Module Expr Str Import alias Import alias Import alias Import alias ImportFrom alias Import alias Import alias Import alias ImportFrom alias alias Import alias Import alias ImportFrom alias alias FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body For NameStore Call NameLoad Num Call NameLoad AttributeLoad NameLoad attr body AugAssignAdd AttributeStore AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index NameLoad attr attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num Expr Call AttributeLoad NameLoad attr BinOpAdd Str Call NameLoad Call NameLoad AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore BinOpDiv NameLoad Num Assign NameStore BinOpDiv NameLoad Num Assign NameStore Call NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad keyword NameLoad Assign NameStore Call NameLoad NameLoad Print NameLoad Assign NameStore AttributeLoad NameLoad attr While UnaryOpNot Call AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore AttributeLoad NameLoad attr If CompareGt NameLoad Num body Break decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults body Assign NameStore NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr If CompareEq Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr Num body Expr Call AttributeLoad NameLoad attr Str Return NameLoad orelse Expr Call AttributeLoad NameLoad attr BinOpAdd Str Call NameLoad Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Call AttributeLoad NameLoad attr NameLoad keyword NameLoad Expr Call AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call NameLoad For NameStore Call NameLoad Num body Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr BinOpAdd Str Call NameLoad BinOpAdd NameLoad Num Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr SubscriptLoad NameLoad Index NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Assign NameStore AttributeLoad SubscriptLoad AttributeLoad AttributeLoad NameLoad attr attr Index Num attr Assign NameStore Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad NameLoad attr While UnaryOpNot Call AttributeLoad NameLoad attr body If CompareLt BinOpSub Call AttributeLoad Call AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr orelse Break decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad Str Str body Expr Str Print Str Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Print Str Assign NameStore Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad NameLoad attr BinOpAdd Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad AttributeLoad AttributeLoad NameLoad attr attr If CompareEq NameLoad NameLoad body Assign NameStore Call AttributeLoad NameLoad attr Str NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str Assign NameStore Num orelse Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr Print BinOpMod Str Call AttributeLoad NameLoad attr Print BinOpMod Str Call AttributeLoad NameLoad attr Print BinOpMod Str Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Str Assign NameStore Str If NameLoad body Expr Call AttributeLoad NameLoad attr Str orelse Expr Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore AttributeLoad NameLoad attr attr ListLoad Str Str Str Str Str Assign NameStore Call NameLoad Assign AttributeStore NameLoad attr ListLoad Num Num Num Num Num Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Num Expr Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad If NameLoad body Expr Call NameLoad NameLoad NameLoad NameLoad orelse Expr Call NameLoad NameLoad NameLoad Assign NameStore Num Assign NameStore UnaryOpUSub AttributeLoad NameLoad attr Assign NameStore BinOpDiv AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore AttributeLoad NameLoad attr attr Str Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num ImportFrom alias alias alias Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore UnaryOpUSub BinOpSub BinOpDiv BinOpMult AttributeLoad NameLoad attr Call NameLoad BinOpAdd