]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.960842430]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.960887771]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.961084805]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.961332577]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1570788005.961444830]: ParallelPlan::solve(): Solution found by one or more threads in 0.001553 seconds
[ INFO] [1570788005.961563194]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.961593759]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788005.962356071]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.962388259]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788005.962513797]: ParallelPlan::solve(): Solution found by one or more threads in 0.000983 seconds
[ INFO] [1570788005.968523341]: SimpleSetup: Path simplification took 0.005919 seconds and changed from 4 to 2 states
[ INFO] [1570788007.779361384]: Execution request received
[ INFO] [1570788007.849725511]: Joint_trajectory_action_server received goal!
[ INFO] [1570788007.849874196]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788007.850163799]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788017.248835678]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788017.249071685]: Execution completed: SUCCEEDED
[ INFO] [1570788047.846438489]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788047.846898472]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788047.847178134]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.847216035]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.847276112]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.847336084]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.847994197]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.848170546]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.848349931]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788047.848666824]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.848733953]: ParallelPlan::solve(): Solution found by one or more threads in 0.001629 seconds
[ INFO] [1570788047.848908726]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.848949254]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.848989153]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.849039939]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.849749329]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.849943324]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.850040331]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.850103964]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.850237225]: ParallelPlan::solve(): Solution found by one or more threads in 0.001375 seconds
[ INFO] [1570788047.850417871]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.850445627]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788047.851269413]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788047.851315001]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788047.851469594]: ParallelPlan::solve(): Solution found by one or more threads in 0.001105 seconds
[ INFO] [1570788047.855956118]: SimpleSetup: Path simplification took 0.004399 seconds and changed from 3 to 2 states
[ INFO] [1570788057.885948393]: Execution request received
[ INFO] [1570788057.949519471]: Joint_trajectory_action_server received goal!
[ INFO] [1570788057.949684814]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788057.949770235]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788067.650048489]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788067.650171571]: Execution completed: SUCCEEDED
[ INFO] [1570788075.946205746]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788075.946670406]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788075.946942088]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.946985054]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.947027268]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.947070745]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.957763045]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788075.957993303]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788075.958089963]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788075.958393807]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788075.958490038]: ParallelPlan::solve(): Solution found by one or more threads in 0.011628 seconds
[ INFO] [1570788075.958691205]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.958745547]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.958859156]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.958894869]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.959325737]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788075.959466208]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788075.959833701]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788075.959880075]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788075.960024336]: ParallelPlan::solve(): Solution found by one or more threads in 0.001396 seconds
[ INFO] [1570788075.960163409]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.960229193]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788075.960919869]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788075.961054054]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788075.961155387]: ParallelPlan::solve(): Solution found by one or more threads in 0.001029 seconds
[ INFO] [1570788075.966951181]: SimpleSetup: Path simplification took 0.005738 seconds and changed from 3 to 2 states
[ INFO] [1570788076.719437793]: Execution request received
[ INFO] [1570788076.748707832]: Joint_trajectory_action_server received goal!
[ INFO] [1570788076.748829188]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788076.748954214]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788083.748928176]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788083.749073806]: Execution completed: SUCCEEDED
[ INFO] [1570788093.849079230]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788093.850053971]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788093.850739734]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.850798615]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.850888701]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.850936545]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.851631874]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.851741455]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.851845057]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.851895561]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.851981899]: ParallelPlan::solve(): Solution found by one or more threads in 0.001462 seconds
[ INFO] [1570788093.852130491]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.852188305]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.852242136]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.852350863]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.852838234]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788093.853226152]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788093.853279614]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.853506962]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.853584702]: ParallelPlan::solve(): Solution found by one or more threads in 0.001488 seconds
[ INFO] [1570788093.853699942]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.853727884]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788093.854421052]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.854564235]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788093.854674548]: ParallelPlan::solve(): Solution found by one or more threads in 0.001004 seconds
[ INFO] [1570788093.863688074]: SimpleSetup: Path simplification took 0.008937 seconds and changed from 3 to 2 states
[ INFO] [1570788094.650045914]: Execution request received
[ INFO] [1570788094.748160990]: Joint_trajectory_action_server received goal!
