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RobotLabLTH / SkiROS2

A skill-based platform for ROS v.2 with knowledge representating, planning and reasoning
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ros2 launch error #106

Closed pdl0x0lbq closed 3 months ago

pdl0x0lbq commented 8 months ago

I encountered an error when using the command ros2 launch skiros2 skiros2 launch. py `[INFO] [skill_manager_node-4]: process started with pid [76913] [static_transform_publisher-1] [WARN] [1710860048.171697259] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-1] [INFO] [1710860048.177983790] [static_transform_publisher_SzrOYGeJA5UMXorC]: Spinning until stopped - publishing transform [static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-1] from 'map' to 'world' [skill_manager_node-4] [INFO] [1710860048.430873862] [skiros]: [WorldModelInterface] Waiting wm communications... [world_model_server_node-2] [INFO] [1710860048.457418128] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/aqr.owl [world_model_server_node-2] [INFO] [1710860048.460694688] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.460835817] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/skirosExtra.owl [world_model_server_node-2] [INFO] [1710860048.464148045] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.464282088] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/skiros.owl [world_model_server_node-2] [INFO] [1710860048.476922042] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.477104941] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/cora.owl [world_model_server_node-2] [INFO] [1710860048.481631385] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.481773360] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/sumo.owl [world_model_server_node-2] [INFO] [1710860048.486210165] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.486350717] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/coraX.owl [world_model_server_node-2] [INFO] [1710860048.489148390] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.489286973] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/RParts.owl [world_model_server_node-2] [INFO] [1710860048.492493850] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.492672414] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/aqr.owl [world_model_server_node-2] [INFO] [1710860048.494596581] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.494735064] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/skirosExtra.owl [world_model_server_node-2] [INFO] [1710860048.498634769] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.498774867] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/skiros.owl [world_model_server_node-2] [INFO] [1710860048.510313238] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.510492986] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/cora.owl [world_model_server_node-2] [INFO] [1710860048.514824144] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.514962779] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/sumo.owl [world_model_server_node-2] [INFO] [1710860048.521305150] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.521865754] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/coraX.owl [world_model_server_node-2] [INFO] [1710860048.526339614] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.526898154] [skiros]: [WorldModel] Loading ontology: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl/IEEE-1872-2015/RParts.owl [world_model_server_node-2] [INFO] [1710860048.531757566] [skiros]: [WorldModel] Set id: aqr for ontology: http://www.semanticweb.org/sw/ontologies/2024/2/aqr# [world_model_server_node-2] [INFO] [1710860048.532277161] [skiros]: [WorldModelServer] Workspace folder: /home/sw/catkin_ws/install/skiros2/share/skiros2/owl [world_model_server_node-2] [INFO] [1710860048.643700850] [skiros]: [load_reasoner] Loaded AauSpatialReasoner [skill_manager_node-4] [INFO] [1710860048.681545902] [skiros]: [WorldModelInterface] Wm communications active. [skill_manager_node-4] [INFO] [1710860048.684535398] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.685286100] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.688800559] [skiros]: Service call to wm/modify with spining [world_model_server_node-2] [INFO] [1710860048.690026361] [skiros]: AauSpatialReasoner warn: Adding relation to http://www.inf.ufrgs.br/phi-group/ontologies/cora.owl#Robot-1-skiros:test_robot [world_model_server_node-2] [INFO] [1710860048.690350739] [skiros]: [AauSpatialReasoner] Publishing http://www.inf.ufrgs.br/phi-group/ontologies/cora.owl#Robot-1-skiros:test_robot parent: map [skill_manager_node-4] [INFO] [1710860048.694659231] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.698367113] [skiros]: Service call to wm/modify with spining [skill_manager_node-4] [INFO] [1710860048.709583514] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.713332090] [skiros]: Service call to wm/modify with spining [skill_manager_node-4] [INFO] [1710860048.722714333] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.726762999] [skiros]: Service call to wm/modify with spining [skill_manager_node-4] [INFO] [1710860048.734674630] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.738323728] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.741285463] [skiros]: Service call to wm/modify with spining [world_model_server_node-2] [INFO] [1710860048.743336291] [skiros]: AauSpatialReasoner warn: Adding relation to skiros:Location-5-skiros:unknown_location [skill_manager_node-4] [INFO] [1710860048.748570207] [skiros]: Service call to wm/scene/set_relation with spining [skill_manager_node-4] [INFO] [1710860048.749416604] [skiros]: Service call to wm/get with spining [skill_manager_node-4] [INFO] [1710860048.750598859] [skiros]: [SkillManager] Registered robot http://www.inf.ufrgs.br/phi-group/ontologies/cora.owl#Robot-1-skiros:test_robot [skill_manager_node-4] [INFO] [1710860048.751036915] [skiros]: Service call to wm/modify with spining

