Fetch Arm dropped in the middle of the air

BillWSY commented 4 years ago

prep serve not responding.

Error in state machine

    ['got_name', 'is_known_person', 'did_quiz', 'did_tour', 'human_uuid', 'human_name']
[INFO] [WallTime: 1570049387.219726] Release services [NAV], result: result: RESULT_SERVICE_REQUEST_NOT_EXIST
error_message: "Cannot find service request: __builtin:__operator[NAV]"

[INFO] [WallTime: 1570049387.220358] Request services [LEG]: ['fetch:leg_tracker', 'fetch:cartographer_localization'], result: result: RESULT_OK

[INFO] [WallTime: 1570049387.223584] Request services [FACE]: ['fetch:openface_client', 'fetch:openface_server'], result: result: RESULT_OK

[INFO] [WallTime: 1570049387.308886] Start recording: success: True
error_info: ''
[INFO] [WallTime: 1570049387.309198] State machine transitioning 'start_rosbag_recording_face':'next'-->'clear_face_trainning_embedding'
[INFO] [WallTime: 1570049387.316413] State machine transitioning 'clear_face_trainning_embedding':'next'-->'reset_session_data'
[INFO] [WallTime: 1570049387.317837] State machine transitioning 'reset_session_data':'next'-->'initial_greeting'
[INFO] [WallTime: 1570049387.318613] State machine starting in initial state 'greet_people_state_1' with userdata: 
[ERROR] [WallTime: 1570049393.933395] InvalidUserCodeError: Could not execute state 'lost_person_rosbag_cleanup' of type '<greeting_bot_state_machine.cogrob_rosbag_states.FinishRecording object at 0x7fbc58cbcdd0>': 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 "/root/catkin_ws/src/greeting_bot_state_machine/src/greeting_bot_state_machine/cogrob_rosbag_states.py", line 38, in execute
    response = finish_recording_proxy(config_name=self._config_name)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call
    raise ServiceException("unable to connect to service: %s"%e)
ServiceException: unable to connect to service: filedescriptor out of range in select()

[ERROR] [WallTime: 1570049393.933990] State 'tritonbot_interaction' failed to execute.
    ['human_name', 'last_seen_human_nicknames', 'last_seen_human_timestamp', 'last_seen_human_uuid']
[INFO] [WallTime: 1570049388.221898] total_time: 0.7826875
is_success: True
error_info: ''
[INFO] [WallTime: 1570049388.222450] State machine transitioning 'greet_people_state_1':'next'-->'lookup_recent_seen_human_id_1'
[INFO] [WallTime: 1570049388.222967] State machine transitioning 'lookup_recent_seen_human_id_1':'unknown_person'-->'greet_people_state_2'
[INFO] [WallTime: 1570049389.741729] total_time: 1.35625
is_success: True
error_info: ''
[INFO] [WallTime: 1570049389.743483] State machine transitioning 'greet_people_state_2':'next'-->'lookup_recent_seen_human_id_2'
[INFO] [WallTime: 1570049389.744034] State machine transitioning 'lookup_recent_seen_human_id_2':'unknown_person'-->'greet_people_state_3'
[INFO] [WallTime: 1570049393.887217] total_time: 3.878375
is_success: True
error_info: ''
[INFO] [WallTime: 1570049393.887522] State machine transitioning 'greet_people_state_3':'next'-->'lookup_recent_seen_human_id_3'
[INFO] [WallTime: 1570049393.888098] State machine terminating 'lookup_recent_seen_human_id_3':'error':'lost_face'
[INFO] [WallTime: 1570049393.888676] State machine transitioning 'initial_greeting':'lost_face'-->'lost_person_rosbag_cleanup'
Traceback (most recent call last):
  File "/root/catkin_ws/src/greeting_bot_state_machine/scripts/greeting_bot.py", line 39, in <module>
    main(sys.argv)
  File "/root/catkin_ws/src/greeting_bot_state_machine/scripts/greeting_bot.py", line 29, in main
    outcome = sm.execute()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/smach/state_machine.py", line 359, in execute
    container_outcome = self._update_once()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/smach/state_machine.py", line 250, in _update_once
    raise ex
smach.exceptions.InvalidUserCodeError: Could not execute state 'lost_person_rosbag_cleanup' of type '<greeting_bot_state_machine.cogrob_rosbag_states.FinishRecording object at 0x7fbc58cbcdd0>': 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 "/root/catkin_ws/src/greeting_bot_state_machine/src/greeting_bot_state_machine/cogrob_rosbag_states.py", line 38, in execute
    response = finish_recording_proxy(config_name=self._config_name)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 505, in call
    raise ServiceException("unable to connect to service: %s"%e)
ServiceException: unable to connect to service: filedescriptor out of range in select()

The robot is transferring logs to HDD on Shengye's workstation.

BillWSY commented 4 years ago

cogrob_rosbag error:

[WARN] [WallTime: 1570049393.911820] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.

BillWSY commented 4 years ago

rosbag is still recording. Had to manual intervene. Restarting cogrob_rosbag and the state machine manually.

BillWSY commented 4 years ago

Sent three times "prep_serve", localization was off, reset with "set 2D pose", sent "prep serve", robot recovered.

CogRob / tritonbot_deployment_log

Fetch Arm dropped in the middle of the air #6