[ INFO] [1570788094.748231034]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788094.748280668]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788103.349093173]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788103.349295794]: Execution completed: SUCCEEDED
[ INFO] [1570788108.346805055]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788108.347615951]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788108.347936977]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.348012015]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.348064197]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.348102153]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.358908348]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.358966651]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.359292118]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.359409197]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.359482533]: ParallelPlan::solve(): Solution found by one or more threads in 0.011628 seconds
[ INFO] [1570788108.359657874]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.359687065]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.359727059]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.359817897]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.360429097]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.360465943]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788108.360697670]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.360784487]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.360908992]: ParallelPlan::solve(): Solution found by one or more threads in 0.001296 seconds
[ INFO] [1570788108.361021702]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.361051774]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788108.361758624]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788108.361895263]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788108.362025691]: ParallelPlan::solve(): Solution found by one or more threads in 0.001030 seconds
[ INFO] [1570788108.365553030]: SimpleSetup: Path simplification took 0.003453 seconds and changed from 3 to 2 states
[ INFO] [1570788109.257407296]: Execution request received
[ INFO] [1570788109.355890285]: Joint_trajectory_action_server received goal!
[ INFO] [1570788109.356053806]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788109.356231021]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788115.249303303]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788115.249505613]: Execution completed: SUCCEEDED
[ INFO] [1570788121.647394420]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788121.647956591]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788121.648349596]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.648395228]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.648449101]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.648508357]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.659537694]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.659599525]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.659645702]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.659716566]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.659889974]: ParallelPlan::solve(): Solution found by one or more threads in 0.011653 seconds
[ INFO] [1570788121.660078272]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.660104879]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.660140045]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.660195281]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.660877354]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.661212875]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.661246978]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.661302381]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.661447995]: ParallelPlan::solve(): Solution found by one or more threads in 0.001427 seconds
[ INFO] [1570788121.661579639]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.661610299]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788121.662478792]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.662511646]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788121.662750363]: ParallelPlan::solve(): Solution found by one or more threads in 0.001190 seconds
[ INFO] [1570788121.667130736]: SimpleSetup: Path simplification took 0.004320 seconds and changed from 4 to 2 states
[ INFO] [1570788125.848378994]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788125.849224883]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788125.849902852]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.849975560]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.850025648]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.850167766]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.860858058]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.861143651]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.861268471]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.861379591]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.861462684]: ParallelPlan::solve(): Solution found by one or more threads in 0.011779 seconds
[ INFO] [1570788125.861726045]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.861763109]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.861796369]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.861829919]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.862518382]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788125.862904122]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.863039279]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.863141216]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.863219708]: ParallelPlan::solve(): Solution found by one or more threads in 0.001584 seconds
[ INFO] [1570788125.863412367]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.863471211]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788125.864329688]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.864431363]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788125.864538165]: ParallelPlan::solve(): Solution found by one or more threads in 0.001204 seconds
[ INFO] [1570788125.866901489]: SimpleSetup: Path simplification took 0.002311 seconds and changed from 3 to 2 states
[ INFO] [1570788126.955979824]: Execution request received
[ INFO] [1570788127.050100001]: Joint_trajectory_action_server received goal!
[ INFO] [1570788127.050252427]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788127.050446010]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788135.648960932]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788135.649186793]: Execution completed: SUCCEEDED
[ INFO] [1570788154.447424099]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788154.447965206]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788154.448281999]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.448310841]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.448351073]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.448413276]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.459096019]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.459155948]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.459217998]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788154.459584883]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788154.459700357]: ParallelPlan::solve(): Solution found by one or more threads in 0.011530 seconds
[ INFO] [1570788154.459895708]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.459927621]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.459958003]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.460756284]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.460824046]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.460940433]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.461497141]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.461811187]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.461941059]: ParallelPlan::solve(): Solution found by one or more threads in 0.002089 seconds
[ INFO] [1570788154.462075965]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.462101523]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788154.462725403]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788154.463020140]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788154.463111313]: ParallelPlan::solve(): Solution found by one or more threads in 0.001078 seconds
[ INFO] [1570788154.467591537]: SimpleSetup: Path simplification took 0.004429 seconds and changed from 4 to 2 states
[ INFO] [1570788155.299577205]: Execution request received
[ INFO] [1570788155.348293359]: Joint_trajectory_action_server received goal!
