[rospy.client][INFO] 2016-07-07 19:15:56,278: init_node, name[/robot_17963_1467915356132], pid[17963] [xmlrpc][INFO] 2016-07-07 19:15:56,279: XML-RPC server binding to 0.0.0.0:0 [rospy.init][INFO] 2016-07-07 19:15:56,280: ROS Slave URI: [http://dwestern-PORTEGE-R930:57244/] [xmlrpc][INFO] 2016-07-07 19:15:56,280: Started XML-RPC server [http://dwestern-PORTEGE-R930:57244/] [rospy.impl.masterslave][INFO] 2016-07-07 19:15:56,280: _ready: http://dwestern-PORTEGE-R930:57244/ [xmlrpc][INFO] 2016-07-07 19:15:56,281: xml rpc node: starting XML-RPC server [rospy.registration][INFO] 2016-07-07 19:15:56,282: Registering with master node http://localhost:11311 [rospy.init][INFO] 2016-07-07 19:15:56,381: registered with master [rospy.rosout][INFO] 2016-07-07 19:15:56,381: initializing /rosout core topic [rospy.rosout][INFO] 2016-07-07 19:15:56,394: connected to core topic /rosout [rospy.simtime][INFO] 2016-07-07 19:15:56,401: initializing /clock core topic [rospy.simtime][INFO] 2016-07-07 19:15:56,406: connected to core topic /clock [rospy.internal][INFO] 2016-07-07 19:15:56,479: topic[/clock] adding connection to [http://dwestern-PORTEGE-R930:43088/], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,626: topic[/bert2/hip_rotor_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,734: topic[/rosout] adding connection to [/rosout], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,772: topic[/bert2/right_shoulder_flex_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,776: topic[/bert2/joint_states] adding connection to [http://dwestern-PORTEGE-R930:43088/], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,787: topic[/bert2/hip_flexor_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,807: topic[/bert2/left_shoulder_flex_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,808: topic[/bert2/neck_rotor_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,811: topic[/bert2/neck_flexor_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,813: topic[/bert2/joint_command] adding connection to [/bert2_gazebo_motor_controller], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,865: topic[/bert2/left_humeral_rot_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,873: topic[/bert2/left_shoulder_abduction_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,876: topic[/bert2/hands/left_state] adding connection to [http://dwestern-PORTEGE-R930:60197/], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,886: topic[/bert2/left_wrist_abduction_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,890: topic[/bert2/left_elbow_flex_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,890: topic[/bert2/left_wrist_flex_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,893: topic[/bert2/left_wrist_pronation_joint_posControlr/command] adding connection to [/gazebo], count 0 [rospy.internal][INFO] 2016-07-07 19:15:56,944: topic[/bert2/hands/command] adding connection to [/bert2_gazebo_motor_controller], count 0 [rosout][INFO] 2016-07-07 19:15:57,891: State machine starting in initial state 'Reset' with userdata: [] [rospy.internal][INFO] 2016-07-07 19:15:57,938: topic[/robot_reset] adding connection to [/assertion_speed_after_reset_17974_1467915356228], count 0 [rospy.internal][INFO] 2016-07-07 19:15:57,948: topic[/tf] adding connection to [http://dwestern-PORTEGE-R930:37248/], count 0 [rospy.internal][INFO] 2016-07-07 19:15:57,949: topic[/tf] adding connection to [http://dwestern-PORTEGE-R930:33893/], count 0 [rosout][INFO] 2016-07-07 19:16:02,146: State machine transitioning 'Reset':'outcome1'-->'Receive1' [rosout][INFO] 2016-07-07 19:16:02,325: State machine transitioning 'Receive1':'outcome2'-->'Receive1' [rospy.internal][INFO] 2016-07-07 19:16:02,369: topic[/human_signals] adding connection to [http://dwestern-PORTEGE-R930:60821/], count 0 [rosout][INFO] 2016-07-07 19:16:02,579: State machine transitioning 'Receive1':'outcome1'-->'Move_hand' [rospy.internal][INFO] 2016-07-07 19:16:04,706: topic[/collision_object] adding connection to [/move_group], count 0 [rospy.internal][INFO] 2016-07-07 19:16:04,725: topic[/attached_collision_object] adding connection to [/move_group], count 0 [rospy.internal][INFO] 2016-07-07 19:16:14,546: topic[/robot_gripper] adding connection to [/assertion_no_accidental_drop_17981_1467915355763], count 