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agent-system / robot_assembler

assemble robot using GUI
MIT License
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write URDF をすると robot-assembler-node.l が落ちる #56

Closed sktometometo closed 3 years ago

sktometometo commented 3 years ago

複数パーツを追加した状態で,write URDF をすると, 以下の表示を出して robot-assembler-node.l が落ちます

~/ros/ws_agent_system/src $ roslaunch robot_assembler robot_assembler.launch ROBOT_NAME:=my_robot OUTPUT_DIR:=/home/sktometometo/Desktop
... logging to /home/sktometometo/.ros/log/dc522312-bddc-11eb-be19-04ed33eed89c/roslaunch-Persing-22741.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Persing:39899/

SUMMARY
========

PARAMETERS
 * /robot_assembler/output_directory: /home/sktometomet...
 * /robot_assembler/parts_settings_yaml: /home/sktometomet...
 * /robot_assembler/robot_name: my_robot
 * /robot_assembler/start_desgin_file: 
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /sample_buttons_Persing_22741_6325055525154603585/layout_yaml_file: package://robot_a...
 * /sample_buttons_Persing_22741_6325055525154603585/no_restore: True
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts0/name: parts(act)
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts0/type: push
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts0/yaml_file: package://robot_a...
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts1/name: parts(sub)
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts1/type: push
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts1/yaml_file: package://robot_a...
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts2/name: parts(body)
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts2/type: push
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/parts2/yaml_file: package://robot_a...
 * /sample_buttons_Persing_22741_6325055525154603585/tabbed_layout/tab_list: ['parts0', 'parts...

NODES
  /
    robot_assembler (robot_assembler/robot-assembler-node.l)
    sample_buttons_Persing_22741_6325055525154603585 (rqt_gui/rqt_gui)

auto-starting new master
process[master]: started with pid [22758]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dc522312-bddc-11eb-be19-04ed33eed89c
process[rosout-1]: started with pid [22776]
started core service [/rosout]
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
process[robot_assembler-2]: started with pid [22783]
process[sample_buttons_Persing_22741_6325055525154603585-3]: started with pid [22785]
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:1
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x558821b4e690[16374] --> 0x558821fd4600[32748] top=3c74
irtgl irtglc irtviewer 
EusLisp 9.27( 1.2.2) for Linux64 created on ip-10-0-1-31(Wed Apr 14 13:28:33 PST 2021)
roseus ;; loading roseus("1.7.4") on euslisp((9.27 ip-10-0-1-31 Wed Apr 14 13:28:33 PST 2021  1.2.2))
[ INFO] [WallTime: 1622004186.412062982] [node:${node}] [func:ROSEUS_ROSINFO]: install ros::roseus-sigint-handler
eustf roseus_c_util [ WARN] [WallTime: 1622004186.646498080] [node:/robot_assembler] [func:ROSEUS_ROSWARN]: ;; start_desgin_file () does not exists
/home/sktometometo/ros/ws_agent_system/src/jsk_visualization/jsk_rqt_plugins/src/jsk_rqt_plugins/button_general.py:133: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  yaml_data = yaml.load(f)
/home/sktometometo/ros/ws_agent_system/src/jsk_visualization/jsk_rqt_plugins/src/jsk_rqt_plugins/tabbed_button_general.py:164: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  yaml_data = yaml.load(f)
gui : fixed point clicked
print_info: :clear

print_info: :clear
selected: #<roboasm-fixed-point #X55882306cba0 :fr12-h101_22783_1/horn-attachment  87.75 0.0 19.0 / 0.0 0.0 0.0>
[':clear', 'selected: #<roboasm-fixed-point #X55882306cba0 :fr12-h101_22783_1/horn-attachment  87.75 0.0 19.0 / 0.0 0.0 0.0>']
print_info: :clear
selected: #<roboasm-fixed-point #X558822dddde0 :xm430_22783_0/horn  0.0 0.0 19.0 / 0.0 0.0 0.0>
[':clear', 'selected: #<roboasm-fixed-point #X558822dddde0 :xm430_22783_0/horn  0.0 0.0 19.0 / 0.0 0.0 0.0>']
print_info: :clear
selected: #<roboasm-fixed-point #X558823079ab0 :fr12-h101_22783_1/utility-holes  0.0 28.0 0.0 / -3.142 1.343e-15 -1.571>
[':clear', 'selected: #<roboasm-fixed-point #X558823079ab0 :fr12-h101_22783_1/utility-holes  0.0 28.0 0.0 / -3.142 1.343e-15 -1.571>']
print_info: :clear
selected: #<roboasm-fixed-point #X558823000bf8 :xm430_22783_2/top-tap  88.5 11.25 0.0 / 3.142 1.343e-15 1.571>
[':clear', 'selected: #<roboasm-fixed-point #X558823000bf8 :xm430_22783_2/top-tap  88.5 11.25 0.0 / 3.142 1.343e-15 1.571>']
Call Stack (max depth: 20):
  0: at (ros::spin-once)
  1: at (ros::spin-once)
  2: at (ros::spin-once)
  3: at (while (ros::ok) (ros::spin-once) (x::window-main-one) (send *robot-assembler-viewer* :draw-objects) (ros::sleep))
  4: at (robot-assembler-node-main)
/opt/ros/melodic/share/euslisp/jskeus/eus/Linux64/bin/irteusgl roseus-error:  no sequence in (ros::spin-once), exitting...
[ INFO] [WallTime: 1622004207.616468341] [node:/robot_assembler] [func:ROSEUS_EXIT]: cell* ROSEUS_EXIT(context*, int, cell**)
[ INFO] [WallTime: 1622004207.616592477] [node:/robot_assembler] [func:ROSEUS_EXIT]: exiting roseus 1
[robot_assembler-2] process has died [pid 22783, exit code 1, cmd /home/sktometometo/ros/ws_agent_system/src/robot_assembler/euslisp/robot-assembler-node.l __name:=robot_assembler __log:=/home/sktometometo/.ros/log/dc522312-bddc-11eb-be19-04ed33eed89c/robot_assembler-2.log].
log file: /home/sktometometo/.ros/log/dc522312-bddc-11eb-be19-04ed33eed89c/robot_assembler-2*.log

環境はUbuntu 18.04 + ROS Melodicで, roseus は aptで入っています workspaceの状態は以下です

~/ros/ws_agent_system/src $ wstool info 
/usr/lib/python2.7/dist-packages/wstool/config_yaml.py:74: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  yamldata = yaml.load(stream)
workspace: /home/sktometometo/ros/ws_agent_system/src

 Localname           S SCM Version (Spec)    UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------           - --- --------------    -----------  ---------------------------
 robot_assembler_gui   git master  (-)       1f099f4db3f3 github.com/agent-system/robot_assembler_gui.git
 robot_assembler       git master  (-)       6d06ae0f2feb github.com/agent-system/robot_assembler.git
 jsk_visualization     git add_tabbed_button 6e54f5444e6c github.com/YoheiKakiuchi/jsk_visualization.git

パーツを一つのみ配置した状態だと Write URDFに成功します Screenshot from 2021-05-26 13-47-06

YoheiKakiuchi commented 3 years ago

https://github.com/agent-system/robot_assembler/commit/9a8051117ffff43d7cfc545701f8aa822f8c4ee8 これで治ったと思います

sktometometo commented 3 years ago

治りました.