[ INFO] [1570788155.348398931]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788155.348525673]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788163.846604887]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788163.846760495]: Execution completed: SUCCEEDED
[ INFO] [1570788171.846572509]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788171.847014945]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788171.847294357]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.847335008]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.847376690]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.847414548]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.858282022]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788171.858427992]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.858857748]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.858986977]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.859072783]: ParallelPlan::solve(): Solution found by one or more threads in 0.011848 seconds
[ INFO] [1570788171.859452459]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.859512723]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.859607372]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.859652154]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.860480921]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.860700227]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.860739455]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.860784420]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.860906822]: ParallelPlan::solve(): Solution found by one or more threads in 0.001544 seconds
[ INFO] [1570788171.861031266]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.861059873]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788171.861656168]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788171.861999381]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788171.862109625]: ParallelPlan::solve(): Solution found by one or more threads in 0.001110 seconds
[ INFO] [1570788171.866383844]: SimpleSetup: Path simplification took 0.004231 seconds and changed from 3 to 2 states
[ INFO] [1570788172.642927346]: Execution request received
[ INFO] [1570788172.749464749]: Joint_trajectory_action_server received goal!
[ INFO] [1570788172.749637966]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788172.749821412]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788181.749974633]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788181.750224885]: Execution completed: SUCCEEDED
[ INFO] [1570788187.048232965]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788187.048658839]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788187.048942418]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.048972877]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.049037999]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.049166120]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.060136693]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.060528845]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.060587780]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.060776019]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.060986737]: ParallelPlan::solve(): Solution found by one or more threads in 0.012133 seconds
[ INFO] [1570788187.061287299]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.061344874]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.061414486]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.061500641]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.062420098]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.062462175]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788187.062512572]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.062910420]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788187.063048232]: ParallelPlan::solve(): Solution found by one or more threads in 0.001842 seconds
[ INFO] [1570788187.063211798]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.063266110]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788187.064026241]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788187.064072466]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788187.064227031]: ParallelPlan::solve(): Solution found by one or more threads in 0.001063 seconds
[ INFO] [1570788187.067977792]: SimpleSetup: Path simplification took 0.003689 seconds and changed from 3 to 2 states
[ INFO] [1570788187.547443748]: Execution request received
[ INFO] [1570788187.647532844]: Joint_trajectory_action_server received goal!
[ INFO] [1570788187.647613830]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788187.647677041]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788193.049092388]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788193.049252257]: Execution completed: SUCCEEDED
[ INFO] [1570788199.248769438]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788199.249809623]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788199.250482530]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.250629414]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.250755084]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.250873671]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.264264568]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.264454366]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.264652870]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.264957637]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.265376323]: ParallelPlan::solve(): Solution found by one or more threads in 0.015101 seconds
[ INFO] [1570788199.265842146]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.265930084]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.266051007]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.266208937]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.268293687]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.268810108]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.269348418]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.269579169]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788199.269673391]: ParallelPlan::solve(): Solution found by one or more threads in 0.003978 seconds
[ INFO] [1570788199.269864493]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.269972759]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788199.271402630]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788199.271455550]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788199.271738226]: ParallelPlan::solve(): Solution found by one or more threads in 0.001954 seconds
[ INFO] [1570788199.276916766]: SimpleSetup: Path simplification took 0.005071 seconds and changed from 3 to 2 states
[ INFO] [1570788199.828959425]: Execution request received
[ INFO] [1570788199.849170377]: Joint_trajectory_action_server received goal!
[ INFO] [1570788199.849301136]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788199.849432238]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788208.749414599]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788208.749560161]: Execution completed: SUCCEEDED
[ INFO] [1570788216.746854173]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788216.747272033]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788216.747600624]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.747637283]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.747688993]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.747734943]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.748401810]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788216.748467648]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.748512146]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.748824823]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.748947089]: ParallelPlan::solve(): Solution found by one or more threads in 0.001434 seconds
[ INFO] [1570788216.749158916]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.749189903]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.749245955]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.749285386]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.749875600]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.750139368]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.750285723]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.750506265]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.750616087]: ParallelPlan::solve(): Solution found by one or more threads in 0.001511 seconds
[ INFO] [1570788216.750798145]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.750836044]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788216.751562173]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.751627076]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788216.751794018]: ParallelPlan::solve(): Solution found by one or more threads in 0.001063 seconds
[ INFO] [1570788216.756506857]: SimpleSetup: Path simplification took 0.004622 seconds and changed from 3 to 2 states
[ INFO] [1570788217.314884295]: Execution request received
[ INFO] [1570788217.356688979]: Joint_trajectory_action_server received goal!
