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WalkingMachine / wm_tts

Apache License 2.0
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No module named pygame #26

Open Philippe117 opened 4 years ago

Philippe117 commented 4 years ago

Branche: master

Erreur

image

Fix

sudo apt install python-pygame

duchainer commented 4 years ago

Error log after sara_install

➜ ~ roslaunch sara_launch sara_bringup.launch simulation:=true ... logging to /home/raph/.ros/log/1eeab238-85c7-11ea-b83f-a4badbfc5c2f/roslaunch-raph-OptiPlex-7010-3369.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://raph-OptiPlex-7010:42723/

SUMMARY

PARAMETERS

NODES / amcl (amcl/amcl) behavior (flexbe_onboard/start_behavior) behavior_launcher (flexbe_widget/be_launcher) behavior_mirror (flexbe_mirror/behavior_mirror_sm) controller_spawner (controller_manager/spawner) direction_to_point_server (wm_direction_to_point/direction_to_point_server.py) entity_tracker (wm_entity_tracker/wm_entity_tracker_node) flexbe_app (flexbe_app/run_app) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joy_node (joy/joy_node) leg_detector (leg_detector/leg_detector) map_server (map_server/map_server) move_base (move_base/move_base) move_group (moveit_ros_move_group/move_group) robot_state_publisher (robot_state_publisher/state_publisher) rviz (rviz/rviz) sara_pose_publisher (robot_pose_publisher/robot_pose_publisher) sara_teleop (sara_teleop/sara_teleop) service_start_face (rosservice/rosservice) trajectory_manager (wm_trajectory_manager/wm_trajectory_manager_node.py) urdf_spawner (gazebo_ros/spawn_model) wm_tts_node (wm_tts/wm_tts_service.py)

