yani-rl-ai
commented
4 years ago (continue) [ERROR] [1594043242.914425207, 60.220000000]: Timeout get_object_shape_service_client CreateServiceClient [object_information_publisher-28] process has died [pid 28920, exit code 255, cmd /opt/ros/kinetic/lib/tmc_object_information_publisher/object_information_publisher /joint_states:=hsrb/joint_states collision_object:=known_object name:=object_information_publisher log:=/home/kubota-lab/.ros/log/000ba0fa-bf8f-11ea-ac4d-5076afa87c35/object_information_publisher-28.log]. log file: /home/kubota-lab/.ros/log/000ba0fa-bf8f-11ea-ac4d-5076afa87c35/object_information_publisher-28*.log
Hi @ascane, thank you for sharing this great work. Currently, i am trying to use your simulation and i will modify for my research purpose on HSR, but when i run the program, i get this following error regarding the service, such as
A exception occured in timeopt list index out of range [ WARN] [1594042436.384020841, 23.578000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time. First valid point will be reached in 1.140s. [ INFO] [1594042442.296336853, 27.920000000]: planning time = 0.021 [ERROR] [1594042485.453722921, 60.231000000]: Timeout get_object_shape_service_client CreateServiceClient
i have no idea, i am a newbie in HSR and ROS. please kindly help me. i put the complete error of my execution in the following result:
(hsrgym) kubota-lab@kubotalab-P960EF:~/gym-gazebo-hsr/examples$ python gazebo_r_assembly_v0.py --world='three_cubes' ... logging to /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/roslaunch-kubotalab-P960EF-14143.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://192.168.3.12:41035/ ros_comm version 1.12.14
SUMMARY
PARAMETERS
NODES
auto-starting new master process[master]: started with pid [14154] ROS_MASTER_URI=http://192.168.3.12:11311/
setting /run_id to 3ff294d2-bf8d-11ea-ac4d-5076afa87c35 process[rosout-1]: started with pid [14167] started core service [/rosout] Roscore launched! Gazebo launched! ... logging to /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/roslaunch-kubotalab-P960EF-14184.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://192.168.3.12:34715/
SUMMARY
PARAMETERS
NODES /hsrb/wrist_wrench/ compensation_node (tmc_force_torque_sensor_compensation/force_torque_sensor_compensation_node) /hsrb/ controller_spawner (controller_manager/spawner) hsrb_grasp_state_observer (hsrb_grasp_state_observer/grasp_state_observer) impedance_control (hsrb_impedance_control/hsrb_impedance_control_node) interactive_teleop (tmc_interactive_teleop/interactive_teleop_node) interactive_teleop_joy (tmc_interactive_teleop/interactive_teleop_node) joy_node (joy/joy_node) metric_rect (nodelet/nodelet) odometry_switcher (tmc_odometry_switcher/odometry_switcher_node) pseudo_endeffector_controller (hsrb_pseudo_endeffector_controller/hsrb_pseudo_endeffector_controller) pseudo_velocity_controller (tmc_pseudo_velocity_controller/pseudo_velocity_controller) stereo_camera_nodelet_manager (nodelet/nodelet) /hsrb/head_rgbd_sensor/rgb/ debayer (nodelet/nodelet) nodelet_manager (nodelet/nodelet) / action_give (tmc_manipulation_action/action_give_hsrb) action_manager (tmc_action_manager/action_manager) action_move_base (tmc_action_move_base/action_move_base) action_pick_up (tmc_manipulation_action/action_pick_up_hsrb) action_planner (tmc_action_planner/action_planner) action_put (tmc_manipulation_action/action_put_hsrb) action_take (tmc_manipulation_action/action_take_hsrb) attached_object_publisher (tmc_attached_object_publisher/attached_object_publisher) base_path_planner (tmc_base_path_planner/base_path_planner) base_rviz_wrapper (tmc_base_visualizer/base_rviz_wrapper) collision_environment (tmc_collision_environment/collision_environment) collision_trajectory_filter_arm (tmc_collision_trajectory_filter/collision_trajectory_filter) collision_trajectory_filter_head (tmc_collision_trajectory_filter/collision_trajectory_filter) depth_hw_float_image_pub (topic_tools/relay) depth_hw_rect_image_pub (topic_tools/relay) depth_hw_rect_raw_image_pub (topic_tools/relay) depth_raw_image_pub (topic_tools/relay) depthcloud_encoder_node (tmc_depthcloud_encoder/tmc_depthcloud_encoder_node) env_db (tmc_env_db/env_db_node) gazebo (gazebo_ros/gzserver) grid_map_server (tmc_grid_map_server/grid_map_server) head_l_stereo_camera_frame_pub (tf/static_transform_publisher) head_r_stereo_camera_frame_pub (tf/static_transform_publisher) head_rgbd_sensor_depth_frame_pub (tf/static_transform_publisher) head_rgbd_sensor_rgb_frame_pub (tf/static_transform_publisher) heartbeat_watcher (tmc_web_helper/heartbeat_watcher.py) hsrb_planner (tmc_robot_rrt_planner_node/robot_rrt_planner_node) hsrb_timeopt_filter (hsrb_timeopt_ros/hsrb_timeopt_filter) hsrb_timeopt_filter_node (hsrb_trajectory_filter/hsrb_timeopt_filter_node.py) hsrb_web_server_node (hsrb_web_server/hsrb_web_server_node) interactive_grasp_planner (tmc_interactive_grasp_planner/interactive_grasp_planner_node) interactive_marker_proxy (interactive_marker_proxy/proxy) joint_state_publisher (joint_state_publisher/joint_state_publisher) l_stereo_raw_image_pub (topic_tools/relay) laser_2d_localizer (tmc_laser_2d_localizer/laser_2d_localizer) marker (tmc_stereo_marker_recognizer/stereo_marker_recognizer_node) marker_based_localizer (tmc_marker_based_localizer/marker_based_localizer) mesh_data_server (tmc_mesh_data_server/mesh_data_server) move_base (tmc_move_base/move_base_node) normal_point_cloud_pub (topic_tools/relay) object_information_publisher (tmc_object_information_publisher/object_information_publisher) omni_path_follower (tmc_omni_path_follower/omni_path_follower) perspective_transformer (tmc_perspective_transformer/perspective_transformer_node) placement_area_detector (tmc_placement_area_detector/placement_area_detector_node) pose_integrator (tmc_pose_integrator/pose_integrator) r_stereo_raw_image_pub (topic_tools/relay) remote_exec_manager (tmc_remote_exec/manager_node.py) restoredb (tmc_env_db/restoredb.sh) rgb_raw_image_pub (topic_tools/relay) rgb_rect_mono_image_pub (topic_tools/relay) robot_state_publisher (robot_state_publisher/robot_state_publisher) rosapi (rosapi/rosapi_node) rosbridge_websocket (rosbridge_server/rosbridge_websocket) safe_pose_changer (tmc_safe_pose_changer/safe_pose_changer) safety_velocity_limiter (tmc_safety_velocity_limiter/safety_velocity_limiter) scan_to_cloud_converter (scan_to_cloud_converter/scan_to_cloud_converter_node) spawn_hsrb_model (gazebo_ros/spawn_model) tabletop_segmentator_node (tmc_tabletop_segmentator/server) talk_action_simulator (tmc_talk_action_simulator/talk_request_server) task_carry (tmc_web_helper/pseudo_task_carry.py) task_manager (tmc_task_manager/task_manager) tf2_buffer_server (tf2_ros/buffer_server) tf2_web_republisher (tf2_web_republisher/tf2_web_republisher) tmc_map_merger (tmc_map_merger/map_merger_node) trajectory_filter (trajectory_filter_server/trajectory_filter_server) velocity_switcher (tmc_velocity_switcher/velocity_switcher) viewpoint_controller (tmc_viewpoint_controller/viewpoint_controller) web_video_server (web_video_server/web_video_server) web_video_server2 (web_video_server/web_video_server)
ROS_MASTER_URI=http://192.168.3.12:11311/