[ INFO] [1570788217.356902999]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788217.357060699]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788226.847913797]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788226.848138470]: Execution completed: SUCCEEDED
[ INFO] [1570788238.046288126]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788238.046708541]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788238.047043736]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.047076740]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.047108877]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.047164340]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.058028998]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.058315343]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1570788238.058352811]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.058554838]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.058627013]: ParallelPlan::solve(): Solution found by one or more threads in 0.011673 seconds
[ INFO] [1570788238.058825978]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.058965743]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.059026969]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.059070590]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.059767794]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.059893608]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.060159326]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.060282523]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.060364004]: ParallelPlan::solve(): Solution found by one or more threads in 0.001585 seconds
[ INFO] [1570788238.060477299]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.060502447]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788238.061098325]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788238.061478538]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788238.061570754]: ParallelPlan::solve(): Solution found by one or more threads in 0.001119 seconds
[ INFO] [1570788238.066674149]: SimpleSetup: Path simplification took 0.004993 seconds and changed from 3 to 2 states
[ INFO] [1570788238.712852780]: Execution request received
[ INFO] [1570788238.749205023]: Joint_trajectory_action_server received goal!
[ INFO] [1570788238.749374340]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788238.749571057]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788246.850156151]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788246.850367039]: Execution completed: SUCCEEDED
[ INFO] [1570788312.446507117]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788312.446941550]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788312.447287118]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.447331961]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.447362079]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.447403235]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.458141595]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.458279887]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.458726081]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.458904785]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.459006699]: ParallelPlan::solve(): Solution found by one or more threads in 0.011844 seconds
[ INFO] [1570788312.459252982]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.459289975]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.459334438]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.459485688]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.460031290]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.460145729]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.460197340]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788312.460231086]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.460404271]: ParallelPlan::solve(): Solution found by one or more threads in 0.001227 seconds
[ INFO] [1570788312.460515905]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.460577870]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788312.461363246]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.461400071]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788312.461545353]: ParallelPlan::solve(): Solution found by one or more threads in 0.001051 seconds
[ INFO] [1570788312.466473566]: SimpleSetup: Path simplification took 0.004849 seconds and changed from 3 to 2 states
[ INFO] [1570788313.335974477]: Execution request received
[ INFO] [1570788313.349114211]: Joint_trajectory_action_server received goal!
[ INFO] [1570788313.349178554]: Joint_trajectory_action_server accepted goal!
[ INFO] [1570788313.349254548]: Joint_trajectory_action_server published goal via command publisher!
[ INFO] [1570788322.549278434]: Completed trajectory execution with status SUCCEEDED …
[ INFO] [1570788322.549498569]: Execution completed: SUCCEEDED
[ INFO] [1570788368.846735329]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1570788368.847212836]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1570788368.847547451]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.847597111]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.847654045]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.847701478]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.858664722]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.858725219]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.858804724]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.859119500]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.859210244]: ParallelPlan::solve(): Solution found by one or more threads in 0.011761 seconds
[ INFO] [1570788368.859414726]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.859491329]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.859534824]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.859573657]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.860296898]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.860335000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1570788368.860444162]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.860499429]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.860602432]: ParallelPlan::solve(): Solution found by one or more threads in 0.001249 seconds
[ INFO] [1570788368.860707293]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.860732446]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1570788368.861421292]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.861529765]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1570788368.861614936]: ParallelPlan::solve(): Solution found by one or more threads in 0.000931 seconds
[ INFO] [1570788368.866577673]: SimpleSetup: Path simplification took 0.004889 seconds and changed from 4 to 2 states
[ INFO] [1570789016.165433085]: Stopping scene monitor
[rviz_luo_ThinkPad_W530_22398_283357530926853401-4] process has finished cleanly
log file: /home/luo/.ros/log/d4e19cd4-ec05-11e9-acd6-a41731f87155/rviz_luo_ThinkPad_W530_22398_283357530926853401-4*.log
^C[move_group-3] killing on exit
[j2s7s300_gripper_command_action_server-2] killing on exit
[j2s7s300_joint_trajectory_action_server-1] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done
luo@luo-ThinkPad-W530:~$

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