auto-starting new master process[master]: started with pid [3448] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1eeab238-85c7-11ea-b83f-a4badbfc5c2f process[rosout-1]: started with pid [3463] started core service [/rosout] process[controller_spawner-2]: started with pid [3466] process[robot_state_publisher-3]: started with pid [3467] process[gazebo-4]: started with pid [3489] process[gazebo_gui-5]: started with pid [3494] process[urdf_spawner-6]: started with pid [3501] process[trajectory_manager-7]: started with pid [3502] [INFO] [1587690093.007408, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller process[sara_pose_publisher-8]: started with pid [3511] process[service_start_face-9]: started with pid [3525] process[wm_tts_node-10]: started with pid [3566] process[direction_to_point_server-11]: started with pid [3576] process[move_group-12]: started with pid [3650] process[amcl-13]: started with pid [3662] process[move_base-14]: started with pid [3666] Traceback (most recent call last): File "/home/raph/sara_install/src/wm_tts/src/wm_tts_service.py", line 23, in import pygame ImportError: No module named pygame [wm_tts_node-10] process has died [pid 3566, exit code 1, cmd /home/raph/sara_install/src/wm_tts/src/wm_tts_service.py name:=wm_tts_node log:=/home/raph/.ros/log/1eeab238-85c7-11ea-b83f-a4badbfc5c2f/wm_tts_node-10.log]. log file: /home/raph/.ros/log/1eeab238-85c7-11ea-b83f-a4badbfc5c2f/wm_tts_node-10.log process[map_server-15]: started with pid [3684] process[joy_node-16]: started with pid [3822] [ERROR] [1587690096.498912139]: Couldn't open joystick /dev/input/js0. Will retry every second. process[sara_teleop-17]: started with pid [3864] [ INFO] [1587690097.456575788]: waitForService: Service [/controller_manager/load_controller] has not been advertised, waiting... process[leg_detector-18]: started with pid [3920] [ INFO] [1587690098.036300798]: Loading map from image "/home/raph/sara_install/src/sara_navigation/maps/map_simulation.pgm" process[behavior_mirror-19]: started with pid [3987] [ INFO] [1587690100.026067756]: Loading robot model 'sara'... process[flexbe_app-20]: started with pid [4039] process[behavior_launcher-21]: started with pid [4043] process[behavior-22]: started with pid [4128] process[entity_tracker-23]: started with pid [4134] process[rviz-24]: started with pid [4140] [ INFO] [1587690104.463939224]: Loading robot model 'sara'... Loaded forest with 14 features: /opt/ros/kinetic/share/leg_detector/config/trained_leg_detector.yaml [ INFO] [1587690105.137261116]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1587690105.142732803]: MoveGroup debug mode is OFF Starting context monitors... [ INFO] [1587690105.142807161]: Starting scene monitor [ INFO] [1587690105.146688944]: Listening to '/planning_scene' [ INFO] [1587690105.146745378]: Starting world geometry monitor [ INFO] [1587690105.150482761]: Listening to '/collision_object' using message notifier with target frame '/map ' [ INFO] [1587690105.154276178]: Listening to '/planning_scene_world' for planning scene world geometry buildo === Eeconfiguration === tracker->XY_weight=1 tracker->Y_weight=0.5 tracker->weights_probability=0.01 tracker->coupling_threashold=0.01 boundingBoxesInput->processNoiseCov=0.001 boundingBoxesInput->processNoiseCov=0.001 boundingBoxesInput->measurementNoiseCov=50 boundingBoxesInput->errorCovPost=0.9 PointCloudInput->processNoiseCov=1e-06 PointCloudInput->measurementNoiseCov=10 PointCloudInput->errorCovPost=0.1 [ INFO] [1587690107.069130966]: Listening to '/head_xtion/depth/points' using message filter with target frame '/map ' [ INFO] [1587690107.078873995]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1587690108.969184341]: rviz version 1.12.17 [ INFO] [1587690108.969267920]: compiled against Qt version 5.5.1 [ INFO] [1587690108.969297892]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1587690110.031014544]: Initializing OMPL interface using ROS parameters [ INFO] [1587690110.093046872]: Using planning interface 'OMPL' [ INFO] [1587690110.285119249]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1587690110.286069777]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1587690110.286699673]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1587690110.287500331]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1587690110.288205853]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1587690110.289087121]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1587690110.289197824]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1587690110.289237561]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1587690110.289267343]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1587690110.289290450]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1587690110.289314203]: Using planning request adapter 'Fix Start State Path Constraints' SpawnModel script started INFO: cannot create a symlink to latest log directory: [Errno 2] No such file or directory: '/home/raph/.ros/log/latest' [INFO] [1587690117.647516, 0.000000]: Loading model XML from ros parameter wm_direction_to_point is ready [INFO] [1587690117.655888, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [ INFO] [1587690119.349669779]: Finished loading Gazebo ROS API Plugin. [ INFO] [1587690119.350764488]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1587690119.353467727]: Finished loading Gazebo ROS API Plugin. [ INFO] [1587690119.354561345]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1587690119.696265814]: Stereo is NOT SUPPORTED [ INFO] [1587690119.696398833]: OpenGl version: 3 (GLSL 1.3). 0x18d10d0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x1170380) ): Attempt to set a screen on a child window. 0x18d4800 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x1170380) ): Attempt to set a screen on a child window. 0x18d19c0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x1170380) ): Attempt to set a screen on a child window. 0x18d4190 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x1170380) ): Attempt to set a screen on a child window. [INFO] [1587690120.816165, 0.000000]: 62 behaviors available, ready for start request. [WARN] [1587690123.183792, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [controller_spawner-2] process has finished cleanly log file: /home/raph/.ros/log/1eeab238-85c7-11ea-b83f-a4badbfc5c2f/controller_spawner-2.log [5071:5071:0423/210203.967498:ERROR:viz_main_impl.cc(176)] Exiting GPU process due to errors during initialization [INFO] [1587690124.298000, 0.000000]: Calling service /gazebo/spawn_urdf_model [4127:4127:0423/210207.187878:ERROR:component_loader.cc(165)] Failed to parse extension manifest. [ WARN] [1587690133.820273884, 125.207000000]: Unable to update multi-DOF joint 'navigation': TF has no common time between '/map' and 'base_link': [INFO] [1587690133.821377, 125.207000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name sara [INFO] [1587690133.821869, 125.207000]: Waiting for service /gazebo/set_model_configuration [INFO] [1587690133.824336, 125.207000]: temporary hack to fix the -J joint position option (issue #93), sleeping for 1 second to avoid race condition. [ INFO] [1587690133.828296669, 125.207000000]: Read a 1984 X 1984 map @ 0.050 m/cell Warning [parser_urdf.cc:1232] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. (node:5223) [DEP0025] DeprecationWarning: sys is deprecated. Use util instead. [INFO] [1587690134.825338, 125.207000]: Calling service /gazebo/set_model_configuration [ INFO] [1587690135.451528393, 125.207000000]: Laser Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1587690135.451990642, 125.207000000]: Starting Laser Plugin (ns = /) [ INFO] [1587690135.483872346, 125.207000000]: Laser Plugin (ns = /) , set to "" Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] [INFO] [1587690135.541871, 125.207000]: Set model configuration status: SetModelConfiguration: success Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] [urdf_spawner-6] process has finished cleanly log file: /home/raph/.ros/log/1eeab238-85c7-11ea-b83f-a4badbfc5c2f/urdf_spawner-6*.log Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] [ INFO] [1587690136.245719405, 125.207000000]: Camera Plugin: Using the 'robotNamespace' param: '/' [ INFO] [1587690136.352918109, 125.207000000]: Camera Plugin (ns = /) , set to "" [ WARN] [1587690136.352999116, 125.207000000]: dynamic reconfigure is not enabled for this image topic [head_xtion/rgb/image_raw] becuase is not specified [ INFO] [1587690136.423070933, 125.207000000]: MimicJointPlugin loaded! Joint: "gripper_finger1_joint", Mimic joint: "gripper_finger2_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0 [ INFO] [1587690136.770208290, 125.207000000]: MimicJointPlugin loaded! Joint: "gripper_finger1_joint", Mimic joint: "gripper_finger2_inner_knuckle_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0 [ INFO] [1587690136.948878187, 125.207000000]: MimicJointPlugin loaded! Joint: "gripper_finger1_joint", Mimic joint: "gripper_finger1_inner_knuckle_joint", Multiplier: 1, Offset: 0, MaxEffort: 5, Sensitiveness: 0 [ INFO] [1587690137.027327846, 125.207000000]: MimicJointPlugin loaded! Joint: "gripper_finger1_joint", Mimic joint: "gripper_finger1_finger_tip_joint", Multiplier: -1, Offset: 0, MaxEffort: 5, Sensitiveness: 0 [ INFO] [1587690137.099041790, 125.207000000]: MimicJointPlugin loaded! Joint: "gripper_finger1_joint", Mimic joint: "gripper_finger2_finger_tip_joint", Multiplier: -1, Offset: 0, MaxEffort: 5, Sensitiveness: 0 [Msg] Loading grasp-fix plugin [Msg] GazeboGraspFix: Using disable_collisions_on_attach 0 [Msg] GazeboGraspFix: Using update rate 10 [Msg] GazeboGraspFix: Using max_grip_count 10 [Msg] GazeboGraspFix: Using grip_count_threshold 3 [Msg] GazeboGraspFix: Using release_tolerance 0.001 [Msg] GazeboGraspFix: Adding collision scoped name sara::gripper_finger1_finger_tip_link::gripper_finger1_finger_tip_link_collision [Msg] GazeboGraspFix: Adding collision scoped name sara::gripper_finger2_finger_tip_link::gripper_finger2_finger_tip_link_collision [Msg] Subscribing contact manager to topic ~/sara/contacts Master Unknown message type[] From[37360] Master Unknown message type[] From[37360] [libprotobuf ERROR google/protobuf/message_lite.cc:123] Can't parse message of type "gazebo.msgs.Packet" because it is missing required fields: stamp, type, serialized_data Master Unknown message type[] From[37360] [ INFO] [1587690137.313360052, 125.207000000]: Loading gazebo_ros_control plugin [ WARN] [1587690137.317133173, 125.207000000]: Desired controller update period (0.002000000 s) is slower than the gazebo simulation period (0.001000000 s). [ INFO] [1587690137.320089820, 125.207000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1587690137.327177879, 125.207000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1587690137.736469953, 125.207000000]: Loaded gazebo_ros_control. [ INFO] [1587690137.762641137, 125.207000000]: ForceBasedMove using gains: yaw: 500 x: 10000 y: 10000