[skill_manager_node-4] Traceback (most recent call last): [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/skiros2_skill/skill_manager_node", line 33, in [skill_manager_node-4] sys.exit(load_entry_point('skiros2-skill==1.0.5', 'console_scripts', 'skill_manager_node')()) [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/python3.10/site-packages/skiros2_skill/nodes/skill_manager_node.py", line 7, in main [skill_manager_node-4] node = SkillManagerNode() [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/python3.10/site-packages/skiros2_skill/ros/skill_manager.py", line 390, in init [skill_manager_node-4] self._init_skills() [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/python3.10/site-packages/skiros2_skill/ros/skill_manager.py", line 410, in _init_skills [skill_manager_node-4] self.sm.load_skills(r) [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/python3.10/site-packages/skiros2_skill/ros/skill_manager.py", line 237, in load_skills [skill_manager_node-4] self._instanciator.load_library(package, self._verbose) [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_skill/lib/python3.10/site-packages/skiros2_skill/core/skill_instanciator.py", line 24, in load_library [skill_manager_node-4] self._plugin_manager.load(package, SkillDescription) [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_common/lib/python3.10/site-packages/skiros2_common/tools/plugin_loader.py", line 99, in load [skill_manager_node-4] self._plugins += self.import_plugins(folder, base_class) [skill_manager_node-4] File "/home/sw/catkin_ws/install/skiros2_common/lib/python3.10/site-packages/skiros2_common/tools/plugin_loader.py", line 17, in import_plugins [skill_manager_node-4] package = importlib.import_module(package) [skill_manager_node-4] File "/usr/lib/python3.10/importlib/init.py", line 126, in import_module [skill_manager_node-4] return _bootstrap._gcd_import(name[level:], package, level) [skill_manager_node-4] File "", line 1047, in _gcd_import [skill_manager_node-4] File "", line 981, in _sanity_check [skill_manager_node-4] ValueError: Empty module name [ERROR] [skill_manager_node-4]: process has died [pid 76913, exit code 1, cmd '/home/sw/catkin_ws/install/skiros2_skill/lib/skiros2_skill/skill_manager_node --ros-args --params-file /tmp/launch_params_jy8ms9_4']. `

matthias-mayr commented 8 months ago

Thank you for reporting this.

The log is a bit difficult to read, in the future it would be great if it could be formatted with triple backticks as this tends to preserve the linebreaks.

At first sight it looks like it has been started with an empty skill list. And there should of course be a better way to communicate this to the user. The ROS 2 port is also not completely done and tested, but besides the issues that are reported here, it should work.

To verify, can you clone the test lib and launch the launch file from there? This would load some skills.

pdl0x0lbq commented 8 months ago

Thank you for reporting this.

The log is a bit difficult to read, in the future it would be great if it could be formatted with triple backticks as this tends to preserve the linebreaks.

At first sight it looks like it has been started with an empty skill list. And there should of course be a better way to communicate this to the user. The ROS 2 port is also not completely done and tested, but besides the issues that are reported here, it should work.

To verify, can you clone the test lib and launch the launch file from there? This would load some skills.

Thank you very much for patiently reading my terrible log. Skiros2utest_lib can be started, but an error appears to be related to the missing action message type.

[rqt_gui-3] [ERROR] [1710921502.514864704] [get_message_class]: Malformed msg message_type: skiros2_msgs/action/TestAction_FeedbackMessage
[rqt_gui-3] TopicInfo.__init__(): topic "/test_action/_action/feedback": can not get message class for type "skiros2_msgs/action/TestAction_FeedbackMessage"

I did not find TestAction_feedbackMessage in the skiros2/skiros2_msgs/action/folder

matthias-mayr commented 8 months ago

I did not find TestAction_feedbackMessage in the skiros2/skiros2_msgs/action/folder

This is weird. The test.action is there and it should be built. Some follow-up questions then:

  1. Was the workspace source after building it for the first time?
  2. Is the action listed in ros2 action list
  3. If yes, what does ros2 action info skiros2_msgs/TestAction say?
pdl0x0lbq commented 8 months ago

I did not find TestAction_feedbackMessage in the skiros2/skiros2_msgs/action/folder我在 skiros2/skiros2_msgs/action/ 文件夹中没有找到 TestAction_feedbackMessage

This is weird. The test.action is there and it should be built. Some follow-up questions then:这很奇怪，这个项目就在那里，应该建起来。

  1. Was the workspace source after building it for the first time?第一次构建工作空间源代码后是否还存在？
  2. Is the action listed in 中列出的操作是否正确？ros2 action list
  3. If yes, what does ros2 action info skiros2_msgs/TestAction say? 如果有，是怎么说的？

The source code for the first workspace build exists.

Running ros2 action listwill display /test_action

Running ros2 action info skiros2_msgs/TestActionwill display 

Action: skiros2_msgs/TestAction
Action clients: 0
Action servers: 0
matthias-mayr commented 8 months ago

Hm. I do not see a reason why it should not work.

Can you do the following steps:

  1. Clean the colcon workspace 
    cd ~/catkin_ws
rm -r build
rm -r install
rm -r log
  2. Build the colcon workspace. We use colcon build --symlink-install Check whether there are any errors in this step.
  3. Source the built workspace source ~/catkin_ws/install/setup.bash
  4. Run the test launch file again in the same terminal where steps 1-3 happened
matthias-mayr commented 3 months ago

I assume that this is solved. If not and the same issue persists, feel free to open this issue again.