NameLoad Num Call NameLoad NameLoad BinOpDiv AttributeLoad NameLoad attr Num Assign NameStore BinOpMult NameLoad Call NameLoad NameLoad Assign NameStore BinOpMult NameLoad Call NameLoad NameLoad Assign NameStore BinOpMult ListLoad NameLoad NameLoad Assign NameStore BinOpMult ListLoad NameLoad NameLoad Assign NameStore BinOpMult ListLoad NameLoad NameLoad Assign NameStore BinOpMult ListLoad NameLoad NameLoad While NameLoad body For NameStore Call NameLoad NameLoad body If Call AttributeLoad NameLoad attr body Return Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index NameLoad Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index NameLoad Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr SubscriptLoad NameLoad Index Num Expr Call AttributeLoad NameLoad attr BinOpAdd Str Call NameLoad NameLoad If CompareIs SubscriptLoad NameLoad Index NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad If CompareIs Call NameLoad NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign SubscriptStore NameLoad Index NameLoad NameLoad Assign SubscriptStore NameLoad Index NameLoad NameLoad If NameLoad body Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad orelse Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad orelse Expr Call AttributeLoad NameLoad attr Str If NameLoad body Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad orelse Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad If CompareIsNot SubscriptLoad NameLoad Index NameLoad NameLoad body If CompareIs SubscriptLoad NameLoad Index NameLoad NameLoad body Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad If CompareIs Call NameLoad NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad NameLoad attr NameLoad Assign SubscriptStore NameLoad Index NameLoad NameLoad Assign SubscriptStore NameLoad Index NameLoad NameLoad If NameLoad body Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad orelse Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad orelse Expr Call AttributeLoad NameLoad attr Str If NameLoad body Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad orelse Expr Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad Return NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num decorator_list If CompareEq NameLoad Str body Assign NameStore NameLoad If CompareEq SubscriptLoad AttributeLoad NameLoad attr Index Num Str body Assign NameStore NameLoad TryExcept body Expr Call NameLoad NameLoad Str Str handlers ExceptHandler type AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr Num
N/A N/A 
 @author: Rick Candell
 @contact: rick.candell@nist.gov
 @organization: NIST
 N/A sys N/A copy N/A rospy N/A math tf.transformations quaternion_from_euler N/A moveit_commander N/A moveit_msgs.msg N/A geometry_msgs.msg trajectory_msgs.msg JointTrajectory JointTrajectoryPoint N/A control_msgs.msg N/A actionlib brics_actuator.msg JointPositions JointValue jtg_feedback_cb N/A N/A data N/A N/A N/A N/A N/A rospy loginfo arm is moving N/A N/A N/A rospy loginfo data N/A trajectory_toffset N/A N/A traj tsecs N/A N/A N/A ii N/A range 0 N/A len N/A traj points N/A N/A N/A N/A N/A N/A traj points N/A ii time_from_start secs tsecs N/A traj N/A massage_traj N/A N/A traj_in N/A N/A N/A traj_out N/A JointTrajectory N/A N/A traj_out joint_names N/A traj_in joint_names N/A npts N/A len N/A traj_in points N/A N/A N/A N/A traj_out points append N/A N/A copy deepcopy N/A N/A traj_in points N/A 0 N/A N/A N/A N/A traj_out points append N/A N/A copy deepcopy N/A N/A traj_in points N/A -1 N/A N/A N/A rospy loginfo N/A Points in traj:  N/A str N/A len N/A traj_out points N/A traj_out N/A make_brics_msg_gripper N/A N/A opening_m N/A N/A N/A left N/A opening_m 2.0 N/A right N/A opening_m 2.0 N/A jp N/A JointPositions N/A jvl N/A JointValue N/A jvr N/A JointValue N/A N/A jvl joint_uri gripper_finger_joint_l N/A N/A jvl unit m N/A N/A jvl value left N/A N/A jvr joint_uri gripper_finger_joint_r N/A N/A jvr unit m N/A N/A jvr value right N/A N/A N/A N/A jp positions append N/A N/A copy deepcopy jvl N/A N/A N/A N/A jp positions append N/A N/A copy deepcopy jvr N/A jp N/A move_gripper N/A N/A grip_topic_name grip_msg_type opening_m N/A N/A N/A gripper_command_publisher N/A N/A rospy Publisher grip_topic_name grip_msg_type latch True N/A jp N/A make_brics_msg_gripper opening_m N/A jp N/A t0 N/A rospy get_rostime N/A N/A N/A N/A rospy is_shutdown N/A N/A N/A N/A rospy loginfo moving gripper N/A N/A N/A gripper_command_publisher publish jp N/A t1 N/A rospy get_rostime N/A N/A t1 8 N/A N/A N/A plan_arm N/A N/A client group pose end_effector_link N/A N/A N/A result_code None N/A N/A N/A group clear_pose_targets N/A N/A N/A group set_pose_target pose end_effector_link N/A plan N/A N/A group plan N/A N/A N/A len N/A N/A plan joint_trajectory points 0 N/A N/A N/A N/A rospy loginfo Trajectory not found for given pose and solver N/A None N/A N/A N/A N/A rospy loginfo N/A number of points in traj:  N/A str N/A len N/A N/A plan joint_trajectory points N/A N/A plan joint_trajectory N/A trajectory_toffset N/A plan joint_trajectory 0 N/A goal N/A N/A N/A control_msgs msg FollowJointTrajectoryGoal N/A N/A goal trajectory N/A N/A copy deepcopy N/A plan joint_trajectory N/A N/A goal trajectory N/A massage_traj N/A goal trajectory N/A goal N/A move_arm_as N/A N/A client goal N/A N/A N/A N/A N/A client send_goal goal feedback_cb jtg_feedback_cb N/A N/A N/A client wait_for_result N/A N/A N/A client get_result N/A make_brics_msg_arm N/A N/A positions N/A N/A N/A jp N/A JointPositions N/A ii N/A range 5 N/A N/A jv N/A JointValue N/A N/A jv joint_uri N/A arm_joint_ N/A str N/A ii 1 N/A N/A jv unit rad N/A N/A jv value N/A positions N/A ii N/A N/A N/A N/A jp positions append N/A N/A copy deepcopy jv N/A jp N/A move_arm_brics N/A N/A arm_pub goal dur N/A 3.0 N/A N/A positions N/A N/A N/A N/A goal trajectory points N/A -1 positions N/A jp N/A make_brics_msg_arm positions N/A N/A N/A rospy logdebug brics message created N/A N/A N/A rospy logdebug jp N/A r N/A N/A rospy Rate 50 N/A t0 N/A N/A rospy get_rostime N/A N/A N/A N/A rospy is_shutdown N/A N/A N/A N/A N/A N/A N/A N/A rospy get_rostime to_sec N/A N/A t0 to_sec dur N/A N/A N/A N/A arm_pub publish jp N/A N/A N/A r sleep N/A N/A N/A JointTrajectory_client N/A N/A USE_BRICS arm_action_server_name gripper_action_server_name N/A False /arm_1/arm_controller/follow_joint_trajectory /arm_1/gripper_controller/follow_joint_trajectory N/A N/A 
    Main MoveIt! publisher demo function
     N/A ============ Starting tutorial setup N/A N/A N/A moveit_commander roscpp_initialize N/A sys argv N/A N/A N/A rospy init_node robot_exec anonymous False N/A robot N/A N/A moveit_commander RobotCommander N/A scene N/A N/A moveit_commander PlanningSceneInterface N/A Creating move group commander object N/A group N/A N/A moveit_commander MoveGroupCommander manipulator N/A N/A N/A group set_planning_time 8 N/A N/A N/A rospy loginfo N/A Create arm joint trajectory action client  arm_action_server_name N/A arm_client N/A N/A actionlib SimpleActionClient arm_action_server_name N/A N/A control_msgs msg FollowJointTrajectoryAction N/A N/A USE_BRICS True N/A N/A arm_pub N/A N/A rospy Publisher /arm_1/arm_controller/position_command JointPositions queue_size 5 N/A N/A N/A rospy loginfo Created publisher for /arm_1/arm_controller/position_command N/A arm_pub_dur 3.0 N/A N/A N/A N/A rospy loginfo waiting for arm action server N/A N/A N/A arm_client wait_for_server N/A N/A ============ Planning reference frame: %s N/A N/A group get_planning_frame N/A N/A ============ End effector link: %s N/A N/A group get_end_effector_link N/A N/A ============ Robot Groups: %s N/A N/A robot get_group_names N/A N/A N/A group set_pose_reference_frame base_link N/A end_effector_link gripper_pointer_link N/A USE_BRICS N/A N/A N/A N/A rospy loginfo using BRICS protocol N/A N/A N/A N/A