[ INFO] [1587690137.762721078, 125.207000000]: robotBaseFrame for force based move plugin: base_link

[ WARN] [1587690137.788867702, 125.208000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 125.208 timeout was 0.1. [ INFO] [1587690137.896523842, 125.227000000]: waitForService: Service [/controller_manager/load_controller] is now available. [ INFO] [1587690137.904069172, 125.228000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1587690137.905275500, 125.228000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1587690137.919938506, 125.230000000]: starting publishers [ INFO] [1587690137.985051363, 125.241000000]: starting subscribers [Wrn] [msgs.cc:1655] Conversion of sensor type[depth] not suppported. [ INFO] [1587690138.091172418, 125.244000000]: starting service clients [ INFO] [1587690138.091396294, 125.244000000]: getting controller [ INFO] [1587690138.243707902, 125.279000000]: Physics dynamic reconfigure ready. [ INFO] [1587690138.344183044, 125.295000000]: Physics dynamic reconfigure ready. [Err] [Scene.cc:2927] Light [sun] not found. Use topic ~/factory/light to spawn a new light. [INFO] [1587690140.097570, 125.707000]: --- Behavior Engine ready! --- [INFO] [1587690140.097835, 125.707000]: No onboard behavior is active. [INFO] [1587690140.098333, 125.707000]: --- Behavior Mirror ready! --- [ INFO] [1587690140.102787430, 125.707000000]: Sending map [ERROR] [1587690140.798841199, 125.845000000]: Unable to update multi-dof joint 'navigation'. TF exception: Lookup would require extrapolation at time 125.821000000, but only time 126.275000000 is in the buffer, when looking up transform from frame [base_link] to frame [map] [ WARN] [1587690142.788931644, 126.314000000]: The complete state of the robot is not yet known. Missing front_actuator_joint, head_yaw_joint, head_pitch_joint, right_shoulder_roll_joint, right_shoulder_pitch_joint, right_shoulder_yaw_joint, right_elbow_pitch_joint, right_elbow_yaw_joint, right_wrist_pitch_joint, right_wrist_roll_joint, gripper_finger1_joint [ INFO] [1587690142.804860093, 126.319000000]: Using plugin "static_layer" [ INFO] [1587690142.969654741, 126.363000000]: Requesting the map... [ INFO] [1587690143.324107982, 126.463000000]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix [ INFO] [1587690143.693159992, 126.563000000]: Received a 1984 X 1984 map at 0.050000 m/pix [ INFO] [1587690143.704173858, 126.567000000]: Using plugin "obstacles_layer" [ INFO] [1587690143.712321170, 126.568000000]: Subscribed to Topics: scan [ INFO] [1587690143.776803273, 126.582000000]: Using plugin "inflater_layer" [ INFO] [1587690143.977108231, 126.630000000]: Using plugin "obstacles_layer" [ INFO] [1587690143.982311534, 126.631000000]: Subscribed to Topics: scan [ INFO] [1587690144.060225227, 126.647000000]: Using plugin "obstacles_layer_camera" [ INFO] [1587690144.065501681, 126.648000000]: Subscribed to Topics: camera [ INFO] [1587690144.152090918, 126.671000000]: Using plugin "inflater_layer" [ INFO] [1587690144.307458258, 126.711000000]: Created local_planner base_local_planner/TrajectoryPlannerROS [ INFO] [1587690144.344152038, 126.717000000]: Sim period is set to 0.10 [ INFO] [1587690144.737811014, 126.811000000]: Recovery behavior will clear layer obstacles [ INFO] [1587690144.763838780, 126.818000000]: Recovery behavior will clear layer obstacles