process[gazebo-1]: started with pid [14229] process[spawn_hsrb_model-2]: started with pid [14234] process[robot_state_publisher-3]: started with pid [14235] process[joint_state_publisher-4]: started with pid [14236] process[head_l_stereo_camera_frame_pub-5]: started with pid [14237] process[head_r_stereo_camera_frame_pub-6]: started with pid [14250] process[head_rgbd_sensor_rgb_frame_pub-7]: started with pid [14268] process[head_rgbd_sensor_depth_frame_pub-8]: started with pid [14286] process[hsrb/head_rgbd_sensor/rgb/nodelet_manager-9]: started with pid [14306] process[hsrb/head_rgbd_sensor/rgb/debayer-10]: started with pid [14312] process[rgb_raw_image_pub-11]: started with pid [14329] process[rgb_rect_mono_image_pub-12]: started with pid [14348] process[l_stereo_raw_image_pub-13]: started with pid [14378] process[r_stereo_raw_image_pub-14]: started with pid [14413] process[depth_raw_image_pub-15]: started with pid [14429] process[depth_hw_float_image_pub-16]: started with pid [14446] process[depth_hw_rect_image_pub-17]: started with pid [14463] process[depth_hw_rect_raw_image_pub-18]: started with pid [14474] process[normal_point_cloud_pub-19]: started with pid [14483] process[hsrb/odometry_switcher-20]: started with pid [14494] process[hsrb/controller_spawner-21]: started with pid [14507] process[hsrb/stereo_camera_nodelet_manager-22]: started with pid [14520] process[hsrb/wrist_wrench/compensation_node-23]: started with pid [14535] process[hsrb/metric_rect-24]: started with pid [14536] process[talk_action_simulator-25]: started with pid [14545] process[mesh_data_server-26]: started with pid [14556] process[collision_environment-27]: started with pid [14566] process[object_information_publisher-28]: started with pid [14587] process[attached_object_publisher-29]: started with pid [14601] process[trajectory_filter-30]: started with pid [14609] process[hsrb_timeopt_filter-31]: started with pid [14615] process[hsrb_timeopt_filter_node-32]: started with pid [14630] process[perspective_transformer-33]: started with pid [14641] process[safe_pose_changer-34]: started with pid [14653] process[hsrb/impedance_control-35]: started with pid [14657] process[hsrb/hsrb_grasp_state_observer-36]: started with pid [14666] process[collision_trajectory_filter_head-37]: started with pid [14686] process[collision_trajectory_filter_arm-38]: started with pid [14702] process[hsrb_planner-39]: started with pid [14713] process[interactive_grasp_planner-40]: started with pid [14715] process[base_path_planner-41]: started with pid [14720] process[omni_path_follower-42]: started with pid [14735] process[pose_integrator-43]: started with pid [14755] process[base_rviz_wrapper-44]: started with pid [14788] SpawnModel script started process[grid_map_server-45]: started with pid [14793] process[tmc_map_merger-46]: started with pid [14801] process[laser_2d_localizer-47]: started with pid [14818] process[move_base-48]: started with pid [14841] process[action_move_base-49]: started with pid [14843] process[scan_to_cloud_converter-50]: started with pid [14861] process[viewpoint_controller-51]: started with pid [14865] process[safety_velocity_limiter-52]: started with pid [14877] process[velocity_switcher-53]: started with pid [14884] process[marker_based_localizer-54]: started with pid [14892] process[marker-55]: started with pid [14927] process[placement_area_detector-56]: started with pid [14942] process[tabletop_segmentator_node-57]: started with pid [14945] process[restoredb-58]: started with pid [14954] process[env_db-59]: started with pid [14967] process[action_manager-60]: started with pid [14972] process[action_planner-61]: started with pid [14989] process[task_manager-62]: started with pid [14994] process[action_take-63]: started with pid [15001] [restoredb-58] process has finished cleanly