rostest prbt_ikfast_manipulator_plugin tst_prbt_ikfast_manipulator_plugin.test --text ... logging to /home/rosuser/.ros/log/rostest-sophia-13236.log xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. testunittest_prbt_ikfast_manipulator_plugin (rostest.runner.RosTest) ... [ROSTEST]setup[/home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test] run_id[b0faa6ca-12a8-11ea-aa81-80ee739d64d2] starting started roslaunch server http://sophia:32953/ SUMMARY ======== PARAMETERS * /robot_description: unittest_prbt_ikfast_manipulator_plugin [DEBUG] [1575032632.236948443]: remap: __log => /home/rosuser/.ros/log/b0faa6ca-12a8-11ea-aa81-80ee739d64d2/unittest_prbt_ikfast_manipulator_plugin-1.log [DEBUG] [1575032632.243825530]: Adding tcp socket [7] to pollset [DEBUG] [1575032632.244135977]: UDPROS server listening on port [45617] [DEBUG] [1575032632.246705316]: Started node [/unittest_prbt_ikfast_manipulator_plugin], pid [13260], bound on [sophia], xmlrpc port [33673], tcpros port [55633], using [real] time Warning: recursive print statement has occurred. Throwing out recursive print. Warning: recursive print statement has occurred. Throwing out recursive print. Warning: recursive print statement has occurred. Throwing out recursive print. [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from PrbtIKFastPluginTest [ RUN ] PrbtIKFastPluginTest.testSingularities [DEBUG] [1575032632.248176700]: Creating ClassLoader, base = kinematics::KinematicsBase, address = 0x6160000082d0 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276431509]: Entering determineAvailableClasses()... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276505086]: Processing xml file /opt/ros/melodic/share/moveit_fake_controller_manager/moveit_fake_controller_manager_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276672232]: XML file specifies lookup name (i.e. magic name) = moveit_fake_controller_manager/MoveItFakeControllerManager. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276725706]: Processing xml file /opt/ros/melodic/share/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276850182]: XML file specifies lookup name (i.e. magic name) = moveit_simple_controller_manager/MoveItSimpleControllerManager. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.276889078]: Processing xml file /opt/ros/melodic/share/moveit_planners_ompl/ompl_interface_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277052015]: XML file specifies lookup name (i.e. magic name) = ompl_interface/OMPLPlanner. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277099913]: Processing xml file /opt/ros/melodic/share/moveit_kinematics/kdl_kinematics_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277233857]: XML file specifies lookup name (i.e. magic name) = kdl_kinematics_plugin/KDLKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277292537]: Processing xml file /opt/ros/melodic/share/moveit_kinematics/lma_kinematics_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277434646]: XML file specifies lookup name (i.e. magic name) = lma_kinematics_plugin/LMAKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277480335]: Processing xml file /opt/ros/melodic/share/moveit_kinematics/srv_kinematics_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277623489]: XML file specifies lookup name (i.e. magic name) = srv_kinematics_plugin/SrvKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277672627]: Processing xml file /opt/ros/melodic/share/moveit_kinematics/cached_ik_kinematics_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277845239]: XML file specifies lookup name (i.e. magic name) = cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277895109]: XML file specifies lookup name (i.e. magic name) = cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.277976545]: Processing xml file /opt/ros/melodic/share/moveit_ros_planning/planning_request_adapters_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278175600]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/Empty. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278212593]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/FixStartStateBounds. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278249432]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/FixStartStatePathConstraints. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278283764]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/FixWorkspaceBounds. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278315291]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/FixStartStateCollision. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278349033]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/AddTimeParameterization. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278394176]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/AddIterativeSplineParameterization. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278422693]: XML file specifies lookup name (i.e. magic name) = default_planner_request_adapters/AddTimeOptimalParameterization. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278451755]: Processing xml file /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/prbt_manipulator_moveit_ikfast_plugin_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278583656]: XML file specifies lookup name (i.e. magic name) = prbt_manipulator/IKFastKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278624919]: Processing xml file /opt/ros/melodic/share/moveit_core/collision_detector_fcl_description.xml... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278782010]: XML file specifies lookup name (i.e. magic name) = FCL. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278829166]: Exiting determineAvailableClasses()... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.278883703]: Finished constructring ClassLoader, base = kinematics::KinematicsBase, address = 0x6160000082d0 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279479279]: Attempting to create managed instance for class prbt_manipulator/IKFastKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279552801]: Class prbt_manipulator/IKFastKinematicsPlugin maps to library lib/libprbt_manipulator_moveit_ikfast_plugin in classes_available_. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279840420]: Iterating through all possible paths where lib/libprbt_manipulator_moveit_ikfast_plugin could be located... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279889575]: Checking path /home/rosuser/catkin_ws/devel/lib/lib/libprbt_manipulator_moveit_ikfast_plugin.so Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279923713]: Checking path /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.279969744]: Library lib/libprbt_manipulator_moveit_ikfast_plugin found at explicit path /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.280067240]: Constructing new ClassLoader (0x60d000004210) bound to library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.280111752]: Attempting to load library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so on behalf of ClassLoader handle 0x60d000004210... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282204668]: Registering plugin factory for class = prbt_manipulator::IKFastKinematicsPlugin, ClassLoader* = 0x60d000004210 and library name /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282287814]: Creating MetaObject 0x60e000029b00 (base = kinematics::KinematicsBase, derived = prbt_manipulator::IKFastKinematicsPlugin, library path = Unknown) Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282412059]: Registration of prbt_manipulator::IKFastKinematicsPlugin complete (Metaobject Address = 0x60e000029b00) Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282480120]: Successfully loaded library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so into memory (Poco::SharedLibrary handle = 0x60400003b190). Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282561415]: Library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so generated new factory metaobjects on load. Destroying graveyarded objects from previous loads... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282621705]: prbt_manipulator/IKFastKinematicsPlugin maps to real class type prbt_manipulator::IKFastKinematicsPlugin Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282680884]: Attempting to create instance of class type prbt_manipulator::IKFastKinematicsPlugin. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282895496]: Created instance of type PN10kinematics14KinematicsBaseE and object pointer = 0x61800000a480 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.282934798]: boost::shared_ptr to object of real type prbt_manipulator::IKFastKinematicsPlugin created. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.285094030]: Parsing robot urdf xml string Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.285826965]: setting link 'prbt_base_link' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.285865566]: successfully added a new link 'prbt_base_link' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.285980719]: setting link 'prbt_link_1' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286004574]: successfully added a new link 'prbt_link_1' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286119748]: setting link 'prbt_link_2' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286144755]: successfully added a new link 'prbt_link_2' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286252531]: setting link 'prbt_link_3' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286296596]: successfully added a new link 'prbt_link_3' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286417354]: setting link 'prbt_link_4' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286446379]: successfully added a new link 'prbt_link_4' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286596175]: setting link 'prbt_link_5' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286624636]: successfully added a new link 'prbt_link_5' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286699420]: setting link 'prbt_flange' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286724243]: successfully added a new link 'prbt_flange' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286749149]: setting link 'prbt_base' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286794865]: successfully added a new link 'prbt_base' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286815564]: setting link 'prbt_tool0' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286842313]: successfully added a new link 'prbt_tool0' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286870938]: setting link 'world' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286891004]: successfully added a new link 'world' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286915527]: setting link 'prbt_tcp' material Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.286938276]: successfully added a new link 'prbt_tcp' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287016947]: damping 15.000000 and friction 11.000000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287045673]: successfully added a new joint 'prbt_joint_1' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287114501]: damping 12.000000 and friction 10.000000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287147921]: successfully added a new joint 'prbt_joint_2' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287222143]: damping 4.500000 and friction 4.500000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287258480]: successfully added a new joint 'prbt_joint_3' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287338556]: damping 4.200000 and friction 3.800000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287377625]: successfully added a new joint 'prbt_joint_4' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287459759]: damping 1.500000 and friction 3.500000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287496719]: successfully added a new joint 'prbt_joint_5' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287548737]: damping 4.500000 and friction 7.000000 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287576829]: successfully added a new joint 'prbt_joint_6' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287628371]: successfully added a new joint 'prbt_base_link-base' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287664189]: successfully added a new joint 'prbt_flange-tool0' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287693256]: Joint [world-base_link-fixed] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform). Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287723306]: successfully added a new joint 'world-base_link-fixed' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.287791496]: successfully added a new joint 'prbt_fixed_joint_tcp' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.288461165]: Loaded robot model in 0.00421811 seconds Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.288552892]: Loading robot model 'prbt'... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.288581457]: ... building kinematic chain Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.288857085]: ... building mimic joints Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.288894202]: ... computing joint indexing Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.289049474]: ... constructing joint groups Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.289212857]: ... constructing joint group states Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.289559348]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_1/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.289893802]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_1/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.291670106]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_2/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.292028483]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_2/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.293272951]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_3/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.293557964]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_3/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.294964407]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_4/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.295302789]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_4/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.296660452]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_5/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.296960536]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_5/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.298331273]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_6/max_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.298626966]: XML-RPC call [getParam] returned an error (-1): [Parameter [/robot_description_planning/joint_limits/prbt_joint_6/min_position] is not set] Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.299804380]: Loaded kinematic model in 0.0155762 seconds Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.301672535]: Using link_prefix: 'prbt_' Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303582437]: Registering joints and links Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303710239]: Link prbt_flange Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303773943]: Adding joint prbt_joint_6 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303848072]: Link prbt_link_5 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303878395]: Adding joint prbt_joint_5 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303944854]: Link prbt_link_4 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.303981744]: Adding joint prbt_joint_4 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304020231]: Link prbt_link_3 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304047358]: Adding joint prbt_joint_3 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304097351]: Link prbt_link_2 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304135466]: Adding joint prbt_joint_2 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304168022]: Link prbt_link_1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304202760]: Adding joint prbt_joint_1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304369668]: prbt_joint_1 -2.96706 2.96706 1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304413981]: prbt_joint_2 -2.53073 2.53073 1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304444028]: prbt_joint_3 -2.3562 2.3562 1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304478236]: prbt_joint_4 -2.96706 2.96706 1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304506799]: prbt_joint_5 -2.96706 2.96706 1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.304547367]: prbt_joint_6 -3.12414 3.12414 1 Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.304893876]: Using joint angles: (0, 0, 0, 0, 0, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.305083942]: Obtain pose: position: x=0, y=0, z=1.0014, orientation: x=0, y=0, z=0, w=1 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.305128038]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.305856845]: Found 3 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306096404]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306209868]: Ik solve took 1.07104 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306252642]: Received 2 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306305266]: Using joint angles: (0, 0, 0, 1, 0, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306352717]: Obtain pose: position: x=0, y=0, z=1.0014, orientation: x=0, y=0, z=0.479426, w=0.877583 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306401768]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306498638]: Found 3 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306577015]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306621528]: Ik solve took 0.223903 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306662979]: Received 2 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306710313]: Using joint angles: (0, 0, 0, 0, -1, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.306772831]: Obtain pose: position: x=0.0706836, y=0, z=0.962785, orientation: x=0, y=0.479426, z=0, w=0.877583 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306812300]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.306939720]: Found 6 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307011948]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307064134]: Not in limits! 5 value 3.14159 has limit: 1 being -3.12414 to 3.12414 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307111793]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307145462]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307190307]: Ik solve took 0.376683 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307221532]: Received 2 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307264516]: Using joint angles: (0, 0, 0, 0, 1, 1) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307324603]: Obtain pose: position: x=-0.0706836, y=0, z=0.962785, orientation: x=-0.229849, y=-0.420735, z=0.420735, w=0.770151 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307355276]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307492801]: Found 6 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307555835]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307606872]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307647082]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307698831]: Ik solve took 0.339004 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307736225]: Received 3 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307785998]: Using joint angles: (0, 1, 2.28463, 0, 0, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.307838261]: Obtain pose: position: x=-0.0805839, y=0, z=0.559878, orientation: x=0, y=-0.599049, z=0, w=0.800713 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.307877886]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308052312]: Found 10 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308123598]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308168475]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308209490]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308279932]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308346149]: Ik solve took 0.464002 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.308376457]: Received 6 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.308420778]: Using joint angles: (0, 1, 2.28463, -1, 0, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.308465289]: Obtain pose: position: x=-0.0805839, y=0, z=0.559878, orientation: x=0.287199, y=-0.525715, z=-0.383882, w=0.702691 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308500256]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308685163]: Found 10 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308754152]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308794610]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308834296]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308883009]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.308936761]: Ik solve took 0.427123 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.308969782]: Received 6 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.309013559]: Using joint angles: (0, 1, 2.28463, 0, 1, 0) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.309062545]: Obtain pose: position: x=-0.0634923, y=0, z=0.481169, orientation: x=0, y=0.909597, z=-0, w=-0.415492 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309094625]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309284665]: Found 12 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309354121]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309400554]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309442988]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309483640]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309528173]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309575373]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309641525]: Ik solve took 0.541497 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.309673621]: Received 6 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.309721410]: Using joint angles: (0, 1, 2.28463, 0, 1, -1) Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.309767961]: Obtain pose: position: x=-0.0634923, y=0, z=0.481169, orientation: x=-0.436084, y=0.798246, z=0.199198, w=-0.364629 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309804018]: getPositionIK with multiple solutions Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.309987773]: Found 12 solutions from IKFast Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310054703]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310104197]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310142063]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310174474]: Not in limits! 3 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310234058]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310267078]: Not in limits! 0 value 3.14159 has limit: 1 being -2.96706 to 2.96706 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310340423]: Ik solve took 0.53611 ms Warning: recursive print statement has occurred. Throwing out recursive print. [ INFO] [1575032632.310376863]: Received 6 solutions to IK problem. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310434609]: Calling onPluginDeletion() for obj ptr = 0x61800000a480. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310512892]: Destroying ClassLoader, base = kinematics::KinematicsBase, address = 0x6160000082d0 Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310579464]: Unloading library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so on behalf of ClassLoader 0x60d000004210... Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310628106]: Removing MetaObjects associated with library /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so and class loader 0x60d000004210 from global plugin-to-factorymap map. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310677920]: Inserting MetaObject (class = prbt_manipulator::IKFastKinematicsPlugin, base_class = kinematics::KinematicsBase, ptr = 0x60e000029b00) into graveyard Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310722999]: Metaobjects removed. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310793392]: There are no more MetaObjects left for /home/rosuser/catkin_ws/devel/lib//libprbt_manipulator_moveit_ikfast_plugin.so so unloading library and removing from loaded library vector. Warning: recursive print statement has occurred. Throwing out recursive print. [DEBUG] [1575032632.310851522]: Destroying class loader, unloading associated library... Warning: recursive print statement has occurred. Throwing out recursive print. [ OK ] PrbtIKFastPluginTest.testSingularities (62 ms) [----------] 1 test from PrbtIKFastPluginTest (62 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test case ran. (64 ms total) [ PASSED ] 1 test. ================================================================= ==13260==ERROR: LeakSanitizer: detected memory leaks Direct leak of 160 byte(s) in 1 object(s) allocated from: #0 0x7f82ba691458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f82a3c28f4e in void class_loader::impl::registerPlugin(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&) /opt/ros/melodic/include/class_loader/class_loader_core.hpp:205 #2 0x7f82a3b12d20 in ProxyExec0 /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #3 0x7f82a3b130f3 in __static_initialization_and_destruction_0 /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #4 0x7f82a3b1310e in _GLOBAL__sub_I_prbt_manipulator_ikfast_moveit_plugin.cpp /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #5 0x7f82bb57c732 (/lib64/ld-linux-x86-64.so.2+0x10732) Indirect leak of 79 byte(s) in 1 object(s) allocated from: #0 0x7f82ba691458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f82b8795bc6 in std::__cxx11::basic_string, std::allocator >::_M_assign(std::__cxx11::basic_string, std::allocator > const&) (/usr/lib/x86_64-linux-gnu/libstdc++.so.6+0x124bc6) Indirect leak of 68 byte(s) in 2 object(s) allocated from: #0 0x7f82ba691458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f82b9e6db6c (/opt/ros/melodic/lib/libclass_loader.so+0x17b6c) Indirect leak of 31 byte(s) in 1 object(s) allocated from: #0 0x7f82ba691458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f82ba36c3e2 in void std::__cxx11::basic_string, std::allocator >::_M_construct(char const*, char const*, std::forward_iterator_tag) /usr/include/c++/7/bits/basic_string.tcc:219 #2 0x7f82a3c3f1e7 in class_loader::impl::AbstractMetaObject::AbstractMetaObject(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&) /opt/ros/melodic/include/class_loader/meta_object.hpp:155 #3 0x7f82a3c32f64 in class_loader::impl::MetaObject::MetaObject(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&) /opt/ros/melodic/include/class_loader/meta_object.hpp:186 #4 0x7f82a3c28f6a in void class_loader::impl::registerPlugin(std::__cxx11::basic_string, std::allocator > const&, std::__cxx11::basic_string, std::allocator > const&) /opt/ros/melodic/include/class_loader/class_loader_core.hpp:205 #5 0x7f82a3b12d20 in ProxyExec0 /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #6 0x7f82a3b130f3 in __static_initialization_and_destruction_0 /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #7 0x7f82a3b1310e in _GLOBAL__sub_I_prbt_manipulator_ikfast_moveit_plugin.cpp /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp:1401 #8 0x7f82bb57c732 (/lib64/ld-linux-x86-64.so.2+0x10732) Indirect leak of 8 byte(s) in 1 object(s) allocated from: #0 0x7f82ba691458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f82b9e6e383 in void std::vector >::_M_realloc_insert(__gnu_cxx::__normal_iterator > >, class_loader::ClassLoader* const&) (/opt/ros/melodic/lib/libclass_loader.so+0x18383) SUMMARY: AddressSanitizer: 346 byte(s) leaked in 6 allocation(s). [unittest_prbt_ikfast_manipulator_plugin-1] process has died [pid 13260, exit code 1, cmd /home/rosuser/catkin_ws/devel/lib/prbt_ikfast_manipulator_plugin/unittest_prbt_ikfast_manipulator_plugin --gtest_output=xml:/home/rosuser/.ros/test_results/prbt_ikfast_manipulator_plugin/rosunit-unittest_prbt_ikfast_manipulator_plugin.xml --text __name:=unittest_prbt_ikfast_manipulator_plugin __log:=/home/rosuser/.ros/log/b0faa6ca-12a8-11ea-aa81-80ee739d64d2/unittest_prbt_ikfast_manipulator_plugin-1.log]. log file: /home/rosuser/.ros/log/b0faa6ca-12a8-11ea-aa81-80ee739d64d2/unittest_prbt_ikfast_manipulator_plugin-1*.log [ROSTEST]test [unittest_prbt_ikfast_manipulator_plugin] finished [ROSTEST][ROSTEST] test [unittest_prbt_ikfast_manipulator_plugin] done [ROSTEST]tearDown[/home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test] shutting down processing monitor... ... shutting down processing monitor complete [ROSTEST]rostest teardown /home/rosuser/catkin_ws/src/pilz_robots/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test complete ok ---------------------------------------------------------------------- Ran 1 test in 0.613s OK WARNING: overall test result is not accurate when --text is enabled