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agent-system / robot_assembler

assemble robot using GUI
MIT License
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:initial-coordsを設定せずに:actuator-nameのみを設定するとエラーが出る #59

Closed makabe0510 closed 3 years ago

makabe0510 commented 3 years ago

以前から存在しているroboasmファイルを読み込もうとするとエラーが出て発覚しました

両方設定しない、両方設定する、:initial-coordsのみ設定する場合はエラーが出ませんでした

このブランチのroboasmでテストできて、testが両方、test2が:actuator-nameのみ、test3が:initial-coordsのみ設定したものになります

 $ roslaunch robot_assembler kxr_assembler.launch START_WITH:=$(rospack find robot_assembler)/sample/kxr_auv/test2.roboasm.l
... logging to /home/tasuku/.ros/log/d17b2210-c2bc-11eb-bd74-98fa9bf0d526/roslaunch-tasuku-ThinkPad-T490-10318.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://tasuku-ThinkPad-T490:36407/

SUMMARY
========

PARAMETERS
 * /robot_assembler/output_directory: /tmp
 * /robot_assembler/parts_settings_yaml: /home/tasuku/catk...
 * /robot_assembler/robot_name: assembled_robot
 * /robot_assembler/start_desgin_file: /home/tasuku/catk...
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/layout_yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/no_restore: True
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts0/name: parts(act)
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts0/type: push
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts0/yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts1/name: parts(sub)
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts1/type: push
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts1/yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts2/name: parts(body)
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts2/type: push
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts2/yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts3/name: parts(sensor)
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts3/type: push
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts3/yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts4/name: parts(jsk-original)
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts4/type: push
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/parts4/yaml_file: package://robot_a...
 * /sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109/tabbed_layout/tab_list: ['parts0', 'parts...

NODES
  /
    robot_assembler (robot_assembler/robot-assembler-node.l)
    sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109 (rqt_gui/rqt_gui)

auto-starting new master
process[master]: started with pid [10335]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d17b2210-c2bc-11eb-bd74-98fa9bf0d526
process[rosout-1]: started with pid [10353]
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 [10360]
process[sample_buttons_tasuku_ThinkPad_T490_10318_3498633042778031109-3]: started with pid [10362]
configuring by "/home/tasuku/catkin_ws/devel/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=:0
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 0x5577370d7690[16374] --> 0x55773755e1a0[32748] top=3c60
irtgl irtglc irtviewer 
EusLisp 9.27(5aa92412 1.2.2) for Linux64 created on tasuku-ThinkPad-T490(Mon May 17 20:05:05 JST 2021)
;; .eusrc executed!! *rcb4eus-dir*=/home/tasuku/prog/rcb4eus added, *load-path* updated!!
;; *load-path*=("/home/tasuku/prog/rcb4eus/Linux64/obj/"
 "/home/tasuku/prog/rcb4eus/Linux64/lib/"
 "/home/tasuku/prog/rcb4eus/"
 "/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus//Linux64/lib/"
 "./"
 "/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus/"
 "/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus/lib/"
 "/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus/lib/llib/"
 "/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus/lib/demo/")
roseus ;; loading roseus("1.7.4-97-gb214284") on euslisp((9.27 tasuku-ThinkPad-T490 Mon May 17 20:05:05 JST 2021 5aa92412 1.2.2))
[ INFO] [1622540179.670252418]: install ros::roseus-sigint-handler
eustf roseus_c_util [ INFO] [1622540179.997240858]: start from design-file[/home/tasuku/catkin_ws/src/agent-system/robot_assembler/sample/kxr_auv/test2.roboasm.l]
Call Stack (max depth: 20):
  0: at (start-with-history (read f))
  1: at (start-with-history (read f))
  2: at (progn (start-with-history (read f)))
  3: at (unwind-protect (progn (start-with-history (read f))) (close f))
  4: at (let ((f (open *start-desgin-file*))) (unwind-protect (progn (start-with-history (read f))) (close f)))
  5: at (with-open-file (f *start-desgin-file*) (start-with-history (read f)))
  6: at (progn (ros::ros-info "start from design-file[~A]" *start-desgin-file*) (with-open-file (f *start-desgin-file*) (start-with-history (read f))))
  7: at (if *start-desgin-file* (progn (ros::ros-info "start from design-file[~A]" *start-desgin-file*) (with-open-file (f *start-desgin-file*) (start-with-history (read f)))))
  8: at (when *start-desgin-file* (ros::ros-info "start from design-file[~A]" *start-desgin-file*) (with-open-file (f *start-desgin-file*) (start-with-history (read f))))
  9: at (robot-assembler-node-main)
/home/tasuku/catkin_ws/devel/share/euslisp/jskeus/eus/Linux64/bin/irteusgl roseus-error: sequence expected in (start-with-history (read f)), exitting...
[ INFO] [1622540180.001222020]: cell* ROSEUS_EXIT(context*, int, cell**)
[ INFO] [1622540180.001263890]: exiting roseus 1
[robot_assembler-2] process has died [pid 10360, exit code 1, cmd /home/tasuku/catkin_ws/src/agent-system/robot_assembler/euslisp/robot-assembler-node.l __name:=robot_assembler __log:=/home/tasuku/.ros/log/d17b2210-c2bc-11eb-bd74-98fa9bf0d526/robot_assembler-2.log].
log file: /home/tasuku/.ros/log/d17b2210-c2bc-11eb-bd74-98fa9bf0d526/robot_assembler-2*.log
/home/tasuku/catkin_ws/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/tasuku/catkin_ws/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
YoheiKakiuchi commented 3 years ago

直したつもりですがどうでしょうか？ https://github.com/agent-system/robot_assembler/commit/9c2e3cf49382f305d02721092669d1830ce919d9

makabe0510 commented 3 years ago

test,test2,test3の全てでエラーが出なくなったことを確認しました

大丈夫そうです