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UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
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Calibration correction: process has died #39

Closed atenpas closed 3 years ago

atenpas commented 4 years ago

Summary

The calibration_correction program does not work, and results in a process has died exit code -11 message.

Versions

Impact

The robot's calibration cannot be corrected.

Issue details

The complete output from the program is:

[DEBUG]: Starting up producer
[WARNING]: No realtime capabilities found. Consider using a realtime system for better performance
[WARNING]: Failed to read from stream, reconnecting in 1 seconds...
[DEBUG]: Invalid robot package type recieved: 24
[DEBUG]: Invalid robot package type recieved: 23
[DEBUG]: Invalid robot package type recieved: 25
[DEBUG]: Invalid robot package type recieved: 5
[INFO]: checksum: [3606817617 2359058659 797309772 1842629547 2361290454 2337035062 ]
dh_theta: [-2.13924526400084e-05 0.707863340837074 -0.697806691494563 -0.00939010396913045 -0.000103960175745391 2.84715683846765e-05 ]
dh_a: [0.000135505406191284 -0.323000093546539 -0.39222225336313 8.95993028540395e-05 6.7159905438739e-05 0 ]
dh_d: [0.0892432254030618 305.938911206983 -305.696785008317 -0.1315987344071 0.0948065362922913 0.0824990251147532 ]
dh_alpha: [1.57067557276495 0.000903167434024947 0.0155918816117158 1.569814771042 -1.56965778256486 0 ]
calibration_status: 2

[DEBUG]: Destructing pipeline
[DEBUG]: Stopping pipeline! <Pipeline>
[DEBUG]: Pipeline consumer ended! <Pipeline>
[DEBUG]: Pipeline producer ended! <Pipeline>
[ INFO] [1573830518.763447395]: Writing calibration data to "/home/ur5/.ros/test.yaml"
[calibration_correction-1] process has died [pid 17366, exit code -11

Steps to Reproduce

With external control loaded as a program in Polyscope, execute $ roslaunch ur_calibration calibration_correction.launch robot_ip:=10.75.15.199 target_filename:="${HOME}/test.yaml".

fmauch commented 4 years ago

I just checked and it doesn't seem to be a version regression. Works with a 3.11 URSim on my machine.

Could you please try using the branch https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/file_error_output? That should print a textual representation of the error code.

fmauch commented 4 years ago

@atenpas Does the error still exist?

c-keil commented 4 years ago

I am also experiencing this problem both with a UR5 and UR5e, with polyscope versions 3.11 and 5.3 respectively, with the master branch on Ubuntu 16.04, ROS Kinetic. Was a solution found?

fmauch commented 4 years ago

@w-kyle Could you please post the complete output of the run?

c-keil commented 4 years ago

Here's the output. It's essentially identical to atenpas's output.



... logging to /home/colin/.ros/log/1f243fde-5fe4-11ea-aa52-4ccc6a230519/roslaunch-ur5-for-president-12802.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ur5-for-president:46167/

SUMMARY
========

PARAMETERS
 * /calibration_correction/output_filename: /home/colin/caibr...
 * /calibration_correction/robot_ip: 10.75.15.250
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    calibration_correction (ur_calibration/calibration_correction)

auto-starting new master
process[master]: started with pid [12817]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1f243fde-5fe4-11ea-aa52-4ccc6a230519
process[rosout-1]: started with pid [12830]
started core service [/rosout]
process[calibration_correction-2]: started with pid [12834]
[DEBUG]: Starting up producer
[WARNING]: No realtime capabilities found. Consider using a realtime system for better performance
[WARNING]: Failed to read from stream, reconnecting in 1 seconds...
[DEBUG]: Invalid robot package type recieved: 24
[DEBUG]: Invalid robot package type recieved: 23
[DEBUG]: Invalid robot package type recieved: 5
[INFO]: checksum: [126914495 1585184434 2599448413 2692272767 3573782575 3886035546 ]
dh_theta: [-2.95309332065357e-05 0.667740210622319 -0.640475987028862 -6.31048499045852 -7.47414180193452e-06 1.05903328671499e-05 ]
dh_a: [0.000338212593485813 -0.333588830339598 -0.392088727172344 -4.43600177715567e-05 4.78015086783138e-05 0 ]
dh_d: [0.0891650821286223 304.963188136377 -300.557489744559 -4.29567752378192 0.0949247819222485 0.0824867440901803 ]
dh_alpha: [1.57038772780874 0.00086264335794213 0.00242777755182474 1.57118219430416 -1.5704429295828 0 ]
calibration_status: 1

[DEBUG]: Destructing pipeline
[DEBUG]: Stopping pipeline! <Pipeline>
[DEBUG]: Pipeline consumer ended! <Pipeline>
[DEBUG]: Pipeline producer ended! <Pipeline>
[ INFO] [1583524398.959700522]: Writing calibration data to "/home/colin/caibration.yaml"
[calibration_correction-2] process has died [pid 12834, exit code -11, cmd /home/colin/ur_driver_ws/devel/lib/ur_calibration/calibration_correction __name:=calibration_correction __log:=/home/colin/.ros/log/1f243fde-5fe4-11ea-aa52-4ccc6a230519/calibration_correction-2.log].
log file: /home/colin/.ros/log/1f243fde-5fe4-11ea-aa52-4ccc6a230519/calibration_correction-2*.log
fmauch commented 4 years ago

I think, I need some debugging help from your side:

Could you please replace these lines with the following code:

    std::ofstream file(output_filename_);
    ROS_INFO_STREAM("Created ofstream");
    if (file.is_open())
    {
      ROS_INFO_STREAM("File is open.");
      ROS_INFO_STREAM("Writing data:\n" << *calibration_data_);
      file << *calibration_data_;
    }

I would be curious which line is actually failing...

fmauch commented 3 years ago

Closing due to inactivity. Feel free to comment or reopen if anything new comes up.

atenpas commented 3 years ago

Reopening. I still get about the same error for the latest commit, but with a different calibration status (2 instead of 1).

$ roslaunch ur_calibration calibration_correction.launch robot_ip:=10.75.15.198 target_filename:="${HOME}/Documents/my_robot_calibration.yaml" -v
... logging to /home/ur5/.ros/log/505ab716-3efc-11eb-be77-1c1b0dec0dfd/roslaunch-ur5-earth-9494.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... loading XML file [/opt/ros/kinetic/etc/ros/roscore.xml]
... executing command param [rosversion roslaunch]
Added parameter [/rosversion]
... executing command param [rosversion -d]
Added parameter [/rosdistro]
Added core node of type [rosout/rosout] in namespace [/]
... loading XML file [/home/ur5/ur_driver_ws/src/Universal_Robots_ROS_Driver/ur_calibration/launch/calibration_correction.launch]
Added parameter [/calibration_correction/robot_ip]
Added parameter [/calibration_correction/output_filename]
Added node of type [ur_calibration/calibration_correction] in namespace [/]
started roslaunch server http://ur5-earth:34215/

SUMMARY
========

PARAMETERS
 * /calibration_correction/output_filename: /home/ur5/Documen...
 * /calibration_correction/robot_ip: 10.75.15.198
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    calibration_correction (ur_calibration/calibration_correction)

auto-starting new master
process[master]: started with pid [9504]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 505ab716-3efc-11eb-be77-1c1b0dec0dfd
WARNING: Package name "Seq6DofManipRobot" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [9519]
started core service [/rosout]
process[calibration_correction-2]: started with pid [9522]
[DEBUG]: Starting up producer
[WARNING]: No realtime capabilities found. Consider using a realtime system for better performance
[WARNING]: Failed to read from stream, reconnecting in 1 seconds...
[DEBUG]: Invalid robot package type recieved: 24
[DEBUG]: Invalid robot package type recieved: 23
[DEBUG]: Invalid robot package type recieved: 5
[INFO]: checksum: [3606817617 2359058659 797309772 1842629547 2361290454 2337035062 ]
dh_theta: [-2.13924526400084e-05 0.707863340837074 -0.697806691494563 -0.00939010396913045 -0.000103960175745391 2.84715683846765e-05 ]
dh_a: [0.000135505406191284 -0.323000093546539 -0.39222225336313 8.95993028540395e-05 6.7159905438739e-05 0 ]
dh_d: [0.0892432254030618 305.938911206983 -305.696785008317 -0.1315987344071 0.0948065362922913 0.0824990251147532 ]
dh_alpha: [1.57067557276495 0.000903167434024947 0.0155918816117158 1.569814771042 -1.56965778256486 0 ]
calibration_status: 2

[DEBUG]: Destructing pipeline
[DEBUG]: Stopping pipeline! <Pipeline>
[DEBUG]: Pipeline consumer ended! <Pipeline>
[DEBUG]: Pipeline producer ended! <Pipeline>
[ INFO] [1608053898.538215255]: Writing calibration data to "/home/ur5/Documents/my_robot_calibration.yaml"
[ INFO] [1608053898.538374185]: Writing calibration data to /home/ur5/Documents/my_robot_calibration.yaml
[calibration_correction-2] process has died [pid 9522, exit code -11, cmd /home/ur5/ur_driver_ws/devel/lib/ur_calibration/calibration_correction __name:=calibration_correction __log:=/home/ur5/.ros/log/505ab716-3efc-11eb-be77-1c1b0dec0dfd/calibration_correction-2.log].
log file: /home/ur5/.ros/log/505ab716-3efc-11eb-be77-1c1b0dec0dfd/calibration_correction-2*.log
/home/ur5/Documents/my_robot_calibration.yaml^C[rosout-1] killing on exit
fmauch commented 3 years ago

@atenpas I would be curious why there are two Writing calibration data to lines....

Anyway, this narrows it down to the actual streaming of yaml data. Could you please test the version from this branch? That might give some insights on why this actually fails.