log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/restoredb-58.log process[action_give-64]: started with pid [15012] process[action_pick_up-65]: started with pid [15019] No module named PySide.QtCore process[action_put-66]: started with pid [15025] process[hsrb/interactive_teleop-67]: started with pid [15034] process[hsrb/pseudo_velocity_controller-68]: started with pid [15044] process[hsrb/interactive_teleop_joy-69]: started with pid [15047] process[hsrb/pseudo_endeffector_controller-70]: started with pid [15059] process[hsrb/joy_node-71]: started with pid [15070] process[hsrb_web_server_node-72]: started with pid [15079] process[rosbridge_websocket-73]: started with pid [15095] process[rosapi-74]: started with pid [15114] process[tf2_web_republisher-75]: started with pid [15126] process[interactive_marker_proxy-76]: started with pid [15144] process[remote_exec_manager-77]: started with pid [15162] Traceback (most recent call last): File "/opt/ros/kinetic/lib/hsrb_web_server/hsrb_web_server_node", line 40, in
import tornado.ioloop
File "/home/kubota-lab/anaconda3/envs/hsrgym/lib/python2.7/site-packages/tornado/ioloop.py", line 52, in
from tornado.concurrent import Future, is_future, chain_future, future_set_exc_info, future_add_done_callback # noqa: E501
File "/home/kubota-lab/anaconda3/envs/hsrgym/lib/python2.7/site-packages/tornado/concurrent.py", line 48, in
import asyncio
File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/init.py", line 9, in
from . import selectors
File "/home/kubota-lab/.local/lib/python2.7/site-packages/asyncio/selectors.py", line 39
"{!r}".format(fileobj)) from None
^
SyntaxError: invalid syntax
process[task_carry-78]: started with pid [15173]
process[heartbeat_watcher-79]: started with pid [15176]
process[web_video_server-80]: started with pid [15187]
process[web_video_server2-81]: started with pid [15195]
process[depthcloud_encoder_node-82]: started with pid [15202]
[hsrb_web_server_node-72] process has died [pid 15079, exit code 1, cmd /opt/ros/kinetic/lib/hsrb_web_server/hsrb_web_server_node /joint_states:=hsrb/joint_states __name:=hsrb_web_server_node __log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/hsrb_web_server_node-72.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/hsrb_web_server_node-72 .log
Traceback (most recent call last):
File "/opt/ros/kinetic/share/tmc_env_db/scripts/env_db_node", line 5, in
from tmc_env_db.node import run
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tmc_env_db/node.py", line 25, in
from . import db_server
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tmc_env_db/db_server.py", line 19, in
import sqlalchemy.engine
ImportError: No module named sqlalchemy.engine
process[tf2_buffer_server-83]: started with pid [15207]
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/rosbridge_server/rosbridge_websocket", line 38, in
from twisted.python import log
ImportError: No module named twisted.python
[INFO] [1594042401.924621, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1594042401.956202, 0.000000]: Loading model XML from ros parameter
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/hsrb_grasp_state_observer/grasp_state_observer", line 6, in
from hsrb_grasp_state_observer.grasp_state_observer\
File "/opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_grasp_state_observer/grasp_state_observer.py", line 20, in
from mlp_func import convert_image
File "/opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_grasp_state_observer/mlp_func.py", line 16, in
from sklearn.metrics import f1_score
ImportError: No module named sklearn.metrics
[ INFO] [1594042401.994966469]: Initializing nodelet with 12 worker threads.