rospy loginfo using AS protocol N/A ready_goal N/A N/A N/A control_msgs msg FollowJointTrajectoryGoal N/A N/A N/A ready_goal trajectory joint_names N/A arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 N/A ready_jtp N/A JointTrajectoryPoint N/A N/A ready_jtp positions N/A 2.95 0.7 -2.0 2.1 0.15 N/A N/A ready_jtp time_from_start N/A N/A rospy Duration 0.25 N/A N/A N/A N/A N/A ready_goal trajectory points append ready_jtp N/A USE_BRICS N/A N/A N/A move_arm_brics arm_pub ready_goal arm_pub_dur N/A N/A N/A move_arm_as arm_client ready_goal N/A roll 0 N/A pitch N/A N/A math pi N/A yaw N/A N/A math pi 4 N/A quat N/A quaternion_from_euler roll pitch yaw N/A pose N/A N/A N/A geometry_msgs msg PoseStamped N/A N/A N/A pose header frame_id base_link N/A N/A N/A N/A pose pose orientation x N/A quat N/A 0 N/A N/A N/A N/A pose pose orientation y N/A quat N/A 1 N/A N/A N/A N/A pose pose orientation z N/A quat N/A 2 N/A N/A N/A N/A pose pose orientation w N/A quat N/A 3 numpy arange cos sin N/A rad 0.2 N/A zup 0.06 N/A zdn 0.03 N/A npts 10 N/A theta_vec N/A N/A N/A N/A N/A math pi N/A arange N/A npts 1 N/A float npts N/A N/A math pi 2.0 N/A xvec N/A rad N/A cos theta_vec N/A yvec N/A rad N/A sin theta_vec N/A up_status N/A N/A False npts N/A up_goal N/A N/A False npts N/A dn_status N/A N/A False npts N/A dn_goal N/A N/A False npts N/A True N/A N/A ii N/A range npts N/A N/A N/A N/A rospy is_shutdown N/A N/A -1 N/A N/A N/A N/A pose pose position x N/A xvec N/A ii N/A N/A N/A N/A pose pose position y N/A yvec N/A ii N/A N/A N/A N/A pose pose position z zup N/A N/A N/A N/A pose pose orientation x N/A quat N/A 0 N/A N/A N/A N/A pose pose orientation y N/A quat N/A 1 N/A N/A N/A N/A pose pose orientation z N/A quat N/A 2 N/A N/A N/A N/A pose pose orientation w N/A quat N/A 3 N/A N/A N/A rospy loginfo N/A Up status:  N/A str up_status N/A N/A N/A up_status N/A ii False N/A N/A N/A N/A rospy loginfo computing plan for up pose N/A N/A N/A rospy logdebug pose N/A goal N/A plan_arm arm_client group pose end_effector_link N/A N/A N/A type goal N/A N/A control_msgs msg FollowJointTrajectoryGoal N/A N/A N/A N/A rospy loginfo UP plan found N/A N/A N/A rospy logdebug goal N/A N/A up_status N/A ii True N/A N/A up_goal N/A ii goal N/A USE_BRICS N/A N/A N/A move_arm_brics arm_pub N/A up_goal N/A ii arm_pub_dur N/A N/A N/A move_arm_as arm_client N/A up_goal N/A ii N/A N/A N/A N/A rospy loginfo using stored up goal N/A USE_BRICS N/A N/A N/A move_arm_brics arm_pub N/A up_goal N/A ii arm_pub_dur N/A N/A N/A move_arm_as arm_client N/A up_goal N/A ii N/A N/A N/A up_status N/A ii False N/A N/A N/A N/A dn_status N/A ii False N/A N/A N/A N/A N/A pose pose position z zdn N/A N/A N/A rospy loginfo computing plan for down pose N/A N/A N/A rospy logdebug pose N/A goal N/A plan_arm arm_client group pose end_effector_link N/A N/A N/A type goal N/A N/A control_msgs msg FollowJointTrajectoryGoal N/A N/A N/A N/A rospy loginfo DOWN plan found N/A N/A N/A rospy logdebug goal N/A N/A dn_status N/A ii True N/A N/A dn_goal N/A ii goal N/A USE_BRICS N/A N/A N/A move_arm_brics arm_pub N/A dn_goal N/A ii arm_pub_dur N/A N/A move_arm_brics arm_pub N/A up_goal N/A ii arm_pub_dur N/A N/A N/A move_arm_as arm_client N/A dn_goal N/A ii N/A N/A N/A N/A rospy loginfo using stored down goal N/A USE_BRICS N/A N/A N/A move_arm_brics arm_pub N/A dn_goal N/A ii arm_pub_dur N/A N/A move_arm_brics arm_pub N/A up_goal N/A ii arm_pub_dur N/A N/A N/A move_arm_as arm_client N/A dn_goal N/A ii N/A None N/A N/A N/A moveit_commander roscpp_shutdown N/A N/A N/A N/A moveit_commander os _exit 0 N/A N/A N/A __name__ __main__ N/A N/A use_brics False N/A N/A N/A N/A sys argv N/A 1 true N/A N/A use_brics True N/A N/A N/A N/A JointTrajectory_client use_brics /arm_1/arm_controller/follow_joint_trajectory /arm_1/gripper_controller/follow_joint_trajectory N/A N/A N/A N/A rospy ROSInterruptException N/A N/A N/A N/A N/A moveit_commander os _exit 0