0 [rospy.internal][INFO] 2016-07-07 19:16:14,558: topic[/robot_gripper] adding connection to [/assertion6_17978_1467915355873], count 1 [rospy.internal][INFO] 2016-07-07 19:16:14,561: topic[/robot_gripper] adding connection to [/assertion_handover_success_17968_1467915356939], count 2 [rosout][ERROR] 2016-07-07 19:16:21,342: InvalidUserCodeError: Could not execute state 'Move_hand' of type '<__main__.Move object at 0x7f136568eb50>': Traceback (most recent call last): File "/opt/ros/indigo/lib/python2.7/dist-packages/smach/state_machine.py", line 247, in _update_once self._remappings[self._current_label])) File "/home/dwestern/ros_ws/src/bert2_gazebo/scripts/robot_handover.py", line 183, in execute theplans = interface([bert2LL.SERVE_POSE[k] for k in joint_order]) File "/home/dwestern/ros_ws/src/bert2_gazebo/scripts/interface_plan.py", line 39, in interface group = moveit_commander.MoveGroupCommander("body_arm") File "/opt/ros/indigo/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 51, in __init__ self._g = _moveit_move_group_interface.MoveGroup(name, robot_description) RuntimeError: Unable to connect to move_group action server 'pickup' within allotted time (2) [rospy.core][INFO] 2016-07-07 19:16:21,353: signal_shutdown [atexit] [rospy.internal][INFO] 2016-07-07 19:16:21,394: topic[/collision_object] removing connection to /move_group [rospy.internal][INFO] 2016-07-07 19:16:21,394: topic[/robot_gripper] removing connection to /assertion_no_accidental_drop_17981_1467915355763 [rospy.internal][INFO] 2016-07-07 19:16:21,395: topic[/robot_gripper] removing connection to /assertion6_17978_1467915355873 [rospy.internal][INFO] 2016-07-07 19:16:21,395: topic[/robot_gripper] removing connection to /assertion_handover_success_17968_1467915356939 [rospy.internal][INFO] 2016-07-07 19:16:21,453: topic[/bert2/hip_rotor_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,457: topic[/bert2/left_wrist_pronation_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,457: topic[/bert2/neck_flexor_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,457: topic[/robot_reset] removing connection to /assertion_speed_after_reset_17974_1467915356228 [rospy.internal][INFO] 2016-07-07 19:16:21,469: topic[/bert2/right_shoulder_flex_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,470: topic[/bert2/left_wrist_abduction_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,470: topic[/bert2/left_wrist_flex_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,471: topic[/attached_collision_object] removing connection to /move_group [rospy.internal][INFO] 2016-07-07 19:16:21,472: topic[/bert2/neck_rotor_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,472: topic[/bert2/left_elbow_flex_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,473: topic[/bert2/hip_flexor_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,475: topic[/rosout] removing connection to /rosout [rospy.internal][INFO] 2016-07-07 19:16:21,476: topic[/bert2/left_humeral_rot_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,476: topic[/bert2/left_shoulder_abduction_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,484: topic[/bert2/hands/command] removing connection to /bert2_gazebo_motor_controller [rospy.internal][INFO] 2016-07-07 19:16:21,484: topic[/bert2/left_shoulder_flex_joint_posControlr/command] removing connection to /gazebo [rospy.internal][INFO] 2016-07-07 19:16:21,485: topic[/bert2/joint_command] removing connection to /bert2_gazebo_motor_controller [rospy.internal][INFO] 2016-07-07 19:16:21,486: topic[/bert2/hands/left_state] removing connection to http://dwestern-PORTEGE-R930:60197/ [rospy.internal][INFO] 2016-07-07 19:16:21,492: topic[/tf] removing connection to http://dwestern-PORTEGE-R930:37248/ [rospy.internal][INFO] 2016-07-07 19:16:21,502: topic[/tf] removing connection to http://dwestern-PORTEGE-R930:33893/ [rospy.internal][INFO] 2016-07-07 19:16:21,503: topic[/clock] removing connection to http://dwestern-PORTEGE-R930:43088/ [rospy.internal][INFO] 2016-07-07 19:16:21,504: topic[/human_signals] removing connection to http://dwestern-PORTEGE-R930:60821/ [rospy.internal][INFO] 2016-07-07 19:16:21,505: topic[/bert2/joint_states] removing connection to http://dwestern-PORTEGE-R930:43088/ [rospy.impl.masterslave][INFO] 2016-07-07 19:16:21,505: atexit