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PR2 / pr2_mechanism

Infrastructure to control the PR2 robot in a hard realtime control loop.
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GAZEBO TEST FAILURE: CartesianTrajectoryController not found (ros ticket #2534) #128

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

Here we go again: {{{ [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/unplug], pid [10836], bound on [ate], xmlrpc port [33558], tcpros port [58650], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_unplug-52.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/plug_in], pid [10828], bound on [ate], xmlrpc port [38270], tcpros port [54000], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_plug_in2-51.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/localize_plug_in_gripper], pid [10822], bound on [ate], xmlrpc port [33501], tcpros port [39163], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_localize_plug_in_gripper-50.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/move_and_grasp_plug], pid [10817], bound on [ate], xmlrpc port [44028], tcpros port [48611], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_move_and_grasp_plug-49.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/plugs_untuck_arms], pid [10812], bound on [ate], xmlrpc port [52563], tcpros port [48388], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_plugs_untuck_arms-48.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/detect_outlet_coarse], pid [10804], bound on [ate], xmlrpc port [53764], tcpros port [53427], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_detect_outlet_coarse-47.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/detect_outlet_fine], pid [10791], bound on [ate], xmlrpc port [42217], tcpros port [50229], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/run_detect_outlet_fine-46.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 187.595000001: ROI policy: 0 [ INFO] 187.613000001: Stay active = 1 [ INFO] 0.000000000: Started node [/outlet_spotting], pid [10777], bound on [ate], xmlrpc port [56054], tcpros port [34505], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/outlet_spotting2-44.log], using [sim] time [ INFO] 0.000000000: Starting thread 0x80d3380 [ERROR] 188.717000001: Poco exception: Not found: CartesianTrajectoryController (class: CartesianTrajectoryController) [ERROR] 188.717000001: Could not load class CartesianTrajectoryController: Not found [ERROR] 188.717000001: Could not spawn controller 'r_arm_cartesian_trajectory_controller' because controller type 'CartesianTrajectoryController' does not exist [ INFO] 0.000000000: Started node [/door_domain_action_runer], pid [10768], bound on [ate], xmlrpc port [53969], tcpros port [54100], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/action_runner-43.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ERROR] 188.758000001: Poco exception: Not found: CartesianTrajectoryController (class: CartesianTrajectoryController) [ERROR] 188.758000001: Could not load class CartesianTrajectoryController: Not found [ERROR] 188.758000001: Could not spawn controller 'r_arm_constraint_cartesian_trajectory_controller' because controller type 'CartesianTrajectoryController' does not exist [ INFO] 0.000000000: Started node [/doors_detector_laser], pid [10760], bound on [ate], xmlrpc port [34550], tcpros port [54970], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/doors_detector_laser-42.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/handle_detector_laser], pid [10747], bound on [ate], xmlrpc port [39911], tcpros port [41567], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/handle_detector_laser-41.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ INFO] 0.000000000: Started node [/handle_detector_vision], pid [10739], bound on [ate], xmlrpc port [54934], tcpros port [58210], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/handle_detector_vision-40.log], using [sim] time [ INFO] 0.000000000: Loading cascade classifier: /home/wgsim/hudson/workspace/gazebo-milestone-tests/personalrobots/stacks/semantic_mapping/door_handle_detector/data/handles_data.xml Failed to spawn r_arm_cartesian_trajectory_controller Failed to spawn r_arm_constraint_cartesian_trajectory_controller [ INFO] 0.000000000: Started node [/sac_ground_removal], pid [10403], bound on [ate], xmlrpc port [57103], tcpros port [45569], logging to [/home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/log/a60741f0-8e89-11de-ada3-00301b81ad64/sac_inc_ground_removal_node-30.log], using [sim] time [ WARN] 0.000000000: NodeHandle API is being used inside an application started with the old Node API. Automatically starting a ros::spin() thread. Please switch this application to use the NodeHandle API. [ WARN] 0.000000000: Trying to subscribe to tilt_laser_cloud_filtered, but the topic doesn't exist! bots/stacks/navigation/robot_pose_ekf/robot_pose_ekf.launch] Added node of type [tf/change_notifier] in namespace [/] ... done importing include file [/home/wgsim/hudson/workspace/gazebo-milestone-tests/personalrobots/demos/milestone2/milestone2_actions/milestone2.launch] Added node of type [doors_core/test_executive] in namespace [/] Added node of type [rostopic/rostopic] in namespace [/] [ROSTEST] Outputting test results to /home/wgsim/hudson/workspace/gazebo-milestone-tests/ros/test/test_results/door_demos_gazebo/TEST-rostest__pr2_door_test.xml testdoor_demos_test_open_door ... FAILURE! FAILURE: Test Fixture Nodes [u'pr2_mechanism_controllers/base_trajectory_controller'] failed to launch }}}

trac data:

ahendrix commented 11 years ago

[sglaser] r22596

ahendrix commented 11 years ago

[sglaser] r22596