[env_db-59] process has died [pid 14967, exit code 1, cmd /opt/ros/kinetic/share/tmc_env_db/scripts/env_db_node /joint_states:=hsrb/joint_states name:=env_db __log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/env_db-59.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/env_db-59*.log
[INFO] [1594042402.022463, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1594042402.085200772]: Finished loading Gazebo ROS API Plugin.
[rosbridge_websocket-73] process has died [pid 15095, exit code 1, cmd /opt/ros/kinetic/lib/rosbridge_server/rosbridge_websocket /joint_states:=hsrb/joint_states name:=rosbridge_websocket log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/rosbridge_websocket-73.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/rosbridge_websocket-73*.log
[ INFO] [1594042402.098702089]: Initializing nodelet with 12 worker threads.
[ INFO] [1594042402.115221094]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[hsrb/hsrb_grasp_state_observer-36] process has died [pid 14666, exit code 1, cmd /opt/ros/kinetic/lib/hsrb_grasp_state_observer/grasp_state_observer /joint_states:=hsrb/joint_states /camera/depth_registered/points:=hsrb/head_rgbd_sensor/depth_registered/rectified_points __name:=hsrb_grasp_state_observer log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/hsrb-hsrb_grasp_state_observer-36.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/hsrb-hsrb_grasp_state_observer-36.log
[ INFO] [1594042402.343926918]: Initialized ROS. node_name: /tabletop_segmentator
/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/training_detection_args.py:43: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
params = yaml.load(parameter_str)
Scalar element defined multiple times: visual
Scalar element defined multiple times: visual
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Scalar element defined multiple times: visual
Scalar element defined multiple times: visual
Scalar element defined multiple times: collision
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Scalar element defined multiple times: visual
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
Unknown tag: hardwareInterface
[ERROR] [1594042402.470527426]: Exception when creating the web server! 0.0.0.0:8902
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >'
what(): bind: Address already in use
[ERROR] [1594042402.471667255]: Exception when creating the web server! 0.0.0.0:8901
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >'
what(): bind: Address already in use
[INFO] [1594042402.510956, 0.000000]: change vel ratio 1.0
[INFO] [1594042402.608410, 0.000000]: dynamics.limit:~arm_lift_joint/acceleration 0.15
[INFO] [1594042402.630531, 0.000000]: Dynamic reconfigure request:
1.0,
1.0,
1.0,
1.0
[INFO] [1594042402.638714, 0.000000]: kinematics.limit:~arm_lift_joint/velocity 0.15
[ERROR] [1594042402.658693277]: Couldn't open joystick /dev/input/js0. Will retry every second.
[INFO] [1594042402.659692, 0.000000]: dynamics.limit:~arm_flex_joint/acceleration 1.0
[INFO] [1594042402.680203, 0.000000]: kinematics.limit:~arm_flex_joint/velocity 1.0
[INFO] [1594042402.697639, 0.000000]: dynamics.limit:~arm_roll_joint/acceleration 1.0
[web_video_server-80] process has died [pid 15187, exit code -6, cmd /opt/ros/kinetic/lib/web_video_server/web_video_server /joint_states:=hsrb/joint_states name:=web_video_server log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/web_video_server-80.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/web_video_server-80 .log
[web_video_server2-81] process has died [pid 15195, exit code -6, cmd /opt/ros/kinetic/lib/web_video_server/web_video_server /joint_states:=hsrb/joint_states name:=web_video_server2 log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/web_video_server2-81.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/web_video_server2-81*.log
[INFO] [1594042402.712014, 0.000000]: kinematics.limit:~arm_roll_joint/velocity 1.0
[INFO] [1594042402.729398, 0.000000]:
Dynamic reconfigure request:
10000,
300,
0.02
[INFO] [1594042402.733772, 0.000000]: dynamics.limit:~wrist_roll_joint/acceleration 1.0
[INFO] [1594042402.749468, 0.000000]: kinematics.limit:~wrist_roll_joint/velocity 1.0
[INFO] [1594042402.750451, 0.000000]: Rosapi started
[INFO] [1594042402.760575, 0.000000]: dynamics.limit:~wrist_flex_joint/acceleration 1.0
[INFO] [1594042402.768782, 0.000000]: kinematics.limit:~wrist_flex_joint/velocity 1.0
[INFO] [1594042402.775585, 0.000000]: dynamics.limit:~head_pan_joint/acceleration 1.0
[INFO] [1594042402.781960, 0.000000]: kinematics.limit:~head_pan_joint/velocity 1.0
[INFO] [1594042402.788811, 0.000000]: dynamics.limit:~head_tilt_joint/acceleration 1.0
[INFO] [1594042402.795916, 0.000000]: kinematics.limit:~head_tilt_joint/velocity 1.0
[INFO] [1594042402.803839, 0.000000]: dynamics.limit:~caster/acceleration 1.8
[INFO] [1594042402.810125, 0.000000]: kinematics.limit:~caster/velocity 1.8
[INFO] [1594042402.815954, 0.000000]: dynamics.limit:~left_wheel/acceleration 5.0
[INFO] [1594042402.821565, 0.000000]: kinematics.limit:~left_wheel/velocity 8.5
[INFO] [1594042402.831630, 0.000000]: dynamics.limit:~right_wheel/acceleration 5.0
[INFO] [1594042402.845304, 0.000000]: kinematics.limit:~right_wheel/velocity 8.5
[ INFO] [1594042403.090413097]: System already initialized. node_name: /tabletop_segmentator
[ INFO] [1594042403.264922989, 0.021000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1594042403.291654, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1594042403.353307779, 0.107000000]: Physics dynamic reconfigure ready.
[ INFO] [1594042403.360328013]: System already initialized. node_name: /tabletop_segmentator
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/tmc_tabletop_segmentator/server", line 41, in
service_server.init_ork(ork_params)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/tmc_tabletop_segmentator/service_server.py", line 52, in init_ork
self.plasm = create_plasm(ork_params)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/pipelines/plasm.py", line 39, in create_plasm
cell_class = find_cell([parameters['module']], parameters['type'])
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 157, in find_cell
cells = find_cells(modules, base_types)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 95, in find_cells
potential_cells = find_classes(modules, [])
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_core/utils/find_classes.py", line 37, in find_classes
m = import(module)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_tabletop/init.py", line 1, in
from object_recognition_tabletop.ecto_cells.tabletop_table import TableDetector
File "/opt/ros/kinetic/lib/python2.7/dist-packages/object_recognition_tabletop/ecto_cells/ init__.py", line 1
SyntaxError: I/O error while reading Warning [parser_urdf.cc:1238] multiple inconsistent exists due to fixed joint reduction overwriting previous value [false] with [true].
[ INFO] [1594042403.583896766, 0.162000000]: set to: //
[ INFO] [1594042403.583926227, 0.162000000]: set to: //hsrb/base_imu/data
[ INFO] [1594042403.583937608, 0.162000000]: set to: /base_imu_frame
[ INFO] [1594042403.583959159, 0.162000000]: set to: 50
[ INFO] [1594042403.583974351, 0.162000000]: set to: 0
[ INFO] [1594042403.583996255, 0.162000000]: set to: 0 0 0
[ INFO] [1594042403.584038532, 0.162000000]: set to: 0 -0 0
[ INFO] [1594042403.749825314, 0.162000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1594042403.749866625, 0.162000000]: Starting Laser Plugin (ns = /)
[ INFO] [1594042403.750740800, 0.162000000]: Laser Plugin (ns = /) , set to ""
[tabletop_segmentator_node-57] process has died [pid 14945, exit code 1, cmd /opt/ros/kinetic/lib/tmc_tabletop_segmentator/server -c /opt/ros/kinetic/share/tmc_tabletop_segmentator/config/segmentation.ros.ork /joint_states:=hsrb/joint_states /camera/rgb/image_color:=hsrb/head_rgbd_sensor/rgb/image_rect_color /camera/rgb/camera_info:=hsrb/head_rgbd_sensor/rgb/camera_info /camera/depth_registered/image_raw:=hsrb/head_rgbd_sensor/depth_registered/image_rect_raw /camera/depth_registered/camera_info:=hsrb/head_rgbd_sensor/depth_registered/camera_info name:=tabletop_segmentator_node log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/tabletop_segmentator_node-57.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/tabletop_segmentator_node-57.log
[ INFO] [1594042403.928355179, 0.162000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb'
[ INFO] [1594042403.931823884, 0.162000000]: Camera Plugin (ns = /hsrb) , set to ""
[ INFO] [1594042403.965024357, 0.162000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb'
[ INFO] [1594042403.969040400, 0.162000000]: Camera Plugin (ns = /hsrb) , set to ""
[ INFO] [1594042403.969197679, 0.162000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb'
[ INFO] [1594042403.972689405, 0.162000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb'
[ INFO] [1594042403.975487780, 0.162000000]: Camera Plugin (ns = /hsrb) , set to ""
[ INFO] [1594042403.977627710, 0.162000000]: Camera Plugin (ns = /hsrb) , set to ""
[INFO] [1594042403.978483, 0.162000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1594042403.978827, 0.162000]: Waiting for service /gazebo/set_model_configuration
[ INFO] [1594042403.980133277, 0.162000000]: Camera Plugin (robotNamespace = /hsrb), Info: Using the 'robotNamespace' param: '/hsrb'
[INFO] [1594042403.981844, 0.162000]: temporary hack to fix the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1594042403.990783737, 0.162000000]: Camera Plugin (ns = /hsrb) , set to ""
[ INFO] [1594042404.138579402, 0.162000000]: ft_sensor plugin reporting wrench values to the frame [wrist_ft_sensor_frame]
[ INFO] [1594042404.138622082, 0.162000000]: imu plugin missing , defaults to 0.0
[ INFO] [1594042404.334986761, 0.162000000]: Loading gazebo_ros_control plugin
[ INFO] [1594042404.335176744, 0.162000000]: Starting gazebo_ros_control plugin in namespace: /hsrb
[ INFO] [1594042404.335730627, 0.162000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/hsrb/robot_description] on the ROS param server.
[ INFO] [1594042404.655784130, 0.162000000]: Loaded gazebo_ros_control.
[ INFO] [1594042404.655879113, 0.162000000]: Loading hsrb_gazebo_ros_control plugin
[INFO] [1594042404.768098, 0.249000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1594042404.789963, 0.260000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1594042404.810811, 0.282000]: Loading controller: joint_state_controller
[INFO] [1594042404.920434, 0.362000]: Loading controller: arm_trajectory_controller
[INFO] [1594042404.983278, 0.399000]: Calling service /gazebo/set_model_configuration
[INFO] [1594042405.030609, 0.427000]: Set model configuration status: SetModelConfiguration: success
[spawn_hsrb_model-2] process has finished cleanly
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/spawn_hsrb_model-2 .log
[INFO] [1594042405.514975, 0.742000]: Loading controller: head_trajectory_controller
[INFO] [1594042405.944180, 1.042000]: Loading controller: omni_base_controller
[ INFO] [1594042405.996080783, 1.073000000]: state_publish_rate is not set. Use default value [50.000000]
[ INFO] [1594042406.001380994, 1.073000000]: action_monitor_rate is not set. Use default value [100.000000]
[ INFO] [1594042406.003874906, 1.078000000]: command_timeout is not set. Use default value [0.500000]
[ INFO] [1594042406.048135209, 1.112000000]: yaw_actual_velocity_threshold is not set. Use default value [1000.000000]
[ INFO] [1594042406.048988214, 1.113000000]: wheel_actual_velocity_threshold is not set. Use default value [1000.000000]
[INFO] [1594042406.206516, 1.219000]: Controller Spawner: Loaded controllers: joint_state_controller, arm_trajectory_controller, head_trajectory_controller, omni_base_controller
[INFO] [1594042406.223222, 1.232000]: Started controllers: joint_state_controller, arm_trajectory_controller, head_trajectory_controller, omni_base_controller
[ INFO] [1594042407.587149333, 2.160000000]: Ready put
[ INFO] [1594042408.777680422, 2.996000000]: No goal plugins are loaded.
[ INFO] [1594042408.844929534, 3.040000000]: Ready take
[ INFO] [1594042411.054372504, 4.576000000]: planning time = 0.027
/opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_interface/robot.py:246: DeprecationWarning: A feature specifying a resource item by ItemType is deprecated.
warnings.warn(msg, exceptions.DeprecationWarning)
/opt/ros/kinetic/lib/python2.7/dist-packages/hsrb_interface/robot.py:76: DeprecationWarning: A feature specifying an item by ItemType is deprecated.
warnings.warn(msg, exceptions.DeprecationWarning)
[ INFO] [1594042415.021822318, 7.566000000]: planning time = 0.004
[ERROR] [1594042415.091216, 7.613000]: A exception occured in timeopt list index out of range
[ WARN] [1594042415.164475639, 7.671000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 2.000s.
[ INFO] [1594042417.969029299, 9.773000000]: planning time = 0.018
[ INFO] [1594042420.962971044, 12.027000000]: planning time = 0.01
[ INFO] [1594042423.168411668, 13.672000000]: planning time = 0.006
[ INFO] [1594042425.350900606, 15.315000000]: planning time = 0.002
[ INFO] [1594042427.385691890, 16.854000000]: planning time = 0.009
[ INFO] [1594042429.709573238, 18.600000000]: planning time = 0.004
[ERROR] [1594042429.729700, 18.605000]: A exception occured in timeopt list index out of range
[ WARN] [1594042429.746592241, 18.627000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 1.099s.
[ INFO] [1594042431.359441248, 19.821000000]: planning time = 0.012
[ INFO] [1594042432.860230593, 20.956000000]: planning time = 0.004
[ERROR] [1594042432.878342, 20.967000]: A exception occured in timeopt list index out of range
[ WARN] [1594042432.888065823, 20.976000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 0.947s.
[ INFO] [1594042434.356443348, 22.066000000]: planning time = 0.004
[ERROR] [1594042434.383436, 22.078000]: A exception occured in timeopt list index out of range
[ WARN] [1594042434.404991375, 22.104000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 0.610s.
[ INFO] [1594042435.473791902, 22.893000000]: planning time = 0.003
[ERROR] [1594042435.501845, 22.912000]: A exception occured in timeopt list index out of range
[ WARN] [1594042435.525109949, 22.931000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 0.499s.
[ INFO] [1594042436.309731887, 23.523000000]: planning time = 0.005
[ERROR] [1594042436.337097, 23.541000]: A exception occured in timeopt list index out of range
[ WARN] [1594042436.384020841, 23.578000000]: Dropping first 1 trajectory point(s) out of 2, as they occur before the current time.
First valid point will be reached in 1.140s.
[ INFO] [1594042442.296336853, 27.920000000]: planning time = 0.021
[ERROR] [1594042485.453722921, 60.231000000]: Timeout get_object_shape_service_client CreateServiceClient
[object_information_publisher-28] process has died [pid 14587, exit code 255, cmd /opt/ros/kinetic/lib/tmc_object_information_publisher/object_information_publisher /joint_states:=hsrb/joint_states collision_object:=known_object name:=object_information_publisher log:=/home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/object_information_publisher-28.log].
log file: /home/kubota-lab/.ros/log/3ff294d2-bf8d-11ea-ac4d-5076afa87c35/object_information_publisher-28*.log