When simulating with the HEBI Gazebo Plugin, if I call the EntryLIstSrv ROS Service from my code, I receive the following empty response:
entry_list:
size: 0
entries: []
auto-starting new master
process[master]: started with pid [16271]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 078503c8-74bc-11e8-95d0-3065ec753340
process[rosout-1]: started with pid [16284]
started core service [/rosout]
process[gazebo-2]: started with pid [16294]
/opt/ros/kinetic/lib/gazebo_ros/debug: 5: [: Linux: unexpected operator
process[gazebo_gui-3]: started with pid [16311]
process[spawn_urdf-4]: started with pid [16317]
process[hebiros_node-5]: started with pid [16318]
process[arm_position_controller-6]: started with pid [16319]
Broadcasting on:
192.168.1.255
172.20.20.255
[ INFO] [1529521156.929306692]: Using Gazebo
[ INFO] [1529521156.937988574]: Parameters:
[ INFO] [1529521156.938041650]: /hebiros/node_frequency=200
[ INFO] [1529521156.938078969]: /hebiros/action_frequency=200
[ INFO] [1529521156.938105151]: /hebiros/feedback_frequency=100
[ INFO] [1529521156.938124859]: /hebiros/command_lifetime=100
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
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Reading symbols from gzserver...done.
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
/home/joseph/tto-robotics/behavior_library_catkin_ws/catkin_ws/src/hebi_6_dof_arm_behavior/src/transformations.py:1912: UserWarning: failed to import module _transformations
warnings.warn('failed to import module %s' % name)
[INFO] [1529521157.535255, 0.000000]: Waiting for AddGroupFromURDFSrv at /hebiros/add_group_from_urdf ...
[INFO] [1529521157.536092, 0.000000]: AddGroupFromURDFSrv AVAILABLE.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffcdf4e700 (LWP 16427)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffc9c88700 (LWP 16429)]
[New Thread 0x7fffc9487700 (LWP 16430)]
[New Thread 0x7fffc8c86700 (LWP 16433)]
[New Thread 0x7fffc3fff700 (LWP 16434)]
[New Thread 0x7fffc37fe700 (LWP 16435)]
[New Thread 0x7fffc2ffd700 (LWP 16447)]
[New Thread 0x7fffc27fc700 (LWP 16448)]
[New Thread 0x7fffc1ffb700 (LWP 16449)]
[New Thread 0x7fffc17fa700 (LWP 16450)]
[New Thread 0x7fffc0ff9700 (LWP 16451)]
[New Thread 0x7fffabfff700 (LWP 16452)]
[New Thread 0x7fffa37fe700 (LWP 16453)]
[New Thread 0x7fffab7fe700 (LWP 16454)]
[New Thread 0x7fffaaffd700 (LWP 16455)]
[New Thread 0x7fffaa7fc700 (LWP 16456)]
[New Thread 0x7fffa9ffb700 (LWP 16457)]
[ INFO] [1529521160.635875534]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1529521160.636475042]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[New Thread 0x7fffa97fa700 (LWP 16459)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffa2f7d700 (LWP 16464)]
[New Thread 0x7fffa277c700 (LWP 16465)]
[New Thread 0x7fffa1f7b700 (LWP 16466)]
[New Thread 0x7fffa177a700 (LWP 16467)]
[New Thread 0x7fffa0f79700 (LWP 16468)]
[New Thread 0x7fff6bfff700 (LWP 16469)]
[New Thread 0x7fff6b7fe700 (LWP 16470)]
[New Thread 0x7fff6affd700 (LWP 16471)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fff6a7fc700 (LWP 16475)]
[New Thread 0x7fff69ffa700 (LWP 16477)]
[New Thread 0x7fff6a3fb700 (LWP 16476)]
[New Thread 0x7fff693f7700 (LWP 16480)]
[New Thread 0x7fff69bf9700 (LWP 16479)]
[New Thread 0x7fff697f8700 (LWP 16478)]
[New Thread 0x7fff68ff6700 (LWP 16482)]
[New Thread 0x7fff68bf5700 (LWP 16530)]
[New Thread 0x7fff33fff700 (LWP 16531)]
[New Thread 0x7fff337fe700 (LWP 16532)]
[New Thread 0x7fff32ffd700 (LWP 16533)]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1529521161.959485039]: <robotNamespace> set to: //
[ INFO] [1529521161.959550234]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Base
[ INFO] [1529521161.959574256]: <frameName> set to: ARM/Base/imu_link
[ INFO] [1529521161.959617644]: <updateRateHZ> set to: 10
[ INFO] [1529521161.959659487]: <gaussianNoise> set to: 0
[ INFO] [1529521161.959691672]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.959733672]: <rpyOffset> set to: 0 -0 0
[ INFO] [1529521161.961909435]: <robotNamespace> set to: //
[ INFO] [1529521161.961934072]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Shoulder
[ INFO] [1529521161.961946625]: <frameName> set to: ARM/Shoulder/imu_link
[ INFO] [1529521161.961966782]: <updateRateHZ> set to: 10
[ INFO] [1529521161.961982503]: <gaussianNoise> set to: 0
[ INFO] [1529521161.962001804]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.962022723]: <rpyOffset> set to: 0 -0 0
[ INFO] [1529521161.968168300]: <robotNamespace> set to: //
[ INFO] [1529521161.968200704]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Elbow
[ INFO] [1529521161.968220520]: <frameName> set to: ARM/Elbow/imu_link
[ INFO] [1529521161.968242820]: <updateRateHZ> set to: 10
[ INFO] [1529521161.968265552]: <gaussianNoise> set to: 0
[ INFO] [1529521161.968294201]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.968318953]: <rpyOffset> set to: 0 -0 0
[ INFO] [1529521161.972434848]: <robotNamespace> set to: //
[ INFO] [1529521161.972466091]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Wrist_1
[ INFO] [1529521161.972482041]: <frameName> set to: ARM/Wrist_1/imu_link
[ INFO] [1529521161.972503732]: <updateRateHZ> set to: 10
[ INFO] [1529521161.972522213]: <gaussianNoise> set to: 0
[ INFO] [1529521161.972550450]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.972577889]: <rpyOffset> set to: 0 -0 0
[ INFO] [1529521161.976568899]: <robotNamespace> set to: //
[ INFO] [1529521161.976593501]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Wrist_2
[ INFO] [1529521161.976604260]: <frameName> set to: ARM/Wrist_2/imu_link
[ INFO] [1529521161.976619898]: <updateRateHZ> set to: 10
[ INFO] [1529521161.976633127]: <gaussianNoise> set to: 0
[ INFO] [1529521161.976652752]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.976674639]: <rpyOffset> set to: 0 -0 0
[ INFO] [1529521161.980714509]: <robotNamespace> set to: //
[ INFO] [1529521161.980740733]: <topicName> set to: ///hebiros_gazebo_plugin/imu/ARM/Wrist_3
[ INFO] [1529521161.980760510]: <frameName> set to: ARM/Wrist_3/imu_link
[ INFO] [1529521161.980779144]: <updateRateHZ> set to: 10
[ INFO] [1529521161.980796751]: <gaussianNoise> set to: 0
[ INFO] [1529521161.980818119]: <xyzOffset> set to: 0.025 0 0.003
[ INFO] [1529521161.980836626]: <rpyOffset> set to: 0 -0 0
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1529521162.255231254]: Loaded hebiros gazebo plugin
[spawn_urdf-4] process has finished cleanly
log file: /home/joseph/.ros/log/078503c8-74bc-11e8-95d0-3065ec753340/spawn_urdf-4*.log
[ INFO] [1529521164.729764479, 0.008000000]: Loaded URDF from robot_description
[ INFO] [1529521164.729834821, 0.008000000]: Created group [hebi_6d_arm]:
[ INFO] [1529521164.729859072, 0.008000000]: /hebi_6d_arm/ARM/Base
[ INFO] [1529521164.729878974, 0.009000000]: /hebi_6d_arm/ARM/Elbow
[ INFO] [1529521164.729907874, 0.009000000]: /hebi_6d_arm/ARM/Shoulder
[ INFO] [1529521164.729922009, 0.009000000]: /hebi_6d_arm/ARM/Wrist_1
[ INFO] [1529521164.729939129, 0.009000000]: /hebi_6d_arm/ARM/Wrist_2
[ INFO] [1529521164.743760420, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1529521164.813607950, 0.093000000]: Physics dynamic reconfigure ready.
[Thread 0x7fffa9ffb700 (LWP 16457) exited]
entry_list:
size: 0
entries: []
...
Using the develop branch:
When simulating with the HEBI Gazebo Plugin, if I call the EntryLIstSrv ROS Service from my code, I receive the following empty response: