ahendrix
commented
11 years ago [sglaser] Nan was being caused by a divide by zero. Fixed: r28645
It stuck around because the Pid class was holding onto it. Fixed: r28647
And it stuck around when the controller was restarted because the controller wasn't reseting the pid. Fixed: r28648
Even after restarting.
{{{ header: seq: 816676 stamp: 1262894134504037000 frame_id: joint_names: ['r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'] desired: positions: [-1.4236954402961761, 0.93156424441324648, 0.29602257830119827, -2.0216851192823451, 2.7960462776131751, -2.0007265321957153, -4.1470866772756443] velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] time_from_start: 0 actual: positions: [-1.3108680283916028, 1.2300383889132946, 0.38230011008431763, -2.2441820277961924, 2.8050704231774626, -2.2069153045476937, -4.154091613411679] velocities: [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] accelerations: [] time_from_start: 0 error: positions: [0.11282741190457335, 0.29847414450004817, 0.086277531783119366, -0.22249690851384729, 0.0090241455642874335, -0.20618877235197841, -0.0070049361360347007] velocities: [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0] accelerations: [] time_from_start: 0 }}}
{{{
header: seq: 862779 stamp: 1262894227976456000 frame_id: name: ['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'torso_lift_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_tip_joint'] position: [-0.0, 195.35583753493566, 268.64715512875449, 6.9750237536524265e-05, -181.17135947964985, -215.16671850095477, 6.9750237535009811e-05, 220.25234782008187, 201.9168936286334, -0.0, -95.766099631761591, -63.087415844398414, 0.018503558521408687, -1.4118755417338015e-05, 0.4947890269731991, 0.77783176263873577, -1.3108680283916028, 1.2300383889132946, 0.38230011008431763, -2.2441820277961924, 2.8050704231774626, -2.2069153045476937, -4.154091613411679, 0.081111745604375396, 0.46852722054003532, 0.46852722054003532, 0.46852722054003532, 0.46852722054003532] velocity: [-0.0, 0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -1.3613568165555769, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [0.12419195747083321, -0.0052847641607849764, 0.0026423820803924882, 0.24574152763184023, -0.0052847641607849764, 0.0052847641607849764, 0.33558251898041236, -0.010569528321569953, 0.010569528321569953, -0.058132407614317219, 0.0026423820803924882, -0.0026423820803924882, -45.591522201923972, -0.033894002549350266, -0.6644838190287351, -0.062946002501249321, -0.0, -0.0, -0.0, 0.0, 0.0, -0.0, 0.0, -10.902921818669482, -1.7310435776938935, -1.7310435776938935, -1.7310435776938935, -1.7310435776938935] }}}
{{{ header: seq: 8646 stamp: 1262894245736521000 frame_id: actuator_statistics: [ name: bl_caster_l_wheel_motor device_id: 11 timestamp: 1279831664000 encoder_count: 3157729 encoder_offset: 0 position: 16533.8303807 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00212532534579 last_commanded_effort: -0.000149622904344 last_executed_current: 0.00200000009499 last_executed_effort: -0.000140800006688 last_measured_current: 0.00200000009499 last_measured_effort: -0.000140800006688 motor_voltage: -2.61875009537 num_encoder_errors: 0, name: bl_caster_r_wheel_motor device_id: 12 timestamp: 1280153064000 encoder_count: -2894856 encoder_offset: 0 position: -15157.4305713 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00210668410416 last_commanded_effort: -0.000148310560933 last_executed_current: 0.00200000009499 last_executed_effort: -0.000140800006688 last_measured_current: 0.00200000009499 last_measured_effort: -0.000140800006688 motor_voltage: -2.76874995232 num_encoder_errors: 0, name: bl_caster_rotation_motor device_id: 13 timestamp: 1280841264000 encoder_count: 180003 encoder_offset: 942 position: -0.00523598775601 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: 942.708179538 last_calibration_falling_edge: 942.734359477 is_enabled: True halted: False last_commanded_current: 0.0620257262057 last_commanded_effort: -0.00436661112488 last_executed_current: 0.062000002712 last_executed_effort: -0.00436480019093 last_measured_current: 0.062000002712 last_measured_effort: -0.00436480019093 motor_voltage: -1.5 num_encoder_errors: 0, name: br_caster_l_wheel_motor device_id: 2 timestamp: 1280232264000 encoder_count: -1372986 encoder_offset: 0 position: -7188.93788514 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: -0.000726788323052 last_commanded_effort: 5.11658979429e-05 last_executed_current: -0.000500000023749 last_executed_effort: 3.52000016719e-05 last_measured_current: -0.000500000023749 last_measured_effort: 3.52000016719e-05 motor_voltage: -2.46250009537 num_encoder_errors: 0, name: br_caster_r_wheel_motor device_id: 3 timestamp: 1279885264000 encoder_count: 904476 encoder_offset: 0 position: 4735.82526158 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: -0.000731823103251 last_commanded_effort: 5.15203464689e-05 last_executed_current: -0.000500000023749 last_executed_effort: 3.52000016719e-05 last_measured_current: -0.000500000023749 last_measured_effort: 3.52000016719e-05 motor_voltage: -2.0625 num_encoder_errors: 0, name: br_caster_rotation_motor device_id: 4 timestamp: 1279357664000 encoder_count: -360250 encoder_offset: -1886 position: 0.0 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -1886.26458909 last_calibration_falling_edge: -1886.26458909 is_enabled: True halted: False last_commanded_current: -0.0113606427747 last_commanded_effort: 0.000799789251336 last_executed_current: -0.0110000008717 last_executed_effort: 0.000774400061369 last_measured_current: -0.0110000008717 last_measured_effort: 0.000774400061369 motor_voltage: -2.61875009537 num_encoder_errors: 0, name: fl_caster_l_wheel_motor device_id: 5 timestamp: 1280858164000 encoder_count: 2800791 encoder_offset: 0 position: 14664.9073831 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00149691559259 last_commanded_effort: -0.000105382857719 last_executed_current: 0.0010000000475 last_executed_effort: -7.04000033438e-05 last_measured_current: 0.0010000000475 last_measured_effort: -7.04000033438e-05 motor_voltage: -2.38750004768 num_encoder_errors: 0, name: fl_caster_r_wheel_motor device_id: 6 timestamp: 1280613164000 encoder_count: -3851559 encoder_offset: 0 position: -20166.7157654 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00148106961084 last_commanded_effort: -0.000104267300603 last_executed_current: 0.0010000000475 last_executed_effort: -7.04000033438e-05 last_measured_current: 0.0010000000475 last_measured_effort: -7.04000033438e-05 motor_voltage: -2.61875009537 num_encoder_errors: 0, name: fl_caster_rotation_motor device_id: 7 timestamp: 1280298264000 encoder_count: -720749 encoder_offset: -3773 position: 0.0 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -3773.83293914 last_calibration_falling_edge: -3773.83293914 is_enabled: True halted: False last_commanded_current: 0.0236531216064 last_commanded_effort: -0.00166517976109 last_executed_current: 0.023500001058 last_executed_effort: -0.00165440007448 last_measured_current: 0.023500001058 last_measured_effort: -0.00165440007448 motor_voltage: -1.92500007153 num_encoder_errors: 0, name: fr_caster_l_wheel_motor device_id: 8 timestamp: 1280536064000 encoder_count: -2597430 encoder_offset: 0 position: -13600.111677 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00104249755765 last_commanded_effort: -7.33918280588e-05 last_executed_current: 0.0010000000475 last_executed_effort: -7.04000033438e-05 last_measured_current: 0.0010000000475 last_measured_effort: -7.04000033438e-05 motor_voltage: -0.0125000001863 num_encoder_errors: 0, name: fr_caster_r_wheel_motor device_id: 9 timestamp: 1277983364000 encoder_count: 3084817 encoder_offset: 0 position: 16152.0640414 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: False calibration_falling_edge_valid: False last_calibration_rising_edge: 0.0 last_calibration_falling_edge: 0.0 is_enabled: True halted: False last_commanded_current: 0.00102662608628 last_commanded_effort: -7.2274476474e-05 last_executed_current: 0.0010000000475 last_executed_effort: -7.04000033438e-05 last_measured_current: 0.0010000000475 last_measured_effort: -7.04000033438e-05 motor_voltage: -0.0375000014901 num_encoder_errors: 0, name: fr_caster_rotation_motor device_id: 10 timestamp: 1280105964000 encoder_count: 360197 encoder_offset: 1885 position: -0.00523598775612 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: 1885.99755372 last_calibration_falling_edge: 1885.99755372 is_enabled: True halted: False last_commanded_current: 0.0449246996021 last_commanded_effort: -0.00316269885199 last_executed_current: 0.0445000007749 last_executed_effort: -0.00313280005455 last_measured_current: 0.0445000007749 last_measured_effort: -0.00313280005455 motor_voltage: 0.975000023842 num_encoder_errors: 0, name: head_pan_motor device_id: 26 timestamp: 1278002464000 encoder_count: -2 encoder_offset: 0 position: -8.4712532504e-05 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -16.8018658299 last_calibration_falling_edge: -16.7509720289 is_enabled: True halted: False last_commanded_current: -0.0194449451313 last_commanded_effort: -0.00523069024033 last_executed_current: -0.0190000012517 last_executed_effort: -0.00511100033671 last_measured_current: -0.0190000012517 last_measured_effort: -0.00511100033671 motor_voltage: -0.31874999404 num_encoder_errors: 0, name: head_tilt_motor device_id: 27 timestamp: 1279284064000 encoder_count: -769 encoder_offset: -3 position: 2.96873416184 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -4.62191111196 last_calibration_falling_edge: -4.60117660045 is_enabled: True halted: False last_commanded_current: 0.0895080977428 last_commanded_effort: -0.110757320147 last_executed_current: 0.089500002563 last_executed_effort: -0.110747303171 last_measured_current: 0.089500002563 last_measured_effort: -0.110747303171 motor_voltage: 0.425000011921 num_encoder_errors: 0, name: laser_tilt_mount_motor device_id: 25 timestamp: 1280889964000 encoder_count: 2421 encoder_offset: -3 position: 5.02073390863 encoder_velocity: 13000.0 velocity: 8.16814089933 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -5.60020306429 last_calibration_falling_edge: -5.59454819751 is_enabled: True halted: False last_commanded_current: -0.811114581768 last_commanded_effort: 0.0436379644991 last_executed_current: -0.791000008583 last_executed_effort: 0.0425558004618 last_measured_current: -0.801000058651 last_measured_effort: 0.0430938031554 motor_voltage: -2.91250014305 num_encoder_errors: 0, name: r_elbow_flex_motor device_id: 20 timestamp: 1027103748000 encoder_count: 1534 encoder_offset: -73 position: 81.1720639454 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -30.9551596134 last_calibration_falling_edge: -30.7457201031 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.09375 num_encoder_errors: 0, name: r_forearm_roll_motor device_id: 21 timestamp: 1028084048000 encoder_count: -481175 encoder_offset: -2265 position: -253.898945732 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -2549.33437055 last_calibration_falling_edge: -2548.89454758 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: -0.000500000023749 last_measured_effort: 2.69000012777e-05 motor_voltage: -0.0874999985099 num_encoder_errors: 0, name: r_gripper_motor device_id: 24 timestamp: 1024553348000 encoder_count: 397051 encoder_offset: -16 position: 2095.70409933 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -0.00523598775598 last_calibration_falling_edge: -0.00523598775598 is_enabled: True halted: False last_commanded_current: 0.00653479371786 last_commanded_effort: -0.000400582854905 last_executed_current: 0.00640869140625 last_executed_effort: -0.000392852783203 last_measured_current: 0.00640869140625 last_measured_effort: -0.000392852783203 motor_voltage: 0.148174405098 num_encoder_errors: 0, name: r_shoulder_lift_motor device_id: 18 timestamp: 1029438648000 encoder_count: 2378 encoder_offset: -63 position: 76.1270758898 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -63.7952748189 last_calibration_falling_edge: -63.7795668556 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.09375 num_encoder_errors: 0, name: r_shoulder_pan_motor device_id: 17 timestamp: 1026327048000 encoder_count: -7608 encoder_offset: 42 position: -82.7944246732 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -5.92190215202 last_calibration_falling_edge: -6.00567795611 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.13750000298 num_encoder_errors: 0, name: r_upper_arm_roll_motor device_id: 19 timestamp: 1024154448000 encoder_count: 2214 encoder_offset: 0 position: 12.4820985943 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: -52.1190221231 last_calibration_falling_edge: -52.2132699027 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.10000000149 num_encoder_errors: 0, name: r_wrist_l_motor device_id: 22 timestamp: 1025158248000 encoder_count: 48580 encoder_offset: 137 position: 117.164380185 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: 252.929624541 last_calibration_falling_edge: 258.123724394 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.09375 num_encoder_errors: 0, name: r_wrist_r_motor device_id: 23 timestamp: 1029137848000 encoder_count: 86335 encoder_offset: 69 position: 382.750873406 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: True calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: 465.887718552 last_calibration_falling_edge: 471.265077977 is_enabled: True halted: False last_commanded_current: nan last_commanded_effort: nan last_executed_current: 0.0 last_executed_effort: -0.0 last_measured_current: 0.0 last_measured_effort: -0.0 motor_voltage: -0.0750000029802 num_encoder_errors: 0, name: torso_lift_motor device_id: 14 timestamp: 1280892564000 encoder_count: 84339 encoder_offset: 1406 position: -964.837158156 encoder_velocity: 0.0 velocity: 0.0 calibration_reading: False calibration_rising_edge_valid: True calibration_falling_edge_valid: True last_calibration_rising_edge: 1126.94688071 last_calibration_falling_edge: 1101.64658787 is_enabled: True halted: False last_commanded_current: -0.014929351685 last_commanded_effort: 0.000900239906604 last_executed_current: -0.0145000005141 last_executed_effort: 0.000874350031 last_measured_current: -0.0145000005141 last_measured_effort: 0.000874350031 motor_voltage: -0.131250008941 num_encoder_errors: 0] joint_statistics: [ name: fl_caster_rotation_joint timestamp: 1262894245736512000 position: -0.0 velocity: -0.0 measured_effort: 0.124191957471 commanded_effort: 0.125001163419 is_calibrated: True violated_limits: True odometer: 50.4423952817 min_position: -0.0 max_position: -0.0 max_abs_velocity: 0.0 max_abs_effort: 0.126834334937, name: fl_caster_l_wheel_joint timestamp: 1262894245736512000 position: 195.355837535 velocity: 0.0 measured_effort: -0.00528476416078 commanded_effort: -0.00791084549972 is_calibrated: True violated_limits: True odometer: 1.23332370009 min_position: 195.355837535 max_position: 195.355837535 max_abs_velocity: 0.0 max_abs_effort: 0.00792714593356, name: fl_caster_r_wheel_joint timestamp: 1262894245736512000 position: 268.647155129 velocity: -0.0 measured_effort: 0.00528476416078 commanded_effort: 0.00782710322725 is_calibrated: True violated_limits: True odometer: 0.515175254429 min_position: 268.647155129 max_position: 268.647155129 max_abs_velocity: 0.0 max_abs_effort: 0.00792714593356, name: fr_caster_rotation_joint timestamp: 1262894245736512000 position: 6.97502375365e-05 velocity: -0.0 measured_effort: 0.23517199808 commanded_effort: 0.237415882041 is_calibrated: True violated_limits: True odometer: 25.2662562943 min_position: 6.97502375365e-05 max_position: 6.97502375365e-05 max_abs_velocity: 0.0 max_abs_effort: 0.240456772699, name: fr_caster_l_wheel_joint timestamp: 1262894245736512000 position: -181.17135948 velocity: 0.0 measured_effort: -0.00528476416078 commanded_effort: -0.00550931749612 is_calibrated: True violated_limits: True odometer: 0.762370096253 min_position: -181.17135948 max_position: -181.17135948 max_abs_velocity: 0.0 max_abs_effort: 0.00792714593356, name: fr_caster_r_wheel_joint timestamp: 1262894245736512000 position: -215.166718501 velocity: -0.0 measured_effort: 0.00528476416078 commanded_effort: 0.00542544051701 is_calibrated: True violated_limits: True odometer: 0.808963254927 min_position: -215.166718501 max_position: -215.166718501 max_abs_velocity: 0.0 max_abs_effort: 0.00792714593356, name: bl_caster_rotation_joint timestamp: 1262894245736512000 position: 6.9750237535e-05 velocity: -0.0 measured_effort: 0.327655376738 commanded_effort: 0.327790770256 is_calibrated: True violated_limits: True odometer: 12.6908464687 min_position: 6.9750237535e-05 max_position: 6.9750237535e-05 max_abs_velocity: 0.0 max_abs_effort: 0.330297744361, name: bl_caster_l_wheel_joint timestamp: 1262894245736512000 position: 220.25234782 velocity: 0.0 measured_effort: -0.0105695283216 commanded_effort: -0.0112318067114 is_calibrated: True violated_limits: True odometer: 0.631169899452 min_position: 220.25234782 max_position: 220.25234782 max_abs_velocity: 0.0 max_abs_effort: 0.0132119107096, name: bl_caster_r_wheel_joint timestamp: 1262894245736512000 position: 201.916893629 velocity: -0.0 measured_effort: 0.0105695283216 commanded_effort: 0.0111332921504 is_calibrated: True violated_limits: True odometer: 0.515175254431 min_position: 201.916893629 max_position: 201.916893629 max_abs_velocity: 0.0 max_abs_effort: 0.0132119107096, name: br_caster_rotation_joint timestamp: 1262894245736512000 position: -0.0 velocity: -0.0 measured_effort: -0.0581324076143 commanded_effort: -0.0600383149274 is_calibrated: True violated_limits: True odometer: 25.1994355668 min_position: -0.0 max_position: -0.0 max_abs_velocity: 0.0 max_abs_effort: 0.0607747900023, name: br_caster_l_wheel_joint timestamp: 1262894245736512000 position: -95.7660996318 velocity: 0.0 measured_effort: 0.00264238208039 commanded_effort: 0.00384090469971 is_calibrated: True violated_limits: True odometer: 0.542517347545 min_position: -95.7660996318 max_position: -95.7660996318 max_abs_velocity: 0.0 max_abs_effort: 0.00528476416078, name: br_caster_r_wheel_joint timestamp: 1262894245736512000 position: -63.0874158444 velocity: -0.0 measured_effort: -0.00264238208039 commanded_effort: -0.0038675123244 is_calibrated: True violated_limits: True odometer: 0.772972132359 min_position: -63.0874158444 max_position: -63.0874158444 max_abs_velocity: 0.0 max_abs_effort: 0.00528476416078, name: torso_lift_joint timestamp: 1262894245736512000 position: 0.0185035585214 velocity: -0.0 measured_effort: -45.5915222019 commanded_effort: -46.9415104098 is_calibrated: True violated_limits: True odometer: 0.232025532827 min_position: 0.0185035585214 max_position: 0.0185035585214 max_abs_velocity: 0.0 max_abs_effort: 47.1636438591, name: head_pan_joint timestamp: 1262894245736512000 position: -1.41187554173e-05 velocity: 0.0 measured_effort: -0.0306660020202 commanded_effort: -0.0313839747277 is_calibrated: True violated_limits: True odometer: 14.7137680316 min_position: -1.41187554173e-05 max_position: 9.06009997023e-05 max_abs_velocity: 0.10471975512 max_abs_effort: 0.0581040035114, name: head_tilt_joint timestamp: 1262894245736512000 position: 0.494789026973 velocity: 0.0 measured_effort: -0.664483819029 commanded_effort: -0.664543920882 is_calibrated: True violated_limits: True odometer: 13.0589605265 min_position: 0.494684307218 max_position: 0.494893746728 max_abs_velocity: 0.10471975512 max_abs_effort: 0.686757008851, name: laser_tilt_mount_joint timestamp: 1262894245736512000 position: 0.836788984771 velocity: 1.36135681656 measured_effort: 0.258562818933 commanded_effort: 0.275600888747 is_calibrated: True violated_limits: True odometer: 12317.883595 min_position: -0.464772851611 max_position: 0.836788984771 max_abs_velocity: 1.57079632679 max_abs_effort: 0.343943406773, name: r_shoulder_pan_joint timestamp: 1262894245736512000 position: -1.31086802839 velocity: 0.0 measured_effort: -0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 88.5571305699 min_position: -1.31086802839 max_position: -1.31086802839 max_abs_velocity: 0.0 max_abs_effort: 0.00190427409045, name: r_shoulder_lift_joint timestamp: 1262894245736512000 position: 1.23003838891 velocity: 0.0 measured_effort: -0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 77.1819789899 min_position: 1.23003838891 max_position: 1.23003838891 max_abs_velocity: 0.0 max_abs_effort: 0.00186598358863, name: r_upper_arm_roll_joint timestamp: 1262894245736512000 position: 0.382300110084 velocity: 0.0 measured_effort: -0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 102.888828062 min_position: 0.382300110084 max_position: 0.382300110084 max_abs_velocity: 0.0 max_abs_effort: 0.000984397546756, name: r_elbow_flex_joint timestamp: 1262894245736512000 position: -2.2441820278 velocity: -0.0 measured_effort: 0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 103.748516632 min_position: -2.2441820278 max_position: -2.2441820278 max_abs_velocity: 0.0 max_abs_effort: 0.0010905255518, name: r_forearm_roll_joint timestamp: 1262894245736512000 position: 2.80507042318 velocity: -0.0 measured_effort: -0.00243483440136 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 183.055710995 min_position: 2.80507042318 max_position: 2.80507042318 max_abs_velocity: 0.0 max_abs_effort: 0.00243483440136, name: r_wrist_flex_joint timestamp: 1262894245736512000 position: -2.20691530455 velocity: -0.0 measured_effort: -0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 80.7729737388 min_position: -2.20691530455 max_position: -2.20691530455 max_abs_velocity: 0.0 max_abs_effort: 0.0032372230109, name: r_wrist_roll_joint timestamp: 1262894245736512000 position: -4.15409161341 velocity: -0.0 measured_effort: 0.0 commanded_effort: nan is_calibrated: True violated_limits: False odometer: 141.358097964 min_position: -4.15409161341 max_position: -4.15409161341 max_abs_velocity: 0.0 max_abs_effort: 0.0032372230109, name: r_gripper_joint timestamp: 1262894245736512000 position: 0.0811117456044 velocity: 0.0 measured_effort: -10.9029218187 commanded_effort: -11.1174560438 is_calibrated: True violated_limits: True odometer: 0.0820822335933 min_position: 0.0811117456044 max_position: 0.0811117456044 max_abs_velocity: 0.0 max_abs_effort: 10.9029218187, name: r_gripper_l_finger_joint timestamp: 1262894245736512000 position: 0.46852722054 velocity: 0.0 measured_effort: -1.73104357769 commanded_effort: 0.0 is_calibrated: True violated_limits: False odometer: 0.472147976526 min_position: 0.46852722054 max_position: 0.46852722054 max_abs_velocity: 0.0 max_abs_effort: 1.73104357769, name: r_gripper_r_finger_joint timestamp: 1262894245736512000 position: 0.46852722054 velocity: 0.0 measured_effort: -1.73104357769 commanded_effort: 0.0 is_calibrated: True violated_limits: False odometer: 0.472147976526 min_position: 0.46852722054 max_position: 0.46852722054 max_abs_velocity: 0.0 max_abs_effort: 1.73104357769, name: r_gripper_r_finger_tip_joint timestamp: 1262894245736512000 position: 0.46852722054 velocity: 0.0 measured_effort: -1.73104357769 commanded_effort: 0.0 is_calibrated: True violated_limits: False odometer: 0.472147976526 min_position: 0.46852722054 max_position: 0.46852722054 max_abs_velocity: 0.0 max_abs_effort: 1.73104357769, name: r_gripper_l_finger_tip_joint timestamp: 1262894245736512000 position: 0.46852722054 velocity: 0.0 measured_effort: -1.73104357769 commanded_effort: 0.0 is_calibrated: True violated_limits: False odometer: 0.472147976526 min_position: 0.46852722054 max_position: 0.46852722054 max_abs_velocity: 0.0 max_abs_effort: 1.73104357769] controller_statistics: [ name: forearm_camera_r_trigger timestamp: 1262894245736512000 running: True max_time: 18000 mean_time: 591 variance_time: 544, name: projector_trigger timestamp: 1262894245736512000 running: True max_time: 23000 mean_time: 501 variance_time: 933, name: proj_controller timestamp: 1262894245736512000 running: True max_time: 21000 mean_time: 640 variance_time: 1035, name: head_camera_trigger timestamp: 1262894245736512000 running: True max_time: 22000 mean_time: 326 variance_time: 740, name: pr2_base_controller timestamp: 1262894245736512000 running: True max_time: 68000 mean_time: 5803 variance_time: 1025, name: r_arm_controller timestamp: 1262894245736512000 running: True max_time: 85000 mean_time: 1546 variance_time: 1221, name: pr2_base_odometry timestamp: 1262894245736512000 running: True max_time: 190000 mean_time: 8794 variance_time: 2926, name: head_traj_controller timestamp: 1262894245736512000 running: True max_time: 62000 mean_time: 1596 variance_time: 944, name: laser_tilt_controller timestamp: 1262894245736512000 running: True max_time: 309000 mean_time: 3576 variance_time: 843, name: torso_controller timestamp: 1262894245736512000 running: True max_time: 165000 mean_time: 655 variance_time: 813, name: r_gripper_controller timestamp: 1262894245736512000 running: True max_time: 24000 mean_time: 245 variance_time: 550] }}}
trac data: